version: 66.11
glider: 205
mission: 6
dive: 17
start: 6 3 115 12 8 55
data:
$ID,205
$MISSION,6
$DIVE,17
$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,-2671.4919
$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,59
$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
$GPS1,030615,115827,4742.639,-12224.608,36,1.0,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.6
$GPS2,030615,120759,4742.641,-12224.680,6,1.0,6,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,0.227
$KALMAN_X,-3740.3,-336.1,-171.0,4660.9,-373.1
$KALMAN_Y,-12232.7,411.1,207.8,11076.8,-1000.4
$MHEAD_RNG_PITCHd_Wd,4.3,2337,-14.9,-8.000,-18.27,2786
$D_GRID,175
$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,-146.6,194,2048,1507,1270,0.0,0.0,0,61,0.00,0.00,-43.65,0.000,16386,0.000,0.000,195,2049,2681,2694,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.84,-146.6,194,2049,2695,2669,3.1,-6.4,7,86,10.10,2.25,-5.20,0.000,19204,0.238,0.054,2602,3447,2913,2938,2889,0,0,0,0,0,0,25.63,26.25,26.67
$GC,310,-0.84,-146.6,2602,3446,2939,2889,31.5,-10.9,58,317,0.00,2.10,0.00,0.000,1030,0.000,0.027,2602,2053,2914,2940,2889,0,0,0,0,0,0,28.83,26.50,28.83
$GC,380,-0.84,-146.6,1568,2050,2900,2881,38.7,-9.4,71,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2053,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,449,-0.84,-146.6,1568,2050,2899,2881,45.4,-9.5,84,456,0.00,2.17,0.00,0.000,516,0.000,0.039,2602,660,2914,2939,2889,0,0,0,0,0,0,28.83,26.41,28.83
$GC,577,-0.84,-146.6,1568,660,2900,2881,61.2,-12.6,112,585,0.00,2.12,0.00,0.000,1030,0.000,0.026,2593,2060,2914,2940,2889,0,0,0,0,0,0,28.83,26.61,28.83
$GC,709,-0.84,-146.6,2593,2060,2940,2889,76.3,-10.4,137,715,0.00,2.12,0.00,0.000,516,0.000,0.037,2593,668,2914,2940,2889,0,0,0,0,0,0,28.83,26.49,28.83
$GC,803,-0.84,-146.6,1568,668,2900,2881,87.1,-11.6,158,811,0.10,2.10,0.00,0.000,3078,0.140,0.026,2616,2056,2914,2940,2889,0,0,0,0,0,0,26.26,26.66,28.83
$GC,936,-0.84,-146.6,2615,2056,2940,2888,100.6,-9.8,183,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2056,2914,2940,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1065,-0.84,-146.6,2616,2057,2940,2889,112.6,-8.3,208,1072,0.00,2.17,0.00,0.000,516,0.000,0.038,2616,661,2914,2940,2889,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1106,-0.84,-146.6,2616,661,2940,2889,115.9,-8.0,216,1113,0.00,2.10,0.00,0.000,1030,0.000,0.026,2608,2049,2914,2940,2889,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1239,-0.84,-146.6,2608,2049,2941,2889,126.6,-8.2,241,1246,0.00,2.12,0.00,0.000,260,0.000,0.041,2598,3456,2914,2940,2889,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1431,-0.84,-146.6,1568,3454,2900,2872,144.6,-9.3,284,1438,0.00,2.10,0.00,0.000,1030,0.000,0.028,2598,2052,2790,2940,2641,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1562,-0.84,-146.6,2598,2052,2940,2889,157.7,-9.5,309,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2052,2914,2940,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.84,-146.6,2597,2052,2940,2888,171.5,-10.9,334,1698,0.00,2.17,0.00,0.000,260,0.000,0.041,2588,3458,2914,2940,2889,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,1719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1720,begin apogee
$GC,1726,-0.28,0.0,2588,1984,2940,2889,175.1,-12.4,340,1844,0.62,0.00,113.38,1.444,10246,0.126,0.000,2789,1983,2327,2420,2235,0,0,0,0,0,0,25.96,28.83,23.75
$STATE,1845,end apogee,CONTROL_FINISHED_OK
$STATE,1845,begin climb
$GC,1846,0.84,146.6,2788,1983,2424,2236,180.8,0.0,360,1970,1.10,0.00,117.70,1.401,10758,0.083,0.000,3152,1983,1746,1898,1594,0,0,0,0,0,0,24.91,28.83,23.18
$GC,2095,0.84,146.6,3152,1983,1898,1594,158.0,11.1,405,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1983,1746,1898,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,0.84,146.6,3152,1983,1897,1594,144.3,10.9,430,2231,0.00,2.22,0.00,0.000,260,0.000,0.039,3152,3387,1745,1897,1594,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2276,0.84,146.6,2112,3386,1851,1586,138.7,11.4,441,2283,0.00,2.10,0.00,0.000,1030,0.000,0.028,3152,1998,1745,1897,1594,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2407,0.84,146.6,3152,1998,1896,1594,126.0,10.1,466,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1998,1745,1896,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2538,0.84,146.6,3152,1998,1896,1594,114.3,9.0,491,2544,0.00,2.12,0.00,0.000,260,0.000,0.038,3152,3390,1745,1896,1594,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2573,0.84,146.6,3152,3390,1896,1594,110.9,9.1,498,2580,0.00,2.15,0.00,0.000,1030,0.000,0.029,3154,1986,1745,1896,1594,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2706,0.84,146.6,3153,1986,1895,1594,99.2,8.9,523,2713,0.00,2.17,0.00,0.000,516,0.000,0.043,3154,584,1745,1896,1594,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2836,0.84,146.6,2088,584,1850,1586,87.6,9.4,552,2844,0.00,2.15,0.00,0.000,1030,0.000,0.026,3155,1997,1745,1896,1594,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2969,0.84,146.6,3154,1997,1896,1594,75.1,9.0,577,2975,0.00,2.17,0.00,0.000,516,0.000,0.041,3155,591,1745,1896,1594,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3062,0.84,146.6,2144,591,1852,1586,66.1,9.1,597,3069,0.00,2.08,0.00,0.000,1030,0.000,0.026,3154,1991,1745,1896,1594,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3192,0.84,146.6,3154,1991,1896,1594,54.4,9.5,622,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1991,1744,1895,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,0.84,146.6,2096,1989,1849,1584,42.6,8.7,647,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1991,1745,1896,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,0.84,146.6,2096,1989,1849,1584,35.9,10.0,660,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1991,1744,1895,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,0.84,146.6,2096,1989,1850,1585,30.2,8.6,673,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1991,1744,1895,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3528,0.84,146.6,2096,1989,1849,1582,24.6,8.4,686,3536,0.00,2.12,0.00,0.000,260,0.000,0.040,3154,3378,1745,1896,1594,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3593,0.84,146.6,3155,3378,1895,1572,19.0,8.5,699,3601,0.00,2.10,0.00,0.000,1030,0.000,0.029,3154,1985,1693,1895,1492,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3664,0.84,155.5,2088,1983,1849,1557,13.4,7.7,712,3671,0.00,2.17,0.00,0.000,516,0.000,0.042,3155,596,1680,1895,1466,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3701,0.84,155.5,3154,596,1895,1572,10.2,8.4,719,3709,0.00,2.10,0.00,0.000,1030,0.000,0.027,3154,1990,1693,1895,1491,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3772,0.84,180.7,2112,1988,1850,1575,4.9,7.1,732,3792,0.00,2.15,12.10,0.716,8452,0.000,0.040,3155,3377,1566,1765,1368,0,0,0,0,0,0,28.83,26.60,25.52
$STATE,3807,end climb,SURFACE_DEPTH_REACHED
$STATE,3807,begin surface coast
$FINISH,0.0,1.021539
$STATE,3832,end surface coast,CONTROL_FINISHED_OK
$STATE,3832,begin surface
$SM_CCo,3849,19.35,0.737,0,0,1385,235.12
$SM_GC,2.95,7.78,2.03,19.35,0.036,0.028,0.737,191,2052,1385,-8.35,1.27,235.12,0,0,0,0,0,0,26.53,26.61,25.36
$IRIDIUM_FIX,4722.92,-12222.38,300308,010117
$TT8_MAMPS,0.029211,0.029211
$HUMID,46.81
$INTERNAL_PRESSURE,9.00085
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.2,41.534
$10V_AH,10.0,34.521
$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,19.700,55.625,243.175,19.350,0.000,61.806,85.084,278.238,0.000,0.000,6.868,1639.440,421.813,350.166,1907.375,132.331,33.216,995.694,0.000,1492.898,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,54.315,1444.320,736.695,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,501.250,1018.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322204
$DATA_FILE_SIZE,36778,743
$CAP_FILE_SIZE,79167,0
$CFSIZE,1024393216,1020133376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,131403,4742.984,-12224.459,3,1.0,3,16.3