version: 66.10
glider: 205
mission: 4
dive: 6
start: 9 4 113 19 58 23
data:
$ID,205
$MISSION,4
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,40
$T_BOOST,0
$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,4
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53289
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$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,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,-615.20581
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3984
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2242
$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,-59.905739
$PRESSURE_SLOPE,0.0001159995
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.98000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043419907
$SEABIRD_T_H,0.000621902
$SEABIRD_T_I,2.2352948e-05
$SEABIRD_T_J,2.3392056e-06
$SEABIRD_C_G,-9.6916523
$SEABIRD_C_H,1.1209148
$SEABIRD_C_I,-0.0012442283
$SEABIRD_C_J,0.0001684351
$GPS1,040913,195118,4743.767,-12225.209,31,1.2,31,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.4
$GPS2,040913,195728,4743.657,-12225.103,35,1.2,35,16.3
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,0.229
$KALMAN_X,535.5,652.8,215.4,-2159.8,134.9
$KALMAN_Y,-320.7,419.9,459.7,1024.2,-427.7
$MHEAD_RNG_PITCHd_Wd,357.5,587,-20.3,-10.000
$D_GRID,180
$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,-1.11,-117.3,0.0,0.0,0,56,0.00,0.00,-39.90,0.000,2,0.000,0.000,200,1911,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.11,-117.3,3.5,-7.5,6,81,9.10,2.17,-4.88,0.000,4,0.267,0.069,2329,3307,2721,0,0,0,0,0,0,26.49,26.69,26.99
$GC,89,-1.11,-117.3,10.1,-21.2,10,96,0.00,2.17,0.00,0.000,6,0.000,0.045,2329,1891,2722,0,0,0,0,0,0,28.83,26.72,28.83
$GC,176,-1.11,-117.3,25.7,-17.9,26,183,0.00,2.22,0.00,0.000,4,0.000,0.057,2329,475,2722,0,0,0,0,0,0,28.83,26.76,28.83
$GC,215,-1.11,-117.3,33.9,-21.4,33,224,0.00,2.25,0.00,0.000,6,0.000,0.044,2319,1903,2722,0,0,0,0,0,0,28.83,26.81,28.83
$GC,304,-1.11,-117.3,51.6,-18.6,49,310,0.00,2.25,0.00,0.000,4,0.000,0.057,2319,487,2722,0,0,0,0,0,0,28.83,26.82,28.83
$GC,378,-1.11,-117.3,66.2,-19.6,63,385,0.15,2.17,0.00,0.000,6,0.191,0.043,2344,1897,2723,0,0,0,0,0,0,26.73,26.88,28.83
$GC,539,-1.11,-117.3,94.2,-17.1,94,547,0.00,2.22,0.00,0.000,4,0.000,0.057,2336,3310,2723,0,0,0,0,0,0,28.83,26.91,28.83
$GC,613,-1.11,-117.3,108.0,-18.5,108,621,0.00,2.17,0.00,0.000,6,0.000,0.044,2336,1900,2723,0,0,0,0,0,0,28.83,26.95,28.83
$GC,773,-1.11,-117.3,138.1,-19.0,139,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1900,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,930,-1.11,-117.3,164.2,-14.7,170,938,0.00,2.20,0.00,0.000,4,0.000,0.057,2328,3303,2723,0,0,0,0,0,0,28.83,27.01,28.83
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1041,begin apogee
$GC,1046,-0.24,0.0,180.4,-15.7,191,1140,0.95,0.00,88.22,1.172,6,0.158,0.000,2618,1892,2243,0,0,0,0,0,0,26.89,28.83,24.64
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1142,1.11,117.3,185.8,0.0,205,1242,1.33,2.45,91.55,1.154,4,0.097,0.059,3054,491,1763,0,0,0,0,0,0,25.44,25.19,24.45
$GC,1349,1.11,117.3,170.1,11.5,241,1356,0.00,2.22,0.00,0.000,6,0.000,0.041,3053,1904,1764,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1506,1.11,117.3,151.4,12.1,272,1515,0.00,2.33,0.00,0.000,4,0.000,0.060,3053,492,1763,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1521,1.11,117.3,149.8,11.6,274,1529,0.00,2.25,0.00,0.000,6,0.000,0.044,3054,1902,1764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1681,1.11,117.3,132.8,10.7,305,1688,0.00,2.22,0.00,0.000,4,0.000,0.056,3053,3314,1763,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1795,1.11,117.3,118.9,12.2,327,1802,0.00,2.20,0.00,0.000,6,0.000,0.048,3054,1883,1763,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1953,1.12,122.1,102.1,9.7,358,1961,0.00,0.00,1.75,0.402,6,0.000,0.000,3053,1884,1746,0,0,0,0,0,0,28.83,28.83,26.49
$GC,2113,1.13,135.2,85.8,9.2,389,2128,0.00,2.28,4.95,0.770,4,0.000,0.062,3054,488,1689,0,0,0,0,0,0,28.83,26.75,26.06
$GC,2300,1.15,145.9,68.1,9.4,425,2315,0.00,2.20,3.75,0.633,6,0.000,0.042,3053,1914,1646,0,0,0,0,0,0,28.83,26.87,26.12
$GC,2467,1.16,153.4,53.1,9.6,457,2474,0.00,0.00,2.75,0.477,6,0.000,0.000,3054,1915,1614,0,0,0,0,0,0,28.83,28.83,26.20
$GC,2631,1.19,182.5,35.8,8.3,488,2649,0.10,2.28,10.07,0.200,4,0.112,0.060,3094,486,1494,0,0,0,0,0,0,26.96,26.84,26.71
$GC,2862,1.19,182.5,7.8,12.5,527,2871,0.00,2.20,0.00,0.000,6,0.000,0.044,3094,1893,1495,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,2907,end climb,SURFACE_DEPTH_REACHED
$STATE,2907,begin surface coast
$FINISH,0.0,1.022331
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2941,23.17,0.116,0,0,1219,250.21
$SM_GC,3.98,7.70,0.00,23.17,0.054,0.000,0.116,202,1893,1219,-7.76,-0.20,250.21,0,0,0,0,0,0,26.96,28.83,26.82
$IRIDIUM_FIX,4726.11,-12223.37,040913,181811
$TT8_MAMPS,0.029211,0.029211
$HUMID,67.87
$INTERNAL_PRESSURE,9.03992
$TCM_TEMP,13.90
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,90.5,7.9
$24V_AH,24.4,0.868
$10V_AH,10.4,0.557
$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,19.325,44.675,203.050,23.175,0.000,24.871,32.074,214.893,3.500,0.000,36.967,1209.639,111.155,277.120,1716.295,36.110,33.217,774.833,0.000,1393.056,0.000,5.626,0.000
$DEVICE_MAMPS,266.985,68.850,1171.980,116.280,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.342,1072.115,1014.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,36.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323440
$DATA_FILE_SIZE,33616,537
$CAP_FILE_SIZE,60529,0
$CFSIZE,1024393216,1022066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,204904,4743.655,-12224.944,22,2.1,42,16.3