version: 66.12
glider: 201
mission: 9
dive: 4
start: 5 26 116 22 14 28
data:
$ID,201
$MISSION,9
$DIVE,4
$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
$GPS1,260516,220846,4739.2959,-12219.0342,5,1.0,5,16.2,0.0,106.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-0.7
$GPS2,260516,221309,4739.3071,-12219.0283,8,1.2,8,16.2,0.0,331.9,8,27.7
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,HEADING
$TGT_LATLONG,4733.113,-12205.922
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150679,-0.104211
$KALMAN_X,-110.832642,-67.701172,-66.430534,238.314102,-46.259018
$KALMAN_Y,79.483200,48.359459,47.329994,-161.742523,31.551331
$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,-48.9,206,2640,2423,2516,0.0,0.0,0,33,0.00,0.00,-15.62,0.000,16386,0.000,0.000,206,2641,2771,2725,2818,0,0,0,0,0,0,27.15,28.83,27.15
$GC,35,-1.36,-48.9,206,2640,2725,2817,2.3,-10.0,2,65,5.75,0.00,-15.52,0.000,18438,0.054,0.000,2411,2640,3071,3023,3120,0,0,0,0,0,0,26.51,25.89,26.64
$GC,134,-1.36,-48.9,2411,2641,3024,3120,12.6,-9.9,18,142,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2640,3072,3024,3121,0,0,0,0,0,0,27.08,27.08,27.08
$GC,211,-1.36,-48.9,2412,2641,3024,3122,20.2,-10.0,31,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2640,3073,3024,3122,0,0,0,0,0,0,27.14,27.15,27.15
$GC,287,-1.36,-48.9,2412,2641,3024,3122,28.0,-10.2,44,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2640,3073,3024,3122,0,0,0,0,0,0,27.19,27.19,27.19
$STATE,306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,307,begin apogee
$GC,312,-0.26,0.0,2412,2515,3024,3123,30.3,-10.8,47,335,0.90,0.00,18.60,0.132,10246,0.057,0.000,2766,2515,2867,2818,2917,0,0,0,0,0,0,26.59,26.55,26.31
$STATE,336,end apogee,CONTROL_FINISHED_OK
$STATE,336,begin climb
$GC,338,1.36,48.9,2766,2515,2820,2922,27.7,0.0,50,361,1.33,0.00,18.27,0.128,10246,0.057,0.000,3285,2515,2667,2621,2713,0,0,0,0,0,0,26.61,26.53,26.29
$GC,430,1.37,53.6,3284,2515,2627,2722,18.4,9.6,65,438,0.00,0.00,2.22,0.169,8198,0.000,0.000,3285,2515,2650,2602,2698,0,0,0,0,0,0,27.17,26.34,26.18
$GC,507,1.37,57.2,3284,2515,2607,2703,10.8,9.7,78,515,0.00,0.00,1.73,0.175,8198,0.000,0.000,3285,2514,2636,2588,2685,0,0,0,0,0,0,27.20,26.34,26.18
$GC,584,1.37,57.2,3284,2515,2593,2690,3.2,10.2,91,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2515,2641,2593,2690,0,0,0,0,0,0,27.23,27.24,27.23
$STATE,597,end climb,SURFACE_DEPTH_REACHED
$STATE,598,begin surface coast
$FINISH,0.0,0.998409
$STATE,625,end surface coast,CONTROL_FINISHED_OK
$STATE,626,begin surface
$SM_CCo,642,16.88,0.131,0,0,2462,100.08
$SM_GC,0.15,8.32,0.17,16.88,0.067,0.080,0.131,205,2636,2462,-8.19,-1.13,100.08,0,0,0,0,0,0,26.46,26.85,26.30
$IRIDIUM_FIX,4722.92,-12202.02,260516,215257
$TT8_MAMPS,0.028462,0.145306
$HUMID,33.30
$INTERNAL_PRESSURE,9.71652
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,25.32,32.975
$10V_AH,10.30,36.069
$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,16.300,0.275,40.825,16.875,0.000,33.026,62.681,101.101,0.000,0.000,9.518,284.876,0.000,90.177,553.485,41.594,32.435,238.191,0.000,359.685,0.000,0.550,0.000
$DEVICE_MAMPS,66.555,89.505,175.185,130.815,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,0.000,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,68.626,325.253,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,344208
$DATA_FILE_SIZE,3605,98
$CAP_FILE_SIZE,22224,0
$CFSIZE,260034560,254984192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260516,222609,4739.299,-12219.030,6,1.1,6,16.2,0.0,42.7,8,21.3