version: 66.12
glider: 201
mission: 9
dive: 2
start: 5 26 116 21 39 49
data:
$ID,201
$MISSION,9
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,30
$D_ABORT,40
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,2
$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,10
$T_MISSION,25
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,50
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,52153
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,125
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3219.3999
$TGT_DEFAULT_LON,-6434.1001
$TGT_AUTO_DEFAULT,0
$SM_CC,100
$N_FILEKB,8
$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_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$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,2630
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2872
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$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,50
$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
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.301895
$PRESSURE_SLOPE,0.000115772
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$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,0.1
$SIM_PITCH,-30
$SEABIRD_T_G,0.0043924139
$SEABIRD_T_H,0.00063338951
$SEABIRD_T_I,2.5237914e-05
$SEABIRD_T_J,3.059105e-06
$SEABIRD_C_G,-9.8961887
$SEABIRD_C_H,1.1555814
$SEABIRD_C_I,-0.0012886405
$SEABIRD_C_J,0.00018064222
$GPS1,260516,213249,4739.2979,-12219.0332,80,0.9,80,16.2,0.0,122.4,10,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-0.8
$GPS2,260516,213832,4739.3013,-12219.0312,9,1.1,9,16.2,0.0,0.0,8,16.6
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,HEADING
$TGT_LATLONG,4733.107,-12205.925
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151399,-0.103162
$KALMAN_X,-24.593491,-24.593491,-24.593491,65.389717,-48.871376
$KALMAN_Y,16.329369,16.329369,16.329369,-46.806042,32.449181
$MHEAD_RNG_PITCHd_Wd,108.8,20000,-25.4,-10.000,-28.63,1075
$D_GRID,30
$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,16,-1.36,-48.9,202,2633,2423,2518,0.0,0.0,0,34,0.00,0.00,-15.98,0.000,16386,0.000,0.000,202,2633,2784,2737,2832,0,0,0,0,0,0,27.15,28.83,27.16
$GC,36,-1.36,-48.9,201,2634,2737,2831,2.4,-9.8,2,60,5.78,0.00,-14.95,0.000,18438,0.055,0.000,2414,2634,3072,3023,3122,0,0,0,0,0,0,26.50,24.76,26.63
$GC,127,-1.36,-48.9,2413,2634,3024,3122,12.0,-9.7,17,135,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2634,3073,3024,3122,0,0,0,0,0,0,27.20,27.20,27.20
$GC,204,-1.36,-48.9,2413,2634,3025,3123,19.6,-9.9,30,212,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2634,3074,3025,3123,0,0,0,0,0,0,27.23,27.23,27.23
$GC,280,-1.36,-48.9,2413,2633,3025,3123,27.5,-10.8,43,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2634,3074,3025,3123,0,0,0,0,0,0,27.26,27.26,27.26
$STATE,307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,307,begin apogee
$GC,312,-0.26,0.0,2414,2515,3026,3124,30.4,-9.8,47,336,0.90,0.00,19.40,0.135,10246,0.060,0.000,2766,2515,2867,2818,2917,0,0,0,0,0,0,26.58,26.60,26.35
$STATE,337,end apogee,CONTROL_FINISHED_OK
$STATE,337,begin climb
$GC,339,1.36,48.9,2766,2515,2821,2921,28.0,0.0,50,362,1.33,0.00,19.12,0.131,10246,0.057,0.000,3284,2514,2668,2623,2714,0,0,0,0,0,0,26.65,26.58,26.35
$GC,431,1.36,49.8,3284,2514,2628,2722,18.5,9.9,65,438,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2514,2675,2628,2722,0,0,0,0,0,0,27.20,27.21,27.21
$GC,507,1.36,49.8,3284,2515,2629,2723,10.8,10.0,78,515,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2514,2675,2628,2723,0,0,0,0,0,0,27.24,27.24,27.24
$GC,584,1.36,49.8,3284,2514,2629,2724,3.1,10.6,91,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2514,2676,2629,2724,0,0,0,0,0,0,27.27,27.27,27.27
$STATE,598,end climb,SURFACE_DEPTH_REACHED
$STATE,598,begin surface coast
$FINISH,0.0,0.998808
$STATE,626,end surface coast,CONTROL_FINISHED_OK
$STATE,626,begin surface
$SM_CCo,643,20.85,0.135,0,0,2461,100.08
$SM_GC,0.15,8.48,0.17,20.85,0.073,0.082,0.135,200,2636,2461,-8.21,-1.13,100.08,0,0,0,0,0,0,26.38,26.86,26.35
$IRIDIUM_FIX,4722.92,-12216.25,260516,213521
$TT8_MAMPS,0.028462,0.201481
$HUMID,33.61
$INTERNAL_PRESSURE,9.59932
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,24.68,32.952
$10V_AH,10.17,36.025
$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,16.475,0.275,38.525,20.850,0.000,66.412,44.906,103.393,0.000,0.000,9.529,282.153,59.374,92.077,577.170,43.957,30.309,237.732,0.000,363.655,0.000,0.550,0.000
$DEVICE_MAMPS,72.675,90.270,135.405,135.405,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,68.749,325.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,344224
$DATA_FILE_SIZE,3600,98
$CAP_FILE_SIZE,22827,0
$CFSIZE,260034560,255016960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,287.45,0x212ed4,0,24
$GPS,260516,215134,4739.303,-12219.038,6,1.0,6,16.2,0.0,0.0,9,17.2