version: 66.11
glider: 205
mission: 6
dive: 18
start: 6 3 115 13 21 10
data:
$ID,205
$MISSION,6
$DIVE,18
$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,-2672.8369
$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,48
$R_STBD_OVSHOOT,61
$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
$GPS1,030615,131403,4742.984,-12224.459,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.0
$GPS2,030615,132013,4743.022,-12224.482,4,1.0,4,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.015,0.242
$KALMAN_X,-3750.5,-392.1,-234.8,5036.8,-43.3
$KALMAN_Y,-12193.4,380.0,-97.4,12075.7,-612.3
$MHEAD_RNG_PITCHd_Wd,340.1,1673,-14.9,-8.000,-18.27,2786
$D_GRID,177
$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,-146.6,191,2051,1507,1242,0.0,0.0,0,61,0.00,0.00,-43.70,0.000,16386,0.000,0.000,191,2052,2664,2717,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.84,-146.6,191,2052,2717,2690,3.3,-7.5,7,86,10.07,2.25,-5.93,0.000,18692,0.237,0.055,2601,3447,2930,3003,2858,0,0,0,0,0,0,25.63,26.25,26.68
$GC,273,-0.84,-146.6,2600,3447,3005,2951,29.8,-11.7,50,280,0.00,2.12,0.00,0.000,1030,0.000,0.027,2600,2042,2978,3005,2951,0,0,0,0,0,0,28.83,26.47,28.83
$GC,343,-0.84,-146.6,1552,2040,2970,2941,38.3,-13.0,63,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2042,2978,3006,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,412,-0.84,-146.6,1552,2040,2970,2941,46.5,-11.4,76,419,0.00,2.15,0.00,0.000,516,0.000,0.039,2600,670,2978,3005,2951,0,0,0,0,0,0,28.83,26.41,28.83
$GC,564,-0.84,-146.6,2600,670,3005,2951,63.1,-10.8,109,571,0.00,2.08,0.00,0.000,1030,0.000,0.026,2592,2062,2978,3006,2951,0,0,0,0,0,0,28.83,26.60,28.83
$GC,694,-0.84,-146.6,2591,2062,3005,2951,76.6,-10.4,134,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2062,2978,3006,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.84,-146.6,2592,2062,3006,2951,90.8,-11.1,159,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2062,2978,3006,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,953,-0.84,-146.6,2591,2062,3006,2951,104.7,-10.8,184,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2062,2978,3006,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1085,-0.84,-146.6,2592,2062,3006,2951,118.8,-10.5,209,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2062,2978,3006,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-0.84,-146.6,2592,2062,3007,2951,132.0,-10.2,234,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2061,2978,3006,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1344,-0.84,-146.6,2591,2062,3006,2952,145.0,-9.4,259,1350,0.00,2.10,0.00,0.000,260,0.000,0.041,2582,3451,2978,3006,2951,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1404,-0.84,-146.6,1560,3451,2972,2941,151.1,-9.9,272,1412,0.10,2.08,0.00,0.000,3078,0.129,0.028,2616,2061,2978,3006,2951,0,0,0,0,0,0,26.35,26.73,28.83
$GC,1538,-0.84,-146.6,2615,2060,3006,2951,162.5,-8.6,297,1544,0.00,2.12,0.00,0.000,516,0.000,0.040,2616,661,2978,3006,2951,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1634,-0.84,-146.6,2616,661,3006,2951,171.6,-10.2,318,1641,0.00,2.12,0.00,0.000,1030,0.000,0.026,2608,2066,2978,3006,2951,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,1695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1695,begin apogee
$GC,1700,-0.28,0.0,2608,1985,3006,2951,177.0,-9.0,329,1833,0.55,0.00,126.10,1.453,10246,0.114,0.000,2791,1985,2328,2427,2230,0,0,0,0,0,0,26.09,28.83,23.59
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1835,begin climb
$GC,1837,0.84,146.6,2791,1985,2428,2230,181.6,0.0,352,1966,1.10,0.00,120.12,1.499,10758,0.081,0.000,3155,1985,1745,1897,1593,0,0,0,0,0,0,24.86,28.83,23.08
$GC,2089,0.84,146.6,3156,1985,1897,1592,162.2,10.7,398,2096,0.00,2.28,0.00,0.000,516,0.000,0.044,3156,610,1744,1897,1592,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2181,0.84,146.6,2128,610,1853,1587,151.8,11.9,418,2189,0.00,2.15,0.00,0.000,1030,0.000,0.026,3156,1986,1744,1897,1592,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2314,0.84,146.6,3156,1986,1896,1592,139.4,9.6,443,2321,0.00,2.17,0.00,0.000,516,0.000,0.041,3156,606,1744,1896,1593,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2348,0.84,146.6,2128,605,1853,1587,136.1,9.6,450,2356,0.00,2.15,0.00,0.000,1030,0.000,0.026,3156,1997,1744,1896,1592,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2482,0.84,146.6,3156,1996,1896,1593,123.3,10.6,475,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1997,1744,1896,1593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2611,0.84,146.6,3156,1997,1896,1592,108.8,10.2,500,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1997,1744,1896,1592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2742,0.84,146.6,3155,1997,1895,1592,95.4,10.4,525,2749,0.00,2.10,0.00,0.000,260,0.000,0.039,3156,3387,1743,1895,1592,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2794,0.84,146.6,2120,3386,1851,1587,89.6,11.3,536,2801,0.00,2.10,0.00,0.000,1030,0.000,0.029,3156,2005,1743,1895,1592,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2927,0.84,146.6,3156,2005,1895,1592,76.4,10.7,561,2933,0.00,2.20,0.00,0.000,516,0.000,0.042,3157,584,1743,1895,1592,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2991,0.84,146.6,2112,584,1850,1587,69.8,9.7,575,2998,0.00,2.10,0.00,0.000,1030,0.000,0.027,3157,1996,1743,1895,1592,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3122,0.84,146.6,3156,1995,1895,1592,57.4,8.6,600,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1995,1743,1895,1592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,0.84,146.6,2112,1993,1850,1587,45.4,9.5,625,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1995,1743,1895,1592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,0.84,146.6,2096,1993,1849,1587,38.7,9.6,638,3328,0.00,2.22,0.00,0.000,516,0.000,0.042,3157,588,1743,1895,1592,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3427,0.84,146.6,3156,588,1895,1592,29.7,8.4,660,3434,0.00,2.12,0.00,0.000,1030,0.000,0.027,3157,1990,1743,1895,1592,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3497,0.84,163.5,2096,1988,1849,1587,24.3,7.4,673,3511,0.00,2.22,6.12,0.702,8708,0.000,0.043,3157,594,1674,1827,1521,0,0,0,0,0,0,28.83,26.64,25.34
$GC,3597,0.84,163.5,3156,593,1827,1522,16.7,8.7,693,3604,0.00,2.12,0.00,0.000,1030,0.000,0.026,3157,1995,1674,1827,1522,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3667,0.84,186.3,2096,1992,1785,1517,11.7,7.2,706,3681,0.00,2.12,8.05,0.680,8452,0.000,0.037,3157,3384,1584,1744,1425,0,0,0,0,0,0,28.83,26.59,25.44
$GC,3740,0.84,186.3,3157,3385,1744,1425,5.4,9.2,720,3747,0.00,2.12,0.00,0.000,1030,0.000,0.029,3157,1985,1584,1743,1425,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,3777,end climb,SURFACE_DEPTH_REACHED
$STATE,3777,begin surface coast
$FINISH,0.1,1.021645
$STATE,3800,end surface coast,CONTROL_FINISHED_OK
$STATE,3800,begin surface
$SM_CCo,3816,17.12,0.705,0,0,1391,235.12
$SM_GC,3.05,7.70,0.08,17.12,0.032,0.106,0.705,196,2067,1391,-8.33,-1.70,235.12,0,0,0,0,0,0,26.55,26.79,25.42
$IRIDIUM_FIX,4722.92,-12220.67,300308,020240
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.92
$INTERNAL_PRESSURE,9.01062
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.1,41.657
$10V_AH,10.1,34.594
$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,19.525,47.375,260.400,17.125,0.000,27.207,41.189,210.313,0.000,0.000,5.941,1606.470,394.448,356.297,1733.910,124.215,33.220,995.588,0.000,1468.038,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,105.570,1498.635,704.565,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.667,997.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322196
$DATA_FILE_SIZE,36768,731
$CAP_FILE_SIZE,75757,0
$CFSIZE,1024393216,1020067840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,142603,4743.691,-12224.536,24,1.6,24,16.3