version: 66.11
glider: 205
mission: 6
dive: 4
start: 6 2 115 20 48 59
data:
$ID,205
$MISSION,6
$DIVE,4
$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,-2654.9766
$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,38
$R_STBD_OVSHOOT,45
$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,100
$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
$GPS1,020615,204002,4743.516,-12225.044,31,1.0,31,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.9
$GPS2,020615,204802,4743.521,-12224.997,5,1.1,6,16.3
$SPEED_LIMITS,0.160,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,0.248
$KALMAN_X,-3.7,53.7,106.5,-129.7,17.2
$KALMAN_Y,-395.9,-320.2,-78.4,1903.4,-283.9
$MHEAD_RNG_PITCHd_Wd,356.5,745,-16.9,-9.231,-19.93,2419
$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,-0.94,-146.6,192,1990,1480,1258,0.0,0.0,0,67,0.00,0.00,-49.92,0.000,16386,0.000,0.000,192,1991,2855,2859,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.94,-146.6,192,1990,2859,2852,3.6,-7.7,8,92,9.95,2.28,-1.23,0.000,19204,0.239,0.057,2583,586,2914,2929,2899,0,0,0,0,0,0,25.72,26.31,26.66
$GC,427,-0.94,-146.6,2582,586,2931,2899,49.8,-12.8,83,434,0.00,2.17,0.00,0.000,1030,0.000,0.028,2574,2000,2915,2931,2899,0,0,0,0,0,0,28.83,26.57,28.83
$GC,496,-0.94,-146.6,2574,2001,2931,2899,58.4,-11.9,96,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2001,2915,2931,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,627,-0.94,-146.6,2574,2001,2931,2899,74.3,-12.3,121,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2001,2915,2931,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,756,-0.94,-146.6,2574,2001,2931,2899,89.3,-11.4,146,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2001,2915,2931,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.94,-146.6,2574,2001,2932,2899,104.6,-12.1,171,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2000,2915,2932,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-0.94,-146.6,2574,2000,2931,2899,122.7,-13.7,196,1028,0.00,2.15,0.00,0.000,260,0.000,0.044,2564,3383,2915,2931,2899,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1241,-0.94,-146.6,1536,3381,2890,2891,151.7,-11.1,243,1247,0.00,2.08,0.00,0.000,1030,0.000,0.030,2564,1976,2915,2931,2899,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1371,-0.94,-146.6,2564,1976,2931,2899,165.9,-12.0,268,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1976,2915,2932,2899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1474,-0.27,0.0,2564,1976,2932,2899,178.1,-11.3,287,1591,0.73,0.00,112.10,1.410,10246,0.130,0.000,2793,1974,2329,2419,2239,0,0,0,0,0,0,25.75,28.83,23.84
$STATE,1592,end apogee,CONTROL_FINISHED_OK
$STATE,1592,begin climb
$GC,1594,0.94,146.6,2793,1974,2421,2240,182.9,0.0,307,1718,1.20,2.42,116.38,1.439,10756,0.087,0.044,3189,593,1745,1889,1601,0,0,0,0,0,0,25.06,24.62,23.65
$GC,1772,0.94,146.6,2144,593,1844,1596,169.3,12.0,340,1780,0.00,2.25,0.00,0.000,1030,0.000,0.027,3189,1988,1745,1889,1602,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1904,0.94,146.6,3189,1989,1888,1602,155.2,10.9,365,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1988,1745,1889,1602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,0.94,180.1,3189,1988,1888,1602,143.5,7.8,390,2065,0.00,2.30,25.77,1.099,8452,0.000,0.041,3189,3396,1611,1762,1461,0,0,0,0,0,0,28.83,25.74,24.71
$GC,2241,0.94,180.1,2144,3394,1722,1456,117.0,14.5,435,2248,0.00,2.12,0.00,0.000,1030,0.000,0.031,3189,2003,1611,1761,1461,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2372,0.94,180.1,3189,2003,1761,1461,99.5,13.3,460,2379,0.00,2.28,0.00,0.000,516,0.000,0.045,3189,583,1611,1762,1461,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2495,0.94,180.1,2128,583,1721,1456,82.8,12.5,487,2501,0.00,2.12,0.00,0.000,1030,0.000,0.028,3189,1999,1611,1761,1461,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2625,0.94,180.1,3188,1999,1761,1462,68.0,9.3,512,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1999,1611,1761,1461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,0.94,180.1,3189,1999,1761,1461,54.0,10.7,537,2763,0.00,2.10,0.00,0.000,260,0.000,0.042,3189,3379,1611,1761,1461,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2799,0.94,180.1,3189,3380,1761,1461,49.4,11.6,545,2806,0.00,2.15,0.00,0.000,1030,0.000,0.031,3189,1983,1611,1761,1461,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2869,0.94,180.1,2128,1980,1721,1456,40.9,12.0,558,2876,0.00,2.22,0.00,0.000,516,0.000,0.045,3189,582,1611,1761,1461,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3215,0.94,180.1,3189,582,1760,1461,5.1,9.3,632,3222,0.00,2.15,0.00,0.000,1030,0.000,0.027,3190,1997,1610,1760,1461,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,3253,end climb,SURFACE_DEPTH_REACHED
$STATE,3253,begin surface coast
$FINISH,0.2,1.011339
$STATE,3275,end surface coast,CONTROL_FINISHED_OK
$STATE,3275,begin surface
$SM_CCo,3290,20.92,0.858,0,0,1369,240.15
$SM_GC,3.38,7.82,0.00,20.92,0.034,0.000,0.858,190,1999,1369,-8.36,0.23,240.15,0,0,0,0,0,0,26.60,28.83,25.40
$IRIDIUM_FIX,4726.11,-12226.80,290308,101038
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.68
$INTERNAL_PRESSURE,9.03015
$TCM_TEMP,14.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,140.6,58.9
$24V_AH,23.6,39.987
$10V_AH,10.1,33.586
$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,19.700,30.800,254.250,20.925,0.000,51.943,90.229,200.753,3.500,0.000,6.721,1401.255,335.859,315.721,1642.094,109.231,32.228,866.145,0.000,1302.453,0.000,21.056,0.000
$DEVICE_MAMPS,238.680,56.610,1438.965,858.330,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.674,887.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322204
$DATA_FILE_SIZE,33562,643
$CAP_FILE_SIZE,62561,0
$CFSIZE,1024393216,1021018112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020615,214449,4743.531,-12224.999,3,1.5,4,16.3