version: 66.10
glider: 205
mission: 4
dive: 20
start: 9 5 113 9 46 22
data:
$ID,205
$MISSION,4
$DIVE,20
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,40
$T_BOOST,0
$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,77
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53289
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$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,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,-633.31952
$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,2697
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3984
$ROLL_DEG,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2242
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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,-59.905739
$PRESSURE_SLOPE,0.0001159995
$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,125
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.98000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043419907
$SEABIRD_T_H,0.000621902
$SEABIRD_T_I,2.2352948e-05
$SEABIRD_T_J,2.3392056e-06
$SEABIRD_C_G,-9.6916523
$SEABIRD_C_H,1.1209148
$SEABIRD_C_I,-0.0012442283
$SEABIRD_C_J,0.0001684351
$GPS1,050913,093904,4743.565,-12224.900,37,1.6,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.1
$GPS2,050913,094528,4743.530,-12224.907,5,1.7,5,16.3
$SPEED_LIMITS,0.135,0.191
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.163
$KALMAN_X,3535.9,-1201.5,-270.5,-2575.0,917.7
$KALMAN_Y,-2831.9,527.8,84.1,3562.9,-615.4
$MHEAD_RNG_PITCHd_Wd,312.4,698,-19.1,-7.792
$D_GRID,176
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.11,-88.0,0.0,0.0,0,56,0.00,0.00,-39.35,0.000,2,0.000,0.000,196,2029,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.11,-88.0,3.1,-6.9,5,75,9.15,0.00,-2.55,0.000,6,0.266,0.000,2330,2029,2601,0,0,0,0,0,0,26.40,28.83,26.85
$GC,164,-1.11,-88.0,23.8,-18.9,22,173,0.00,2.25,0.00,0.000,4,0.000,0.058,2322,3437,2601,0,0,0,0,0,0,28.83,26.65,28.83
$GC,307,-1.11,-88.0,51.5,-17.0,48,316,0.00,2.17,0.00,0.000,6,0.000,0.042,2322,2035,2602,0,0,0,0,0,0,28.83,26.76,28.83
$GC,468,-1.11,-88.0,78.8,-16.9,79,475,0.00,2.22,0.00,0.000,4,0.000,0.054,2322,610,2603,0,0,0,0,0,0,28.83,26.82,28.83
$GC,645,-1.11,-88.0,112.7,-19.9,113,651,0.00,2.20,0.00,0.000,6,0.000,0.044,2313,2041,2603,0,0,0,0,0,0,28.83,26.89,28.83
$GC,805,-1.11,-88.0,138.8,-14.2,144,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2041,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,964,-1.11,-88.0,162.8,-15.1,175,971,0.00,2.15,0.00,0.000,4,0.000,0.058,2303,3435,2603,0,0,0,0,0,0,28.83,26.95,28.83
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1058,-0.24,0.0,176.7,-16.1,192,1133,1.02,0.00,67.05,1.226,6,0.164,0.000,2612,1861,2243,0,0,0,0,0,0,26.85,28.83,24.73
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1135,1.11,88.0,180.9,0.0,203,1216,1.30,2.45,69.45,1.206,4,0.093,0.058,3045,449,1884,0,0,0,0,0,0,25.53,25.08,24.32
$GC,1448,1.11,90.2,157.9,7.7,261,1463,0.00,2.20,3.33,0.802,6,0.000,0.041,3046,1862,1875,0,0,0,0,0,0,28.83,26.32,25.46
$GC,1615,1.11,90.2,143.9,7.9,293,1622,0.00,2.20,0.00,0.000,4,0.000,0.054,3045,3269,1875,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1909,1.11,90.2,120.1,8.0,351,1916,0.00,2.17,0.00,0.000,6,0.000,0.046,3045,1857,1875,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2066,1.11,90.2,107.6,9.1,382,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1857,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2228,1.19,129.4,97.1,5.5,413,2250,0.10,2.33,14.45,0.990,4,0.106,0.058,3089,443,1713,0,0,0,0,0,0,26.89,26.51,25.84
$GC,2323,1.23,146.9,90.5,6.8,430,2338,0.00,2.22,6.30,0.848,6,0.000,0.042,3089,1855,1643,0,0,0,0,0,0,28.83,26.62,25.79
$GC,2488,1.23,146.9,73.8,8.8,462,2496,0.00,2.30,0.00,0.000,4,0.000,0.060,3089,446,1643,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2569,1.23,146.9,66.0,11.0,477,2576,0.00,2.20,0.00,0.000,6,0.000,0.044,3089,1861,1643,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2727,1.23,146.9,47.9,8.5,508,2736,0.00,2.30,0.00,0.000,4,0.000,0.062,3089,449,1643,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3054,1.23,146.9,14.8,9.5,566,3063,0.00,2.22,0.00,0.000,6,0.000,0.044,3090,1867,1643,0,0,0,0,0,0,28.83,26.90,28.83
$GC,3150,1.23,146.9,5.6,9.2,582,3159,0.00,2.28,0.00,0.000,4,0.000,0.060,3089,458,1643,0,0,0,0,0,0,28.83,26.89,28.83
$STATE,3195,end climb,SURFACE_DEPTH_REACHED
$STATE,3195,begin surface coast
$FINISH,0.0,0.999710
$STATE,3225,end surface coast,CONTROL_FINISHED_OK
$STATE,3226,begin surface
$SM_CCo,3242,36.08,0.114,0,0,1220,250.21
$SM_GC,3.22,7.75,2.50,36.08,0.056,0.044,0.114,195,2034,1220,-7.76,-0.76,250.21,0,0,0,0,0,0,26.93,26.94,26.77
$IRIDIUM_FIX,4729.30,-12159.30,050913,080835
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.21
$INTERNAL_PRESSURE,9.03015
$TCM_TEMP,14.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,125.4,75.7
$24V_AH,24.3,1.916
$10V_AH,10.4,1.287
$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,19.325,40.825,160.575,36.075,0.000,26.768,32.258,255.653,2.250,0.000,5.857,1352.160,123.018,252.055,1908.830,39.702,33.204,772.103,0.000,1575.338,0.000,5.642,0.000
$DEVICE_MAMPS,266.220,61.965,1225.530,113.985,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.758,1222.134,1159.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,36.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323396
$DATA_FILE_SIZE,37032,594
$CAP_FILE_SIZE,60003,0
$CFSIZE,1024393216,1021198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050913,104146,4743.392,-12225.319,13,2.0,14,16.3