version: 66.11
glider: 200
mission: 1
dive: 10
start: 7 18 113 2 32 48
data:
$ID,200
$MISSION,1
$DIVE,10
$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,-357.08786
$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,32
$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
$GPS1,180713,022645,4744.028,-12223.556,9,1.5,9,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-70.1
$GPS2,180713,023150,4743.471,-12223.870,10,1.5,10,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,-0.217
$KALMAN_X,-1296.2,9.3,-43.4,2256.7,-344.3
$KALMAN_Y,-1573.3,-122.7,93.4,2194.6,-60.2
$MHEAD_RNG_PITCHd_Wd,189.3,1838,-14.0,-8.000
$D_GRID,167
$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,-146.6,0.0,0.0,0,73,0.00,0.00,-56.40,0.000,2,0.000,0.000,182,2111,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.89,-146.6,3.9,-9.1,10,100,10.27,2.22,-5.12,0.000,4,0.231,0.064,2857,3538,3262,0,0,0,0,0,0,26.41,26.62,26.91
$GC,231,-0.89,-146.6,31.9,-13.2,40,238,0.00,2.10,0.00,0.000,6,0.000,0.038,2856,2119,3262,0,0,0,0,0,0,28.83,26.74,28.83
$GC,299,-0.89,-146.6,40.5,-12.3,53,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2119,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,426,-0.89,-146.6,57.2,-13.6,78,432,0.00,2.17,0.00,0.000,4,0.000,0.052,2847,3536,3263,0,0,0,0,0,0,28.83,26.79,28.83
$GC,454,-0.89,-146.6,61.0,-13.8,83,460,0.00,2.08,0.00,0.000,6,0.000,0.039,2847,2129,3263,0,0,0,0,0,0,28.83,26.84,28.83
$GC,581,-0.89,-146.6,77.7,-11.7,108,588,0.00,2.12,0.00,0.000,4,0.000,0.048,2847,721,3263,0,0,0,0,0,0,28.83,26.84,28.83
$GC,649,-0.89,-146.6,86.3,-11.8,121,657,0.12,2.12,0.00,0.000,6,0.166,0.041,2871,2132,3263,0,0,0,0,0,0,26.76,26.87,28.83
$GC,782,-0.89,-146.6,100.3,-10.9,146,789,0.00,2.12,0.00,0.000,4,0.000,0.053,2863,3537,3263,0,0,0,0,0,0,28.83,26.88,28.83
$GC,854,-0.89,-146.6,109.0,-11.0,160,861,0.00,2.08,0.00,0.000,6,0.000,0.038,2863,2120,3263,0,0,0,0,0,0,28.83,26.94,28.83
$GC,982,-0.89,-146.6,123.5,-11.6,185,989,0.00,2.15,0.00,0.000,4,0.000,0.053,2853,3540,3263,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1025,-0.89,-146.6,128.6,-11.7,193,1032,0.00,2.08,0.00,0.000,6,0.000,0.037,2853,2121,3263,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1153,-0.89,-146.6,143.6,-11.6,218,1160,0.00,2.08,0.00,0.000,4,0.000,0.047,2853,733,3263,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1181,-0.89,-146.6,147.2,-13.2,223,1187,0.00,2.08,0.00,0.000,6,0.000,0.042,2849,2127,3263,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1309,-0.89,-146.6,162.6,-11.9,248,1316,0.00,2.12,0.00,0.000,4,0.000,0.054,2840,3537,3263,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1351,-0.25,0.0,167.2,-12.2,255,1463,0.70,0.00,104.82,0.516,6,0.126,0.000,3071,2110,2656,0,0,0,0,0,0,26.88,28.83,25.54
$STATE,1464,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1465,0.89,146.6,171.9,0.0,275,1582,1.05,2.30,105.22,0.499,4,0.082,0.049,3443,713,2055,0,0,0,0,0,0,25.96,25.56,25.14
$GC,1588,0.90,152.4,166.1,7.8,297,1596,0.00,2.22,1.77,0.174,6,0.000,0.044,3444,2104,2042,0,0,0,0,0,0,28.83,25.70,25.60
$GC,1717,0.90,152.4,154.5,8.5,322,1723,0.00,2.22,0.00,0.000,4,0.000,0.056,3444,3520,2050,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1755,0.90,152.4,151.0,9.3,329,1761,0.00,2.15,0.00,0.000,6,0.000,0.040,3446,2103,2050,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1883,0.90,152.4,139.7,8.3,354,1889,0.00,2.17,0.00,0.000,4,0.000,0.051,3447,696,2050,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1941,0.90,152.4,134.3,9.3,365,1947,0.00,2.17,0.00,0.000,6,0.000,0.044,3447,2119,2050,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2069,0.90,152.4,121.1,10.6,390,2075,0.00,2.17,0.00,0.000,4,0.000,0.056,3447,3527,2050,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2161,0.90,152.4,111.0,11.1,408,2168,0.00,2.12,0.00,0.000,6,0.000,0.040,3452,2102,2050,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2289,0.90,152.4,98.0,10.3,433,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2102,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2416,0.90,152.4,85.6,9.5,458,2423,0.00,2.20,0.00,0.000,4,0.000,0.056,3452,3520,2050,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2474,0.90,152.4,79.6,10.4,469,2481,0.00,2.10,0.00,0.000,6,0.000,0.040,3452,2102,2050,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2602,0.90,152.4,68.2,8.4,494,2609,0.00,2.12,0.00,0.000,4,0.000,0.051,3452,704,2050,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2700,0.90,152.4,59.4,8.5,513,2707,0.00,2.15,0.00,0.000,6,0.000,0.043,3452,2122,2049,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2828,0.90,152.4,48.1,9.2,538,2835,0.00,2.15,0.00,0.000,4,0.000,0.050,3453,704,2049,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2986,0.93,173.5,35.2,7.2,569,3015,0.00,2.10,19.77,0.470,6,0.000,0.042,3453,2111,1945,0,0,0,0,0,0,28.83,26.91,26.29
$GC,3077,0.93,179.7,28.3,7.8,586,3084,0.00,2.15,1.23,0.205,4,0.000,0.054,3453,3515,1929,0,0,0,0,0,0,28.83,26.72,26.61
$GC,3141,0.93,179.7,23.0,8.8,598,3147,0.00,2.10,0.00,0.000,6,0.000,0.040,3458,2098,1938,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3208,0.93,179.7,17.2,8.4,611,3215,0.00,2.12,0.00,0.000,4,0.000,0.052,3460,703,1938,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3256,0.93,179.7,13.1,8.4,620,3263,0.00,2.12,0.00,0.000,6,0.000,0.044,3460,2106,1938,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3324,0.97,209.4,7.9,6.9,633,3343,0.00,2.17,12.00,0.160,4,0.000,0.054,3460,3527,1806,0,0,0,0,0,0,28.83,26.77,26.64
$GC,3349,0.98,219.8,6.0,7.6,637,3361,0.00,2.15,3.97,0.172,6,0.000,0.041,3461,2095,1764,0,0,0,0,0,0,28.83,26.81,26.63
$STATE,3411,end climb,SURFACE_DEPTH_REACHED
$STATE,3411,begin surface coast
$FINISH,0.0,1.020711
$STATE,3445,end surface coast,CONTROL_FINISHED_OK
$STATE,3445,begin surface
$SM_CCo,3458,28.77,0.146,0,0,1437,300.00
$SM_GC,2.02,8.50,0.00,28.77,0.040,0.000,0.146,182,2095,1437,-9.23,-0.99,300.00,0,0,0,0,0,0,26.82,28.83,26.59
$IRIDIUM_FIX,4726.11,-12225.08,180713,010143
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.08
$INTERNAL_PRESSURE,9.05436
$TCM_TEMP,18.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.3,7.0
$24V_AH,25.1,1.472
$10V_AH,10.6,0.395
$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,20.650,72.875,248.800,28.775,0.000,24.052,32.593,166.680,1.000,0.000,10.803,1430.663,729.382,413.404,1194.833,40.894,33.217,967.303,0.000,944.472,0.000,5.457,0.000
$DEVICE_MAMPS,231.030,64.260,515.610,146.115,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323540
$DATA_FILE_SIZE,20091,655
$CAP_FILE_SIZE,73817,0
$CFSIZE,1024393216,1021771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,033204,4743.198,-12224.103,36,0.9,36,16.3