version: 66.11
glider: 205
mission: 6
dive: 16
start: 6 3 115 10 51 20
data:
$ID,205
$MISSION,6
$DIVE,16
$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,-2670.2354
$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,50
$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,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
$GPS1,030615,104400,4742.558,-12224.781,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.3
$GPS2,030615,105024,4742.546,-12224.846,5,1.0,5,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,0.197
$KALMAN_X,-3635.8,-217.0,17.1,4043.5,-669.7
$KALMAN_Y,-11722.5,368.4,440.2,10210.4,-1110.0
$MHEAD_RNG_PITCHd_Wd,19.2,291,-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,-146.6,190,2055,1509,1267,0.0,0.0,0,61,0.00,0.00,-43.60,0.000,16386,0.000,0.000,190,2056,2695,2709,2681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.84,-146.6,190,2056,2708,2681,3.3,-7.3,7,86,10.07,2.17,-4.72,0.000,18692,0.236,0.052,2604,3446,2912,2937,2888,0,0,0,0,0,0,25.63,26.25,26.68
$GC,287,-0.84,-146.6,2604,3446,2938,2888,27.7,-11.2,53,294,0.00,2.10,0.00,0.000,1030,0.000,0.027,2604,2053,2913,2938,2889,0,0,0,0,0,0,28.83,26.48,28.83
$GC,357,-0.84,-146.6,1584,2051,2899,2881,34.6,-9.7,66,364,0.00,2.17,0.00,0.000,516,0.000,0.039,2604,663,2913,2938,2888,0,0,0,0,0,0,28.83,26.41,28.83
$GC,431,-0.84,-146.6,2604,663,2938,2888,41.9,-9.7,81,438,0.00,2.12,0.00,0.000,1030,0.000,0.026,2595,2060,2913,2938,2888,0,0,0,0,0,0,28.83,26.55,28.83
$GC,501,-0.84,-146.6,1552,2057,2898,2880,49.2,-10.7,94,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2060,2913,2938,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,571,-0.84,-146.6,2595,2059,2939,2888,56.0,-9.8,107,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2059,2913,2938,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,699,-0.84,-146.6,2594,2059,2938,2888,69.1,-10.5,132,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2059,2913,2939,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-0.84,-146.6,2594,2059,2939,2888,82.3,-9.8,157,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2060,2913,2939,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-0.84,-146.6,2594,2060,2939,2888,94.0,-8.4,182,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2060,2913,2939,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1088,-0.84,-146.6,2594,2060,2939,2888,104.9,-8.1,207,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2060,2913,2939,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1217,-0.84,-146.6,2595,2060,2939,2888,117.1,-9.1,232,1224,0.00,2.15,0.00,0.000,260,0.000,0.041,2585,3451,2913,2939,2888,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1281,-0.84,-146.6,1568,3450,2899,2880,122.8,-8.4,246,1289,0.10,2.08,0.00,0.000,3078,0.132,0.027,2617,2053,2913,2939,2888,0,0,0,0,0,0,26.32,26.70,28.83
$GC,1416,-0.84,-146.6,2618,2053,2939,2888,132.8,-7.9,271,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2053,2913,2939,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1545,-0.84,-146.6,2617,2053,2939,2888,145.7,-10.9,296,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2053,2913,2939,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1676,-0.84,-146.6,2617,2053,2939,2888,158.5,-9.1,321,1683,0.00,2.10,0.00,0.000,516,0.000,0.040,2618,671,2913,2938,2888,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1726,-0.84,-146.6,1576,671,2899,2881,163.2,-9.8,331,1733,0.00,2.05,0.00,0.000,1030,0.000,0.026,2610,2061,2913,2939,2888,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1856,-0.84,-146.6,2610,2062,2939,2888,166.5,0.3,356,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2062,2913,2939,2888,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1925,end dive,NO_VERTICAL_VELOCITY
$STATE,1925,begin apogee
$GC,1930,-0.28,0.0,2610,1999,2939,2888,166.4,0.0,369,2047,0.52,0.00,112.85,1.428,10246,0.076,0.000,2800,1999,2328,2423,2233,0,0,0,0,0,0,26.41,28.83,23.73
$STATE,2048,end apogee,CONTROL_FINISHED_OK
$STATE,2048,begin climb
$GC,2049,0.84,146.6,2800,1999,2423,2234,166.6,0.0,389,2179,1.05,2.35,118.93,1.463,10500,0.077,0.037,3152,3387,1745,1896,1594,0,0,0,0,0,0,24.94,24.28,23.11
$GC,2296,0.84,146.6,3152,3387,1895,1594,144.6,13.2,437,2302,0.00,2.15,0.00,0.000,1030,0.000,0.028,3152,2006,1744,1895,1593,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2426,0.84,146.6,3152,2006,1895,1593,129.4,11.1,462,2433,0.00,2.30,0.00,0.000,516,0.000,0.042,3154,583,1744,1895,1594,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2458,0.84,146.6,3154,583,1895,1594,125.9,11.2,468,2465,0.00,2.17,0.00,0.000,1030,0.000,0.026,3154,1992,1744,1895,1593,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2590,0.84,146.6,3154,1991,1895,1593,113.2,9.2,493,2596,0.00,2.12,0.00,0.000,260,0.000,0.038,3154,3386,1744,1895,1593,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2657,0.84,146.6,3154,3385,1895,1593,107.5,8.1,507,2663,0.00,2.12,0.00,0.000,1030,0.000,0.028,3154,1969,1744,1895,1593,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2787,0.84,146.6,3154,1970,1895,1594,96.2,8.6,532,2794,0.00,2.17,0.00,0.000,516,0.000,0.043,3154,597,1744,1894,1594,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2863,0.84,146.6,2144,596,1852,1588,89.4,8.9,548,2870,0.00,2.12,0.00,0.000,1030,0.000,0.026,3154,1992,1744,1895,1594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2994,0.84,146.6,3154,1992,1894,1594,78.4,9.0,573,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1991,1744,1894,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,0.84,146.6,3154,1991,1894,1593,66.8,8.2,598,3130,0.00,2.22,0.00,0.000,516,0.000,0.043,3154,589,1744,1894,1594,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3234,0.84,153.7,2112,589,1849,1587,57.7,7.7,622,3242,0.00,2.12,2.78,0.548,9222,0.000,0.026,3154,1990,1713,1862,1565,0,0,0,0,0,0,28.83,26.63,24.96
$GC,3366,0.84,153.7,2112,1989,1820,1559,46.9,8.3,647,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1990,1714,1863,1565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,0.84,153.7,3154,1990,1863,1565,40.9,8.6,660,3444,0.00,2.20,0.00,0.000,516,0.000,0.042,3155,596,1714,1863,1565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3534,0.84,153.7,3154,596,1862,1565,32.2,8.7,680,3541,0.00,2.12,0.00,0.000,1030,0.000,0.026,3154,1997,1714,1863,1565,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3603,0.84,153.7,2128,1995,1821,1559,26.1,9.0,693,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1997,1713,1863,1564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,0.84,165.5,2096,1996,1819,1559,20.7,7.6,706,3680,0.00,0.00,4.28,0.612,8198,0.000,0.000,3154,1998,1665,1817,1514,0,0,0,0,0,0,28.83,28.83,25.29
$GC,3743,0.84,165.5,2096,1996,1775,1509,14.9,8.8,719,3750,0.00,2.22,0.00,0.000,516,0.000,0.042,3154,589,1665,1817,1514,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3794,0.84,165.5,3154,589,1817,1514,10.3,9.8,729,3802,0.00,2.12,0.00,0.000,1030,0.000,0.027,3154,1993,1665,1817,1514,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3865,0.84,181.9,2128,1991,1777,1509,4.7,7.4,742,3879,0.00,2.15,5.82,0.619,8452,0.000,0.041,3154,3375,1599,1756,1443,0,0,0,0,0,0,28.83,26.63,25.43
$STATE,3894,end climb,SURFACE_DEPTH_REACHED
$STATE,3894,begin surface coast
$FINISH,0.0,1.021644
$STATE,3918,end surface coast,CONTROL_FINISHED_OK
$STATE,3918,begin surface
$SM_CCo,3936,18.62,0.727,0,0,1390,235.12
$SM_GC,3.37,7.75,2.03,18.62,0.036,0.028,0.727,195,2049,1390,-8.34,1.22,235.12,0,0,0,0,0,0,26.56,26.65,25.40
$IRIDIUM_FIX,4719.74,-12223.37,300308,000039
$TT8_MAMPS,0.029211,0.029211
$HUMID,46.96
$INTERNAL_PRESSURE,9.01062
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.1,41.414
$10V_AH,10.1,34.445
$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,19.500,51.725,244.650,18.625,0.000,32.922,40.080,218.482,0.000,0.000,6.864,1660.342,417.211,353.816,1788.137,128.726,33.212,1010.065,0.000,1513.331,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,143.820,1463.445,726.750,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.208,1031.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322208
$DATA_FILE_SIZE,36850,752
$CAP_FILE_SIZE,79124,0
$CFSIZE,1024393216,1020198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,115827,4742.639,-12224.608,36,1.0,36,16.3