version: 66.11
glider: 205
mission: 6
dive: 15
start: 6 3 115 9 37 27
data:
$ID,205
$MISSION,6
$DIVE,15
$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,-2668.9824
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,60
$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
$GPS1,030615,093037,4742.674,-12225.069,4,1.3,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.1
$GPS2,030615,093630,4742.642,-12225.127,4,1.3,5,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.176,0.166
$KALMAN_X,-3367.0,-127.0,104.8,3254.4,-658.5
$KALMAN_Y,-10506.2,157.6,362.3,9457.9,-711.8
$MHEAD_RNG_PITCHd_Wd,30.4,422,-14.9,-8.000,-18.27,2786
$D_GRID,185
$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,-146.6,196,2064,1512,1261,0.0,0.0,0,67,0.00,0.00,-49.85,0.000,16386,0.000,0.000,196,2064,2910,2913,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.84,-146.6,196,2064,2913,2908,3.7,-6.9,8,85,10.10,2.20,0.00,0.000,2308,0.238,0.037,2601,3446,2912,2916,2908,0,0,0,0,0,0,25.61,26.24,28.83
$GC,152,-0.84,-146.6,2600,3446,2918,2907,16.5,-9.7,24,160,0.00,2.12,0.00,0.000,1030,0.000,0.027,2600,2046,2912,2918,2907,0,0,0,0,0,0,28.83,26.36,28.83
$GC,222,-0.84,-146.6,1568,2044,2876,2900,23.7,-9.8,37,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2046,2912,2918,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,291,-0.84,-146.6,1552,2044,2876,2900,31.6,-10.3,50,298,0.00,2.17,0.00,0.000,516,0.000,0.040,2600,662,2913,2919,2907,0,0,0,0,0,0,28.83,26.32,28.83
$GC,439,-0.84,-146.6,2600,662,2919,2907,48.2,-10.8,81,447,0.00,2.12,0.00,0.000,1030,0.000,0.026,2593,2048,2913,2919,2907,0,0,0,0,0,0,28.83,26.54,28.83
$GC,508,-0.84,-146.6,2593,2048,2919,2907,55.5,-11.6,94,516,0.00,2.20,0.00,0.000,260,0.000,0.041,2582,3459,2913,2919,2907,0,0,0,0,0,0,28.83,26.39,28.83
$GC,547,-0.84,-146.6,1568,3458,2879,2900,59.2,-9.9,102,555,0.10,2.12,0.00,0.000,3078,0.134,0.027,2615,2041,2913,2919,2907,0,0,0,0,0,0,26.18,26.56,28.83
$GC,682,-0.84,-146.6,2614,2042,2919,2907,70.5,-8.0,127,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2042,2913,2919,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.84,-146.6,2614,2042,2919,2907,82.4,-9.2,152,818,0.00,2.20,0.00,0.000,260,0.000,0.041,2607,3454,2913,2919,2907,0,0,0,0,0,0,28.83,26.48,28.83
$GC,965,-0.84,-146.6,2606,3454,2919,2907,97.5,-10.4,186,972,0.00,2.08,0.00,0.000,1030,0.000,0.027,2606,2067,2913,2919,2907,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1097,-0.84,-146.6,2606,2067,2919,2907,110.1,-10.6,211,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2067,2913,2919,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1226,-0.84,-146.6,2606,2067,2919,2907,123.3,-10.8,236,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2068,2913,2920,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1358,-0.84,-146.6,2606,2067,2919,2907,135.3,-5.8,261,1364,0.00,2.12,0.00,0.000,516,0.000,0.039,2606,668,2913,2919,2907,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1443,-0.84,-146.6,1572,667,2878,2900,142.5,-9.4,280,1451,0.00,2.12,0.00,0.000,1030,0.000,0.026,2596,2072,2913,2919,2907,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1576,-0.84,-146.6,2596,2072,2919,2907,154.8,-8.5,305,1583,0.00,2.15,0.00,0.000,516,0.000,0.039,2597,665,2913,2920,2907,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1672,-0.84,-146.6,1568,665,2879,2900,165.4,-11.0,326,1679,0.00,2.12,0.00,0.000,1030,0.000,0.026,2588,2067,2913,2919,2907,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1804,-0.84,-146.6,2587,2068,2919,2906,178.2,-9.2,351,1810,0.12,0.00,0.00,0.000,2054,0.168,0.000,2623,2068,2913,2919,2907,0,0,0,0,0,0,26.57,28.83,28.83
$STATE,1826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1826,begin apogee
$GC,1831,-0.28,0.0,2623,1984,2919,2907,180.5,-9.0,355,1948,0.50,0.00,112.70,1.416,10246,0.112,0.000,2792,1984,2328,2421,2236,0,0,0,0,0,0,26.10,28.83,23.77
$STATE,1949,end apogee,CONTROL_FINISHED_OK
$STATE,1949,begin climb
$GC,1951,0.84,146.6,2793,1984,2422,2237,184.0,0.0,375,2077,1.08,2.42,118.07,1.417,10756,0.079,0.043,3152,614,1744,1895,1594,0,0,0,0,0,0,24.96,24.31,23.19
$GC,2121,0.84,146.6,3151,614,1895,1594,172.4,10.1,405,2127,0.00,2.20,0.00,0.000,1030,0.000,0.025,3152,1996,1744,1895,1594,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2251,0.84,146.6,3151,1997,1895,1594,159.0,10.4,430,2259,0.00,2.28,0.00,0.000,516,0.000,0.042,3151,607,1744,1895,1594,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2365,0.84,146.6,2088,607,1849,1588,145.7,11.5,455,2372,0.00,2.12,0.00,0.000,1030,0.000,0.026,3152,2007,1744,1895,1594,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2496,0.84,146.6,3151,2007,1894,1594,132.2,10.9,480,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2007,1744,1895,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,0.84,146.6,3151,2007,1894,1594,119.5,9.9,505,2633,0.00,2.20,0.00,0.000,516,0.000,0.042,3151,601,1744,1894,1594,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2721,0.84,146.6,3151,601,1894,1594,110.5,10.4,525,2727,0.00,2.10,0.00,0.000,1030,0.000,0.026,3152,2003,1744,1894,1594,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2851,0.84,146.6,3151,2003,1894,1594,96.3,11.4,550,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2003,1744,1894,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,0.84,146.6,3151,2003,1893,1594,82.1,10.9,575,2987,0.00,2.10,0.00,0.000,260,0.000,0.041,3151,3390,1744,1894,1594,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3043,0.84,146.6,2144,3388,1851,1589,75.3,10.2,588,3050,0.00,2.10,0.00,0.000,1030,0.000,0.029,3152,2005,1743,1893,1594,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3176,0.84,146.6,3152,2004,1894,1594,62.3,9.4,613,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2004,1743,1893,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3304,0.84,146.6,3152,2004,1894,1594,50.3,9.4,638,3311,0.00,2.22,0.00,0.000,516,0.000,0.042,3152,592,1743,1893,1594,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3350,0.84,146.6,3151,592,1893,1594,46.2,8.2,647,3358,0.00,2.12,0.00,0.000,1030,0.000,0.027,3152,1995,1743,1893,1594,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3421,0.84,146.6,2096,1993,1849,1588,40.5,8.4,660,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1995,1743,1893,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3490,0.84,146.6,2080,1993,1848,1588,35.0,8.5,673,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1995,1743,1893,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3559,0.84,146.6,2080,1993,1848,1588,29.4,8.1,686,3566,0.00,2.22,0.00,0.000,516,0.000,0.043,3152,589,1743,1893,1594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3703,0.84,194.5,3151,589,1893,1594,19.9,6.2,716,3730,0.00,2.12,17.12,0.789,9222,0.000,0.027,3152,1996,1550,1713,1387,0,0,0,0,0,0,28.83,26.71,25.46
$GC,3793,0.84,194.5,2088,1994,1674,1382,12.7,8.2,732,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1996,1549,1712,1386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,0.84,194.5,2080,1994,1674,1382,5.9,10.3,745,3869,0.00,2.15,0.00,0.000,260,0.000,0.041,3152,3385,1549,1712,1386,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,3902,end climb,SURFACE_DEPTH_REACHED
$STATE,3902,begin surface coast
$FINISH,0.0,1.021628
$STATE,3922,end surface coast,CONTROL_FINISHED_OK
$STATE,3922,begin surface
$SM_CCo,3939,14.10,0.714,0,0,1388,235.12
$SM_GC,3.57,7.75,2.03,14.10,0.034,0.028,0.714,190,2058,1388,-8.35,1.50,235.12,0,0,0,0,0,0,26.50,26.56,25.39
$IRIDIUM_FIX,4722.92,-12229.50,290308,222217
$TT8_MAMPS,0.029211,0.029211
$HUMID,47.87
$INTERNAL_PRESSURE,9.00085
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.2,41.298
$10V_AH,10.1,34.370
$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,19.650,56.225,247.900,14.100,0.000,36.338,40.064,188.967,0.000,0.000,5.890,1667.770,397.184,353.912,1772.562,128.481,33.221,1017.625,0.000,1519.640,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,104.805,1416.780,713.745,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.500,1031.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322232
$DATA_FILE_SIZE,36832,757
$CAP_FILE_SIZE,78647,0
$CFSIZE,1024393216,1020264448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,104400,4742.558,-12224.781,3,1.2,3,16.3