version: 66.11
glider: 205
mission: 6
dive: 2
start: 6 2 115 18 43 13
data:
$ID,205
$MISSION,6
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,35
$D_BOOST,0
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,300
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53045
$MASS_COMP,0
$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,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2625.6135
$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,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$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,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2328
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,5
$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,-60.397808
$PRESSURE_SLOPE,0.0001159995
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.98000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,147
$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,0.0043419907
$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
$GPS1,020615,183825,4743.056,-12224.967,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-55.7
$GPS2,020615,184219,4743.081,-12225.001,6,1.0,6,16.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,0.257
$KALMAN_X,-4.3,-4.3,-4.3,30.3,-14.3
$KALMAN_Y,12.3,12.3,12.3,245.1,41.1
$MHEAD_RNG_PITCHd_Wd,354.6,1538,-18.1,-10.000,-20.93,2236
$D_GRID,178
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,-1.18,-146.6,198,2002,779,32,0.0,0.0,0,91,0.00,0.00,-73.93,0.000,16386,0.000,0.000,198,2003,2363,2794,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-1.18,-146.6,198,2002,2794,2766,3.3,-8.0,12,115,9.65,2.17,-2.97,0.000,18692,0.239,0.057,2525,3387,2913,2938,2889,0,0,0,0,0,0,25.98,26.57,26.98
$GC,427,-1.18,-146.6,2525,3387,2939,2889,47.9,-15.8,82,435,0.00,2.12,0.00,0.000,1030,0.000,0.028,2525,1972,2914,2939,2889,0,0,0,0,0,0,28.83,26.62,28.83
$GC,500,-1.18,-146.6,2525,1971,2940,2889,59.4,-16.6,95,507,0.00,2.12,0.00,0.000,516,0.000,0.041,2525,588,2914,2939,2889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,531,-1.18,-146.6,1536,588,2899,2874,65.2,-19.2,101,537,0.00,2.10,0.00,0.000,1030,0.000,0.027,2515,1997,2914,2939,2889,0,0,0,0,0,0,28.83,26.65,28.83
$GC,664,-1.18,-146.6,2514,1997,2939,2889,88.2,-17.0,126,671,0.00,2.15,0.00,0.000,260,0.000,0.041,2506,3390,2914,2940,2889,0,0,0,0,0,0,28.83,26.46,28.83
$GC,888,-1.18,-146.6,1488,3389,2898,2877,122.9,-16.2,175,896,0.12,2.08,0.00,0.000,3078,0.168,0.029,2536,1981,2914,2940,2889,0,0,0,0,0,0,26.22,26.63,28.83
$GC,1019,-1.18,-146.6,2536,1981,2939,2889,139.5,-11.8,200,1027,0.00,2.17,0.00,0.000,516,0.000,0.041,2536,592,2914,2939,2889,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,1106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1106,begin apogee
$GC,1113,-0.32,0.0,2526,1998,2939,2889,150.4,-12.4,219,1230,0.93,0.00,110.88,1.379,10246,0.137,0.000,2812,1998,2329,2420,2239,0,0,0,0,0,0,25.69,28.83,23.99
$STATE,1231,end apogee,CONTROL_FINISHED_OK
$STATE,1231,begin climb
$GC,1233,1.18,146.6,2812,1998,2421,2239,154.2,0.0,239,1356,1.42,0.00,114.35,1.382,10758,0.074,0.000,3300,1998,1744,1880,1609,0,0,0,0,0,0,25.27,28.83,23.77
$GC,1478,1.18,146.6,3300,1998,1880,1609,119.9,20.9,284,1485,0.00,2.30,0.00,0.000,516,0.000,0.046,3301,591,1744,1880,1609,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1634,1.18,146.6,2272,592,1832,1602,95.7,14.4,319,1640,0.00,2.12,0.00,0.000,1030,0.000,0.028,3300,1993,1744,1880,1609,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1764,1.18,146.6,3300,1993,1880,1609,75.6,17.0,344,1771,0.00,2.17,0.00,0.000,260,0.000,0.041,3301,3390,1744,1879,1609,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1829,1.18,146.6,2304,3389,1833,1603,63.8,19.1,358,1836,0.00,2.15,0.00,0.000,1030,0.000,0.032,3303,1989,1744,1879,1609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1960,1.18,146.6,2304,1986,1834,1603,38.0,19.8,383,1967,0.00,2.22,0.00,0.000,516,0.000,0.044,3308,586,1744,1879,1609,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2123,1.18,146.6,3307,586,1879,1608,17.9,12.2,417,2130,0.00,2.15,0.00,0.000,1030,0.000,0.028,3308,1991,1744,1879,1609,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2193,1.18,146.6,2304,1990,1832,1602,10.0,10.8,430,2200,0.00,2.22,0.00,0.000,516,0.000,0.045,3308,591,1743,1879,1608,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2230,1.18,146.6,3307,591,1878,1608,4.3,16.5,437,2237,0.00,2.15,0.00,0.000,1030,0.000,0.028,3308,1997,1743,1878,1609,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,2248,end climb,SURFACE_DEPTH_REACHED
$STATE,2248,begin surface coast
$FINISH,0.5,1.021524
$STATE,2259,end surface coast,CONTROL_FINISHED_OK
$STATE,2259,begin surface
$SM_CCo,2275,36.00,0.797,0,0,1331,250.20
$SM_GC,1.76,8.12,0.00,36.00,0.034,0.000,0.797,189,1999,1331,-8.45,0.25,250.20,0,0,0,0,0,0,26.59,28.83,25.32
$IRIDIUM_FIX,4726.11,-12226.80,290308,080821
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.40
$INTERNAL_PRESSURE,9.06921
$TCM_TEMP,15.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,105.3,17.0
$24V_AH,23.8,39.745
$10V_AH,10.1,33.450
$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,20.250,34.575,225.225,36.000,0.000,0.000,0.000,0.000,2.500,0.000,6.705,951.045,145.600,313.635,903.773,60.183,30.072,725.015,0.000,911.894,0.000,13.241,0.000
$DEVICE_MAMPS,238.680,57.375,1381.590,797.130,0.000,0.000,0.000,0.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.374,640.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322252
$DATA_FILE_SIZE,20227,442
$CAP_FILE_SIZE,58773,0
$CFSIZE,1024393216,1021165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020615,192223,4743.320,-12224.735,3,0.9,3,16.3