version: 66.11
glider: 201
mission: 1
dive: 21
start: 8 8 113 13 40 17
data:
$ID,201
$MISSION,1
$DIVE,21
$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,-492.74103
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,080813,133613,4742.727,-12224.960,3,1.3,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.1
$GPS2,080813,133921,4742.723,-12224.952,4,1.3,4,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,0.172
$KALMAN_X,-1483.5,310.4,-192.5,1200.1,-441.9
$KALMAN_Y,-5681.1,1063.1,-1100.0,5668.2,-534.7
$MHEAD_RNG_PITCHd_Wd,14.7,2188,-18.7,-8.000,-21.79,1862
$D_GRID,185
$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,-97.8,188,2015,1877,1885,0.0,0.0,0,53,0.00,0.00,-34.90,0.000,16386,0.000,0.000,188,2016,2786,2803,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.08,-97.8,188,2016,2804,2770,2.2,-4.6,6,96,8.95,2.12,-23.62,0.000,18692,0.220,0.063,2622,3408,3501,3535,3467,0,0,0,0,0,0,26.50,26.67,26.99
$GC,322,-1.08,-97.8,2622,3408,3535,3467,32.0,-12.8,58,329,0.00,2.05,0.00,0.000,1030,0.000,0.033,2622,1999,3501,3535,3467,0,0,0,0,0,0,28.83,26.84,28.83
$GC,391,-1.08,-97.8,2621,1997,3535,3468,42.0,-15.2,71,397,0.00,2.15,0.00,0.000,260,0.000,0.048,2612,3408,3501,3535,3467,0,0,0,0,0,0,28.83,26.81,28.83
$GC,623,-1.08,-97.8,2611,3408,3535,3468,73.0,-12.5,117,630,0.00,2.05,0.00,0.000,1030,0.000,0.033,2611,2006,3501,3535,3468,0,0,0,0,0,0,28.83,26.92,28.83
$GC,752,-1.08,-97.8,2611,2005,3535,3468,89.9,-13.9,142,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2005,3501,3535,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-1.08,-97.8,2611,2004,3535,3468,107.9,-14.6,167,886,0.00,2.12,0.00,0.000,260,0.000,0.048,2601,3407,3501,3535,3468,0,0,0,0,0,0,28.83,26.93,28.83
$GC,938,-1.08,-97.8,2600,3407,3535,3468,116.2,-14.8,178,945,0.12,2.05,0.00,0.000,3078,0.158,0.033,2633,2005,3501,3534,3468,0,0,0,0,0,0,26.84,26.98,28.83
$GC,1068,-1.08,-97.8,1616,2000,3528,3466,135.0,-13.0,203,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2002,3501,3535,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1195,-1.08,-97.8,2633,2002,3535,3468,151.3,-10.3,228,1202,0.00,2.08,0.00,0.000,516,0.000,0.045,2634,596,3501,3535,3468,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1278,-1.08,-97.8,2633,596,3535,3468,162.2,-12.5,244,1285,0.00,2.05,0.00,0.000,1030,0.000,0.032,2626,2001,3501,3535,3468,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1408,-1.08,-97.8,2626,2001,3535,3468,177.3,-12.0,269,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2001,3501,3535,3468,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1432,-0.26,0.0,2625,2001,3535,3468,180.3,-12.1,273,1510,0.80,0.00,71.18,0.507,10244,0.122,0.000,2898,2001,3093,3143,3044,0,0,0,0,0,0,26.91,28.83,25.84
$STATE,1511,end apogee,CONTROL_FINISHED_OK
$STATE,1511,begin climb
$GC,1513,1.08,97.8,2897,2001,3142,3042,183.1,0.0,287,1592,1.23,2.15,69.57,0.493,10756,0.082,0.044,3334,604,2693,2726,2661,0,0,0,0,0,0,26.26,26.30,25.39
$GC,1598,1.10,113.7,3334,604,2722,2656,179.1,7.1,302,1617,0.00,2.12,12.50,0.470,9222,0.000,0.031,3334,2009,2631,2669,2593,0,0,0,0,0,0,28.83,25.93,25.39
$GC,1740,1.10,113.7,3334,2009,2662,2585,164.8,10.5,329,1747,0.00,2.17,0.00,0.000,260,0.000,0.048,3335,3408,2623,2662,2585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1778,1.10,113.7,3335,3408,2662,2584,160.8,9.6,336,1785,0.00,2.12,0.00,0.000,1030,0.000,0.033,3344,1993,2623,2662,2584,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1907,1.10,113.7,3344,1993,2662,2584,146.4,11.3,361,1913,0.00,2.10,0.00,0.000,516,0.000,0.044,3354,602,2623,2662,2584,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2079,1.10,113.7,2432,602,2619,2578,128.1,9.3,395,2086,0.00,2.08,0.00,0.000,1030,0.000,0.031,3354,2013,2622,2661,2584,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2208,1.10,113.7,3354,2013,2661,2584,115.1,9.9,420,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2013,2622,2661,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,1.10,113.7,3354,2012,2661,2584,101.8,10.6,445,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2013,2622,2661,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,1.10,113.7,3354,2013,2661,2584,88.8,10.1,470,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2013,2622,2661,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,1.10,113.7,3354,2013,2661,2584,75.0,11.4,495,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2013,2622,2661,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,1.10,113.7,3354,2013,2661,2584,61.5,11.0,520,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2013,2623,2662,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,1.10,113.7,3354,2013,2662,2584,49.6,9.1,545,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2013,2623,2662,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,1.10,113.7,3354,2012,2661,2584,38.0,8.6,570,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2013,2623,2662,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3042,1.12,130.6,3354,2012,2662,2584,32.6,7.1,583,3059,0.00,0.00,12.57,0.417,8198,0.000,0.000,3354,2013,2558,2600,2517,0,0,0,0,0,0,28.83,28.83,26.41
$GC,3121,1.16,161.8,3354,2012,2594,2512,27.4,6.3,598,3151,0.00,2.12,22.85,0.404,8708,0.000,0.043,3365,604,2430,2469,2391,0,0,0,0,0,0,28.83,26.64,26.27
$GC,3168,1.18,176.3,3364,605,2462,2387,24.2,7.2,606,3186,0.00,2.03,10.48,0.405,9222,0.000,0.032,3365,1993,2374,2415,2334,0,0,0,0,0,0,28.83,26.69,26.19
$GC,3248,1.18,176.3,3364,1992,2411,2328,16.0,11.2,621,3254,0.00,2.15,0.00,0.000,260,0.000,0.049,3365,3402,2369,2411,2328,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,3350,end climb,SURFACE_DEPTH_REACHED
$STATE,3350,begin surface coast
$FINISH,0.4,1.021112
$STATE,3370,end surface coast,CONTROL_FINISHED_OK
$STATE,3370,begin surface
$SM_CCo,3386,43.42,0.136,0,0,1875,300.00
$SM_GC,1.77,8.18,2.12,43.42,0.043,0.032,0.136,190,2002,1875,-8.65,1.70,300.00,0,0,0,0,0,0,26.72,26.74,26.47
$IRIDIUM_FIX,4726.11,-12223.37,080813,121202
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.00
$INTERNAL_PRESSURE,8.84734
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,25.4,0.990
$10V_AH,10.6,0.809
$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,19.275,37.850,199.150,43.425,0.000,24.269,33.143,66.753,0.000,0.000,5.875,1422.645,745.605,357.460,1064.341,44.516,33.197,878.918,0.000,927.325,0.000,0.544,0.000
$DEVICE_MAMPS,219.555,63.495,507.195,136.170,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323084
$DATA_FILE_SIZE,20043,645
$CAP_FILE_SIZE,64674,0
$CFSIZE,260034560,256028672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,143833,4743.031,-12224.583,31,1.2,31,16.3