version: 66.11
glider: 201
mission: 1
dive: 22
start: 8 8 113 14 42 41
data:
$ID,201
$MISSION,1
$DIVE,22
$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,-493.9986
$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,51
$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
$GPS1,080813,143833,4743.031,-12224.583,31,1.2,31,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.3
$GPS2,080813,144145,4743.036,-12224.568,4,0.8,5,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.030,0.198
$KALMAN_X,-894.1,59.3,-479.2,1627.7,-1.6
$KALMAN_Y,-5542.9,834.4,-1179.3,6413.9,-114.6
$MHEAD_RNG_PITCHd_Wd,335.1,1626,-18.7,-8.000,-21.79,1862
$D_GRID,177
$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,-97.8,189,1998,1880,1888,0.0,0.0,0,52,0.00,0.00,-33.97,0.000,16386,0.000,0.000,190,1997,2763,2781,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.08,-97.8,190,1997,2782,2747,2.2,-4.3,6,95,8.98,2.10,-24.55,0.000,18948,0.218,0.057,2635,594,3499,3534,3465,0,0,0,0,0,0,26.42,26.62,26.93
$GC,252,-1.08,-97.8,2635,595,3534,3465,26.2,-15.6,44,258,0.00,2.05,0.00,0.000,1030,0.000,0.032,2628,1993,3498,3533,3464,0,0,0,0,0,0,28.83,26.74,28.83
$GC,320,-1.08,-97.8,2627,1993,3534,3465,36.5,-14.8,57,327,0.00,2.15,0.00,0.000,260,0.000,0.048,2617,3399,3499,3533,3465,0,0,0,0,0,0,28.83,26.72,28.83
$GC,368,-1.08,-97.8,2616,3400,3534,3465,43.7,-15.4,66,375,0.00,2.05,0.00,0.000,1030,0.000,0.033,2617,2002,3499,3533,3465,0,0,0,0,0,0,28.83,26.79,28.83
$GC,498,-1.08,-97.8,2617,2000,3534,3465,62.7,-14.5,91,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2000,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,625,-1.08,-97.8,2617,2001,3533,3465,77.8,-9.4,116,632,0.00,2.05,0.00,0.000,516,0.000,0.044,2617,606,3500,3534,3466,0,0,0,0,0,0,28.83,26.84,28.83
$GC,828,-1.08,-97.8,2617,605,3534,3466,100.8,-12.7,156,835,0.00,2.05,0.00,0.000,1030,0.000,0.032,2607,2007,3499,3534,3465,0,0,0,0,0,0,28.83,26.92,28.83
$GC,958,-1.08,-97.8,2606,2007,3533,3466,117.8,-14.2,181,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2007,3500,3534,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1085,-1.08,-97.8,2607,2007,3533,3466,135.7,-13.6,206,1092,0.00,2.10,0.00,0.000,260,0.000,0.048,2597,3404,3500,3534,3466,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1308,-1.08,-97.8,2596,3404,3534,3466,167.1,-13.6,250,1316,0.15,2.08,0.00,0.000,3078,0.158,0.033,2638,1984,3499,3533,3466,0,0,0,0,0,0,26.86,27.01,28.83
$STATE,1400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1404,-0.26,0.0,2638,1982,3533,3466,177.2,-9.9,268,1482,0.73,0.00,72.03,0.500,10244,0.122,0.000,2889,1980,3093,3143,3044,0,0,0,0,0,0,26.88,28.83,25.80
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1485,1.08,97.8,2888,1980,3142,3042,180.3,0.0,282,1563,1.20,0.00,69.90,0.505,11270,0.079,0.000,3330,1980,2691,2729,2654,0,0,0,0,0,0,26.25,28.83,25.34
$GC,1686,1.08,97.8,3330,1980,2722,2649,163.9,10.0,320,1692,0.00,2.22,0.00,0.000,260,0.000,0.047,3330,3400,2686,2723,2650,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1748,1.08,97.8,2368,3398,2682,2643,157.2,10.8,332,1755,0.00,2.08,0.00,0.000,1030,0.000,0.032,3340,2011,2685,2722,2649,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1879,1.08,97.8,3340,2012,2723,2649,144.4,9.4,357,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2012,2686,2723,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2006,1.08,97.8,3340,2012,2723,2649,131.2,9.2,382,2013,0.00,2.15,0.00,0.000,260,0.000,0.048,3340,3400,2685,2722,2649,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2146,1.08,97.8,3340,3399,2723,2649,117.6,9.1,409,2152,0.00,2.05,0.00,0.000,1030,0.000,0.033,3351,2010,2686,2723,2649,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2275,1.08,97.8,3351,2010,2723,2649,106.2,8.9,434,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2010,2685,2722,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2401,1.08,97.8,2400,2008,2682,2642,95.3,8.2,459,2408,0.00,2.10,0.00,0.000,516,0.000,0.044,3361,600,2686,2723,2649,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2470,1.08,97.8,3360,600,2722,2649,89.3,8.8,472,2477,0.12,2.10,0.00,0.000,5126,0.175,0.032,3330,2033,2686,2723,2649,0,0,0,0,0,0,26.67,26.84,28.83
$GC,2599,1.13,135.1,3330,2033,2723,2649,80.6,5.9,497,2634,0.00,2.10,27.00,0.447,8452,0.000,0.048,3329,3402,2539,2581,2497,0,0,0,0,0,0,28.83,26.58,26.17
$GC,2677,1.13,135.1,3330,3402,2577,2493,73.0,11.7,511,2684,0.00,2.05,0.00,0.000,1030,0.000,0.033,3338,2017,2535,2577,2493,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2806,1.13,135.1,3338,2017,2577,2493,59.9,8.9,536,2812,0.00,2.12,0.00,0.000,516,0.000,0.044,3348,596,2534,2577,2492,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2989,1.13,135.1,3348,596,2576,2492,42.6,8.4,572,2996,0.00,2.05,0.00,0.000,1030,0.000,0.032,3348,2000,2535,2577,2493,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3118,1.13,135.1,3348,1999,2576,2492,30.8,9.9,597,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2000,2534,2576,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,1.13,135.1,3348,2000,2576,2492,23.9,10.7,610,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1999,2534,2576,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3252,1.13,135.1,3347,1999,2576,2492,16.6,10.4,623,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2000,2534,2576,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,1.13,135.1,3348,2000,2575,2492,10.1,9.1,636,3326,0.00,2.10,0.00,0.000,260,0.000,0.049,3348,3394,2533,2575,2492,0,0,0,0,0,0,28.83,26.87,28.83
$STATE,3402,end climb,SURFACE_DEPTH_REACHED
$STATE,3402,begin surface coast
$FINISH,0.4,1.020533
$STATE,3433,end surface coast,CONTROL_FINISHED_OK
$STATE,3433,begin surface
$SM_CCo,3450,57.95,0.137,0,0,1874,300.00
$SM_GC,1.79,8.15,2.12,57.95,0.050,0.035,0.137,191,1998,1874,-8.63,1.36,300.00,0,0,0,0,0,0,26.91,26.93,26.61
$IRIDIUM_FIX,4722.92,-12223.37,080813,131312
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.07
$INTERNAL_PRESSURE,8.84734
$TCM_TEMP,18.60
$XPDR_PINGS,2
$24V_AH,25.3,1.023
$10V_AH,10.6,0.842
$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,19.325,41.875,168.925,57.950,0.000,26.331,29.374,73.778,0.500,0.000,5.954,1465.094,769.697,348.156,1087.994,45.224,33.200,870.802,0.000,945.928,0.000,0.545,0.000
$DEVICE_MAMPS,218.025,57.375,504.900,136.935,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322996
$DATA_FILE_SIZE,20069,658
$CAP_FILE_SIZE,65090,0
$CFSIZE,260034560,255995904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,154144,4743.569,-12224.655,2,0.7,2,16.3