version: 66.11
glider: 204
mission: 1
dive: 4
start: 7 17 113 20 16 25
data:
$ID,204
$MISSION,1
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,75
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52978
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,-317.07959
$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,2924
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.1
$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,25
$R_STBD_OVSHOOT,28
$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,-73.07518
$PRESSURE_SLOPE,0.0001157966
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,170713,201149,4742.974,-12225.495,6,1.0,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.8
$GPS2,170713,201527,4743.080,-12225.425,10,1.0,11,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,0.195
$KALMAN_X,-496.0,-286.6,-119.2,311.2,-417.2
$KALMAN_Y,-527.5,-453.3,-394.9,1415.7,-451.0
$MHEAD_RNG_PITCHd_Wd,19.6,1706,-14.0,-8.000
$D_GRID,189
$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,-0.84,-146.6,0.0,0.0,0,68,0.00,0.00,-51.12,0.000,2,0.000,0.000,200,2026,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.84,-146.6,3.2,-5.1,9,95,9.27,2.25,-9.40,0.000,4,0.221,0.081,2648,641,3297,0,0,0,0,0,0,26.45,26.60,26.96
$GC,321,-0.84,-146.6,35.2,-10.2,58,328,0.00,2.17,0.00,0.000,6,0.000,0.057,2642,2051,3298,0,0,0,0,0,0,28.83,26.70,28.83
$GC,389,-0.84,-146.6,41.2,-8.2,71,396,0.00,2.22,0.00,0.000,4,0.000,0.065,2642,640,3298,0,0,0,0,0,0,28.83,26.70,28.83
$GC,622,-0.84,-146.6,64.7,-11.7,117,628,0.00,2.17,0.00,0.000,6,0.000,0.056,2634,2056,3298,0,0,0,0,0,0,28.83,26.77,28.83
$GC,750,-0.84,-146.6,77.5,-10.2,142,756,0.00,2.22,0.00,0.000,4,0.000,0.065,2634,641,3298,0,0,0,0,0,0,28.83,26.77,28.83
$GC,983,-0.84,-146.6,100.3,-9.4,188,990,0.00,2.17,0.00,0.000,6,0.000,0.054,2627,2061,3298,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1111,-0.84,-146.6,113.3,-10.8,213,1118,0.00,2.22,0.00,0.000,4,0.000,0.063,2627,643,3298,0,0,0,0,0,0,28.83,26.80,28.83
$GC,1345,-0.84,-146.6,137.8,-10.6,259,1352,0.12,2.17,0.00,0.000,6,0.167,0.054,2650,2065,3298,0,0,0,0,0,0,26.73,26.84,28.83
$GC,1474,-0.84,-146.6,149.6,-9.0,284,1482,0.00,2.20,0.00,0.000,4,0.000,0.064,2650,646,3297,0,0,0,0,0,0,28.83,26.81,28.83
$GC,1709,-0.84,-146.6,171.8,-8.9,330,1716,0.00,2.20,0.00,0.000,6,0.000,0.054,2644,2064,3298,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,1800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1800,begin apogee
$GC,1804,-0.24,0.0,180.2,-9.6,347,1915,0.60,0.00,105.70,0.584,6,0.122,0.000,2841,1931,2697,0,0,0,0,0,0,26.77,28.83,25.29
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1917,0.84,146.6,183.4,0.0,367,2034,1.02,2.38,106.62,0.552,4,0.088,0.060,3190,3366,2097,0,0,0,0,0,0,25.73,25.41,24.98
$GC,2261,0.84,146.6,145.8,14.2,433,2268,0.00,2.20,0.00,0.000,6,0.000,0.053,3191,1963,2093,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2389,0.84,146.6,129.6,12.3,458,2396,0.00,2.22,0.00,0.000,4,0.000,0.063,3191,3365,2093,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2622,0.84,146.6,99.3,12.6,504,2629,0.00,2.20,0.00,0.000,6,0.000,0.053,3192,1948,2092,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2750,0.84,146.6,84.3,10.9,529,2757,0.00,2.22,0.00,0.000,4,0.000,0.063,3192,3365,2092,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2983,0.84,146.6,55.3,12.4,575,2990,0.00,2.17,0.00,0.000,6,0.000,0.054,3192,1949,2092,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3111,0.84,146.6,40.4,11.1,600,3118,0.00,2.22,0.00,0.000,4,0.000,0.064,3192,3374,2092,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3189,0.84,146.6,32.2,10.1,615,3196,0.00,2.17,0.00,0.000,6,0.000,0.054,3192,1950,2092,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3257,0.84,146.6,25.1,10.3,628,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1950,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,0.84,146.6,17.9,10.4,641,3331,0.00,2.22,0.00,0.000,4,0.000,0.066,3192,3373,2092,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3442,0.84,146.6,4.9,12.0,664,3449,0.00,2.20,0.00,0.000,6,0.000,0.054,3192,1956,2092,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,3503,end climb,SURFACE_DEPTH_REACHED
$STATE,3503,begin surface coast
$FINISH,0.7,1.008962
$STATE,3571,end surface coast,CONTROL_FINISHED_OK
$STATE,3571,begin surface
$SM_CCo,3586,111.43,0.469,0,0,1476,300.00
$SM_GC,2.17,8.02,0.17,111.43,0.051,0.087,0.469,196,2061,1476,-8.44,-0.76,300.00,0,0,0,0,0,0,26.82,26.80,25.44
$IRIDIUM_FIX,4726.11,-12227.78,170713,202048
$TT8_MAMPS,0.02996,0.02996
$HUMID,49.80
$INTERNAL_PRESSURE,9.0732
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,25.0,0.478
$10V_AH,10.6,0.247
$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,19.050,44.625,212.325,111.425,0.000,0.000,0.000,0.000,4.500,0.000,11.923,1505.724,804.454,411.305,1018.994,25.785,32.220,944.317,0.000,991.121,0.000,30.606,0.000
$DEVICE_MAMPS,221.085,87.210,584.460,468.945,0.000,0.000,0.000,0.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20042,689
$CAP_FILE_SIZE,75380,0
$CFSIZE,1024393216,1022197760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170713,211907,4743.233,-12225.940,32,1.1,32,16.3