version: 66.11
glider: 205
mission: 6
dive: 3
start: 6 2 115 19 42 49
data:
$ID,205
$MISSION,6
$DIVE,3
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,65
$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,240
$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,-2653.72
$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,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.299999
$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,40
$R_STBD_OVSHOOT,49
$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,4
$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
$GPS1,020615,193802,4743.372,-12224.667,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.1
$GPS2,020615,194153,4743.389,-12224.647,6,0.9,6,16.3
$SPEED_LIMITS,0.160,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.241
$KALMAN_X,72.0,103.3,86.5,190.0,151.3
$KALMAN_Y,-38.4,-60.9,-48.8,1006.3,-91.2
$MHEAD_RNG_PITCHd_Wd,324.8,966,-16.9,-9.231,-19.93,2419
$D_GRID,175
$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,-0.94,-146.6,198,2001,1434,1221,0.0,0.0,0,67,0.00,0.00,-49.85,0.000,16386,0.000,0.000,198,2001,2790,2799,2781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.94,-146.6,198,2002,2800,2781,3.3,-7.3,8,91,9.85,2.17,-2.75,0.000,18692,0.239,0.060,2570,3380,2915,2936,2895,0,0,0,0,0,0,25.93,26.53,26.94
$GC,112,-0.94,-146.6,2569,3380,2937,2895,10.8,-12.3,15,120,0.00,2.12,0.00,0.000,1030,0.000,0.029,2570,1976,2916,2937,2895,0,0,0,0,0,0,28.83,26.55,28.83
$GC,182,-0.94,-146.6,1536,1974,2896,2888,20.0,-13.5,28,189,0.00,2.20,0.00,0.000,260,0.000,0.042,2559,3384,2916,2938,2895,0,0,0,0,0,0,28.83,26.42,28.83
$GC,201,-0.94,-146.6,2560,3384,2937,2895,22.5,-12.6,31,209,0.00,2.12,0.00,0.000,1030,0.000,0.030,2561,1983,2916,2938,2895,0,0,0,0,0,0,28.83,26.55,28.83
$GC,271,-0.94,-146.6,1536,1981,2896,2887,29.9,-10.5,44,278,0.00,2.20,0.00,0.000,516,0.000,0.044,2559,594,2916,2938,2895,0,0,0,0,0,0,28.83,26.39,28.83
$GC,491,-0.94,-146.6,1536,594,2897,2888,58.1,-14.7,91,498,0.15,2.10,0.00,0.000,3078,0.164,0.028,2588,1999,2916,2938,2895,0,0,0,0,0,0,26.15,26.63,28.83
$GC,622,-0.94,-146.6,2588,1999,2938,2895,75.3,-12.8,116,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1999,2916,2939,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,758,-0.94,-146.6,2587,1999,2940,2895,92.9,-12.3,141,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1999,2917,2939,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,888,-0.94,-146.6,2587,1999,2939,2895,106.8,-9.9,166,895,0.00,2.15,0.00,0.000,260,0.000,0.043,2579,3385,2917,2939,2895,0,0,0,0,0,0,28.83,26.44,28.83
$GC,946,-0.94,-146.6,1584,3383,2900,2888,113.0,-10.1,178,954,0.00,2.10,0.00,0.000,1030,0.000,0.030,2579,1990,2917,2939,2895,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1081,-0.94,-146.6,2578,1991,2939,2895,126.2,-9.6,203,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1990,2917,2939,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1215,-0.94,-146.6,2579,1990,2939,2895,139.1,-10.4,228,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1990,2916,2938,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-0.94,-146.6,2579,1990,2939,2895,152.9,-10.8,253,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1990,2917,2939,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1475,-0.94,-146.6,2579,1990,2939,2895,167.1,-11.0,278,1482,0.00,2.17,0.00,0.000,260,0.000,0.044,2569,3383,2916,2939,2894,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,1548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1548,begin apogee
$GC,1554,-0.27,0.0,2569,1986,2939,2894,175.0,-9.8,294,1672,0.70,0.00,111.75,1.383,10246,0.124,0.000,2794,1986,2329,2419,2239,0,0,0,0,0,0,25.79,28.83,23.91
$STATE,1673,end apogee,CONTROL_FINISHED_OK
$STATE,1673,begin climb
$GC,1675,0.94,146.6,2793,1986,2419,2239,178.8,0.0,314,1798,1.17,0.00,115.18,1.419,10758,0.081,0.000,3188,1986,1745,1887,1603,0,0,0,0,0,0,25.15,28.83,23.55
$GC,1923,0.94,146.6,3188,1986,1887,1603,154.2,12.5,359,1929,0.00,2.22,0.00,0.000,260,0.000,0.043,3188,3394,1745,1887,1603,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2086,0.94,146.6,3187,3394,1887,1603,133.3,12.2,395,2092,0.00,2.12,0.00,0.000,1030,0.000,0.031,3188,1997,1745,1887,1603,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2216,0.94,146.6,3188,1996,1887,1603,117.6,11.3,420,2223,0.00,2.25,0.00,0.000,516,0.000,0.045,3188,589,1745,1887,1603,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2281,0.94,146.6,2152,589,1842,1597,109.9,10.7,434,2289,0.00,2.15,0.00,0.000,1030,0.000,0.028,3189,1989,1745,1887,1603,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2414,0.94,146.6,3188,1989,1887,1603,95.3,9.5,459,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1989,1745,1887,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,0.94,146.6,3188,1989,1887,1603,81.5,10.5,484,2549,0.00,2.25,0.00,0.000,516,0.000,0.046,3188,585,1745,1887,1603,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2622,0.94,146.6,2176,585,1842,1597,72.4,12.8,501,2628,0.00,2.12,0.00,0.000,1030,0.000,0.028,3189,1999,1745,1887,1603,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2753,0.94,146.6,3187,1999,1887,1603,56.6,11.9,526,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1999,1745,1887,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,0.94,174.7,2128,1997,1840,1597,44.3,8.0,551,2897,0.00,0.00,10.20,0.929,8198,0.000,0.000,3189,1999,1630,1778,1482,0,0,0,0,0,0,28.83,28.83,25.41
$GC,2959,0.94,174.7,2128,1997,1737,1477,37.5,9.8,565,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1999,1629,1777,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,0.94,174.7,2128,1997,1737,1477,28.6,12.9,578,3035,0.00,2.25,0.00,0.000,516,0.000,0.046,3189,591,1629,1777,1482,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3093,0.94,174.7,3188,591,1777,1482,21.5,9.8,591,3100,0.00,2.15,0.00,0.000,1030,0.000,0.028,3189,1995,1629,1777,1482,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3163,0.94,196.6,2128,1993,1737,1477,15.6,8.3,604,3177,0.00,0.00,7.60,0.768,8198,0.000,0.000,3189,1995,1542,1697,1387,0,0,0,0,0,0,28.83,28.83,25.44
$GC,3240,0.95,203.7,3188,1995,1697,1387,8.7,8.9,618,3248,0.00,2.30,2.40,0.398,8708,0.000,0.045,3188,582,1513,1668,1358,0,0,0,0,0,0,28.83,26.51,25.17
$STATE,3309,end climb,SURFACE_DEPTH_REACHED
$STATE,3309,begin surface coast
$FINISH,0.1,1.012922
$STATE,3335,end surface coast,CONTROL_FINISHED_OK
$STATE,3335,begin surface
$SM_CCo,3352,12.25,0.802,0,0,1370,240.15
$SM_GC,3.34,7.82,2.17,12.25,0.034,0.027,0.802,192,1984,1370,-8.35,-1.55,240.15,0,0,0,0,0,0,26.58,26.60,25.40
$IRIDIUM_FIX,4726.11,-12224.09,290308,090957
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.64
$INTERNAL_PRESSURE,9.03992
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,135.3,56.2
$24V_AH,23.5,39.865
$10V_AH,10.1,33.519
$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,19.700,43.475,247.125,12.250,0.000,0.000,0.000,0.000,3.500,0.000,6.707,1400.756,333.739,329.412,1280.968,83.912,31.299,892.219,0.000,1284.408,0.000,23.430,0.000
$DEVICE_MAMPS,239.445,59.670,1419.075,802.485,0.000,0.000,0.000,0.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.802,874.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322308
$DATA_FILE_SIZE,30149,637
$CAP_FILE_SIZE,79836,0
$CFSIZE,1024393216,1021083648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020615,204002,4743.516,-12225.044,31,1.0,31,16.3