version: 66.11
glider: 201
mission: 1
dive: 17
start: 8 8 113 9 25 49
data:
$ID,201
$MISSION,1
$DIVE,17
$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,-487.71692
$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,53
$R_STBD_OVSHOOT,46
$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
$GPS1,080813,092133,4743.293,-12224.122,33,1.2,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.8
$GPS2,080813,092453,4743.277,-12224.114,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,-0.051
$KALMAN_X,-134.5,-201.9,132.4,1085.6,277.4
$KALMAN_Y,-4460.9,596.2,870.3,3971.6,-493.0
$MHEAD_RNG_PITCHd_Wd,239.0,1369,-18.7,-8.000,-21.79,1862
$D_GRID,175
$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,-97.8,193,1992,1882,1888,0.0,0.0,0,52,0.00,0.00,-34.12,0.000,16386,0.000,0.000,193,1992,2767,2785,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.08,-97.8,193,1992,2784,2749,2.1,-4.5,6,95,8.98,2.17,-25.10,0.000,19204,0.220,0.063,2622,3400,3498,3533,3464,0,0,0,0,0,0,26.43,26.63,26.96
$GC,262,-1.08,-97.8,2622,3400,3533,3465,23.8,-13.4,46,268,0.00,2.05,0.00,0.000,1030,0.000,0.033,2622,1998,3499,3533,3465,0,0,0,0,0,0,28.83,26.77,28.83
$GC,331,-1.08,-97.8,2620,1998,3533,3465,33.1,-13.5,59,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1998,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,398,-1.08,-97.8,2622,1998,3533,3465,41.9,-12.7,72,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1998,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,527,-1.08,-97.8,2622,1998,3533,3465,58.5,-12.6,97,534,0.00,2.15,0.00,0.000,260,0.000,0.048,2611,3406,3499,3533,3465,0,0,0,0,0,0,28.83,26.81,28.83
$GC,585,-1.08,-97.8,2611,3407,3533,3465,66.3,-13.5,108,592,0.00,2.08,0.00,0.000,1030,0.000,0.034,2611,1991,3498,3532,3464,0,0,0,0,0,0,28.83,26.87,28.83
$GC,715,-1.08,-97.8,2611,1991,3533,3465,83.6,-12.8,133,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1991,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,843,-1.08,-97.8,2610,1990,3533,3465,101.1,-12.6,158,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1990,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-1.08,-97.8,2611,1990,3533,3465,115.9,-11.5,183,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1989,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-1.08,-97.8,1632,1987,3526,3463,130.4,-11.0,208,1103,0.00,2.05,0.00,0.000,516,0.000,0.045,2611,601,3499,3533,3465,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1216,-1.08,-97.8,2611,600,3533,3465,145.7,-13.3,231,1224,0.12,2.03,0.00,0.000,3078,0.167,0.032,2634,1992,3499,3533,3465,0,0,0,0,0,0,26.84,27.00,28.83
$GC,1345,-1.08,-97.8,2633,1992,3533,3465,161.8,-12.0,256,1352,0.00,2.12,0.00,0.000,260,0.000,0.050,2625,3402,3499,3533,3465,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1468,begin apogee
$GC,1473,-0.26,0.0,2625,2002,3533,3465,175.1,-10.3,280,1585,0.77,0.00,103.18,0.461,10244,0.119,0.000,2892,2000,3095,3145,3045,0,0,0,0,0,0,26.89,28.83,25.65
$STATE,1586,end apogee,CONTROL_FINISHED_OK
$STATE,1586,begin climb
$GC,1587,1.08,97.8,2891,2000,3145,3045,178.4,0.0,300,1667,1.25,2.15,71.03,0.497,10756,0.084,0.045,3331,601,2695,2728,2662,0,0,0,0,0,0,26.07,26.12,25.25
$GC,1689,1.08,97.8,3331,601,2720,2653,172.3,8.5,318,1696,0.00,2.12,0.00,0.000,1030,0.000,0.032,3332,2001,2686,2720,2653,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1817,1.08,97.8,3331,2001,2720,2651,160.7,9.0,343,1824,0.00,2.17,0.00,0.000,260,0.000,0.049,3332,3398,2686,2720,2652,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2016,1.08,97.8,3331,3398,2720,2650,138.6,11.0,382,2022,0.00,2.03,0.00,0.000,1030,0.000,0.034,3342,2036,2685,2720,2651,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2145,1.08,97.8,3341,2036,2719,2650,125.4,10.0,407,2152,0.00,2.15,0.00,0.000,516,0.000,0.045,3352,607,2686,2721,2651,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2173,1.08,97.8,3351,607,2719,2651,122.6,10.2,412,2180,0.00,2.12,0.00,0.000,1030,0.000,0.032,3352,2040,2685,2720,2651,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2302,1.08,97.8,3351,2040,2720,2651,109.5,10.4,437,2308,0.00,2.17,0.00,0.000,516,0.000,0.044,3362,603,2685,2719,2651,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2400,1.08,97.8,3362,602,2720,2651,99.4,10.1,456,2407,0.12,2.10,0.00,0.000,5126,0.175,0.032,3331,2027,2685,2719,2651,0,0,0,0,0,0,26.60,26.77,28.83
$GC,2530,1.08,97.8,3331,2027,2720,2651,85.6,10.6,481,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2027,2685,2720,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2658,1.10,110.8,3331,2027,2720,2651,75.2,7.3,506,2677,0.00,2.20,9.68,0.435,8708,0.000,0.046,3332,607,2639,2675,2603,0,0,0,0,0,0,28.83,26.72,26.27
$GC,2793,1.10,110.8,2384,607,2630,2592,64.3,8.3,532,2799,0.00,2.10,0.00,0.000,1030,0.000,0.033,3332,2032,2636,2673,2600,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2921,1.10,110.8,3331,2033,2673,2599,53.2,8.9,557,2928,0.00,2.08,0.00,0.000,260,0.000,0.050,3331,3400,2636,2673,2599,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3026,1.10,110.8,3331,3400,2673,2599,42.8,9.5,577,3032,0.00,2.03,0.00,0.000,1030,0.000,0.034,3339,2019,2636,2673,2600,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3154,1.10,110.8,3339,2019,2673,2599,30.3,11.0,602,3161,0.00,2.10,0.00,0.000,516,0.000,0.045,3349,605,2636,2673,2599,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3202,1.10,110.8,3349,605,2673,2599,24.6,11.9,611,3209,0.00,2.08,0.00,0.000,1030,0.000,0.033,3350,2032,2636,2674,2598,0,0,0,0,0,0,28.83,26.93,28.83
$GC,3271,1.10,110.8,3349,2032,2673,2599,17.3,10.2,624,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2032,2636,2673,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3338,1.10,110.8,3349,2032,2673,2599,10.8,9.2,637,3345,0.00,2.15,0.00,0.000,516,0.000,0.045,3359,598,2636,2673,2599,0,0,0,0,0,0,28.83,26.92,28.83
$GC,3406,1.11,118.6,3359,597,2673,2600,5.3,7.6,650,3414,0.00,2.08,1.85,0.178,9222,0.000,0.033,3359,2028,2613,2653,2573,0,0,0,0,0,0,28.83,26.96,26.78
$STATE,3439,end climb,SURFACE_DEPTH_REACHED
$STATE,3440,begin surface coast
$FINISH,0.3,1.021171
$STATE,3481,end surface coast,CONTROL_FINISHED_OK
$STATE,3482,begin surface
$SM_CCo,3495,65.32,0.135,0,0,1877,300.00
$SM_GC,1.73,8.18,0.00,65.32,0.050,0.000,0.135,189,2028,1877,-8.65,0.79,300.00,0,0,0,0,0,0,26.94,28.83,26.62
$IRIDIUM_FIX,4726.11,-12225.08,080813,080831
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.60
$INTERNAL_PRESSURE,8.83758
$TCM_TEMP,18.60
$XPDR_PINGS,1
$24V_AH,25.3,0.850
$10V_AH,10.6,0.680
$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,19.425,50.575,185.725,65.325,0.000,23.478,29.093,79.073,0.250,0.000,5.915,1475.764,769.950,379.169,1102.729,49.512,33.205,916.312,0.000,954.583,0.000,0.545,0.000
$DEVICE_MAMPS,219.555,62.730,497.250,135.405,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,20113,664
$CAP_FILE_SIZE,69017,0
$CFSIZE,260034560,256167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,102547,4742.917,-12224.804,3,1.1,4,16.3