version: 66.11
glider: 204
mission: 5
dive: 21
start: 8 23 113 12 57 49
data:
$ID,204
$MISSION,5
$DIVE,21
$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,70
$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,150
$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,250
$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,-1764.8574
$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,2015
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,29
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$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
$GPS1,230813,125235,4742.758,-12225.104,3,1.3,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.2
$GPS2,230813,125654,4742.753,-12225.130,5,1.2,5,16.3
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,0.216
$KALMAN_X,-567.1,-16.6,235.5,-278.9,-548.7
$KALMAN_Y,-2967.5,446.1,-621.6,2110.8,-860.9
$MHEAD_RNG_PITCHd_Wd,14.3,423,-16.6,-8.955
$D_GRID,186
$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,15,-1.01,-146.6,0.0,0.0,0,52,0.00,0.00,-34.92,0.000,2,0.000,0.000,179,2012,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.01,-146.6,3.0,-6.3,6,90,11.50,2.30,-19.10,0.000,4,0.297,0.075,2566,3421,3519,0,0,0,0,0,0,26.01,26.29,26.63
$GC,236,-1.01,-146.6,28.6,-16.6,41,243,0.00,2.15,0.00,0.000,6,0.000,0.044,2574,2017,3519,0,0,0,0,0,0,28.83,26.42,28.83
$GC,304,-1.01,-146.6,40.1,-17.2,54,311,0.00,2.25,0.00,0.000,4,0.000,0.064,2585,599,3519,0,0,0,0,0,0,28.83,26.42,28.83
$GC,417,-1.01,-146.6,57.3,-13.4,76,424,0.00,2.17,0.00,0.000,6,0.000,0.045,2576,2017,3519,0,0,0,0,0,0,28.83,26.50,28.83
$GC,545,-1.01,-146.6,76.3,-15.1,101,552,0.00,2.17,0.00,0.000,4,0.000,0.061,2566,3420,3518,0,0,0,0,0,0,28.83,26.53,28.83
$GC,637,-1.01,-146.6,90.3,-13.8,119,644,0.00,2.12,0.00,0.000,6,0.000,0.044,2574,2014,3519,0,0,0,0,0,0,28.83,26.58,28.83
$GC,765,-1.01,-146.6,111.2,-14.3,144,772,0.00,2.20,0.00,0.000,4,0.000,0.061,2585,600,3519,0,0,0,0,0,0,28.83,26.58,28.83
$GC,788,-1.01,-146.6,114.4,-14.0,148,795,0.00,2.15,0.00,0.000,6,0.000,0.046,2576,2016,3519,0,0,0,0,0,0,28.83,26.61,28.83
$GC,916,-1.01,-146.6,133.7,-14.2,173,923,0.00,2.15,0.00,0.000,4,0.000,0.054,2566,3427,3519,0,0,0,0,0,0,28.83,26.63,28.83
$GC,954,-1.01,-146.6,140.0,-16.3,180,961,0.00,2.12,0.00,0.000,6,0.000,0.044,2574,2011,3519,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1082,-1.01,-146.6,157.9,-15.1,205,1089,0.00,2.17,0.00,0.000,4,0.000,0.062,2585,608,3519,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1206,-1.01,-146.6,175.9,-14.2,229,1212,0.00,2.15,0.00,0.000,6,0.000,0.046,2576,2019,3519,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,1238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1238,begin apogee
$GC,1241,-0.35,0.0,180.7,-13.9,235,1354,0.82,0.00,107.70,0.683,6,0.230,0.000,2787,1924,2919,0,0,0,0,0,0,26.53,28.83,24.87
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1356,1.01,146.6,187.6,0.0,255,1473,1.73,0.00,107.18,0.578,6,0.221,0.000,3224,1924,2313,0,0,0,0,0,0,25.31,28.83,24.68
$GC,1594,1.01,146.6,168.7,12.0,300,1601,0.00,2.28,0.00,0.000,4,0.000,0.064,3234,527,2309,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1647,1.01,146.6,162.6,12.0,310,1654,0.00,2.20,0.00,0.000,6,0.000,0.044,3225,1932,2309,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1775,1.01,146.6,147.6,12.2,335,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1932,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,1.01,146.6,131.3,13.3,360,1909,0.00,2.25,0.00,0.000,4,0.000,0.065,3234,530,2309,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1945,1.01,146.6,125.7,13.0,368,1952,0.00,2.17,0.00,0.000,6,0.000,0.045,3225,1940,2309,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2073,1.01,146.6,110.6,12.5,393,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1941,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,1.01,146.6,96.9,9.8,418,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1941,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,1.01,146.6,84.9,9.1,443,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1941,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2454,1.01,146.6,71.6,10.0,468,2461,0.00,2.20,0.00,0.000,4,0.000,0.060,3215,3348,2309,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2516,1.01,146.6,64.6,12.4,480,2523,0.00,2.15,0.00,0.000,6,0.000,0.047,3224,1932,2309,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2645,1.01,146.6,51.3,10.4,505,2651,0.00,2.20,0.00,0.000,4,0.000,0.059,3214,3345,2309,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2657,1.01,146.6,49.8,10.4,507,2664,0.00,2.15,0.00,0.000,6,0.000,0.047,3224,1931,2309,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2786,1.09,209.7,39.1,6.4,532,2838,0.12,2.33,46.53,0.575,4,0.230,0.060,3264,516,2057,0,0,0,0,0,0,26.42,26.03,25.58
$GC,2880,1.09,209.7,29.9,11.3,549,2887,0.00,2.20,0.00,0.000,6,0.000,0.044,3254,1935,2051,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2948,1.09,209.7,22.1,12.2,562,2954,0.00,2.20,0.00,0.000,4,0.000,0.060,3244,3334,2050,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3000,1.09,209.7,15.2,13.3,572,3007,0.00,2.17,0.00,0.000,6,0.000,0.047,3253,1921,2050,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3068,1.09,209.7,6.5,11.9,585,3075,0.00,2.22,0.00,0.000,4,0.000,0.066,3264,520,2050,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,3105,end climb,SURFACE_DEPTH_REACHED
$STATE,3105,begin surface coast
$FINISH,0.8,1.018633
$STATE,3116,end surface coast,CONTROL_FINISHED_OK
$STATE,3116,begin surface
$SM_CCo,3135,12.80,0.134,0,0,1896,250.21
$SM_GC,3.85,9.73,2.38,12.80,0.134,0.044,0.134,180,2018,1896,-8.41,-0.82,250.21,0,0,0,0,0,0,26.39,26.35,26.20
$IRIDIUM_FIX,4722.92,-12309.48,230813,111127
$TT8_MAMPS,0.030709,0.030709
$HUMID,52.87
$INTERNAL_PRESSURE,9.2756
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,24.7,4.940
$10V_AH,10.5,2.581
$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,23.900,57.375,261.400,12.800,0.000,24.930,31.461,133.571,0.000,0.000,5.875,1289.205,651.087,379.414,1067.243,35.787,33.203,884.640,0.000,858.311,0.000,0.547,0.000
$DEVICE_MAMPS,296.820,77.265,683.145,133.875,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23504,594
$CAP_FILE_SIZE,63109,0
$CFSIZE,1024393216,1020936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230813,135057,4742.790,-12225.172,8,1.3,8,16.3