version: 66.11
glider: 204
mission: 4
dive: 3
start: 8 8 113 20 32 31
data:
$ID,204
$MISSION,4
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53197
$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,-1194.5536
$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,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1600
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2920
$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,0
$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
$GPS1,080813,202827,4742.568,-12224.845,30,2.0,30,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-57.8
$GPS2,080813,203138,4742.495,-12224.840,7,0.8,7,16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.015,0.296
$KALMAN_X,54.9,53.5,52.6,-555.1,62.1
$KALMAN_Y,-18.7,37.4,40.8,-824.8,10.7
$MHEAD_RNG_PITCHd_Wd,340.7,2602,-15.7,-10.000
$D_GRID,162
$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,-1.02,-195.5,0.0,0.0,0,112,0.00,0.00,-94.93,0.000,2,0.000,0.000,202,1589,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.02,-195.5,3.2,-4.6,17,139,10.70,2.25,-8.75,0.000,4,0.283,0.094,2575,242,3719,0,0,0,0,0,0,26.24,26.45,26.78
$GC,205,-1.02,-195.5,16.6,-15.9,34,212,0.00,2.10,0.00,0.000,6,0.000,0.050,2566,1610,3719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,273,-1.02,-195.5,26.4,-15.3,47,280,0.00,2.17,0.00,0.000,4,0.000,0.062,2557,3009,3718,0,0,0,0,0,0,28.83,26.53,28.83
$GC,411,-1.02,-195.5,46.5,-14.3,74,418,0.00,2.22,0.00,0.000,6,0.000,0.058,2565,1603,3719,0,0,0,0,0,0,28.83,26.58,28.83
$GC,539,-1.02,-195.5,64.2,-13.4,99,545,0.00,2.20,0.00,0.000,4,0.000,0.060,2556,3013,3719,0,0,0,0,0,0,28.83,26.61,28.83
$GC,771,-1.02,-195.5,94.9,-12.3,145,778,0.00,2.20,0.00,0.000,6,0.000,0.058,2565,1596,3719,0,0,0,0,0,0,28.83,26.67,28.83
$GC,900,-1.02,-195.5,111.5,-14.4,170,907,0.00,2.20,0.00,0.000,4,0.000,0.060,2557,3012,3719,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1033,-1.02,-195.5,130.0,-12.9,196,1040,0.00,2.22,0.00,0.000,6,0.000,0.060,2565,1592,3718,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1161,-1.02,-195.5,145.9,-12.3,221,1168,0.00,2.22,0.00,0.000,4,0.000,0.062,2557,3009,3719,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1199,begin apogee
$GC,1204,-0.25,0.0,150.6,-12.4,228,1421,1.02,0.00,210.30,0.539,6,0.262,0.000,2812,1299,2918,0,0,0,0,0,0,26.58,28.83,24.91
$STATE,1422,end apogee,CONTROL_FINISHED_OK
$STATE,1422,begin climb
$GC,1423,1.02,195.5,153.8,0.0,267,1574,1.70,1.88,142.12,0.526,4,0.234,0.080,3233,241,2113,0,0,0,0,0,0,25.20,25.15,24.82
$GC,1590,1.02,195.5,134.9,19.6,297,1597,0.00,1.73,0.00,0.000,6,0.000,0.052,3226,1309,2108,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1718,1.02,195.5,111.2,16.3,322,1725,0.00,2.25,0.00,0.000,4,0.000,0.060,3217,2704,2106,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1831,1.02,195.5,93.3,15.6,344,1838,0.00,2.28,0.00,0.000,6,0.000,0.068,3226,1301,2105,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1959,1.02,195.5,73.1,15.2,369,1966,0.00,2.25,0.00,0.000,4,0.000,0.060,3216,2712,2105,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2084,1.02,195.5,55.8,14.0,393,2090,0.00,2.28,0.00,0.000,6,0.000,0.067,3226,1296,2105,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2212,1.02,195.5,37.0,14.7,418,2218,0.00,2.22,0.00,0.000,4,0.000,0.061,3217,2711,2104,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2270,1.02,195.5,29.1,13.9,429,2276,0.00,2.25,0.00,0.000,6,0.000,0.068,3226,1301,2105,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2337,1.02,195.5,20.5,11.6,442,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1301,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2405,1.02,195.5,13.4,10.9,455,2411,0.00,2.20,0.00,0.000,4,0.000,0.060,3216,2704,2104,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,2512,end climb,SURFACE_DEPTH_REACHED
$STATE,2512,begin surface coast
$FINISH,0.8,1.009323
$STATE,2528,end surface coast,CONTROL_FINISHED_OK
$STATE,2528,begin surface
$SM_CCo,2546,69.97,0.131,0,0,1286,400.08
$SM_GC,1.52,9.77,1.80,69.97,0.145,0.060,0.131,184,1594,1286,-8.40,0.48,400.08,0,0,0,0,0,0,26.57,26.53,26.27
$IRIDIUM_FIX,4726.11,-12227.78,080813,202049
$TT8_MAMPS,0.02996,0.02996
$HUMID,53.78
$INTERNAL_PRESSURE,9.0732
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,24.8,3.381
$10V_AH,10.5,1.779
$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,23.200,43.675,352.425,69.975,0.000,0.000,0.000,0.000,0.000,0.000,7.890,967.042,484.675,502.036,702.961,21.318,31.311,931.824,0.000,694.128,0.000,0.547,0.000
$DEVICE_MAMPS,283.050,94.095,539.325,130.815,0.000,0.000,0.000,0.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323552
$DATA_FILE_SIZE,20135,479
$CAP_FILE_SIZE,58391,0
$CFSIZE,1024393216,1022214144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,211702,4742.677,-12224.856,23,1.0,23,16.3