version: 66.11
glider: 201
mission: 1
dive: 12
start: 8 8 113 4 4 33
data:
$ID,201
$MISSION,1
$DIVE,12
$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,-481.34683
$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,54
$R_STBD_OVSHOOT,44
$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
$GPS1,080813,035905,4743.819,-12224.095,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.5
$GPS2,080813,040336,4743.825,-12224.143,5,1.2,5,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,0.123
$KALMAN_X,-851.0,-36.9,-103.2,1839.2,-95.5
$KALMAN_Y,-3984.1,-342.7,-308.6,6621.7,-22.4
$MHEAD_RNG_PITCHd_Wd,35.6,1060,-18.7,-8.000,-21.79,1862
$D_GRID,173
$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,-97.8,187,1984,1966,1964,0.0,0.0,0,52,0.00,0.00,-34.50,0.000,16386,0.000,0.000,188,1984,2860,2875,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.08,-97.8,188,1985,2876,2846,2.3,-5.4,6,90,9.15,2.15,-20.20,0.000,18948,0.224,0.060,2633,604,3501,3536,3467,0,0,0,0,0,0,26.33,26.55,26.86
$GC,116,-1.08,-97.8,2633,604,3535,3468,6.0,-8.6,17,123,0.00,2.08,0.00,0.000,1030,0.000,0.032,2625,2013,3501,3536,3467,0,0,0,0,0,0,28.83,26.61,28.83
$GC,185,-1.08,-97.8,2624,2014,3536,3467,13.9,-11.9,30,191,0.00,2.12,0.00,0.000,260,0.000,0.049,2614,3408,3502,3536,3468,0,0,0,0,0,0,28.83,26.60,28.83
$GC,279,-1.08,-97.8,2614,3408,3535,3468,27.2,-14.6,48,286,0.00,2.08,0.00,0.000,1030,0.000,0.033,2614,1995,3501,3536,3467,0,0,0,0,0,0,28.83,26.72,28.83
$GC,347,-1.08,-97.8,2614,1994,3536,3468,37.3,-14.6,61,354,0.00,2.15,0.00,0.000,260,0.000,0.049,2603,3396,3502,3536,3468,0,0,0,0,0,0,28.83,26.69,28.83
$GC,440,-1.08,-97.8,2603,3396,3536,3468,50.6,-15.5,79,448,0.12,2.05,0.00,0.000,3078,0.161,0.033,2636,2008,3502,3536,3468,0,0,0,0,0,0,26.62,26.78,28.83
$GC,569,-1.08,-97.8,2636,2006,3537,3468,70.0,-15.3,104,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2006,3502,3536,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,697,-1.08,-97.8,2636,2005,3537,3467,88.0,-14.3,129,704,0.00,2.12,0.00,0.000,260,0.000,0.051,2628,3396,3502,3536,3468,0,0,0,0,0,0,28.83,26.82,28.83
$GC,873,-1.08,-97.8,2628,3396,3536,3468,111.4,-11.3,163,879,0.00,2.03,0.00,0.000,1030,0.000,0.033,2628,2011,3502,3536,3468,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1002,-1.08,-97.8,1648,2008,3529,3466,126.6,-11.5,188,1009,0.00,2.12,0.00,0.000,260,0.000,0.050,2617,3404,3502,3536,3468,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1055,-1.08,-97.8,2617,3404,3536,3468,132.6,-10.9,198,1062,0.00,2.05,0.00,0.000,1030,0.000,0.034,2617,2007,3502,3536,3468,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1185,-1.08,-97.8,2617,2006,3536,3468,146.8,-10.5,223,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2006,3502,3536,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1312,-1.08,-97.8,2617,2006,3536,3468,162.0,-12.8,248,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2006,3502,3536,3468,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1409,begin apogee
$GC,1412,-0.26,0.0,2617,2008,3536,3469,173.2,-11.7,267,1490,0.82,0.00,72.60,0.507,10244,0.125,0.000,2897,2003,3094,3144,3045,0,0,0,0,0,0,26.84,28.83,25.75
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1492,1.08,97.8,2896,2004,3140,3042,175.5,0.0,281,1571,1.17,0.00,70.15,0.498,11270,0.080,0.000,3326,2003,2692,2729,2655,0,0,0,0,0,0,26.20,28.83,25.32
$GC,1692,1.08,97.8,3326,2003,2722,2649,159.3,10.0,319,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2003,2686,2723,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1819,1.08,97.8,3326,2003,2723,2650,146.7,10.9,344,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2003,2686,2723,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,1.08,97.8,3326,2003,2722,2649,134.1,9.4,369,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2003,2686,2723,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2074,1.08,97.8,3326,2003,2722,2649,121.3,10.5,394,2081,0.00,2.10,0.00,0.000,516,0.000,0.046,3336,601,2685,2722,2649,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2102,1.08,97.8,3336,601,2722,2650,118.3,10.3,399,2109,0.00,2.08,0.00,0.000,1030,0.000,0.032,3336,2009,2686,2723,2650,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2231,1.08,97.8,3336,2009,2722,2649,105.3,9.7,424,2237,0.00,2.12,0.00,0.000,260,0.000,0.049,3336,3399,2686,2723,2650,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2465,1.08,97.8,2368,3398,2679,2642,81.3,9.2,470,2471,0.00,2.03,0.00,0.000,1030,0.000,0.034,3346,2025,2685,2722,2649,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2593,1.08,97.8,3346,2025,2722,2649,70.5,8.6,495,2600,0.00,2.10,0.00,0.000,260,0.000,0.049,3346,3396,2685,2722,2649,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2621,1.09,103.8,3346,3396,2722,2649,68.3,7.7,500,2629,0.00,2.03,1.15,0.197,9222,0.000,0.034,3353,2016,2675,2714,2637,0,0,0,0,0,0,28.83,26.88,26.71
$GC,2753,1.13,141.5,3353,2016,2726,2644,59.9,5.9,525,2787,0.00,0.00,31.90,0.427,8198,0.000,0.000,3353,2016,2520,2562,2479,0,0,0,0,0,0,28.83,28.83,26.16
$GC,2910,1.13,141.5,3353,2016,2549,2466,48.4,9.1,555,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2016,2506,2548,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3038,1.13,141.5,3353,2016,2549,2466,35.0,10.7,580,3044,0.00,2.10,0.00,0.000,516,0.000,0.046,3363,604,2507,2549,2466,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3097,1.13,141.5,3363,604,2549,2466,28.3,12.0,591,3104,0.00,2.10,0.00,0.000,1030,0.000,0.033,3364,2037,2507,2549,2466,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3165,1.13,141.5,2432,2034,2502,2459,21.2,9.8,604,3171,0.00,2.08,0.00,0.000,260,0.000,0.050,3364,3408,2507,2549,2466,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3213,1.13,141.5,3364,3408,2549,2466,16.5,9.8,613,3220,0.00,2.03,0.00,0.000,1030,0.000,0.034,3374,2026,2507,2549,2466,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3281,1.13,141.5,3373,2026,2549,2466,9.3,11.1,626,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2026,2507,2549,2466,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3337,end climb,SURFACE_DEPTH_REACHED
$STATE,3337,begin surface coast
$FINISH,0.3,1.007475
$STATE,3364,end surface coast,CONTROL_FINISHED_OK
$STATE,3364,begin surface
$SM_CCo,3378,47.75,0.135,0,0,1955,280.13
$SM_GC,2.04,8.23,0.00,47.75,0.047,0.000,0.135,188,2022,1955,-8.66,0.65,280.13,0,0,0,0,0,0,26.86,28.83,26.57
$IRIDIUM_FIX,4726.11,-12220.67,080813,020209
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,67.3
$24V_AH,25.3,0.670
$10V_AH,10.6,0.513
$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,19.500,41.700,175.800,47.750,0.000,22.726,35.734,145.885,1.250,0.000,5.888,1432.046,742.465,343.960,1145.176,48.462,33.206,862.109,0.000,923.316,0.000,11.692,0.000
$DEVICE_MAMPS,224.145,59.670,507.195,135.405,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323096
$DATA_FILE_SIZE,20087,642
$CAP_FILE_SIZE,68228,0
$CFSIZE,260034560,256348160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,050215,4744.220,-12223.656,3,1.1,3,16.3