version: 66.11
glider: 205
mission: 6
dive: 7
start: 6 3 115 0 8 12
data:
$ID,205
$MISSION,6
$DIVE,7
$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,-2658.8374
$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,34
$R_STBD_OVSHOOT,48
$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
$GPS1,020615,235951,4743.333,-12225.271,6,1.7,6,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.1
$GPS2,030615,000715,4743.316,-12225.271,9,1.6,9,16.3
$SPEED_LIMITS,0.160,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,0.235
$KALMAN_X,-868.0,-9.1,4.7,558.5,-404.3
$KALMAN_Y,-3049.7,-844.2,-48.5,4661.7,-966.3
$MHEAD_RNG_PITCHd_Wd,6.1,1230,-16.9,-9.231,-19.93,2419
$D_GRID,181
$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,-146.6,194,1995,1492,1244,0.0,0.0,0,66,0.00,0.00,-49.28,0.000,16386,0.000,0.000,194,1996,2839,2842,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.94,-146.6,194,1996,2842,2836,3.5,-7.7,8,90,9.93,2.30,-1.52,0.000,18948,0.238,0.056,2580,576,2913,2928,2898,0,0,0,0,0,0,25.68,26.27,26.65
$GC,438,-0.94,-146.6,2580,576,2930,2899,51.7,-14.1,86,446,0.00,2.17,0.00,0.000,1030,0.000,0.028,2571,1989,2914,2930,2898,0,0,0,0,0,0,28.83,26.53,28.83
$GC,570,-0.94,-146.6,2572,1989,2930,2898,67.2,-11.3,111,576,0.00,2.12,0.00,0.000,260,0.000,0.043,2562,3384,2914,2930,2898,0,0,0,0,0,0,28.83,26.41,28.83
$GC,652,-0.94,-146.6,1536,3382,2890,2891,76.8,-11.6,129,659,0.00,2.10,0.00,0.000,1030,0.000,0.029,2561,1970,2914,2930,2898,0,0,0,0,0,0,28.83,26.55,28.83
$GC,782,-0.94,-146.6,2561,1970,2931,2898,92.1,-12.2,154,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1970,2914,2931,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,915,-0.94,-146.6,2561,1970,2931,2898,107.0,-10.5,179,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1970,2914,2931,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.94,-146.6,2561,1970,2931,2898,123.9,-12.9,204,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1970,2914,2931,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1183,-0.94,-146.6,2561,1970,2931,2898,138.3,-9.9,229,1190,0.00,2.12,0.00,0.000,516,0.000,0.042,2561,589,2914,2931,2898,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1224,-0.94,-146.6,2560,589,2931,2898,143.0,-12.5,237,1231,0.12,2.10,0.00,0.000,3078,0.176,0.028,2583,1994,2914,2931,2898,0,0,0,0,0,0,26.25,26.65,28.83
$GC,1361,-0.94,-146.6,2582,1995,2930,2898,156.7,-10.3,262,1368,0.00,2.15,0.00,0.000,260,0.000,0.043,2574,3380,2914,2931,2898,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1401,-0.94,-146.6,2574,3380,2931,2898,161.0,-10.8,270,1409,0.00,2.10,0.00,0.000,1030,0.000,0.031,2574,1993,2914,2931,2898,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1535,-0.94,-146.6,2574,1993,2931,2898,173.6,-9.5,295,1541,0.00,2.17,0.00,0.000,516,0.000,0.042,2574,585,2914,2930,2898,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,1590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1590,begin apogee
$GC,1597,-0.27,0.0,2564,1989,2931,2898,180.0,-9.6,307,1716,0.73,0.00,112.28,1.405,10246,0.125,0.000,2795,1989,2329,2421,2238,0,0,0,0,0,0,25.83,28.83,23.80
$STATE,1717,end apogee,CONTROL_FINISHED_OK
$STATE,1717,begin climb
$GC,1719,0.94,146.6,2795,1989,2421,2238,184.3,0.0,327,1848,1.15,2.40,116.75,1.413,10500,0.076,0.041,3184,3385,1745,1893,1598,0,0,0,0,0,0,25.03,24.41,23.30
$GC,1855,0.94,146.6,3184,3385,1893,1599,174.4,12.2,350,1863,0.00,2.30,0.00,0.000,1030,0.000,0.029,3184,1996,1746,1893,1599,0,0,0,0,0,0,28.83,24.78,28.83
$GC,1988,0.94,146.6,3184,1996,1892,1598,160.6,9.6,375,1995,0.00,2.30,0.00,0.000,516,0.000,0.044,3184,566,1745,1893,1598,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2110,0.94,146.6,2144,566,1847,1592,146.4,11.7,402,2118,0.00,2.25,0.00,0.000,1030,0.000,0.028,3184,2004,1746,1893,1599,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2244,0.94,146.6,3184,2004,1893,1598,131.4,11.6,427,2250,0.00,2.28,0.00,0.000,516,0.000,0.044,3184,566,1745,1893,1598,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2330,0.94,146.6,2144,565,1849,1593,119.9,13.0,446,2338,0.00,2.20,0.00,0.000,1030,0.000,0.028,3184,1992,1746,1893,1599,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2463,0.94,146.6,3184,1993,1892,1598,104.9,10.0,471,2469,0.00,2.12,0.00,0.000,260,0.000,0.041,3184,3384,1745,1892,1599,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2504,0.94,146.6,3184,3384,1892,1599,100.0,12.1,479,2510,0.00,2.12,0.00,0.000,1030,0.000,0.029,3184,1967,1745,1891,1599,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2634,0.94,146.6,3184,1967,1892,1599,86.5,10.2,504,2641,0.00,2.20,0.00,0.000,516,0.000,0.044,3184,586,1745,1892,1599,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2766,0.94,146.6,2128,586,1847,1592,73.5,9.8,533,2773,0.00,2.10,0.00,0.000,1030,0.000,0.028,3184,1989,1745,1892,1599,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2896,0.94,146.6,3184,1990,1892,1599,59.2,9.8,558,2903,0.00,2.15,0.00,0.000,260,0.000,0.041,3184,3378,1745,1892,1599,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2953,0.94,146.6,2160,3377,1848,1593,52.8,12.1,570,2960,0.00,2.12,0.00,0.000,1030,0.000,0.030,3184,1984,1745,1891,1599,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3083,0.94,146.6,2120,1982,1846,1593,38.9,11.4,595,3090,0.00,2.17,0.00,0.000,260,0.000,0.042,3184,3380,1745,1892,1598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3134,0.94,146.6,3184,3380,1891,1599,32.9,11.9,605,3141,0.00,2.12,0.00,0.000,1030,0.000,0.031,3184,1984,1745,1891,1599,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3204,0.94,146.6,2144,1982,1847,1593,25.8,9.9,618,3211,0.00,2.20,0.00,0.000,516,0.000,0.044,3184,591,1745,1891,1599,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3321,0.94,187.2,3184,590,1891,1599,17.2,7.5,642,3341,0.00,2.12,14.30,0.816,9222,0.000,0.028,3184,1993,1579,1735,1424,0,0,0,0,0,0,28.83,26.68,25.44
$GC,3404,0.94,187.2,2128,1990,1696,1419,10.1,9.6,657,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1993,1579,1735,1424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,0.94,187.2,2128,1990,1695,1419,3.8,10.2,670,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1993,1579,1734,1424,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3495,end climb,SURFACE_DEPTH_REACHED
$STATE,3495,begin surface coast
$FINISH,0.1,1.021734
$STATE,3517,end surface coast,CONTROL_FINISHED_OK
$STATE,3517,begin surface
$SM_CCo,3532,18.40,0.780,0,0,1369,240.15
$SM_GC,2.38,7.85,0.00,18.40,0.035,0.000,0.780,191,1995,1369,-8.35,0.14,240.15,0,0,0,0,0,0,26.53,28.83,25.34
$IRIDIUM_FIX,4726.11,-12226.80,290308,131352
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.25
$INTERNAL_PRESSURE,9.01062
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.3,50.0
$24V_AH,23.3,40.332
$10V_AH,10.1,33.791
$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,19.775,56.700,243.325,18.400,0.000,60.481,46.926,195.571,4.000,0.000,10.604,1499.000,368.475,340.835,1678.443,121.424,33.237,938.458,0.000,1367.913,0.000,31.554,0.000
$DEVICE_MAMPS,237.915,55.845,1412.955,780.300,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.788,930.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,33521,678
$CAP_FILE_SIZE,73085,0
$CFSIZE,1024393216,1020805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,010834,4743.206,-12225.191,35,0.9,35,16.3