version: 66.11
glider: 201
mission: 1
dive: 10
start: 8 8 113 1 53 48
data:
$ID,201
$MISSION,1
$DIVE,10
$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,-478.8392
$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,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,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
$GPS1,080813,014808,4743.230,-12224.688,3,1.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.5
$GPS2,080813,015251,4743.178,-12224.714,6,1.9,6,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.180
$KALMAN_X,-870.9,129.7,-73.8,954.1,-291.8
$KALMAN_Y,-3549.4,-195.9,-604.0,5137.9,-677.1
$MHEAD_RNG_PITCHd_Wd,9.6,2422,-18.7,-8.000,-21.79,1862
$D_GRID,177
$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,14,begin dive
$GC,15,-1.08,-97.8,195,2001,1970,1957,0.0,0.0,0,46,0.00,0.00,-28.85,0.000,16386,0.000,0.000,195,2001,2717,2735,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.08,-97.8,196,2001,2735,2699,2.1,-4.4,5,90,9.12,2.12,-24.90,0.000,18948,0.224,0.057,2628,595,3498,3532,3464,0,0,0,0,0,0,26.32,26.55,26.88
$GC,116,-1.08,-97.8,2628,594,3532,3465,6.8,-11.2,17,123,0.00,2.08,0.00,0.000,1030,0.000,0.032,2621,2003,3498,3532,3465,0,0,0,0,0,0,28.83,26.61,28.83
$GC,185,-1.08,-97.8,2620,2003,3533,3465,14.0,-10.8,30,191,0.00,2.12,0.00,0.000,260,0.000,0.049,2610,3397,3499,3533,3465,0,0,0,0,0,0,28.83,26.62,28.83
$GC,279,-1.08,-97.8,2609,3397,3532,3465,26.7,-14.6,48,286,0.00,2.05,0.00,0.000,1030,0.000,0.034,2610,2011,3498,3532,3465,0,0,0,0,0,0,28.83,26.71,28.83
$GC,347,-1.08,-97.8,2610,2009,3532,3465,37.1,-15.4,61,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2009,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,414,-1.08,-97.8,2610,2009,3533,3465,47.4,-14.4,74,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2009,3499,3533,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,543,-1.08,-97.8,2610,2009,3533,3466,66.2,-15.3,99,550,0.00,2.12,0.00,0.000,260,0.000,0.050,2599,3396,3499,3532,3466,0,0,0,0,0,0,28.83,26.77,28.83
$GC,776,-1.08,-97.8,2599,3397,3532,3466,94.6,-10.2,145,784,0.12,2.00,0.00,0.000,3078,0.164,0.033,2632,2033,3499,3533,3466,0,0,0,0,0,0,26.72,26.89,28.83
$GC,906,-1.08,-97.8,2631,2032,3533,3466,106.6,-8.9,170,912,0.00,2.08,0.00,0.000,260,0.000,0.050,2623,3396,3499,3532,3466,0,0,0,0,0,0,28.83,26.87,28.83
$GC,1007,-1.08,-97.8,1632,3395,3525,3464,117.4,-12.2,189,1013,0.00,1.98,0.00,0.000,1030,0.000,0.034,2623,2050,3499,3532,3466,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1143,-1.08,-97.8,2623,2050,3532,3466,131.6,-9.9,214,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2050,3499,3532,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-1.08,-97.8,2623,2050,3533,3466,146.1,-11.8,239,1277,0.00,2.05,0.00,0.000,260,0.000,0.050,2613,3397,3500,3533,3467,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1308,-1.08,-97.8,2613,3397,3533,3466,150.1,-10.6,246,1315,0.00,1.98,0.00,0.000,1030,0.000,0.034,2613,2049,3499,3532,3466,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1437,-1.08,-97.8,2613,2046,3533,3466,163.7,-8.2,271,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2046,3499,3532,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-1.08,-97.8,2613,2046,3533,3466,175.9,-11.4,296,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2046,3499,3533,3466,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1576,begin apogee
$GC,1579,-0.26,0.0,2613,2046,3533,3467,177.1,-10.6,298,1658,0.82,0.00,71.72,0.500,10244,0.127,0.000,2892,2045,3093,3143,3044,0,0,0,0,0,0,26.85,28.83,25.79
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1660,1.08,97.8,2892,2045,3140,3042,180.3,0.0,312,1739,1.25,2.22,70.00,0.509,10756,0.088,0.045,3332,594,2695,2728,2662,0,0,0,0,0,0,26.22,26.29,25.34
$GC,1745,1.10,113.3,3332,594,2722,2657,176.6,7.1,327,1764,0.00,2.15,12.18,0.474,9222,0.000,0.032,3332,2013,2634,2672,2596,0,0,0,0,0,0,28.83,25.90,25.36
$GC,1887,1.10,113.3,3332,2013,2666,2587,162.3,12.0,354,1893,0.00,2.17,0.00,0.000,260,0.000,0.050,3332,3406,2626,2666,2587,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1944,1.10,113.3,2384,3405,2622,2580,155.8,10.8,365,1951,0.00,2.12,0.00,0.000,1030,0.000,0.034,3341,1997,2626,2666,2587,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2074,1.10,113.3,3341,1997,2666,2586,142.9,9.3,390,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1997,2626,2666,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,1.10,113.3,3341,1997,2665,2586,130.4,9.5,415,2208,0.00,2.17,0.00,0.000,260,0.000,0.050,3341,3396,2626,2666,2586,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2264,1.10,113.3,3341,3397,2666,2586,123.3,11.6,427,2271,0.00,2.08,0.00,0.000,1030,0.000,0.034,3352,2001,2625,2665,2586,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2393,1.10,113.3,3351,2001,2666,2585,108.9,10.8,452,2399,0.00,2.08,0.00,0.000,516,0.000,0.047,3361,604,2626,2666,2586,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2521,1.10,113.3,3361,604,2665,2586,93.4,12.5,477,2528,0.00,2.08,0.00,0.000,1030,0.000,0.033,3362,2014,2626,2666,2586,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2650,1.10,113.3,3362,2014,2665,2586,78.2,11.5,502,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2014,2625,2665,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2778,1.10,113.3,3362,2014,2665,2586,63.8,9.8,527,2785,0.00,2.10,0.00,0.000,260,0.000,0.049,3362,3397,2625,2666,2585,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2801,1.10,113.3,2432,3395,2622,2579,61.3,11.4,531,2808,0.12,2.05,0.00,0.000,5126,0.200,0.034,3342,2001,2626,2666,2586,0,0,0,0,0,0,26.68,26.88,28.83
$GC,2930,1.10,113.3,3341,2002,2665,2585,49.1,9.4,556,2937,0.00,2.08,0.00,0.000,516,0.000,0.047,3350,599,2625,2665,2586,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2993,1.10,113.3,2400,599,2622,2579,42.9,10.1,568,2999,0.00,2.05,0.00,0.000,1030,0.000,0.032,3350,2004,2625,2665,2586,0,0,0,0,0,0,28.83,26.92,28.83
$GC,3121,1.10,113.3,3349,2004,2665,2586,32.2,8.2,593,3128,0.00,2.10,0.00,0.000,260,0.000,0.049,3349,3394,2626,2666,2586,0,0,0,0,0,0,28.83,26.90,28.83
$GC,3184,1.10,113.3,3349,3394,2665,2586,26.8,9.0,605,3191,0.00,2.05,0.00,0.000,1030,0.000,0.034,3359,1992,2625,2665,2586,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3253,1.10,113.3,3359,1992,2666,2586,20.9,8.9,618,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1992,2625,2665,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,1.10,113.3,3359,1992,2665,2586,14.9,9.0,631,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1992,2625,2665,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,1.10,113.3,3359,1992,2665,2586,8.6,8.5,644,3395,0.00,2.05,0.00,0.000,516,0.000,0.047,3367,601,2625,2665,2585,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3416,1.10,113.3,3367,601,2665,2586,5.9,9.9,649,3424,0.12,2.05,0.00,0.000,5126,0.186,0.032,3337,2007,2624,2664,2585,0,0,0,0,0,0,26.79,26.98,28.83
$STATE,3448,end climb,SURFACE_DEPTH_REACHED
$STATE,3448,begin surface coast
$FINISH,0.4,1.009255
$STATE,3480,end surface coast,CONTROL_FINISHED_OK
$STATE,3481,begin surface
$SM_CCo,3495,58.17,0.135,0,0,1956,280.13
$SM_GC,1.90,8.10,0.00,58.17,0.050,0.000,0.135,191,2010,1956,-8.65,0.28,280.13,0,0,0,0,0,0,26.97,28.83,26.65
$IRIDIUM_FIX,4726.11,-12223.37,080813,000012
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.53
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,60.6
$24V_AH,25.3,0.592
$10V_AH,10.6,0.446
$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,19.675,54.175,153.900,58.175,0.000,29.214,32.058,153.742,2.250,0.000,6.861,1488.874,762.476,360.228,1187.881,51.377,33.233,899.754,0.000,949.787,0.000,20.656,0.000
$DEVICE_MAMPS,224.145,56.610,509.490,134.640,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323068
$DATA_FILE_SIZE,20111,661
$CAP_FILE_SIZE,74682,0
$CFSIZE,260034560,256417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,025404,4743.452,-12224.482,29,1.0,29,16.3