version: 66.11
glider: 201
mission: 1
dive: 11
start: 8 8 113 2 59 48
data:
$ID,201
$MISSION,1
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,1
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51667
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038379999
$HD_B,0.01025
$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,280
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-480.09222
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2983
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3101
$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
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.747383
$PRESSURE_SLOPE,0.000115772
$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,110
$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
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408599
$GPS1,080813,025404,4743.452,-12224.482,29,1.0,29,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.5
$GPS2,080813,025851,4743.438,-12224.500,4,1.0,4,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,0.163
$KALMAN_X,-830.8,20.1,-124.3,1336.9,-164.0
$KALMAN_Y,-3757.7,-331.0,-567.2,5925.6,-319.8
$MHEAD_RNG_PITCHd_Wd,19.3,1883,-18.7,-8.000,-21.79,1862
$D_GRID,174
$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,-1.08,-97.8,190,2012,1965,1962,0.0,0.0,0,46,0.00,0.00,-29.48,0.000,16386,0.000,0.000,190,2012,2719,2739,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.08,-97.8,190,2012,2739,2700,2.0,-4.4,5,89,9.05,0.00,-26.35,0.000,18950,0.222,0.000,2630,2012,3500,3535,3465,0,0,0,0,0,0,26.38,28.83,26.92
$GC,150,-1.08,-97.8,2630,2012,3535,3467,8.2,-9.7,24,156,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2012,3501,3535,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,217,-1.08,-97.8,2630,2012,3535,3467,16.5,-12.9,37,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2012,3501,3536,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,286,-1.08,-97.8,2630,2012,3535,3467,25.0,-13.3,50,292,0.00,2.10,0.00,0.000,260,0.000,0.048,2622,3394,3501,3536,3467,0,0,0,0,0,0,28.83,26.71,28.83
$GC,459,-1.08,-97.8,2622,3395,3536,3467,49.6,-15.5,84,465,0.00,2.05,0.00,0.000,1030,0.000,0.034,2622,1994,3501,3536,3467,0,0,0,0,0,0,28.83,26.82,28.83
$GC,588,-1.08,-97.8,2621,1994,3535,3467,67.3,-13.8,109,595,0.00,2.05,0.00,0.000,516,0.000,0.045,2622,610,3501,3536,3467,0,0,0,0,0,0,28.83,26.82,28.83
$GC,666,-1.08,-97.8,2621,610,3535,3467,78.2,-14.6,124,673,0.00,2.05,0.00,0.000,1030,0.000,0.032,2611,2009,3502,3536,3468,0,0,0,0,0,0,28.83,26.89,28.83
$GC,795,-1.08,-97.8,2611,2008,3536,3468,94.7,-12.6,149,802,0.00,2.10,0.00,0.000,260,0.000,0.049,2601,3401,3500,3534,3466,0,0,0,0,0,0,28.83,26.86,28.83
$GC,863,-1.08,-97.8,2601,3402,3536,3467,103.8,-13.2,162,870,0.12,2.05,0.00,0.000,3078,0.164,0.034,2634,2003,3501,3536,3467,0,0,0,0,0,0,26.76,26.94,28.83
$GC,995,-1.08,-97.8,2634,2002,3535,3467,119.9,-11.3,187,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2002,3501,3535,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1128,-1.08,-97.8,2633,2002,3535,3467,135.9,-12.4,212,1135,0.00,2.12,0.00,0.000,260,0.000,0.049,2625,3403,3501,3536,3467,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1272,-1.08,-97.8,1600,3401,3528,3465,153.9,-13.3,240,1279,0.00,2.05,0.00,0.000,1030,0.000,0.034,2626,2002,3501,3535,3467,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1401,-1.08,-97.8,2625,2001,3535,3467,170.1,-12.3,265,1407,0.00,2.08,0.00,0.000,516,0.000,0.045,2626,595,3501,3535,3467,0,0,0,0,0,0,28.83,26.97,28.83
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1438,-0.26,0.0,2615,2011,3536,3467,174.1,-12.4,271,1539,0.82,0.00,92.18,0.471,10244,0.124,0.000,2895,2012,3095,3145,3045,0,0,0,0,0,0,26.85,28.83,25.70
$STATE,1540,end apogee,CONTROL_FINISHED_OK
$STATE,1540,begin climb
$GC,1541,1.08,97.8,2895,2012,3143,3044,178.4,0.0,289,1619,1.17,0.00,70.82,0.492,11270,0.080,0.000,3325,2012,2693,2730,2656,0,0,0,0,0,0,26.12,28.83,25.29
$GC,1742,1.08,97.8,3325,2012,2722,2648,165.2,9.2,327,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2012,2685,2722,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1869,1.08,97.8,3325,2012,2722,2648,153.3,11.0,352,1876,0.00,2.17,0.00,0.000,516,0.000,0.046,3329,596,2685,2722,2649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1918,1.08,97.8,3329,596,2721,2648,147.8,12.1,361,1924,0.00,2.08,0.00,0.000,1030,0.000,0.032,3329,1996,2685,2722,2649,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2047,1.08,97.8,3329,1996,2722,2649,133.0,10.5,386,2054,0.00,2.15,0.00,0.000,260,0.000,0.049,3329,3394,2685,2722,2649,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2157,1.08,97.8,3329,3394,2722,2648,119.9,12.7,407,2164,0.00,2.08,0.00,0.000,1030,0.000,0.034,3337,1993,2684,2721,2648,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2286,1.08,97.8,3337,1993,2722,2648,105.8,10.2,432,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1992,2685,2722,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2413,1.08,97.8,3337,1992,2723,2648,93.0,9.0,457,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1993,2685,2722,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,1.10,111.4,3337,1992,2722,2648,82.5,7.3,482,2560,0.00,2.17,10.40,0.445,8452,0.000,0.049,3337,3400,2637,2676,2598,0,0,0,0,0,0,28.83,26.70,26.25
$GC,2632,1.10,111.4,3337,3400,2673,2592,74.2,10.9,499,2639,0.00,2.08,0.00,0.000,1030,0.000,0.034,3346,1994,2632,2673,2591,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2761,1.10,111.4,2368,1992,2627,2585,61.6,9.8,524,2768,0.00,2.15,0.00,0.000,260,0.000,0.048,3346,3395,2633,2674,2592,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2784,1.10,111.4,3346,3395,2673,2592,58.9,10.8,528,2791,0.00,2.05,0.00,0.000,1030,0.000,0.034,3353,2007,2632,2673,2592,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2915,1.11,119.3,3353,2007,2673,2592,48.1,7.6,553,2922,0.00,0.00,1.70,0.182,8198,0.000,0.000,3354,2007,2616,2660,2573,0,0,0,0,0,0,28.83,28.83,26.65
$GC,3043,1.11,119.3,3353,2007,2675,2587,37.0,8.4,578,3050,0.00,0.00,1.55,0.188,8198,0.000,0.000,3353,2007,2616,2660,2572,0,0,0,0,0,0,28.83,28.83,26.71
$GC,3112,1.13,137.7,3353,2007,2675,2587,31.8,7.0,591,3135,0.00,0.00,19.75,0.438,8198,0.000,0.000,3354,2007,2533,2574,2492,0,0,0,0,0,0,28.83,28.83,26.26
$GC,3196,1.13,137.7,3353,2007,2566,2481,24.6,8.9,607,3203,0.00,2.10,0.00,0.000,516,0.000,0.046,3363,597,2524,2566,2482,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3219,1.13,137.7,3363,597,2565,2481,22.4,9.6,611,3226,0.00,2.08,0.00,0.000,1030,0.000,0.033,3364,2014,2523,2565,2481,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3288,1.13,137.7,3363,2014,2566,2481,16.0,9.6,624,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2014,2524,2566,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,1.13,137.7,3363,2014,2565,2481,9.7,9.2,637,3362,0.00,2.10,0.00,0.000,260,0.000,0.049,3364,3395,2523,2565,2481,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,3426,end climb,SURFACE_DEPTH_REACHED
$STATE,3427,begin surface coast
$FINISH,0.3,1.020918
$STATE,3453,end surface coast,CONTROL_FINISHED_OK
$STATE,3453,begin surface
$SM_CCo,3470,49.40,0.136,0,0,1955,280.13
$SM_GC,1.64,8.20,2.12,49.40,0.049,0.034,0.136,188,1991,1955,-8.65,1.41,280.13,0,0,0,0,0,0,26.84,26.86,26.55
$IRIDIUM_FIX,4726.11,-12152.18,080813,010120
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.10
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,70.0
$24V_AH,25.3,0.633
$10V_AH,10.6,0.480
$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,19.375,46.100,196.400,49.400,0.000,24.275,32.135,162.706,1.250,0.000,5.859,1460.202,755.370,373.317,1181.509,52.928,33.222,911.902,0.000,942.932,0.000,11.696,0.000
$DEVICE_MAMPS,221.850,48.960,491.895,136.170,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323040
$DATA_FILE_SIZE,20086,656
$CAP_FILE_SIZE,71416,0
$CFSIZE,260034560,256380928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,035905,4743.819,-12224.095,3,1.2,3,16.3