version: 66.11
glider: 200
mission: 1
dive: 9
start: 7 18 113 1 26 15
data:
$ID,200
$MISSION,1
$DIVE,9
$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,-355.83435
$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,34
$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
$GPS1,180713,012045,4744.230,-12223.617,9,1.3,9,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-70.4
$GPS2,180713,012517,4744.237,-12223.619,5,1.3,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.005,-0.240
$KALMAN_X,-1100.0,57.3,5.9,2278.8,-371.6
$KALMAN_Y,-763.4,-329.0,-85.3,3179.2,225.5
$MHEAD_RNG_PITCHd_Wd,165.0,3204,-14.0,-8.000
$D_GRID,164
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.89,-146.6,0.0,0.0,0,68,0.00,0.00,-50.90,0.000,2,0.000,0.000,179,2121,2843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.89,-146.6,3.3,-7.5,9,95,10.25,2.25,-8.65,0.000,4,0.229,0.067,2855,3535,3262,0,0,0,0,0,0,26.34,26.55,26.88
$GC,236,-0.89,-146.6,31.6,-13.2,41,243,0.00,2.10,0.00,0.000,6,0.000,0.038,2855,2118,3263,0,0,0,0,0,0,28.83,26.70,28.83
$GC,304,-0.89,-146.6,40.3,-12.9,54,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2118,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,431,-0.89,-146.6,57.7,-14.4,79,438,0.00,2.17,0.00,0.000,4,0.000,0.052,2846,3544,3263,0,0,0,0,0,0,28.83,26.74,28.83
$GC,484,-0.89,-146.6,65.1,-13.6,89,491,0.00,2.10,0.00,0.000,6,0.000,0.039,2845,2121,3262,0,0,0,0,0,0,28.83,26.80,28.83
$GC,612,-0.89,-146.6,82.2,-12.7,114,618,0.00,2.12,0.00,0.000,4,0.000,0.050,2845,717,3263,0,0,0,0,0,0,28.83,26.80,28.83
$GC,630,-0.89,-146.6,84.5,-12.8,117,637,0.12,2.12,0.00,0.000,6,0.168,0.041,2868,2138,3263,0,0,0,0,0,0,26.70,26.83,28.83
$GC,758,-0.89,-146.6,98.0,-10.6,142,765,0.00,2.12,0.00,0.000,4,0.000,0.054,2861,3540,3263,0,0,0,0,0,0,28.83,26.84,28.83
$GC,799,-0.89,-146.6,102.4,-11.2,149,806,0.00,2.08,0.00,0.000,6,0.000,0.038,2861,2126,3263,0,0,0,0,0,0,28.83,26.89,28.83
$GC,927,-0.89,-146.6,116.3,-10.6,174,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2127,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1054,-0.89,-146.6,129.9,-10.4,199,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2127,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.89,-146.6,143.8,-11.3,224,1188,0.00,2.12,0.00,0.000,4,0.000,0.051,2851,3536,3263,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1209,-0.89,-146.6,147.1,-11.6,229,1216,0.00,2.08,0.00,0.000,6,0.000,0.038,2851,2120,3263,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1337,-0.89,-146.6,161.8,-11.3,254,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2120,3263,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1357,begin apogee
$GC,1360,-0.25,0.0,164.5,-12.1,258,1482,0.68,0.00,110.40,1.048,6,0.124,0.000,3075,2119,2667,0,0,0,0,1,0,26.86,28.83,24.49
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1484,0.89,146.6,169.1,0.0,280,1607,1.08,2.28,111.72,0.532,4,0.080,0.051,3442,3522,2056,0,0,0,0,0,0,25.32,25.45,25.04
$GC,1623,0.89,146.6,162.4,8.8,305,1630,0.00,2.20,0.00,0.000,6,0.000,0.041,3446,2114,2053,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1751,0.89,146.6,150.8,8.7,330,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2114,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1878,0.89,146.6,139.5,8.8,355,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2114,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,0.89,146.6,127.9,8.9,380,2012,0.00,2.20,0.00,0.000,4,0.000,0.054,3446,698,2052,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2028,0.89,146.6,125.7,9.4,384,2035,0.00,2.15,0.00,0.000,6,0.000,0.044,3446,2110,2051,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2156,0.89,146.6,113.4,9.9,409,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2110,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,0.89,146.6,100.6,10.4,434,2290,0.00,2.17,0.00,0.000,4,0.000,0.056,3446,3516,2051,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2356,0.89,146.6,91.7,12.6,448,2363,0.00,2.10,0.00,0.000,6,0.000,0.041,3446,2105,2051,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2484,0.89,146.6,78.5,9.4,473,2491,0.00,2.20,0.00,0.000,4,0.000,0.057,3447,3527,2051,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2582,0.89,146.6,69.3,9.8,492,2589,0.00,2.12,0.00,0.000,6,0.000,0.041,3452,2097,2051,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2711,0.90,149.0,58.4,7.9,517,2717,0.00,2.12,0.00,0.000,4,0.000,0.052,3452,697,2051,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2754,0.90,150.5,55.0,7.9,525,2760,0.00,2.15,0.00,0.000,6,0.000,0.044,3452,2113,2051,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2881,0.90,150.5,43.7,9.4,550,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2113,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3008,0.90,150.5,32.7,8.2,575,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2113,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,0.90,150.5,26.4,8.9,588,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2113,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3142,0.90,150.5,20.1,9.4,601,3149,0.00,2.15,0.00,0.000,4,0.000,0.056,3452,3514,2051,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3170,0.90,150.5,17.6,9.5,606,3176,0.00,2.10,0.00,0.000,6,0.000,0.041,3457,2103,2051,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3238,0.90,150.5,12.3,8.2,619,3244,0.00,2.12,0.00,0.000,4,0.000,0.053,3457,701,2051,0,0,0,0,0,0,28.83,26.93,28.83
$GC,3471,1.02,254.2,3.9,4.2,665,3516,0.00,2.10,37.80,0.147,6,0.000,0.042,3458,2110,1621,0,0,0,0,0,0,28.83,26.98,26.73
$STATE,3521,end climb,SURFACE_DEPTH_REACHED
$STATE,3521,begin surface coast
$FINISH,-0.4,0.999208
$STATE,3558,end surface coast,CONTROL_FINISHED_OK
$STATE,3558,begin surface
$SM_CCo,3572,15.90,0.148,0,0,1437,300.00
$SM_GC,2.22,8.43,0.00,15.90,0.037,0.000,0.148,182,2111,1437,-9.22,-0.57,300.00,0,0,0,0,0,0,26.89,28.83,26.70
$IRIDIUM_FIX,4726.11,-12225.08,180713,000028
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.95
$INTERNAL_PRESSURE,9.07389
$TCM_TEMP,18.60
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,100.6,7.0
$24V_AH,24.5,1.406
$10V_AH,10.6,0.363
$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,20.550,51.450,259.925,15.900,0.000,23.469,32.682,146.303,3.750,0.000,6.809,1471.245,765.633,401.283,1205.478,35.559,33.213,970.364,0.000,981.701,0.000,5.457,0.000
$DEVICE_MAMPS,228.735,66.555,1048.050,147.645,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323456
$DATA_FILE_SIZE,20080,681
$CAP_FILE_SIZE,70635,0
$CFSIZE,1024393216,1021853696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,180713,022645,4744.028,-12223.556,9,1.5,9,16.3