version: 66.11
glider: 204
mission: 1
dive: 13
start: 7 18 113 7 16 9
data:
$ID,204
$MISSION,1
$DIVE,13
$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,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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52978
$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,-365.60794
$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,600
$C_ROLL_CLIMB,600
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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,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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,9
$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
$GPS1,180713,071021,4741.858,-12226.217,36,1.7,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.6
$GPS2,180713,071516,4741.858,-12226.184,5,1.8,5,16.3
$SPEED_LIMITS,0.084,0.181
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,0.116
$KALMAN_X,-6986.6,0.8,-114.1,5556.9,-620.9
$KALMAN_Y,-7812.6,-53.7,-150.8,5797.3,-528.4
$MHEAD_RNG_PITCHd_Wd,33.8,2325,-26.7,-10.000
$D_GRID,175
$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,-1.30,-68.4,0.0,0.0,0,56,0.00,0.00,-40.12,0.000,2,0.000,0.000,195,611,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.30,-68.4,3.1,-5.6,7,82,9.25,0.00,-10.65,0.000,6,0.235,0.000,2489,612,2979,0,0,0,0,0,0,25.90,28.83,26.40
$GC,144,-1.30,-68.4,11.4,-9.9,23,150,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,211,-1.30,-68.4,20.7,-14.6,36,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,278,-1.30,-68.4,30.0,-12.5,49,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,345,-1.30,-68.4,37.8,-11.3,62,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,412,-1.30,-68.4,45.8,-11.2,75,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,539,-1.30,-68.4,59.9,-12.4,100,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,666,-1.30,-68.4,75.5,-10.6,125,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-1.30,-68.4,87.3,-9.3,150,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,612,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,921,-1.30,-68.4,99.0,-8.5,175,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1048,-1.30,-68.4,110.9,-9.4,200,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1180,-1.30,-68.4,124.0,-9.8,225,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-1.30,-68.4,137.7,-10.5,250,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1440,-1.30,-68.4,151.5,-11.4,275,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-1.30,-68.4,165.2,-10.3,300,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,612,2979,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1662,begin apogee
$GC,1665,-0.23,0.0,175.1,-10.5,318,1722,1.15,0.00,51.15,0.656,6,0.169,0.000,2829,612,2695,0,0,0,0,0,0,26.53,28.83,25.52
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1724,1.30,68.4,177.5,0.0,328,1780,1.48,0.00,49.75,0.559,6,0.105,0.000,3318,612,2417,0,0,0,0,0,0,25.90,28.83,25.16
$GC,1901,1.30,68.4,157.4,15.1,362,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2028,1.30,68.4,137.0,16.0,387,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,612,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2155,1.30,68.4,116.8,16.1,412,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2282,1.30,68.4,98.1,14.4,437,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2409,1.30,68.4,79.6,13.8,462,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,1.30,68.4,61.8,12.7,487,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,1.30,68.4,45.0,13.8,512,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,1.30,68.4,30.5,11.8,537,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2858,1.30,73.1,23.6,9.5,550,2864,0.00,0.00,1.05,0.224,6,0.000,0.000,3318,612,2401,0,0,0,0,0,0,28.83,28.83,26.48
$GC,2926,1.30,73.1,16.9,11.1,563,2932,0.00,0.00,0.88,0.233,6,0.000,0.000,3318,612,2401,0,0,0,0,0,0,28.83,28.83,26.52
$GC,2993,1.30,73.1,9.6,10.1,576,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,612,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,1.37,124.8,4.8,5.0,589,3101,0.00,0.00,37.35,0.500,6,0.000,0.000,3317,612,2189,0,0,0,0,0,0,28.83,28.83,25.89
$STATE,3121,end climb,SURFACE_DEPTH_REACHED
$STATE,3121,begin surface coast
$FINISH,0.9,1.021073
$STATE,3162,end surface coast,CONTROL_FINISHED_OK
$STATE,3162,begin surface
$SM_CCo,3177,130.80,0.444,0,0,1476,300.00
$SM_GC,1.69,8.85,0.00,130.80,0.073,0.000,0.444,191,612,1476,-8.42,0.34,300.00,0,0,0,0,0,0,26.36,28.83,25.14
$IRIDIUM_FIX,4726.11,-12233.92,180713,060638
$TT8_MAMPS,0.030709,0.030709
$HUMID,46.29
$INTERNAL_PRESSURE,9.0272
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,25.1,1.013
$10V_AH,10.6,0.598
$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,20.725,0.000,140.175,130.800,0.000,27.073,29.454,169.225,4.000,0.000,5.878,1353.067,695.649,385.913,1132.665,38.197,33.226,873.437,0.000,879.752,0.000,31.737,0.000
$DEVICE_MAMPS,234.855,0.000,655.605,444.465,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323640
$DATA_FILE_SIZE,23403,608
$CAP_FILE_SIZE,61344,0
$CFSIZE,1024393216,1021607936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,081145,4741.805,-12226.521,3,0.9,3,16.3