version: 66.11
glider: 204
mission: 3
dive: 16
start: 8 8 113 10 46 30
data:
$ID,204
$MISSION,3
$DIVE,16
$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,-957.21411
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,080813,104058,4743.780,-12223.748,34,1.2,34,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.9
$GPS2,080813,104535,4743.742,-12223.748,5,1.2,5,16.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.030,0.233
$KALMAN_X,-536.0,45.1,-198.4,1770.3,143.9
$KALMAN_Y,-5224.8,383.7,265.6,5934.3,-652.3
$MHEAD_RNG_PITCHd_Wd,336.4,903,-20.4,-10.000
$D_GRID,166
$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,-117.3,0.0,0.0,0,67,0.00,0.00,-50.70,0.000,2,0.000,0.000,189,2077,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.07,-117.3,3.2,-5.3,9,95,11.20,2.38,-7.72,0.000,4,0.293,0.084,2565,648,3181,0,0,0,0,0,0,26.02,26.25,26.57
$GC,236,-1.07,-117.3,24.4,-12.4,41,243,0.00,2.22,0.00,0.000,6,0.000,0.055,2556,2054,3181,0,0,0,0,0,0,28.83,26.38,28.83
$GC,304,-1.07,-117.3,33.0,-12.7,54,310,0.00,2.25,0.00,0.000,4,0.000,0.070,2565,648,3181,0,0,0,0,0,0,28.83,26.40,28.83
$GC,332,-1.07,-117.3,36.7,-13.6,59,338,0.00,2.20,0.00,0.000,6,0.000,0.055,2557,2057,3181,0,0,0,0,0,0,28.83,26.43,28.83
$GC,399,-1.07,-117.3,45.3,-12.6,72,406,0.00,2.22,0.00,0.000,4,0.000,0.069,2546,3465,3181,0,0,0,0,0,0,28.83,26.44,28.83
$GC,447,-1.07,-117.3,51.4,-12.3,81,454,0.00,2.17,0.00,0.000,6,0.000,0.050,2554,2047,3180,0,0,0,0,0,0,28.83,26.48,28.83
$GC,575,-1.07,-117.3,69.3,-13.9,106,582,0.00,2.20,0.00,0.000,4,0.000,0.063,2565,640,3181,0,0,0,0,0,0,28.83,26.51,28.83
$GC,633,-1.07,-117.3,76.0,-11.1,117,640,0.00,2.20,0.00,0.000,6,0.000,0.052,2557,2065,3181,0,0,0,0,0,0,28.83,26.55,28.83
$GC,761,-1.07,-117.3,91.7,-12.1,142,768,0.00,2.20,0.00,0.000,4,0.000,0.069,2546,3464,3181,0,0,0,0,0,0,28.83,26.56,28.83
$GC,880,-1.07,-117.3,106.7,-12.0,165,887,0.00,2.15,0.00,0.000,6,0.000,0.050,2555,2053,3181,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1011,-1.07,-117.3,123.1,-14.0,190,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2053,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1139,-1.07,-117.3,138.6,-10.5,215,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2053,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-1.07,-117.3,152.5,-10.4,240,1273,0.00,2.22,0.00,0.000,4,0.000,0.066,2546,3464,3181,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1329,-1.07,-117.3,159.4,-11.0,252,1336,0.00,2.15,0.00,0.000,6,0.000,0.050,2554,2055,3181,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,1391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1395,-0.23,0.0,166.1,-9.7,264,1490,1.05,0.00,87.18,0.641,6,0.233,0.000,2823,1934,2693,0,0,0,0,0,0,26.45,28.83,25.17
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1492,1.07,117.3,169.5,0.0,281,1588,1.65,2.33,86.40,0.614,4,0.225,0.068,3253,557,2213,0,0,0,0,0,0,25.44,25.14,24.77
$GC,1659,1.07,117.3,153.1,14.5,312,1666,0.00,2.25,0.00,0.000,6,0.000,0.054,3244,1953,2209,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1788,1.07,117.3,137.1,12.9,337,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1953,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1915,1.07,117.3,121.0,11.9,362,1922,0.00,2.30,0.00,0.000,4,0.000,0.073,3253,556,2208,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1963,1.07,117.3,114.9,12.6,371,1970,0.00,2.22,0.00,0.000,6,0.000,0.055,3244,1961,2208,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2091,1.07,117.3,99.6,12.0,396,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1962,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,1.07,117.3,83.5,11.4,421,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1962,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,1.07,117.3,68.9,12.5,446,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1962,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,1.07,117.3,53.0,11.4,471,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1962,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,1.07,117.3,39.1,10.8,496,2606,0.00,2.28,0.00,0.000,4,0.000,0.073,3253,554,2208,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2672,1.07,117.3,29.5,12.7,510,2679,0.00,2.20,0.00,0.000,6,0.000,0.056,3244,1965,2208,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2740,1.07,117.3,21.2,11.7,523,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1965,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,1.07,117.3,13.7,11.1,536,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1965,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,1.08,119.8,6.6,9.9,549,2881,0.00,2.22,0.00,0.000,4,0.000,0.073,3233,3372,2208,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,2922,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,0.7,0.999308
$STATE,2937,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2955,61.50,0.133,0,0,1474,300.00
$SM_GC,2.38,9.80,2.08,61.50,0.146,0.054,0.133,190,2068,1474,-8.41,1.16,300.00,0,0,0,0,0,0,26.64,26.61,26.35
$IRIDIUM_FIX,4726.11,-12220.67,080813,090927
$TT8_MAMPS,0.030709,0.030709
$HUMID,54.64
$INTERNAL_PRESSURE,9.064
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,24.8,2.861
$10V_AH,10.5,1.511
$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,23.700,44.625,173.575,61.500,0.000,25.917,34.138,142.520,3.500,0.000,6.674,1247.408,619.274,362.453,1045.668,34.326,33.213,830.679,0.000,811.833,0.000,23.031,0.000
$DEVICE_MAMPS,292.995,84.150,641.070,133.110,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323468
$DATA_FILE_SIZE,20110,561
$CAP_FILE_SIZE,61061,0
$CFSIZE,1024393216,1021444096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,113724,4743.920,-12223.685,4,1.5,4,16.3