version: 66.11
glider: 200
mission: 1
dive: 4
start: 7 17 113 19 52 11
data:
$ID,200
$MISSION,1
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,3
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51781
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$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,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-349.54688
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,197
$PITCH_MAX,3889
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.700001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,282
$ROLL_MAX,3852
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,2108
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2663
$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
$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,-65.878853
$PRESSURE_SLOPE,0.0001160319
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004400372
$SEABIRD_T_H,0.00063770427
$SEABIRD_T_I,2.5625237e-05
$SEABIRD_T_J,3.1304903e-06
$SEABIRD_C_G,-9.9220228
$SEABIRD_C_H,1.1569983
$SEABIRD_C_I,-0.00090645044
$SEABIRD_C_J,0.00015506662
$GPS1,170713,194603,4743.576,-12224.989,16,1.4,32,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-68.0
$GPS2,170713,195113,4743.611,-12224.938,5,1.0,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,0.156
$KALMAN_X,-64.8,-39.9,19.3,-314.9,-12.2
$KALMAN_Y,-321.3,-309.5,-31.7,1517.2,-163.4
$MHEAD_RNG_PITCHd_Wd,358.5,562,-22.9,-8.000
$D_GRID,176
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.24,-61.2,0.0,0.0,0,67,0.00,0.00,-50.67,0.000,2,0.000,0.000,188,2141,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.26,-75.1,3.1,-6.8,9,88,9.65,2.22,-3.90,0.000,4,0.224,0.060,2749,721,2971,0,0,0,0,0,0,26.44,26.66,26.97
$GC,314,-1.26,-75.1,41.0,-11.3,57,321,0.00,2.12,0.00,0.000,6,0.000,0.038,2740,2137,2972,0,0,0,0,0,0,28.83,26.82,28.83
$GC,442,-1.26,-75.1,56.4,-12.3,82,449,0.00,2.12,0.00,0.000,4,0.000,0.047,2740,725,2971,0,0,0,0,0,0,28.83,26.85,28.83
$GC,674,-1.26,-75.1,89.3,-14.3,128,681,0.00,2.08,0.00,0.000,6,0.000,0.039,2730,2132,2972,0,0,0,0,0,0,28.83,26.94,28.83
$GC,804,-1.26,-75.1,107.0,-14.7,153,810,0.00,2.12,0.00,0.000,4,0.000,0.046,2730,715,2972,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1006,-1.26,-75.1,137.2,-15.8,193,1014,0.12,2.10,0.00,0.000,6,0.182,0.040,2749,2136,2972,0,0,0,0,0,0,26.83,27.01,28.83
$GC,1136,-1.26,-75.1,154.2,-12.9,218,1143,0.00,2.12,0.00,0.000,4,0.000,0.047,2750,717,2972,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1209,-1.26,-75.1,164.5,-13.4,232,1216,0.00,2.10,0.00,0.000,6,0.000,0.041,2741,2138,2972,0,0,0,0,0,0,28.83,27.03,28.83
$STATE,1301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1304,-0.25,0.0,176.1,-12.2,250,1366,1.02,0.00,55.55,0.553,6,0.147,0.000,3067,2138,2657,0,0,0,0,0,0,26.85,28.83,25.90
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1368,1.26,75.1,179.4,0.0,261,1430,1.38,0.00,54.17,0.530,6,0.083,0.000,3559,2139,2350,0,0,0,0,0,0,26.36,28.83,25.51
$GC,1551,1.26,75.1,165.4,10.7,296,1558,0.00,2.25,0.00,0.000,4,0.000,0.050,3562,694,2346,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1784,1.26,75.1,141.1,9.7,342,1791,0.00,2.15,0.00,0.000,6,0.000,0.041,3562,2113,2346,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1912,1.26,75.1,129.1,9.3,367,1919,0.00,2.17,0.00,0.000,4,0.000,0.051,3562,699,2345,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2145,1.26,75.1,106.3,10.8,413,2152,0.00,2.12,0.00,0.000,6,0.000,0.042,3562,2118,2345,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2273,1.26,76.9,95.8,7.8,438,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2118,2345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2400,1.26,77.7,85.5,7.9,463,2407,0.00,2.12,0.00,0.000,4,0.000,0.054,3563,3523,2345,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2548,1.26,77.7,72.6,9.2,492,2555,0.00,2.10,0.00,0.000,6,0.000,0.039,3571,2100,2345,0,0,0,0,0,0,28.83,26.98,28.83
$GC,2676,1.26,77.7,61.8,8.4,517,2683,0.00,2.15,0.00,0.000,4,0.000,0.055,3571,3515,2345,0,0,0,0,0,0,28.83,26.95,28.83
$GC,2789,1.29,98.3,53.3,6.2,539,2813,0.00,2.08,15.30,0.500,6,0.000,0.041,3577,2109,2256,0,0,0,0,0,0,28.83,27.01,26.34
$GC,2934,1.29,98.3,41.8,8.9,567,2941,0.00,2.15,0.00,0.000,4,0.000,0.051,3581,700,2254,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3167,1.30,109.5,25.6,7.0,613,3180,0.00,2.15,6.90,0.482,6,0.000,0.042,3581,2119,2213,0,0,0,0,0,0,28.83,26.95,26.36
$GC,3242,1.30,109.5,19.9,8.7,627,3248,0.00,2.17,0.00,0.000,4,0.000,0.052,3583,704,2209,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3334,1.30,109.5,11.6,9.2,645,3341,0.00,2.10,0.00,0.000,6,0.000,0.042,3583,2113,2209,0,0,0,0,0,0,28.83,26.93,28.83
$GC,3402,1.32,129.5,6.9,6.2,658,3414,0.00,0.00,6.30,0.167,6,0.000,0.000,3583,2113,2132,0,0,0,0,0,0,28.83,28.83,26.74
$GC,3476,1.42,210.4,3.9,0.9,672,3511,0.10,2.15,27.40,0.149,4,0.108,0.047,3641,697,1800,0,0,0,0,0,0,27.00,26.82,26.68
$STATE,3537,end climb,SURFACE_DEPTH_REACHED
$STATE,3537,begin surface coast
$FINISH,-0.3,1.020441
$STATE,3567,end surface coast,CONTROL_FINISHED_OK
$STATE,3567,begin surface
$SM_CCo,3584,30.60,0.148,0,0,1439,300.00
$SM_GC,1.76,9.00,2.22,30.60,0.044,0.042,0.148,183,2133,1439,-9.23,-0.85,300.00,0,0,0,0,0,0,26.86,26.87,26.60
$IRIDIUM_FIX,4726.11,-12222.38,170713,181855
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.11
$INTERNAL_PRESSURE,9.09343
$TCM_TEMP,18.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.3,8.4
$24V_AH,25.5,1.062
$10V_AH,10.6,0.199
$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,21.275,47.100,165.625,30.600,0.000,25.968,35.495,169.065,1.250,0.000,5.968,1528.468,825.173,302.346,1239.609,34.586,32.215,835.002,0.000,991.749,0.000,5.463,0.000
$DEVICE_MAMPS,224.145,59.670,553.095,147.645,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323444
$DATA_FILE_SIZE,20097,689
$CAP_FILE_SIZE,66201,0
$CFSIZE,1024393216,1022181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,205301,4743.667,-12224.947,4,1.0,4,16.3