version: 66.11
glider: 204
mission: 3
dive: 11
start: 8 8 113 6 15 32
data:
$ID,204
$MISSION,3
$DIVE,11
$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,60
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52992
$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,300
$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,-942.38
$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,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,2056
$C_ROLL_CLIMB,1954
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2700
$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,-72.872421
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,0
$XPDR_VALID,4
$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
$GPS1,080813,061028,4743.754,-12225.010,3,1.6,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.2
$GPS2,080813,061437,4743.768,-12225.008,5,1.6,5,16.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,0.096
$KALMAN_X,-1182.6,-93.6,279.8,514.5,-308.8
$KALMAN_Y,-2706.8,-1170.8,610.0,4671.1,-104.8
$MHEAD_RNG_PITCHd_Wd,42.2,357,-26.3,-10.000
$D_GRID,180
$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,14,-1.28,-70.6,0.0,0.0,0,62,0.00,0.00,-45.08,0.000,2,0.000,0.000,186,2067,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.34,-115.9,3.0,-5.7,8,94,10.77,2.35,-13.10,0.000,4,0.291,0.081,2482,645,3174,0,0,0,0,0,0,26.07,26.26,26.58
$GC,125,-1.34,-115.9,9.1,-12.8,19,132,0.00,2.22,0.00,0.000,6,0.000,0.055,2473,2060,3173,0,0,0,0,0,0,28.83,26.31,28.83
$GC,193,-1.34,-115.9,19.8,-16.3,32,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2059,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,260,-1.34,-115.9,32.5,-17.6,45,267,0.00,2.28,0.00,0.000,4,0.000,0.068,2482,640,3174,0,0,0,0,0,0,28.83,26.38,28.83
$GC,383,-1.34,-115.9,55.0,-17.2,69,390,0.00,2.20,0.00,0.000,6,0.000,0.054,2472,2057,3174,0,0,0,0,0,0,28.83,26.46,28.83
$GC,511,-1.34,-115.9,76.3,-16.6,94,518,0.00,2.25,0.00,0.000,4,0.000,0.067,2482,645,3174,0,0,0,0,0,0,28.83,26.49,28.83
$GC,649,-1.34,-115.9,99.9,-16.9,121,657,0.00,2.20,0.00,0.000,6,0.000,0.053,2473,2068,3174,0,0,0,0,0,0,28.83,26.56,28.83
$GC,778,-1.34,-115.9,119.2,-13.4,146,784,0.00,2.20,0.00,0.000,4,0.000,0.069,2463,3468,3174,0,0,0,0,0,0,28.83,26.53,28.83
$GC,991,-1.34,-115.9,149.6,-14.2,188,1001,0.00,2.17,0.00,0.000,6,0.000,0.049,2472,2041,3174,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1121,-1.34,-115.9,167.9,-15.0,213,1128,0.00,2.20,0.00,0.000,4,0.000,0.068,2482,645,3174,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1208,-0.23,0.0,180.5,-16.0,228,1304,1.50,0.00,85.50,0.635,6,0.265,0.000,2824,1961,2695,0,0,0,0,0,0,26.38,28.83,25.13
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1306,1.34,115.9,184.5,0.0,245,1402,1.98,2.38,84.57,0.580,4,0.221,0.071,3327,3368,2218,0,0,0,0,0,0,25.46,25.18,24.82
$GC,1473,1.34,115.9,164.9,16.7,276,1480,0.00,2.28,0.00,0.000,6,0.000,0.055,3337,1953,2217,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1601,1.34,115.9,143.1,18.0,301,1608,0.00,2.28,0.00,0.000,4,0.000,0.068,3347,542,2217,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1659,1.34,115.9,132.1,18.7,312,1666,0.00,2.28,0.00,0.000,6,0.000,0.055,3337,1961,2216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1787,1.34,115.9,108.8,17.9,337,1794,0.00,2.28,0.00,0.000,4,0.000,0.071,3326,3367,2216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1855,1.34,115.9,97.9,15.4,350,1862,0.00,2.22,0.00,0.000,6,0.000,0.057,3336,1950,2216,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1983,1.34,115.9,78.6,15.8,375,1990,0.00,2.28,0.00,0.000,4,0.000,0.074,3347,535,2216,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2066,1.34,115.9,65.2,15.4,391,2073,0.00,2.22,0.00,0.000,6,0.000,0.057,3337,1957,2216,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2194,1.34,115.9,46.7,15.2,416,2201,0.00,2.22,0.00,0.000,4,0.000,0.069,3326,3367,2216,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2262,1.34,115.9,36.8,13.8,429,2269,0.00,2.20,0.00,0.000,6,0.000,0.056,3337,1950,2216,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2330,1.34,115.9,28.7,11.8,442,2337,0.00,2.28,0.00,0.000,4,0.000,0.075,3347,542,2216,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2513,1.34,115.9,9.3,13.2,478,2520,0.00,2.22,0.00,0.000,6,0.000,0.059,3337,1961,2216,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,2570,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FINISH,0.8,0.999279
$STATE,2585,end surface coast,CONTROL_FINISHED_OK
$STATE,2585,begin surface
$SM_CCo,2602,61.53,0.137,0,0,1473,300.00
$SM_GC,2.23,10.23,0.17,61.53,0.151,0.089,0.137,191,2075,1473,-8.40,-0.42,300.00,0,0,0,0,0,0,26.61,26.60,26.32
$IRIDIUM_FIX,4726.11,-12227.78,080813,050515
$TT8_MAMPS,0.02996,0.02996
$HUMID,54.96
$INTERNAL_PRESSURE,9.0824
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,24.8,2.641
$10V_AH,10.4,1.357
$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,24.475,49.475,170.075,61.525,0.000,26.111,32.271,125.225,4.250,0.000,6.724,1093.139,540.687,343.744,920.441,31.206,33.209,758.059,0.000,713.782,0.000,27.720,0.000
$DEVICE_MAMPS,291.465,88.740,634.950,136.935,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323484
$DATA_FILE_SIZE,20121,492
$CAP_FILE_SIZE,54271,0
$CFSIZE,1024393216,1021771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,070102,4743.954,-12224.496,33,2.0,33,16.3