version: 66.11
glider: 201
mission: 1
dive: 15
start: 8 8 113 7 14 33
data:
$ID,201
$MISSION,1
$DIVE,15
$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,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-485.20642
$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,50
$R_STBD_OVSHOOT,47
$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,0
$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
$GPS1,080813,070851,4743.967,-12224.029,2,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.8
$GPS2,080813,071337,4743.966,-12224.041,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.059,-0.191
$KALMAN_X,-980.3,-99.1,156.5,1898.6,-22.0
$KALMAN_Y,-4173.1,69.4,876.2,5475.9,139.2
$MHEAD_RNG_PITCHd_Wd,180.9,2528,-18.7,-8.000,-21.79,1862
$D_GRID,172
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.08,-97.8,195,1946,1881,1888,0.0,0.0,0,52,0.00,0.00,-34.17,0.000,16386,0.000,0.000,195,1947,2769,2788,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.08,-97.8,195,1947,2788,2751,2.1,-4.5,6,95,9.07,2.05,-24.50,0.000,19204,0.223,0.057,2630,593,3499,3535,3464,0,0,0,0,0,0,26.32,26.55,26.86
$GC,322,-1.08,-97.8,2629,593,3534,3464,38.4,-14.7,58,328,0.00,2.08,0.00,0.000,1030,0.000,0.033,2622,2000,3498,3533,3464,0,0,0,0,0,0,28.83,26.72,28.83
$GC,390,-1.08,-97.8,2622,2000,3534,3465,48.0,-13.1,71,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2000,3499,3534,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,517,-1.08,-97.8,2621,2000,3534,3466,64.9,-12.5,96,524,0.00,2.10,0.00,0.000,516,0.000,0.046,2622,596,3499,3534,3465,0,0,0,0,0,0,28.83,26.77,28.83
$GC,750,-1.08,-97.8,2622,596,3534,3465,95.1,-12.1,142,757,0.00,2.12,0.00,0.000,1030,0.000,0.034,2612,2032,3499,3534,3465,0,0,0,0,0,0,28.83,26.87,28.83
$GC,880,-1.08,-97.8,2612,2033,3534,3465,109.8,-11.1,167,887,0.00,2.08,0.00,0.000,260,0.000,0.049,2601,3407,3499,3534,3465,0,0,0,0,0,0,28.83,26.86,28.83
$GC,963,-1.08,-97.8,2601,3407,3534,3465,120.1,-12.5,183,970,0.12,2.03,0.00,0.000,3078,0.168,0.034,2634,2029,3499,3534,3465,0,0,0,0,0,0,26.77,26.93,28.83
$GC,1092,-1.08,-97.8,2633,2029,3534,3466,134.8,-11.2,208,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2028,3500,3534,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1221,-1.08,-97.8,2633,2028,3534,3466,149.7,-11.9,233,1228,0.00,2.12,0.00,0.000,516,0.000,0.046,2634,594,3500,3534,3466,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1269,-1.08,-97.8,2633,594,3534,3465,155.9,-12.8,242,1276,0.00,2.12,0.00,0.000,1030,0.000,0.034,2626,2036,3500,3535,3466,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1398,-1.08,-97.8,2626,2036,3534,3466,171.6,-12.0,267,1404,0.00,2.08,0.00,0.000,260,0.000,0.050,2615,3415,3499,3534,3465,0,0,0,0,0,0,28.83,26.94,28.83
$STATE,1409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1409,begin apogee
$GC,1415,-0.26,0.0,2615,1996,3534,3466,173.0,-11.3,269,1493,0.82,0.00,72.22,0.513,10244,0.122,0.000,2895,1994,3094,3144,3044,0,0,0,0,0,0,26.84,28.83,25.75
$STATE,1494,end apogee,CONTROL_FINISHED_OK
$STATE,1494,begin climb
$GC,1496,1.08,97.8,2894,1994,3141,3042,176.7,0.0,283,1575,1.23,2.12,69.80,0.505,10756,0.085,0.046,3328,606,2695,2729,2661,0,0,0,0,0,0,26.19,26.24,25.31
$GC,1802,1.08,97.8,3328,606,2720,2654,154.8,8.4,342,1809,0.00,2.10,0.00,0.000,1030,0.000,0.033,3329,2015,2686,2720,2653,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1932,1.08,97.8,3329,2016,2720,2653,143.3,9.1,367,1938,0.00,2.15,0.00,0.000,260,0.000,0.050,3329,3412,2686,2719,2653,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2164,1.08,97.8,2376,3411,2679,2647,120.5,9.5,413,2171,0.00,2.10,0.00,0.000,1030,0.000,0.034,3340,1997,2686,2720,2653,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2293,1.08,97.8,3339,1996,2720,2653,110.4,8.6,438,2300,0.00,2.17,0.00,0.000,260,0.000,0.049,3339,3408,2687,2721,2653,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2526,1.09,108.5,3339,3408,2720,2653,92.8,7.4,484,2534,0.00,2.05,3.17,0.387,9222,0.000,0.034,3349,2014,2658,2694,2622,0,0,0,0,0,0,28.83,26.86,26.27
$GC,2656,1.09,108.5,2400,2012,2678,2629,81.5,10.1,509,2663,0.00,2.17,1.88,0.184,8708,0.000,0.045,3358,599,2664,2705,2623,0,0,0,0,0,0,28.83,26.82,26.63
$GC,2720,1.09,108.5,3358,598,2718,2634,75.4,9.7,521,2728,0.00,2.03,1.80,0.187,9222,0.000,0.033,3359,1986,2659,2700,2618,0,0,0,0,0,0,28.83,26.87,26.64
$GC,2850,1.09,108.5,2368,1984,2675,2626,64.3,8.1,546,2857,0.00,2.15,1.65,0.190,8708,0.000,0.045,3369,597,2663,2705,2622,0,0,0,0,0,0,28.83,26.86,26.67
$GC,3084,1.09,108.5,2432,597,2677,2627,48.7,8.9,592,3092,0.12,1.98,1.67,0.184,13318,0.177,0.033,3338,1950,2658,2700,2617,0,0,0,0,0,0,26.77,26.94,26.73
$GC,3215,1.09,108.5,3338,1950,2719,2634,35.7,10.2,617,3223,0.00,2.25,1.55,0.190,8452,0.000,0.048,3338,3394,2663,2705,2622,0,0,0,0,0,0,28.83,26.91,26.74
$GC,3309,1.09,108.5,3337,3395,2718,2634,26.9,9.0,635,3317,0.00,2.05,1.67,0.185,9222,0.000,0.034,3346,1992,2658,2699,2617,0,0,0,0,0,0,28.83,26.97,26.74
$GC,3379,1.09,108.5,3346,1992,2717,2633,21.0,8.7,648,3386,0.00,2.22,1.50,0.190,8452,0.000,0.049,3346,3402,2663,2704,2622,0,0,0,0,0,0,28.83,26.92,26.76
$GC,3458,1.12,127.4,3345,3402,2717,2634,14.9,7.0,663,3471,0.00,2.03,8.43,0.170,9222,0.000,0.034,3355,2018,2578,2619,2538,0,0,0,0,0,0,28.83,26.98,26.73
$GC,3533,1.14,146.0,3356,2018,2637,2548,10.6,7.0,677,3546,0.00,0.00,7.80,0.162,8198,0.000,0.000,3356,2018,2504,2548,2460,0,0,0,0,0,0,28.83,28.83,26.73
$GC,3607,1.14,148.9,3356,2018,2561,2469,4.9,7.8,691,3615,0.00,2.17,1.90,0.181,8452,0.000,0.049,3356,3395,2493,2538,2449,0,0,0,0,0,0,28.83,26.90,26.76
$STATE,3636,end climb,SURFACE_DEPTH_REACHED
$STATE,3636,begin surface coast
$FINISH,0.3,1.004213
$STATE,3672,end surface coast,CONTROL_FINISHED_OK
$STATE,3672,begin surface
$SM_CCo,3688,54.38,0.135,0,0,1875,300.00
$SM_GC,2.08,8.12,2.10,54.38,0.048,0.034,0.135,197,2005,1875,-8.63,1.67,300.00,0,0,0,0,0,0,26.92,26.96,26.63
$IRIDIUM_FIX,4726.11,-12225.08,080813,060636
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.98
$INTERNAL_PRESSURE,8.84734
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,25.3,0.783
$10V_AH,10.6,0.614
$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,19.500,54.750,175.050,54.375,0.000,24.196,34.116,162.528,0.000,0.000,5.971,1581.686,832.689,339.135,1237.672,54.522,33.216,885.909,0.000,1009.684,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,57.375,512.550,135.405,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323176
$DATA_FILE_SIZE,23415,703
$CAP_FILE_SIZE,73224,0
$CFSIZE,260034560,256233472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,081733,4743.724,-12224.006,3,1.1,3,16.3