version: 66.11
glider: 204
mission: 2
dive: 4
start: 8 7 113 20 4 8
data:
$ID,204
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,3
$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,30
$T_MISSION,40
$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,400
$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,-790.7887
$T_RSLEEP,1
$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,24
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,1
$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
$GPS1,070813,195955,4743.258,-12224.965,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.8
$GPS2,070813,200314,4743.253,-12224.998,6,0.9,6,16.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.031,0.233
$KALMAN_X,-42.4,-11.0,6.3,-204.1,16.5
$KALMAN_Y,-228.0,-20.8,-8.9,1240.4,-56.0
$MHEAD_RNG_PITCHd_Wd,351.3,1223,-20.4,-10.000
$D_GRID,178
$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,-1.07,-117.3,0.0,0.0,0,99,0.00,0.00,-79.40,0.000,6,0.000,0.000,194,2046,3179,0,0,0,0,0,0,28.83,28.83,26.92
$GC,101,-1.07,-117.3,2.8,-3.0,15,120,10.73,2.22,0.00,0.000,4,0.282,0.066,2546,3466,3180,0,0,0,0,0,0,26.22,26.49,28.83
$GC,261,-1.07,-117.3,19.4,-10.8,46,268,0.00,2.17,0.00,0.000,6,0.000,0.054,2555,2046,3180,0,0,0,0,0,0,28.83,26.60,28.83
$GC,329,-1.07,-117.3,27.0,-11.4,59,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2045,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,396,-1.07,-117.3,35.5,-13.2,72,403,0.00,2.25,0.00,0.000,4,0.000,0.069,2545,3475,3180,0,0,0,0,0,0,28.83,26.62,28.83
$GC,514,-1.07,-117.3,50.7,-13.5,95,520,0.00,2.17,0.00,0.000,6,0.000,0.053,2554,2047,3180,0,0,0,0,0,0,28.83,26.68,28.83
$GC,641,-1.07,-117.3,67.0,-12.0,120,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2045,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,770,-1.07,-117.3,83.8,-12.5,145,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2046,3180,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,817,begin apogee
$GC,821,-0.23,0.0,90.1,-13.3,154,894,1.05,0.00,62.25,0.724,6,0.233,0.000,2824,1941,2701,0,0,0,0,1,0,26.54,28.83,25.24
$STATE,895,end apogee,CONTROL_FINISHED_OK
$STATE,895,begin climb
$GC,896,1.07,117.3,93.3,0.0,167,985,1.60,0.00,82.22,0.498,6,0.218,0.000,3243,1941,2216,0,0,0,0,0,0,25.66,28.83,25.10
$GC,1107,1.07,117.3,71.8,12.7,207,1113,0.00,2.25,0.00,0.000,4,0.000,0.070,3254,558,2214,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1145,1.07,117.3,66.5,13.6,214,1151,0.00,2.22,0.00,0.000,6,0.000,0.057,3244,1956,2214,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1273,1.07,117.3,51.2,10.9,239,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1957,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,1.07,117.3,37.9,10.8,264,1407,0.00,2.25,0.00,0.000,4,0.000,0.072,3253,559,2213,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1463,1.09,131.3,32.1,9.2,276,1476,0.00,2.20,7.88,0.549,6,0.000,0.059,3244,1958,2162,0,0,0,0,0,0,28.83,26.44,25.88
$GC,1537,1.09,131.3,22.2,15.1,290,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1958,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,1.09,131.3,13.6,11.2,303,1611,0.00,2.22,0.00,0.000,4,0.000,0.069,3233,3368,2158,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1637,1.09,131.3,9.7,11.8,309,1644,0.00,2.20,0.00,0.000,6,0.000,0.058,3243,1955,2158,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1705,1.09,131.3,2.3,11.4,322,1712,0.00,2.25,0.00,0.000,4,0.000,0.070,3253,539,2158,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1717,end climb,SURFACE_DEPTH_REACHED
$STATE,1717,begin surface coast
$FINISH,0.7,1.008255
$STATE,1733,end surface coast,CONTROL_FINISHED_OK
$STATE,1733,begin surface
$SM_CCo,1751,196.20,0.444,0,0,1067,400.08
$SM_GC,1.54,9.65,2.45,196.20,0.138,0.059,0.444,191,2056,1067,-8.40,-0.71,400.08,0,0,0,0,0,0,26.55,26.52,25.11
$IRIDIUM_FIX,4726.11,-12222.38,070813,191959
$TT8_MAMPS,0.030709,0.030709
$HUMID,54.60
$INTERNAL_PRESSURE,9.1008
$TCM_TEMP,18.70
$XPDR_PINGS,1
$24V_AH,25.1,1.902
$10V_AH,10.5,1.021
$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,23.025,27.025,152.350,196.200,0.000,0.000,0.000,0.000,1.250,0.000,7.850,712.684,335.899,459.247,486.722,17.169,32.226,759.573,0.000,480.878,0.000,8.505,0.000
$DEVICE_MAMPS,282.285,93.330,723.690,444.465,0.000,0.000,0.000,0.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,13500,327
$CAP_FILE_SIZE,62203,0
$CFSIZE,1024393216,1022164992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,070813,203712,4743.326,-12224.879,3,1.4,3,16.3