version: 66.11
glider: 205
mission: 6
dive: 8
start: 6 3 115 1 15 29
data:
$ID,205
$MISSION,6
$DIVE,8
$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,-2660.1897
$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,41
$R_STBD_OVSHOOT,58
$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
$GPS1,030615,010834,4743.206,-12225.191,35,0.9,35,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.1
$GPS2,030615,011430,4743.201,-12225.148,5,1.0,5,16.3
$SPEED_LIMITS,0.160,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,0.234
$KALMAN_X,-926.4,-41.2,-149.1,946.9,-353.6
$KALMAN_Y,-3925.0,-821.0,-315.2,5570.3,-814.4
$MHEAD_RNG_PITCHd_Wd,6.7,1365,-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,-146.6,191,1997,1486,1250,0.0,0.0,0,67,0.00,0.00,-50.20,0.000,16386,0.000,0.000,191,1997,2877,2876,2878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.94,-146.6,191,1997,2875,2878,3.6,-7.7,8,92,9.98,2.25,-0.75,0.000,18948,0.239,0.053,2578,591,2912,2923,2902,0,0,0,0,0,0,25.65,26.27,26.55
$GC,131,-0.94,-146.6,2578,591,2925,2902,16.1,-14.6,19,138,0.00,2.15,0.00,0.000,1030,0.000,0.028,2570,1983,2913,2925,2902,0,0,0,0,0,0,28.83,26.38,28.83
$GC,201,-0.94,-146.6,1536,1981,2883,2894,26.2,-15.9,32,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1983,2914,2926,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,270,-0.94,-146.6,1536,1981,2884,2895,35.8,-13.0,45,277,0.00,2.22,0.00,0.000,516,0.000,0.041,2570,585,2914,2926,2902,0,0,0,0,0,0,28.83,26.32,28.83
$GC,449,-0.94,-146.6,1544,585,2884,2895,58.8,-12.1,84,456,0.00,2.15,0.00,0.000,1030,0.000,0.028,2560,1988,2914,2926,2902,0,0,0,0,0,0,28.83,26.53,28.83
$GC,581,-0.94,-146.6,2560,1989,2926,2902,75.0,-12.8,109,588,0.00,2.12,0.00,0.000,260,0.000,0.041,2550,3389,2914,2926,2902,0,0,0,0,0,0,28.83,26.43,28.83
$GC,682,-0.94,-146.6,2550,3389,2926,2902,87.3,-12.0,131,689,0.15,2.08,0.00,0.000,3078,0.151,0.028,2589,1978,2914,2926,2902,0,0,0,0,0,0,26.18,26.58,28.83
$GC,813,-0.94,-146.6,2589,1978,2927,2902,102.4,-11.5,156,820,0.00,2.17,0.00,0.000,516,0.000,0.041,2589,591,2914,2927,2902,0,0,0,0,0,0,28.83,26.46,28.83
$GC,886,-0.94,-146.6,2588,591,2926,2902,110.9,-12.4,171,892,0.00,2.10,0.00,0.000,1030,0.000,0.027,2580,1997,2914,2926,2902,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1018,-0.94,-146.6,2580,1997,2927,2902,126.3,-11.1,196,1025,0.00,2.15,0.00,0.000,260,0.000,0.041,2569,3389,2914,2927,2902,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1181,-0.94,-146.6,1536,3387,2885,2895,144.1,-8.6,231,1187,0.00,2.08,0.00,0.000,1030,0.000,0.029,2570,1981,2914,2927,2902,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1311,-0.94,-146.6,2569,1981,2927,2902,156.7,-9.3,256,1319,0.00,2.17,0.00,0.000,516,0.000,0.040,2570,588,2914,2927,2902,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1490,-0.94,-146.6,1536,588,2886,2895,178.1,-11.3,296,1498,0.00,2.12,0.00,0.000,1030,0.000,0.028,2560,1990,2914,2927,2902,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1513,-0.27,0.0,2559,1990,2927,2902,180.1,-11.1,299,1630,0.73,0.00,112.88,1.433,10246,0.125,0.000,2792,1990,2328,2419,2238,0,0,0,0,0,0,25.86,28.83,23.76
$STATE,1631,end apogee,CONTROL_FINISHED_OK
$STATE,1631,begin climb
$GC,1633,0.94,146.6,2792,1990,2422,2238,184.7,0.0,319,1756,1.17,0.00,116.97,1.405,10758,0.077,0.000,3186,1992,1745,1893,1597,0,0,0,0,0,0,24.95,28.83,23.28
$GC,1878,0.94,153.5,3186,1992,1893,1598,163.8,8.9,364,1892,0.00,2.30,7.05,1.147,8708,0.000,0.047,3188,597,1718,1864,1572,0,0,0,0,0,0,28.83,25.46,24.10
$GC,2123,0.94,153.5,2128,596,1820,1567,135.0,10.6,419,2129,0.00,2.12,0.00,0.000,1030,0.000,0.028,3189,1995,1718,1864,1573,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2253,0.94,153.5,3188,1995,1864,1573,122.2,9.7,444,2260,0.00,2.17,0.00,0.000,260,0.000,0.041,3189,3389,1718,1864,1573,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2310,0.94,153.5,2176,3387,1822,1568,116.0,11.2,456,2317,0.00,2.15,0.00,0.000,1030,0.000,0.030,3189,1984,1718,1864,1573,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2444,0.94,153.5,3188,1984,1864,1573,101.6,9.9,481,2450,0.00,2.17,0.00,0.000,516,0.000,0.044,3189,586,1718,1863,1573,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2626,0.94,153.5,2160,586,1821,1567,80.6,11.8,522,2633,0.00,2.15,0.00,0.000,1030,0.000,0.028,3188,1995,1718,1864,1572,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2759,0.94,153.5,3188,1995,1864,1573,66.8,11.7,547,2766,0.00,2.10,0.00,0.000,260,0.000,0.041,3189,3382,1717,1863,1572,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2842,0.94,153.5,2144,3381,1820,1568,57.8,10.0,565,2849,0.00,2.08,0.00,0.000,1030,0.000,0.030,3189,1984,1718,1863,1573,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2974,0.94,153.5,2144,1982,1820,1567,45.0,9.6,590,2981,0.00,2.20,0.00,0.000,516,0.000,0.043,3189,589,1718,1863,1573,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3011,0.94,153.5,3188,589,1863,1573,41.2,10.0,597,3018,0.00,2.12,0.00,0.000,1030,0.000,0.028,3188,1989,1718,1863,1573,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3081,0.94,163.7,2144,1986,1819,1567,34.9,8.8,610,3090,0.00,2.25,3.95,0.653,8708,0.000,0.043,3189,590,1674,1821,1528,0,0,0,0,0,0,28.83,26.60,25.21
$GC,3231,0.94,163.7,3188,589,1821,1528,20.1,10.2,641,3238,0.00,2.12,0.00,0.000,1030,0.000,0.028,3189,1991,1674,1821,1528,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3301,0.94,189.0,2144,1990,1778,1523,14.4,8.2,654,3315,0.00,0.00,8.95,0.724,8198,0.000,0.000,3189,1992,1571,1727,1416,0,0,0,0,0,0,28.83,28.83,25.48
$GC,3377,0.95,201.0,2128,1990,1687,1412,7.5,8.7,668,3392,0.00,2.25,4.22,0.568,8708,0.000,0.044,3189,588,1523,1682,1365,0,0,0,0,0,0,28.83,26.51,25.32
$STATE,3434,end climb,SURFACE_DEPTH_REACHED
$STATE,3434,begin surface coast
$FINISH,-0.0,1.010957
$STATE,3460,end surface coast,CONTROL_FINISHED_OK
$STATE,3460,begin surface
$SM_CCo,3477,13.43,0.713,0,0,1370,240.15
$SM_GC,2.72,7.82,2.15,13.43,0.033,0.026,0.713,196,1989,1370,-8.34,-1.75,240.15,0,0,0,0,0,0,26.53,26.58,25.41
$IRIDIUM_FIX,4726.11,-12226.80,290308,141409
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.22
$INTERNAL_PRESSURE,9.00085
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,68.8
$24V_AH,23.3,40.447
$10V_AH,10.1,33.860
$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,19.850,56.125,254.025,13.425,0.000,26.741,40.354,199.317,2.250,0.000,6.790,1511.049,273.593,330.564,1627.553,118.944,33.228,925.878,0.000,1367.228,0.000,16.616,0.000
$DEVICE_MAMPS,238.680,52.785,1432.845,712.980,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.109,919.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33502,684
$CAP_FILE_SIZE,71726,0
$CFSIZE,1024393216,1020739584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,021418,4743.299,-12224.869,3,1.2,3,16.3