version: 66.12
glider: 201
mission: 9
dive: 3
start: 5 26 116 21 57 2
data:
$ID,201
$MISSION,9
$DIVE,3
$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,42
$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
$GPS1,260516,215134,4739.3027,-12219.0381,6,1.0,6,16.2,0.0,0.0,9,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-0.7
$GPS2,260516,215544,4739.2988,-12219.0342,8,1.0,8,16.2,0.0,248.4,9,17.5
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,HEADING
$TGT_LATLONG,4733.104,-12205.928
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152410,-0.101663
$KALMAN_X,-70.084229,-47.429398,-47.134365,150.805435,-49.270653
$KALMAN_Y,44.059074,30.235683,30.053213,-105.743988,31.406530
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.36,-48.9,201,2637,2422,2517,0.0,0.0,0,33,0.00,0.00,-15.55,0.000,16386,0.000,0.000,201,2637,2776,2730,2823,0,0,0,0,0,0,27.16,28.83,27.16
$GC,35,-1.36,-48.9,201,2637,2730,2823,2.4,-10.2,2,65,5.80,0.00,-15.25,0.000,18438,0.056,0.000,2416,2637,3072,3024,3121,0,0,0,0,0,0,26.49,24.75,26.62
$GC,134,-1.36,-48.9,2414,2637,3024,3122,12.5,-10.1,18,141,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2637,3072,3024,3121,0,0,0,0,0,0,27.08,27.08,27.08
$GC,210,-1.36,-48.9,2415,2637,3024,3122,20.3,-9.8,31,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2637,3073,3025,3122,0,0,0,0,0,0,27.14,27.14,27.14
$GC,287,-1.36,-48.9,2415,2637,3025,3123,27.8,-9.9,44,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2637,3074,3026,3123,0,0,0,0,0,0,27.18,27.19,27.19
$STATE,312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,312,begin apogee
$GC,317,-0.26,0.0,2415,2519,3025,3123,30.4,-9.6,48,340,0.90,0.00,19.55,0.134,10246,0.060,0.000,2766,2519,2868,2819,2918,0,0,0,0,0,0,26.55,26.55,26.30
$STATE,341,end apogee,CONTROL_FINISHED_OK
$STATE,341,begin climb
$GC,343,1.36,48.9,2765,2519,2820,2922,27.9,0.0,51,366,1.33,0.00,18.73,0.131,10246,0.059,0.000,3282,2519,2667,2622,2713,0,0,0,0,0,0,26.59,26.52,26.28
$GC,435,1.36,48.9,3281,2519,2628,2722,18.5,10.2,66,442,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2519,2674,2628,2721,0,0,0,0,0,0,27.16,27.16,27.16
$GC,511,1.37,51.4,3281,2519,2629,2722,10.8,9.8,79,520,0.00,0.00,1.30,0.194,8198,0.000,0.000,3282,2518,2662,2615,2710,0,0,0,0,0,0,27.20,26.26,26.11
$GC,587,1.37,54.4,3281,2519,2619,2714,3.3,9.7,92,595,0.00,0.00,1.73,0.187,8198,0.000,0.000,3281,2519,2648,2601,2696,0,0,0,0,0,0,27.23,26.29,26.13
$STATE,603,end climb,SURFACE_DEPTH_REACHED
$STATE,603,begin surface coast
$FINISH,0.0,0.998733
$STATE,636,end surface coast,CONTROL_FINISHED_OK
$STATE,636,begin surface
$SM_CCo,653,17.62,0.134,0,0,2461,100.08
$SM_GC,0.03,8.38,0.17,17.62,0.070,0.081,0.134,206,2639,2461,-8.18,-1.02,100.08,0,0,0,0,0,0,26.46,26.84,26.30
$IRIDIUM_FIX,4722.92,-12216.25,260516,213535
$TT8_MAMPS,0.028462,0.14231
$HUMID,34.20
$INTERNAL_PRESSURE,9.63839
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,24.75,32.963
$10V_AH,10.29,36.047
$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,16.400,0.275,41.300,17.625,0.000,33.116,49.052,101.546,0.000,0.000,9.543,277.716,0.000,91.330,549.484,41.290,31.515,240.910,0.000,367.348,0.000,0.550,0.000
$DEVICE_MAMPS,69.615,90.270,194.310,133.875,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,0.000,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,70.070,331.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,344216
$DATA_FILE_SIZE,3589,100
$CAP_FILE_SIZE,22377,0
$CFSIZE,260034560,255000576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260516,220846,4739.296,-12219.034,5,1.0,5,16.2,0.0,106.0,9,18.3