version: 66.11
glider: 201
mission: 1
dive: 19
start: 8 8 113 11 27 56
data:
$ID,201
$MISSION,1
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,1
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51667
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038379999
$HD_B,0.01025
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-490.22592
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2983
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3101
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.747383
$PRESSURE_SLOPE,0.000115772
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.28
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408599
$GPS1,080813,112346,4742.845,-12225.265,4,1.6,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.9
$GPS2,080813,112700,4742.807,-12225.229,5,1.6,5,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,0.132
$KALMAN_X,-1076.3,312.7,217.9,46.1,-269.8
$KALMAN_Y,-5109.6,1027.5,-140.2,4327.9,-897.9
$MHEAD_RNG_PITCHd_Wd,32.5,570,-18.7,-8.000,-21.79,1862
$D_GRID,186
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.08,-97.8,185,2007,1876,1887,0.0,0.0,0,52,0.00,0.00,-34.05,0.000,16386,0.000,0.000,185,2007,2758,2775,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.08,-97.8,185,2007,2775,2742,2.1,-4.3,6,95,9.00,2.10,-24.88,0.000,19204,0.221,0.057,2633,604,3499,3534,3465,0,0,0,0,0,0,26.48,26.69,27.01
$GC,322,-1.08,-97.8,2632,604,3534,3465,36.0,-15.2,58,329,0.00,2.05,0.00,0.000,1030,0.000,0.032,2625,2005,3499,3534,3465,0,0,0,0,0,0,28.83,26.82,28.83
$GC,390,-1.08,-97.8,2625,2004,3532,3464,44.8,-12.6,71,397,0.00,2.10,0.00,0.000,516,0.000,0.044,2625,599,3499,3533,3465,0,0,0,0,0,0,28.83,26.82,28.83
$GC,608,-1.08,-97.8,2625,598,3534,3465,75.1,-14.2,114,615,0.00,2.10,0.00,0.000,1030,0.000,0.032,2615,2020,3498,3533,3464,0,0,0,0,0,0,28.83,26.91,28.83
$GC,737,-1.08,-97.8,2615,2020,3533,3465,90.2,-10.6,139,743,0.00,2.10,0.00,0.000,516,0.000,0.043,2614,605,3499,3533,3465,0,0,0,0,0,0,28.83,26.90,28.83
$GC,795,-1.08,-97.8,2615,605,3533,3465,96.9,-11.6,150,802,0.12,2.05,0.00,0.000,3078,0.166,0.032,2638,2006,3499,3534,3465,0,0,0,0,0,0,26.79,26.94,28.83
$GC,924,-1.08,-97.8,2638,2006,3534,3465,109.5,-9.1,175,931,0.00,2.10,0.00,0.000,260,0.000,0.050,2630,3395,3499,3534,3465,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1002,-1.08,-97.8,2629,3395,3533,3465,118.4,-11.7,190,1009,0.00,2.05,0.00,0.000,1030,0.000,0.034,2630,1993,3499,3533,3465,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1133,-1.08,-97.8,2629,1990,3534,3465,134.2,-14.2,215,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1990,3499,3534,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-1.08,-97.8,2629,1990,3533,3465,146.9,-6.5,240,1267,0.00,2.15,0.00,0.000,260,0.000,0.049,2619,3410,3499,3533,3465,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1333,-1.08,-97.8,2618,3410,3533,3465,154.1,-10.7,254,1340,0.00,2.05,0.00,0.000,1030,0.000,0.033,2619,2003,3499,3533,3465,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1462,-1.08,-97.8,2618,2001,3533,3465,168.7,-12.2,279,1469,0.00,2.05,0.00,0.000,516,0.000,0.043,2619,606,3499,3533,3465,0,0,0,0,0,0,28.83,27.01,28.83
$STATE,1551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1551,begin apogee
$GC,1556,-0.26,0.0,2609,1997,3533,3465,180.6,-13.6,296,1635,0.85,0.00,71.62,0.511,10244,0.122,0.000,2898,1997,3093,3143,3044,0,0,0,0,0,0,26.91,28.83,25.79
$STATE,1636,end apogee,CONTROL_FINISHED_OK
$STATE,1636,begin climb
$GC,1638,1.08,97.8,2897,1997,3141,3042,184.7,0.0,310,1717,1.23,2.20,70.07,0.506,10500,0.087,0.050,3329,3403,2695,2733,2657,0,0,0,0,0,0,26.25,26.28,25.34
$GC,1944,1.08,97.8,3329,3404,2726,2647,160.3,9.3,369,1951,0.00,2.08,0.00,0.000,1030,0.000,0.033,3340,2008,2686,2726,2647,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2074,1.08,97.8,3340,2008,2725,2647,149.3,8.4,394,2080,0.00,2.12,0.00,0.000,516,0.000,0.045,3350,593,2686,2725,2647,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2307,1.08,97.8,3349,593,2725,2647,128.6,10.9,440,2314,0.00,2.08,0.00,0.000,1030,0.000,0.032,3350,2002,2686,2725,2647,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2436,1.08,101.6,3349,2003,2724,2646,116.9,7.8,465,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2002,2685,2724,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,1.08,101.6,3350,2003,2725,2647,103.9,10.6,490,2570,0.00,2.12,0.00,0.000,260,0.000,0.049,3350,3407,2686,2725,2647,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2716,1.08,101.6,2432,3405,2685,2641,86.6,12.0,520,2722,0.00,2.10,0.00,0.000,1030,0.000,0.034,3361,1983,2686,2725,2647,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2845,1.08,101.6,3361,1983,2724,2646,72.5,10.9,545,2852,0.00,2.05,0.00,0.000,516,0.000,0.045,3370,594,2686,2725,2647,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2899,1.08,101.6,3370,594,2724,2647,66.4,10.9,555,2906,0.15,2.05,0.00,0.000,5126,0.179,0.032,3332,2001,2685,2724,2647,0,0,0,0,0,0,26.72,26.90,28.83
$GC,3030,1.10,115.5,3332,2001,2724,2647,55.9,7.2,580,3047,0.00,0.00,13.35,0.436,8198,0.000,0.000,3332,2001,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,26.34
$GC,3171,1.12,132.0,3332,2001,2657,2576,46.5,7.1,607,3190,0.00,2.20,12.60,0.436,8708,0.000,0.045,3341,591,2553,2593,2513,0,0,0,0,0,0,28.83,26.70,26.27
$GC,3292,1.15,154.9,3339,591,2586,2510,38.2,6.7,630,3316,0.00,2.05,17.33,0.428,9222,0.000,0.032,3339,1992,2462,2503,2421,0,0,0,0,0,0,28.83,26.79,26.19
$GC,3378,1.15,154.9,3340,1992,2495,2412,31.0,9.8,646,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1992,2453,2495,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,1.15,154.9,3341,1992,2495,2412,24.2,9.9,659,3452,0.00,2.15,0.00,0.000,260,0.000,0.050,3341,3402,2453,2495,2412,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3558,1.15,154.9,3341,3402,2496,2412,10.9,11.2,681,3565,0.00,2.08,0.00,0.000,1030,0.000,0.034,3351,1995,2453,2495,2412,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3627,1.15,154.9,3351,1995,2494,2412,3.7,10.2,694,3633,0.00,2.08,0.00,0.000,516,0.000,0.045,3360,595,2452,2494,2411,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,3638,end climb,SURFACE_DEPTH_REACHED
$STATE,3638,begin surface coast
$FINISH,0.3,1.021158
$STATE,3660,end surface coast,CONTROL_FINISHED_OK
$STATE,3661,begin surface
$SM_CCo,3677,50.83,0.135,0,0,1875,300.00
$SM_GC,2.01,8.18,2.12,50.83,0.046,0.032,0.135,187,2000,1875,-8.65,-1.33,300.00,0,0,0,0,0,0,26.79,26.82,26.52
$IRIDIUM_FIX,4726.11,-12223.37,080813,101044
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,8.84734
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,25.3,0.912
$10V_AH,10.6,0.744
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.525,54.475,184.975,50.825,0.000,23.549,36.293,73.294,0.000,0.000,5.812,1558.385,825.957,355.581,1142.486,57.069,33.194,908.526,0.000,1005.230,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,57.375,511.020,134.640,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.008,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,23419,700
$CAP_FILE_SIZE,70053,0
$CFSIZE,260034560,256090112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,123103,4742.731,-12225.177,24,1.2,24,16.3