version: 66.11
glider: 205
mission: 6
dive: 9
start: 6 3 115 2 21 26
data:
$ID,205
$MISSION,6
$DIVE,9
$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,75
$T_MISSION,80
$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,235
$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,-2661.4431
$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,2888
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.1
$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,2060
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,57
$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,0
$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
$GPS1,030615,021418,4743.299,-12224.869,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.8
$GPS2,030615,022028,4743.300,-12224.781,5,1.2,5,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.008,0.242
$KALMAN_X,-541.3,-221.6,-309.6,1356.8,-41.8
$KALMAN_Y,-4528.0,-791.1,-480.8,6488.8,-623.5
$MHEAD_RNG_PITCHd_Wd,345.6,1111,-14.9,-8.000,-18.27,2786
$D_GRID,176
$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,-0.84,-146.6,195,2065,1488,1248,0.0,0.0,0,60,0.00,0.00,-43.30,0.000,16386,0.000,0.000,195,2065,2637,2649,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.84,-146.6,195,2065,2649,2626,3.1,-7.8,7,84,10.02,0.00,-6.15,0.000,18438,0.236,0.000,2609,2065,2913,2937,2890,0,0,0,0,0,0,25.65,28.83,26.68
$GC,147,-0.84,-146.6,2609,2065,2938,2889,13.7,-9.8,22,153,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2938,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,216,-0.84,-146.6,1568,2063,2898,2882,20.0,-8.6,35,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2913,2938,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,285,-0.84,-146.6,1568,2063,2897,2882,26.2,-9.3,48,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2913,2938,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,354,-0.84,-146.6,1568,2063,2898,2882,32.2,-9.0,61,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,422,-0.84,-146.6,1568,2063,2897,2882,38.6,-9.7,74,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,492,-0.84,-146.6,1568,2063,2898,2882,45.3,-10.3,87,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,560,-0.84,-146.6,2609,2065,2939,2889,52.3,-10.5,100,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2065,2914,2939,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,691,-0.84,-146.6,2609,2065,2939,2890,65.2,-10.0,125,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-0.84,-146.6,2609,2065,2939,2890,78.7,-11.3,150,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,952,-0.84,-146.6,2609,2065,2939,2889,92.7,-10.9,175,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1080,-0.84,-146.6,2609,2065,2939,2889,105.2,-10.5,200,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1211,-0.84,-146.6,2609,2065,2939,2889,118.1,-10.0,225,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-0.84,-146.6,2609,2065,2939,2889,129.9,-9.4,250,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-0.84,-146.6,2609,2065,2939,2889,142.3,-9.8,275,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-0.84,-146.6,2609,2065,2940,2890,153.4,-8.6,300,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2065,2914,2939,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,-0.84,-146.6,2609,2065,2939,2889,165.8,-10.5,325,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2066,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1837,begin apogee
$GC,1842,-0.28,0.0,2609,1979,2939,2889,176.1,-9.5,346,1960,0.55,0.00,112.97,1.447,10246,0.114,0.000,2793,1979,2328,2420,2236,0,0,0,0,0,0,26.01,28.83,23.77
$STATE,1961,end apogee,CONTROL_FINISHED_OK
$STATE,1961,begin climb
$GC,1962,0.84,146.6,2793,1979,2423,2237,181.4,0.0,366,2086,1.08,0.00,116.68,1.379,10246,0.076,0.000,3154,1979,1745,1894,1596,0,0,0,0,0,0,24.96,28.83,23.27
$GC,2211,0.84,172.3,3154,1979,1894,1597,164.6,7.1,411,2236,0.00,0.00,21.23,1.273,8198,0.000,0.000,3154,1979,1643,1796,1490,0,0,0,0,0,0,28.83,28.83,23.96
$GC,2362,0.84,172.3,3154,1979,1796,1490,150.9,9.5,439,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1643,1796,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2491,0.84,172.3,3154,1979,1796,1490,137.9,11.3,464,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1643,1796,1491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2622,0.84,172.3,3154,1979,1796,1490,123.7,10.9,489,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1643,1796,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,0.84,172.3,3154,1979,1796,1490,110.1,9.5,514,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1643,1796,1491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2881,0.84,172.3,3154,1979,1796,1490,95.5,11.9,539,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1795,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,0.84,172.3,3154,1979,1795,1490,82.0,10.3,564,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1795,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3141,0.84,172.3,3154,1979,1795,1490,68.8,10.5,589,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1795,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3270,0.84,172.3,3154,1979,1795,1490,55.8,9.8,614,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1795,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,0.84,172.3,2096,1977,1754,1486,42.2,10.8,639,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1795,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,0.84,172.3,2096,1977,1754,1486,35.4,9.4,652,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1795,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,0.84,172.3,2144,1977,1757,1486,29.1,8.6,665,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1795,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,0.84,172.3,2112,1977,1755,1486,23.0,8.6,678,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1794,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,0.84,172.3,2096,1977,1752,1486,16.4,10.0,691,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1794,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,0.84,172.3,2096,1977,1754,1486,9.4,9.1,704,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1794,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3814,0.84,172.3,2096,1977,1754,1486,3.7,8.1,717,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1979,1642,1794,1490,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3836,end climb,SURFACE_DEPTH_REACHED
$STATE,3836,begin surface coast
$FINISH,0.1,1.021801
$STATE,3858,end surface coast,CONTROL_FINISHED_OK
$STATE,3858,begin surface
$SM_CCo,3874,22.25,0.780,0,0,1389,235.12
$SM_GC,2.63,7.70,0.10,22.25,0.031,0.086,0.780,183,2073,1389,-8.36,-1.41,235.12,0,0,0,0,0,0,26.65,26.91,25.41
$IRIDIUM_FIX,4722.92,-12225.08,290308,151555
$TT8_MAMPS,0.029211,0.029211
$HUMID,48.22
$INTERNAL_PRESSURE,9.02038
$TCM_TEMP,14.20
$XPDR_PINGS,1
$24V_AH,23.3,40.565
$10V_AH,10.1,33.932
$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,19.350,0.250,250.875,22.250,0.000,29.610,43.208,205.567,0.250,0.000,6.676,1584.567,500.761,352.570,1726.009,116.064,33.215,986.497,0.000,1455.529,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,143.820,1446.615,780.300,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.672,990.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,36838,725
$CAP_FILE_SIZE,70938,0
$CFSIZE,1024393216,1020674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,032703,4743.045,-12225.252,4,1.5,5,16.3