version: 66.11
glider: 204
mission: 5
dive: 9
start: 8 23 113 1 25 46
data:
$ID,204
$MISSION,5
$DIVE,9
$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,67
$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,-7
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53100
$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,310
$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,-1749.7841
$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,2909
$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,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,-72.821007
$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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$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
$GPS1,230813,012033,4742.703,-12224.904,12,0.9,29,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.7
$GPS2,230813,012451,4742.710,-12224.930,4,0.9,4,16.3
$SPEED_LIMITS,0.155,0.236
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,0.229
$KALMAN_X,412.6,251.8,-172.8,-874.7,-223.9
$KALMAN_Y,-1412.4,-133.4,-482.2,915.5,-839.3
$MHEAD_RNG_PITCHd_Wd,357.7,2210,-17.9,-8.955
$D_GRID,185
$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,-1.05,-127.1,0.0,0.0,0,67,0.00,0.00,-50.72,0.000,2,0.000,0.000,188,1942,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.05,-127.1,3.2,-5.9,9,100,11.10,2.22,-11.48,0.000,4,0.288,0.079,2571,541,3439,0,0,0,0,0,0,25.95,26.27,26.61
$GC,161,-1.05,-127.1,15.6,-16.0,26,167,0.00,2.17,0.00,0.000,6,0.000,0.048,2563,1950,3439,0,0,0,0,0,0,28.83,26.35,28.83
$GC,229,-1.05,-127.1,27.4,-16.6,39,235,0.00,2.20,0.00,0.000,4,0.000,0.061,2552,3357,3439,0,0,0,0,0,0,28.83,26.37,28.83
$GC,302,-1.05,-127.1,38.4,-15.1,53,308,0.00,2.15,0.00,0.000,6,0.000,0.046,2560,1948,3439,0,0,0,0,0,0,28.83,26.45,28.83
$GC,369,-1.05,-127.1,49.5,-16.1,66,376,0.00,2.22,0.00,0.000,4,0.000,0.066,2571,536,3438,0,0,0,0,0,0,28.83,26.44,28.83
$GC,523,-1.05,-127.1,77.1,-17.9,96,529,0.00,2.17,0.00,0.000,6,0.000,0.048,2562,1951,3439,0,0,0,0,0,0,28.83,26.53,28.83
$GC,650,-1.05,-127.1,98.2,-15.9,121,657,0.00,2.17,0.00,0.000,4,0.000,0.060,2552,3356,3438,0,0,0,0,0,0,28.83,26.55,28.83
$GC,708,-1.05,-127.1,107.5,-14.4,132,715,0.00,2.17,0.00,0.000,6,0.000,0.046,2561,1941,3439,0,0,0,0,0,0,28.83,26.60,28.83
$GC,838,-1.05,-127.1,123.0,-13.4,157,845,0.00,2.17,0.00,0.000,4,0.000,0.063,2571,545,3439,0,0,0,0,0,0,28.83,26.60,28.83
$GC,907,-1.05,-127.1,132.8,-13.3,170,913,0.00,2.15,0.00,0.000,6,0.000,0.047,2562,1957,3439,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1035,-1.05,-127.1,150.8,-14.5,195,1041,0.00,2.22,0.00,0.000,4,0.000,0.065,2571,541,3439,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1177,-1.05,-127.1,172.7,-14.7,223,1184,0.00,2.15,0.00,0.000,6,0.000,0.047,2562,1953,3439,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1232,-0.35,0.0,180.4,-14.5,233,1377,0.88,0.00,138.00,0.609,6,0.234,0.000,2785,1955,2917,0,0,0,0,0,0,26.53,28.83,24.87
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1380,1.05,127.1,188.6,0.0,259,1481,1.77,2.38,93.45,0.578,4,0.216,0.060,3229,3350,2395,0,0,0,0,0,0,25.25,25.17,24.72
$GC,1523,1.05,127.1,180.0,10.4,285,1530,0.00,2.22,0.00,0.000,6,0.000,0.048,3238,1950,2389,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1651,1.05,127.1,166.1,11.6,310,1658,0.00,2.28,0.00,0.000,4,0.000,0.065,3249,535,2389,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1824,1.05,127.1,149.4,9.8,344,1831,0.00,2.20,0.00,0.000,6,0.000,0.049,3239,1949,2389,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1953,1.05,127.1,135.0,11.1,369,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1949,2389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,1.05,127.1,119.7,11.7,394,2086,0.00,2.25,0.00,0.000,4,0.000,0.066,3249,542,2389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2143,1.05,127.1,111.5,13.4,406,2149,0.00,2.20,0.00,0.000,6,0.000,0.047,3240,1961,2388,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2270,1.05,127.1,96.5,11.5,431,2277,0.00,2.20,0.00,0.000,4,0.000,0.060,3229,3364,2388,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2318,1.05,127.1,90.0,13.6,440,2325,0.00,2.17,0.00,0.000,6,0.000,0.048,3238,1938,2388,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2446,1.05,127.1,76.8,9.3,465,2453,0.00,2.20,0.00,0.000,4,0.000,0.064,3249,538,2388,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2469,1.05,127.1,74.6,9.1,469,2476,0.00,2.17,0.00,0.000,6,0.000,0.047,3240,1955,2388,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2598,1.09,157.7,64.9,7.5,494,2627,0.00,2.28,22.77,0.627,4,0.000,0.067,3248,543,2268,0,0,0,0,0,0,28.83,26.25,25.76
$GC,2693,1.09,157.7,56.9,9.1,512,2700,0.00,2.17,0.00,0.000,6,0.000,0.047,3239,1954,2264,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2822,1.09,157.7,46.6,9.7,537,2829,0.00,2.28,0.00,0.000,4,0.000,0.068,3248,538,2263,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2866,1.09,161.2,42.3,8.8,545,2872,0.00,2.17,0.00,0.000,6,0.000,0.049,3239,1950,2263,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2995,1.09,161.2,31.2,9.1,570,3002,0.00,2.20,0.00,0.000,4,0.000,0.061,3229,3365,2263,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3065,1.10,166.6,25.1,8.7,583,3072,0.00,2.17,2.08,0.248,6,0.000,0.047,3238,1948,2238,0,0,0,0,0,0,28.83,26.53,25.44
$GC,3134,1.10,172.5,19.2,8.7,596,3147,0.00,2.28,3.65,0.178,4,0.000,0.066,3249,542,2219,0,0,0,0,0,0,28.83,26.51,26.38
$GC,3178,1.10,172.5,14.6,11.2,604,3186,0.00,2.15,1.05,0.213,6,0.000,0.047,3240,1951,2213,0,0,0,0,0,0,28.83,26.54,26.41
$GC,3247,1.10,172.5,7.3,10.8,617,3253,0.00,0.00,1.12,0.206,6,0.000,0.000,3239,1952,2212,0,0,0,0,0,0,28.83,28.83,26.44
$STATE,3294,end climb,SURFACE_DEPTH_REACHED
$STATE,3294,begin surface coast
$FINISH,0.7,1.003642
$STATE,3310,end surface coast,CONTROL_FINISHED_OK
$STATE,3310,begin surface
$SM_CCo,3325,47.22,0.129,0,0,1653,310.06
$SM_GC,2.21,9.55,0.00,47.22,0.133,0.000,0.129,188,1952,1653,-8.40,0.06,310.06,0,0,0,0,0,0,26.60,28.83,26.33
$IRIDIUM_FIX,4726.11,-12239.31,230813,000005
$TT8_MAMPS,0.030709,0.030709
$HUMID,54.29
$INTERNAL_PRESSURE,9.2572
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,7.9
$24V_AH,24.7,4.202
$10V_AH,10.5,2.204
$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,23.300,66.175,262.125,47.225,0.000,23.828,29.211,137.569,0.500,0.000,5.841,1369.094,690.386,426.765,1121.279,38.973,33.224,959.642,0.000,907.704,0.000,5.771,0.000
$DEVICE_MAMPS,288.405,78.795,627.300,129.285,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323440
$DATA_FILE_SIZE,23514,629
$CAP_FILE_SIZE,68676,0
$CFSIZE,1024393216,1021689856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230813,022235,4742.877,-12224.909,3,1.3,3,16.3