version: 66.10
glider: 205
mission: 4
dive: 23
start: 9 5 113 12 53 5
data:
$ID,205
$MISSION,4
$DIVE,23
$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,77
$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,90
$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,1
$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,-637.17859
$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,2697
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.5
$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,2030
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,34
$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,0.0020000001
$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,125
$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
$GPS1,050913,124535,4743.437,-12225.771,50,1.5,51,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.7
$GPS2,050913,125211,4743.451,-12225.738,4,1.4,4,16.3
$SPEED_LIMITS,0.135,0.191
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,0.114
$KALMAN_X,1260.3,173.6,123.3,-3108.0,-299.5
$KALMAN_Y,-4199.8,1321.4,-1825.6,5894.7,-237.5
$MHEAD_RNG_PITCHd_Wd,36.9,1434,-19.1,-7.792
$D_GRID,193
$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,-88.0,0.0,0.0,0,60,0.00,0.00,-42.25,0.000,6,0.000,0.000,195,2038,2602,0,0,0,0,0,0,28.83,28.83,26.94
$GC,61,-1.11,-88.0,4.0,-8.2,6,79,9.18,2.20,0.00,0.000,4,0.266,0.049,2324,3433,2603,0,0,0,0,0,0,26.39,26.59,28.83
$GC,103,-1.11,-88.0,16.7,-25.2,12,112,0.00,2.17,0.00,0.000,6,0.000,0.041,2324,2034,2604,0,0,0,0,0,0,28.83,26.63,28.83
$GC,200,-1.11,-88.0,35.9,-18.9,28,209,0.00,2.25,0.00,0.000,4,0.000,0.057,2314,3434,2603,0,0,0,0,0,0,28.83,26.67,28.83
$GC,372,-1.11,-88.0,67.3,-18.5,61,379,0.00,2.15,0.00,0.000,6,0.000,0.042,2314,2015,2603,0,0,0,0,0,0,28.83,26.79,28.83
$GC,530,-1.11,-88.0,94.5,-15.4,92,539,0.00,2.25,0.00,0.000,4,0.000,0.057,2305,3429,2603,0,0,0,0,0,0,28.83,26.83,28.83
$GC,685,-1.11,-88.0,123.2,-17.7,122,694,0.10,2.15,0.00,0.000,6,0.177,0.042,2333,2035,2603,0,0,0,0,0,0,26.77,26.90,28.83
$GC,851,-1.11,-88.0,149.0,-14.0,153,857,0.00,2.17,0.00,0.000,4,0.000,0.058,2325,3432,2603,0,0,0,0,0,0,28.83,26.91,28.83
$GC,875,-1.11,-88.0,152.4,-14.8,157,882,0.00,2.12,0.00,0.000,6,0.000,0.044,2325,2028,2603,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1033,-1.11,-88.0,177.3,-13.9,188,1042,0.00,2.25,0.00,0.000,4,0.000,0.057,2325,616,2603,0,0,0,0,0,0,28.83,26.95,28.83
$STATE,1053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1053,begin apogee
$GC,1058,-0.24,0.0,180.1,-14.3,191,1131,0.98,0.00,66.88,1.219,6,0.168,0.000,2608,1863,2243,0,0,0,0,0,0,26.83,28.83,24.75
$STATE,1132,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1133,1.11,88.0,185.5,0.0,202,1208,1.35,0.00,69.20,1.193,6,0.102,0.000,3049,1864,1884,0,0,0,0,0,0,25.51,28.83,24.31
$GC,1359,1.11,88.0,172.4,7.9,243,1366,0.00,2.30,0.00,0.000,4,0.000,0.060,3049,452,1885,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1653,1.20,132.9,151.7,5.1,301,1695,0.00,2.17,35.15,1.175,6,0.000,0.041,3049,1862,1700,0,0,0,0,0,0,28.83,26.56,25.01
$GC,1847,1.20,132.9,131.1,12.5,337,1854,0.00,2.30,0.00,0.000,4,0.000,0.061,3049,448,1701,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2139,1.20,132.9,103.3,8.2,395,2146,0.10,2.17,0.00,0.000,6,0.104,0.042,3092,1860,1700,0,0,0,0,0,0,26.60,26.62,28.83
$GC,2298,1.20,132.9,87.8,9.6,426,2307,0.00,2.22,0.00,0.000,4,0.000,0.055,3092,3265,1701,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2368,1.20,132.9,80.9,10.5,439,2375,0.00,2.15,0.00,0.000,6,0.000,0.047,3093,1859,1700,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2526,1.20,132.9,65.1,9.2,470,2535,0.00,2.28,0.00,0.000,4,0.000,0.060,3093,449,1700,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2748,1.20,132.9,44.2,9.1,513,2755,0.00,2.17,0.00,0.000,6,0.000,0.043,3093,1867,1700,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2924,1.20,132.9,28.4,8.0,544,2932,0.00,2.20,0.00,0.000,4,0.000,0.056,3093,3267,1700,0,0,0,0,0,0,28.83,26.91,28.83
$STATE,3259,end climb,SURFACE_DEPTH_REACHED
$STATE,3259,begin surface coast
$FINISH,0.0,1.022027
$STATE,3297,end surface coast,CONTROL_FINISHED_OK
$STATE,3297,begin surface
$SM_CCo,3313,40.97,0.113,0,0,1222,250.21
$SM_GC,4.01,7.90,1.92,40.97,0.068,0.043,0.113,202,2027,1222,-7.74,0.93,250.21,0,0,0,0,0,0,26.97,27.00,26.81
$IRIDIUM_FIX,4726.11,-12223.37,050913,111137
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.16
$INTERNAL_PRESSURE,9.03015
$TCM_TEMP,14.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,135.5,89.0
$24V_AH,24.3,2.154
$10V_AH,10.4,1.451
$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,19.600,43.600,171.225,40.975,0.000,25.552,38.481,263.928,2.750,0.000,5.912,1373.948,122.821,258.760,1965.994,41.907,33.201,783.675,0.000,1614.165,0.000,11.803,0.000
$DEVICE_MAMPS,266.220,61.200,1218.645,113.220,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.152,1260.441,1197.041,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,36.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,40404,608
$CAP_FILE_SIZE,60891,0
$CFSIZE,1024393216,1021001728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050913,134949,4743.491,-12225.324,16,0.9,16,16.3