version: 66.11
glider: 204
mission: 5
dive: 18
start: 8 23 113 10 13 25
data:
$ID,204
$MISSION,5
$DIVE,18
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,2
$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,67
$T_MISSION,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53100
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1761.0898
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,2909
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2015
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2920
$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
$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,-72.821007
$PRESSURE_SLOPE,0.0001157966
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0092000002
$INT_PRESSURE_YINT,-0.77999997
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$GPS1,230813,100746,4743.270,-12223.432,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.4
$GPS2,230813,101231,4743.238,-12223.414,6,1.6,6,16.3
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.251,0.017
$KALMAN_X,1289.6,-751.7,-48.9,1008.6,420.9
$KALMAN_Y,-1866.3,49.5,986.6,703.0,-291.1
$MHEAD_RNG_PITCHd_Wd,257.7,1994,-16.6,-8.955
$D_GRID,147
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.01,-146.6,0.0,0.0,0,56,0.00,0.00,-39.88,0.000,2,0.000,0.000,177,2019,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.01,-146.6,3.3,-6.9,7,88,11.40,0.00,-13.32,0.000,6,0.293,0.000,2574,2015,3518,0,0,0,0,0,0,25.98,28.83,26.58
$GC,149,-1.01,-146.6,16.4,-17.6,24,156,0.00,2.22,0.00,0.000,4,0.000,0.060,2565,3424,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,187,-1.01,-146.6,23.1,-17.9,31,194,0.00,2.15,0.00,0.000,6,0.000,0.045,2574,2017,3518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,255,-1.01,-146.6,34.0,-14.6,44,262,0.00,2.22,0.00,0.000,4,0.000,0.063,2585,604,3518,0,0,0,0,0,0,28.83,26.37,28.83
$GC,293,-1.01,-146.6,39.7,-15.4,51,300,0.00,2.20,0.00,0.000,6,0.000,0.046,2576,2023,3518,0,0,0,0,0,0,28.83,26.41,28.83
$GC,361,-1.01,-146.6,50.2,-15.1,64,368,0.00,2.25,0.00,0.000,4,0.000,0.062,2585,600,3518,0,0,0,0,0,0,28.83,26.42,28.83
$GC,403,-1.01,-146.6,56.4,-14.6,72,410,0.00,2.17,0.00,0.000,6,0.000,0.046,2576,2022,3518,0,0,0,0,0,0,28.83,26.46,28.83
$GC,531,-1.01,-146.6,74.2,-14.6,97,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2022,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,660,-1.01,-146.6,93.3,-16.1,122,666,0.00,2.17,0.00,0.000,4,0.000,0.060,2565,3427,3518,0,0,0,0,0,0,28.83,26.54,28.83
$GC,682,-1.01,-146.6,97.2,-16.7,126,689,0.00,2.15,0.00,0.000,6,0.000,0.045,2573,2014,3518,0,0,0,0,0,0,28.83,26.57,28.83
$GC,810,-1.01,-146.6,117.3,-16.0,151,817,0.00,2.20,0.00,0.000,4,0.000,0.063,2585,604,3519,0,0,0,0,0,0,28.83,26.57,28.83
$GC,848,-1.01,-146.6,123.1,-15.1,158,855,0.00,2.17,0.00,0.000,6,0.000,0.046,2577,2019,3518,0,0,0,0,0,0,28.83,26.60,28.83
$GC,976,-1.01,-146.6,142.2,-14.5,183,983,0.00,2.22,0.00,0.000,4,0.000,0.062,2584,603,3519,0,0,0,0,0,0,28.83,26.60,28.83
$GC,994,-1.01,-146.6,144.7,-14.9,186,1000,0.00,2.15,0.00,0.000,6,0.000,0.047,2576,2015,3518,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,1011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1011,begin apogee
$GC,1014,-0.35,0.0,147.1,-13.5,189,1127,0.82,0.00,107.60,0.627,6,0.233,0.000,2785,1922,2918,0,0,0,0,0,0,26.48,28.83,25.00
$STATE,1128,end apogee,CONTROL_FINISHED_OK
$STATE,1128,begin climb
$GC,1129,1.01,146.6,153.8,0.0,209,1247,1.73,2.38,106.97,0.583,4,0.219,0.060,3217,3332,2312,0,0,0,0,0,0,25.36,25.14,24.70
$GC,1273,1.01,146.6,145.3,10.2,235,1280,0.00,2.22,0.00,0.000,6,0.000,0.046,3226,1934,2309,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1401,1.01,146.6,132.1,10.5,260,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1934,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1528,1.01,146.6,118.5,10.9,285,1535,0.00,2.25,0.00,0.000,4,0.000,0.059,3217,3341,2308,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1641,1.01,146.6,105.0,12.6,307,1648,0.00,2.17,0.00,0.000,6,0.000,0.047,3226,1929,2309,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1769,1.01,146.6,91.3,9.6,332,1776,0.00,2.22,0.00,0.000,4,0.000,0.062,3237,521,2309,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1833,1.04,171.9,85.5,7.9,344,1862,0.00,2.17,19.75,0.620,6,0.000,0.045,3227,1939,2210,0,0,0,0,0,0,28.83,26.36,25.57
$GC,1983,1.04,171.9,68.9,11.4,373,1990,0.00,2.20,0.00,0.000,4,0.000,0.058,3217,3345,2205,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2041,1.04,171.9,62.2,11.0,384,2048,0.00,2.17,0.00,0.000,6,0.000,0.047,3226,1928,2205,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2169,1.04,171.9,48.3,10.7,409,2176,0.00,2.25,0.00,0.000,4,0.000,0.063,3237,519,2205,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2277,1.04,171.9,36.6,11.0,430,2284,0.00,2.20,0.00,0.000,6,0.000,0.044,3227,1936,2204,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2345,1.04,171.9,30.0,9.5,443,2352,0.00,2.20,0.00,0.000,4,0.000,0.060,3217,3339,2205,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2383,1.04,171.9,26.2,10.7,450,2390,0.00,2.17,0.00,0.000,6,0.000,0.046,3226,1926,2204,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2451,1.04,171.9,19.5,10.1,463,2458,0.00,2.20,0.00,0.000,4,0.000,0.063,3237,522,2205,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2494,1.04,171.9,15.4,10.1,471,2501,0.00,2.17,0.00,0.000,6,0.000,0.045,3227,1930,2205,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2562,1.08,209.1,9.8,7.4,484,2581,0.00,2.25,12.40,0.148,4,0.000,0.059,3217,3335,2064,0,0,0,0,0,0,28.83,26.47,26.38
$STATE,2651,end climb,SURFACE_DEPTH_REACHED
$STATE,2651,begin surface coast
$FINISH,0.7,1.009984
$STATE,2668,end surface coast,CONTROL_FINISHED_OK
$STATE,2668,begin surface
$SM_CCo,2685,15.00,0.132,0,0,1897,250.21
$SM_GC,3.73,9.60,2.08,15.00,0.136,0.047,0.132,182,2017,1897,-8.41,0.93,250.21,0,0,0,0,0,0,26.55,26.53,26.36
$IRIDIUM_FIX,4726.11,-12225.08,230813,090942
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.00
$INTERNAL_PRESSURE,9.2664
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.7,4.784
$10V_AH,10.5,2.485
$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,23.550,61.775,246.725,15.000,0.000,24.859,37.582,151.297,0.000,0.000,6.838,1097.789,532.980,372.367,962.551,34.150,33.218,821.157,0.000,731.382,0.000,0.546,0.000
$DEVICE_MAMPS,292.995,81.090,626.535,131.580,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323472
$DATA_FILE_SIZE,20143,504
$CAP_FILE_SIZE,59452,0
$CFSIZE,1024393216,1021132800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230813,105951,4742.961,-12224.055,34,1.2,53,16.3