version: 66.11
glider: 205
mission: 6
dive: 10
start: 6 3 115 3 33 57
data:
$ID,205
$MISSION,6
$DIVE,10
$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,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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-2662.6943
$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,3360
$C_ROLL_CLIMB,3360
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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,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
$GPS1,030615,032703,4743.045,-12225.252,4,1.5,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.3
$GPS2,030615,033300,4743.065,-12225.214,6,1.6,6,16.3
$SPEED_LIMITS,0.092,0.190
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.008,0.190
$KALMAN_X,-1351.9,-13.9,-257.7,1381.4,-47.5
$KALMAN_Y,-6606.7,-335.5,-328.6,7537.1,-791.1
$MHEAD_RNG_PITCHd_Wd,346.1,1629,-23.4,-9.231,-25.90,1294
$D_GRID,182
$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,-1.30,-78.2,174,3348,1508,1270,0.0,0.0,0,61,0.00,0.00,-42.17,0.000,16390,0.000,0.000,174,3349,2641,2653,2630,0,0,0,0,0,0,28.83,28.83,26.75
$GC,63,-1.30,-78.2,174,3349,2653,2630,3.2,-6.7,7,77,9.80,0.00,0.00,0.000,2054,0.248,0.000,2461,3349,2643,2656,2630,0,0,0,0,0,0,25.64,28.83,28.83
$GC,140,-1.30,-78.2,1472,3348,2607,2620,15.1,-13.5,21,146,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2657,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,208,-1.30,-78.2,1456,3348,2607,2620,25.1,-14.2,34,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,277,-1.30,-78.2,1456,3348,2608,2620,34.4,-12.5,47,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3350,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,347,-1.30,-78.2,1472,3348,2609,2620,42.6,-10.4,60,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,415,-1.30,-78.2,1456,3348,2607,2621,49.5,-10.1,73,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,484,-1.30,-78.2,2461,3349,2658,2629,57.3,-11.8,86,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,615,-1.30,-78.2,2460,3349,2659,2629,72.9,-11.8,111,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-1.30,-78.2,2461,3349,2659,2629,89.4,-12.6,136,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-1.30,-78.2,2461,3349,2659,2629,107.0,-13.6,161,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-1.30,-78.2,2461,3349,2659,2630,123.6,-12.1,186,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2644,2659,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1135,-1.30,-78.2,2461,3349,2659,2630,138.4,-11.1,211,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2644,2659,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-1.30,-78.2,2461,3349,2659,2630,153.7,-9.7,236,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2644,2659,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1394,-1.30,-78.2,2461,3349,2659,2629,166.7,-10.1,261,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3349,2644,2659,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1522,-1.30,-78.2,2461,3349,2658,2630,179.5,-10.9,286,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,3350,2643,2658,2629,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1534,begin apogee
$GC,1538,-0.28,0.0,2461,3349,2658,2629,180.8,-10.3,288,1604,1.10,0.00,60.17,1.365,10246,0.154,0.000,2788,3350,2329,2397,2262,0,0,0,0,0,0,25.58,28.83,24.19
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1606,1.30,78.2,2788,3349,2398,2262,183.1,0.0,299,1677,1.52,0.00,61.92,1.389,10246,0.088,0.000,3311,3349,2018,2118,1919,0,0,0,0,0,0,25.38,28.83,23.77
$GC,1801,1.30,78.2,3311,3350,2118,1918,161.2,15.1,335,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3350,2018,2118,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1929,1.30,78.2,3310,3350,2117,1918,143.3,11.9,360,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3349,2018,2118,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2061,1.30,78.2,3311,3349,2117,1919,126.8,13.5,385,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3350,2018,2117,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2189,1.30,78.2,3311,3350,2117,1919,108.8,13.7,410,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3349,2018,2117,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,1.30,78.2,3311,3349,2117,1919,92.2,13.3,435,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3349,2018,2117,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2449,1.30,78.2,3311,3349,2117,1919,75.7,12.0,460,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3349,2017,2117,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2580,1.30,78.2,3311,3349,2117,1918,58.8,12.8,485,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3350,2018,2117,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,1.30,78.2,2304,3348,2066,1910,42.6,11.4,510,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3349,2017,2116,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2778,1.30,78.2,2304,3348,2065,1910,35.8,10.8,523,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3349,2018,2117,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,1.30,78.2,2304,3348,2065,1910,28.5,10.9,536,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3350,2017,2116,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,1.30,78.2,2304,3348,2065,1910,20.8,10.7,549,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,3350,2017,2117,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,1.30,100.4,2304,3348,2065,1910,14.9,7.5,562,2998,0.00,0.00,8.05,0.702,8198,0.000,0.000,3311,3350,1925,2032,1818,0,0,0,0,0,0,28.83,28.83,25.47
$GC,3061,1.30,120.8,2304,3348,1982,1810,9.8,7.6,576,3075,0.00,0.00,7.47,0.668,8198,0.000,0.000,3311,3350,1842,1961,1723,0,0,0,0,0,0,28.83,28.83,25.41
$STATE,3130,end climb,SURFACE_DEPTH_REACHED
$STATE,3130,begin surface coast
$FINISH,0.1,1.021680
$STATE,3147,end surface coast,CONTROL_FINISHED_OK
$STATE,3147,begin surface
$SM_CCo,3162,40.67,0.778,0,0,1389,235.12
$SM_GC,0.85,8.25,0.00,40.67,0.038,0.000,0.778,195,3350,1389,-8.34,-0.31,235.12,0,0,0,0,0,0,26.49,28.83,25.03
$IRIDIUM_FIX,4726.11,-12222.38,290308,161644
$TT8_MAMPS,0.029211,0.029211
$HUMID,47.83
$INTERNAL_PRESSURE,9.01062
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.8,40.638
$10V_AH,10.1,33.992
$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,20.675,1.975,137.625,40.675,0.000,33.044,43.483,190.703,0.000,0.000,7.656,1319.092,412.583,276.778,1453.335,102.504,33.201,790.851,0.000,1194.350,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,34.425,1389.240,778.005,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.091,816.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322252
$DATA_FILE_SIZE,30200,592
$CAP_FILE_SIZE,60563,0
$CFSIZE,1024393216,1020641280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,042806,4743.182,-12225.220,17,0.8,17,16.3