version: 66.11
glider: 204
mission: 5
dive: 22
start: 8 23 113 13 56 43
data:
$ID,204
$MISSION,5
$DIVE,22
$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,-1766.1152
$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,27
$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,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
$GPS1,230813,135057,4742.790,-12225.172,8,1.3,8,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.2
$GPS2,230813,135548,4742.797,-12225.194,11,1.3,11,16.3
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.216,0.129
$KALMAN_X,-1026.7,46.4,28.4,239.6,-647.5
$KALMAN_Y,-3204.0,459.7,-1180.0,2973.9,-596.4
$MHEAD_RNG_PITCHd_Wd,42.9,523,-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,14,-1.01,-146.6,0.0,0.0,0,57,0.00,0.00,-40.55,0.000,2,0.000,0.000,180,2027,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.01,-146.6,3.2,-6.9,7,90,11.52,2.30,-13.10,0.000,4,0.295,0.075,2566,3431,3518,0,0,0,0,0,0,25.92,26.20,26.51
$GC,316,-1.01,-146.6,41.6,-18.8,57,323,0.00,2.17,0.00,0.000,6,0.000,0.044,2574,2014,3518,0,0,0,0,0,0,28.83,26.40,28.83
$GC,444,-1.01,-146.6,62.8,-16.2,82,451,0.00,2.20,0.00,0.000,4,0.000,0.062,2585,607,3519,0,0,0,0,0,0,28.83,26.43,28.83
$GC,502,-1.01,-146.6,72.2,-15.0,93,509,0.00,2.15,0.00,0.000,6,0.000,0.045,2577,2017,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,630,-1.01,-146.6,90.5,-13.6,118,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2017,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,758,-1.01,-146.6,108.7,-14.7,143,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2017,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-1.01,-146.6,126.7,-13.9,168,891,0.00,2.22,0.00,0.000,4,0.000,0.061,2585,599,3519,0,0,0,0,0,0,28.83,26.58,28.83
$GC,969,-1.01,-146.6,138.6,-13.3,184,975,0.00,2.15,0.00,0.000,6,0.000,0.045,2577,2015,3519,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1097,-1.01,-146.6,155.3,-13.6,209,1103,0.00,2.22,0.00,0.000,4,0.000,0.062,2585,596,3519,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1235,-1.01,-146.6,174.3,-15.2,236,1241,0.00,2.17,0.00,0.000,6,0.000,0.045,2577,2023,3519,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,1276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1276,begin apogee
$GC,1280,-0.35,0.0,180.3,-14.1,244,1447,0.82,0.00,158.65,0.599,6,0.232,0.000,2787,1916,2916,0,0,0,0,0,0,26.53,28.83,24.82
$STATE,1447,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1449,1.01,146.6,188.4,0.0,274,1567,1.73,2.35,108.03,0.575,4,0.218,0.054,3215,3340,2313,0,0,0,0,0,0,25.20,25.11,24.65
$GC,1613,1.01,146.6,177.3,11.6,304,1620,0.00,2.22,0.00,0.000,6,0.000,0.044,3224,1932,2309,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1742,1.01,146.6,160.8,12.3,329,1748,0.00,2.28,0.00,0.000,4,0.000,0.062,3235,520,2309,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1785,1.01,146.6,155.5,12.1,337,1791,0.00,2.22,0.00,0.000,6,0.000,0.044,3226,1935,2309,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1913,1.01,146.6,140.2,12.7,362,1920,0.00,2.20,0.00,0.000,4,0.000,0.057,3215,3338,2309,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1925,1.01,146.6,138.3,14.0,364,1932,0.00,2.17,0.00,0.000,6,0.000,0.047,3224,1928,2309,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2053,1.02,156.9,124.9,8.5,389,2061,0.00,2.30,2.97,0.416,4,0.000,0.062,3235,520,2284,0,0,0,0,0,0,28.83,26.22,25.54
$GC,2152,1.02,156.9,114.1,10.4,408,2160,0.00,2.17,2.12,0.255,6,0.000,0.045,3226,1935,2280,0,0,0,0,0,0,28.83,26.32,25.54
$GC,2282,1.02,156.9,101.3,10.4,433,2289,0.00,2.28,1.67,0.183,4,0.000,0.057,3216,3348,2282,0,0,0,0,0,0,28.83,26.36,26.25
$GC,2321,1.02,156.9,97.2,11.0,440,2328,0.00,2.17,1.45,0.193,6,0.000,0.046,3224,1925,2279,0,0,0,0,0,0,28.83,26.40,26.25
$GC,2450,1.02,156.9,85.5,9.6,465,2457,0.00,2.30,1.62,0.184,4,0.000,0.060,3215,3341,2282,0,0,0,0,0,0,28.83,26.41,26.31
$GC,2564,1.02,156.9,74.4,9.1,487,2571,0.00,2.15,1.65,0.183,6,0.000,0.047,3225,1928,2279,0,0,0,0,0,0,28.83,26.49,26.35
$GC,2693,1.02,156.9,63.0,9.5,512,2700,0.00,0.00,1.58,0.184,6,0.000,0.000,3224,1928,2282,0,0,0,0,0,0,28.83,28.83,26.39
$GC,2821,1.02,156.9,51.1,10.1,537,2829,0.00,2.28,1.60,0.184,4,0.000,0.058,3216,3339,2283,0,0,0,0,0,0,28.83,26.53,26.42
$GC,2850,1.02,156.9,48.3,9.8,542,2858,0.00,2.17,1.42,0.195,6,0.000,0.047,3224,1924,2279,0,0,0,0,0,0,28.83,26.56,26.41
$GC,2979,1.02,156.9,35.1,10.6,567,2986,0.00,0.00,1.50,0.187,6,0.000,0.000,3225,1924,2282,0,0,0,0,0,0,28.83,28.83,26.45
$GC,3047,1.03,163.0,28.7,8.7,580,3066,0.00,2.28,9.25,0.541,4,0.000,0.060,3215,3337,2249,0,0,0,0,0,0,28.83,26.47,25.98
$GC,3117,1.03,163.0,22.1,9.9,593,3123,0.00,2.15,0.00,0.000,6,0.000,0.047,3224,1926,2246,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3185,1.03,163.0,15.2,11.0,606,3191,0.00,2.20,0.00,0.000,4,0.000,0.066,3235,524,2245,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3238,1.03,163.0,9.6,10.8,616,3244,0.00,2.17,0.00,0.000,6,0.000,0.045,3226,1934,2245,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3306,1.03,165.5,3.5,8.9,629,3313,0.00,2.15,0.00,0.000,4,0.000,0.056,3215,3337,2245,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,3323,end climb,SURFACE_DEPTH_REACHED
$STATE,3323,begin surface coast
$FINISH,0.7,1.022338
$STATE,3344,end surface coast,CONTROL_FINISHED_OK
$STATE,3344,begin surface
$SM_CCo,3362,28.67,0.132,0,0,1896,250.21
$SM_GC,3.11,9.40,2.08,28.67,0.127,0.044,0.132,182,2003,1896,-8.40,0.71,250.21,0,0,0,0,0,0,26.60,26.58,26.37
$IRIDIUM_FIX,4726.11,-12225.08,230813,121235
$TT8_MAMPS,0.030709,0.030709
$HUMID,52.40
$INTERNAL_PRESSURE,9.2664
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.7,5.000
$10V_AH,10.5,2.616
$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,23.475,62.075,293.525,28.675,0.000,25.171,44.403,142.823,0.000,0.000,12.855,1381.455,699.455,416.455,1159.645,39.543,33.200,952.350,0.000,917.471,0.000,0.547,0.000
$DEVICE_MAMPS,295.290,74.970,598.995,131.580,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323492
$DATA_FILE_SIZE,26820,636
$CAP_FILE_SIZE,68560,0
$CFSIZE,1024393216,1020854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230813,145421,4742.883,-12224.394,34,1.4,34,16.3