version: 66.11
glider: 204
mission: 1
dive: 9
start: 7 18 113 2 11 9
data:
$ID,204
$MISSION,1
$DIVE,9
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-323.3656
$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,30
$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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$GPS1,180713,020536,4742.924,-12224.343,16,1.1,16,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.2
$GPS2,180713,021012,4742.864,-12224.206,5,1.2,5,16.3
$SPEED_LIMITS,0.080,0.192
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.026,0.190
$KALMAN_X,-2173.7,-1171.1,24.0,4242.4,69.6
$KALMAN_Y,-4125.6,-258.3,205.5,3820.0,-691.9
$MHEAD_RNG_PITCHd_Wd,335.8,2056,-18.8,-8.000
$D_GRID,168
$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,-0.96,-88.0,0.0,0.0,0,57,0.00,0.00,-40.45,0.000,2,0.000,0.000,195,2071,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.96,-88.0,3.0,-6.1,7,89,9.68,2.30,-12.50,0.000,4,0.234,0.082,2595,647,3058,0,0,0,0,0,0,25.91,26.09,26.44
$GC,315,-0.96,-88.0,32.6,-10.6,57,322,0.00,2.20,0.00,0.000,6,0.000,0.057,2586,2049,3058,0,0,0,0,0,0,28.83,26.34,28.83
$GC,383,-0.96,-88.0,39.9,-10.6,70,390,0.00,2.25,0.00,0.000,4,0.000,0.069,2586,644,3058,0,0,0,0,0,0,28.83,26.36,28.83
$GC,616,-0.96,-88.0,65.9,-10.2,116,623,0.00,2.20,0.00,0.000,6,0.000,0.056,2576,2056,3059,0,0,0,0,0,0,28.83,26.50,28.83
$GC,744,-0.96,-88.0,78.0,-8.7,141,751,0.00,2.25,0.00,0.000,4,0.000,0.070,2577,635,3059,0,0,0,0,0,0,28.83,26.52,28.83
$GC,976,-0.96,-88.0,99.8,-8.7,187,983,0.12,2.22,0.00,0.000,6,0.185,0.058,2595,2064,3059,0,0,0,0,0,0,26.48,26.61,28.83
$GC,1107,-0.96,-88.0,110.6,-7.9,212,1114,0.00,2.25,0.00,0.000,4,0.000,0.068,2595,637,3059,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1344,-0.96,-88.0,130.1,-8.4,258,1351,0.00,2.20,0.00,0.000,6,0.000,0.056,2587,2058,3059,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1473,-0.96,-88.0,141.9,-9.2,283,1480,0.00,2.25,0.00,0.000,4,0.000,0.067,2587,643,3059,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1708,-0.96,-88.0,163.4,-9.5,329,1714,0.00,2.17,0.00,0.000,6,0.000,0.054,2577,2058,3059,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,1759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1759,begin apogee
$GC,1763,-0.23,0.0,168.4,-9.7,339,1836,0.80,0.00,64.88,0.568,6,0.142,0.000,2827,1945,2694,0,0,0,0,0,0,26.60,28.83,25.51
$STATE,1837,end apogee,CONTROL_FINISHED_OK
$STATE,1837,begin climb
$GC,1838,0.96,88.0,170.6,0.0,352,1911,1.15,2.33,64.00,0.555,4,0.096,0.060,3214,3368,2334,0,0,0,0,0,0,25.92,25.46,25.05
$GC,2137,0.96,88.0,139.2,13.8,410,2144,0.00,2.25,0.00,0.000,6,0.000,0.056,3217,1955,2331,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2266,0.96,88.0,121.9,13.5,435,2272,0.00,2.25,0.00,0.000,4,0.000,0.063,3217,3371,2331,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2498,0.96,88.0,89.4,14.2,481,2505,0.00,2.20,0.00,0.000,6,0.000,0.054,3220,1951,2331,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2627,0.96,88.0,75.3,9.9,506,2633,0.00,2.28,0.00,0.000,4,0.000,0.065,3220,3371,2331,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2799,0.96,88.0,54.1,13.5,540,2806,0.00,2.20,0.00,0.000,6,0.000,0.054,3222,1948,2331,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2928,0.96,88.0,41.6,9.4,565,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1948,2330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,0.96,88.0,29.6,9.8,590,3061,0.00,2.25,0.00,0.000,4,0.000,0.065,3222,3369,2330,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3287,1.00,117.7,8.4,6.2,636,3312,0.00,2.20,19.40,0.609,6,0.000,0.055,3224,1940,2220,0,0,0,0,0,0,28.83,26.67,25.94
$GC,3373,1.07,171.6,3.8,4.7,652,3413,0.00,0.00,36.55,0.565,6,0.000,0.000,3224,1940,1995,0,0,0,0,0,0,28.83,28.83,25.54
$STATE,3418,end climb,SURFACE_DEPTH_REACHED
$STATE,3418,begin surface coast
$FINISH,0.8,1.010835
$STATE,3455,end surface coast,CONTROL_FINISHED_OK
$STATE,3455,begin surface
$SM_CCo,3469,97.05,0.520,0,0,1473,300.00
$SM_GC,2.19,8.32,0.20,97.05,0.051,0.082,0.520,198,2064,1473,-8.39,-0.82,300.00,0,0,0,0,0,0,26.16,26.13,25.05
$IRIDIUM_FIX,4722.92,-12226.07,180713,000016
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.24
$INTERNAL_PRESSURE,9.0364
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,25.0,0.765
$10V_AH,10.6,0.440
$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,20.075,40.625,184.825,97.050,0.000,23.092,38.199,149.084,3.500,0.000,5.833,1476.441,785.677,365.843,1199.715,32.577,33.205,879.810,0.000,961.275,0.000,25.878,0.000
$DEVICE_MAMPS,234.090,86.445,608.940,520.200,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,20079,667
$CAP_FILE_SIZE,62386,0
$CFSIZE,1024393216,1021886464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,031134,4742.812,-12224.892,25,1.2,25,16.3