version: 66.11
glider: 204
mission: 3
dive: 21
start: 8 8 113 14 32 10
data:
$ID,204
$MISSION,3
$DIVE,21
$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,-963.4939
$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,22
$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,16
$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
$GPS1,080813,142656,4743.844,-12223.421,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.6
$GPS2,080813,143115,4743.832,-12223.389,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,-0.173
$KALMAN_X,-17.6,332.8,109.4,1103.6,22.8
$KALMAN_Y,-6835.8,1353.8,-810.2,7807.0,-29.1
$MHEAD_RNG_PITCHd_Wd,206.5,2736,-20.4,-10.000
$D_GRID,158
$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,12,begin dive
$GC,14,-1.07,-117.3,0.0,0.0,0,67,0.00,0.00,-50.90,0.000,2,0.000,0.000,197,2042,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.07,-117.3,3.3,-5.6,9,93,11.38,0.00,-6.93,0.000,6,0.298,0.000,2555,2037,3179,0,0,0,0,0,0,25.98,28.83,26.54
$GC,155,-1.07,-117.3,15.8,-14.4,25,161,0.00,2.30,0.00,0.000,4,0.000,0.070,2546,3472,3179,0,0,0,0,0,0,28.83,26.28,28.83
$GC,388,-1.07,-117.3,47.7,-13.0,71,395,0.00,2.20,0.00,0.000,6,0.000,0.050,2555,2053,3179,0,0,0,0,0,0,28.83,26.46,28.83
$GC,516,-1.07,-117.3,64.3,-12.8,96,522,0.00,2.28,0.00,0.000,4,0.000,0.067,2546,3476,3179,0,0,0,0,0,0,28.83,26.48,28.83
$GC,578,-1.07,-117.3,72.2,-12.2,108,585,0.00,2.20,0.00,0.000,6,0.000,0.049,2555,2050,3179,0,0,0,0,0,0,28.83,26.53,28.83
$GC,707,-1.07,-117.3,86.5,-11.0,133,714,0.00,2.20,0.00,0.000,4,0.000,0.067,2565,651,3179,0,0,0,0,0,0,28.83,26.53,28.83
$GC,755,-1.07,-117.3,91.9,-11.6,142,762,0.00,2.17,0.00,0.000,6,0.000,0.052,2557,2060,3179,0,0,0,0,0,0,28.83,26.57,28.83
$GC,885,-1.07,-117.3,107.3,-11.8,167,891,0.00,2.22,0.00,0.000,4,0.000,0.068,2546,3464,3179,0,0,0,0,0,0,28.83,26.57,28.83
$GC,953,-1.07,-117.3,115.5,-11.6,180,960,0.00,2.15,0.00,0.000,6,0.000,0.049,2555,2052,3179,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1081,-1.07,-117.3,129.6,-10.7,205,1089,0.00,2.20,0.00,0.000,4,0.000,0.067,2565,649,3179,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1140,-1.07,-117.3,136.6,-12.4,216,1147,0.00,2.17,0.00,0.000,6,0.000,0.052,2557,2058,3179,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1269,-1.07,-117.3,151.5,-12.0,241,1276,0.00,2.20,0.00,0.000,4,0.000,0.068,2546,3462,3179,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1327,begin apogee
$GC,1332,-0.23,0.0,158.5,-12.0,252,1466,1.08,0.00,125.75,0.577,6,0.243,0.000,2824,1945,2695,0,0,0,0,0,0,26.46,28.83,25.03
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1468,1.07,117.3,162.2,0.0,276,1564,1.73,2.38,86.60,0.552,4,0.236,0.067,3237,3357,2213,0,0,0,0,0,0,25.27,25.15,24.78
$GC,1630,1.07,117.3,148.8,12.8,306,1637,0.00,2.25,0.00,0.000,6,0.000,0.050,3245,1956,2208,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1759,1.07,117.3,134.5,12.7,331,1765,0.00,2.30,0.00,0.000,4,0.000,0.067,3257,539,2207,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1862,1.07,117.3,121.3,13.0,351,1868,0.00,2.22,0.00,0.000,6,0.000,0.054,3247,1953,2207,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1990,1.07,117.3,105.7,11.6,376,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1953,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2117,1.07,117.3,90.9,11.3,401,2123,0.00,2.28,0.00,0.000,4,0.000,0.071,3257,542,2207,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2235,1.07,117.3,76.0,12.5,424,2241,0.00,2.20,0.00,0.000,6,0.000,0.054,3247,1954,2207,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2363,1.07,117.3,60.2,12.3,449,2369,0.00,2.22,0.00,0.000,4,0.000,0.067,3236,3369,2207,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2456,1.07,117.3,48.6,13.3,467,2462,0.00,2.20,0.00,0.000,6,0.000,0.053,3245,1942,2207,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2584,1.12,159.4,36.9,7.6,492,2624,0.00,2.30,31.38,0.552,4,0.000,0.068,3256,549,2041,0,0,0,0,0,0,28.83,26.15,25.81
$GC,2702,1.12,159.4,23.5,12.3,514,2708,0.00,2.22,0.00,0.000,6,0.000,0.052,3247,1957,2036,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2770,1.12,159.4,14.6,11.5,527,2777,0.00,2.25,0.00,0.000,4,0.000,0.069,3236,3365,2035,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2818,1.12,159.4,8.7,11.4,536,2825,0.00,2.20,0.00,0.000,6,0.000,0.052,3245,1952,2035,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2886,1.15,182.0,2.1,8.7,549,2894,0.12,0.00,5.30,0.137,2,0.226,0.000,3276,1949,1979,0,0,0,0,0,0,26.27,28.83,28.83
$STATE,2895,end climb,SURFACE_DEPTH_REACHED
$STATE,2895,begin surface coast
$FINISH,0.8,1.010291
$STATE,2916,end surface coast,CONTROL_FINISHED_OK
$STATE,2917,begin surface
$SM_CCo,2933,44.25,0.134,0,0,1476,300.00
$SM_GC,2.16,10.18,0.17,44.25,0.153,0.088,0.134,181,2062,1476,-8.41,-0.88,300.00,0,0,0,0,0,0,26.43,26.41,26.18
$IRIDIUM_FIX,4729.30,-12222.38,080813,131318
$TT8_MAMPS,0.030709,0.030709
$HUMID,52.36
$INTERNAL_PRESSURE,9.0824
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,24.8,3.077
$10V_AH,10.3,1.640
$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,24.475,53.875,249.025,44.250,0.000,26.038,30.561,137.505,3.000,0.000,6.709,1209.115,598.627,393.240,1013.598,39.608,33.218,864.652,0.000,802.228,0.000,19.870,0.000
$DEVICE_MAMPS,298.350,87.975,576.810,133.875,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323556
$DATA_FILE_SIZE,20089,554
$CAP_FILE_SIZE,61028,0
$CFSIZE,1024393216,1021132800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,152224,4743.662,-12223.663,3,1.0,3,16.3