version: 66.11
glider: 205
mission: 6
dive: 19
start: 6 3 115 14 34 12
data:
$ID,205
$MISSION,6
$DIVE,19
$N_DIVES,0
$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,60
$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,325
$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,-2674.0967
$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,45
$R_STBD_OVSHOOT,64
$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
$GPS1,030615,142603,4743.691,-12224.536,24,1.6,24,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.2
$GPS2,030615,143315,4744.068,-12223.902,17,1.6,17,16.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.246,-0.088
$KALMAN_X,-2893.1,-528.8,-163.8,4961.2,276.3
$KALMAN_Y,-10841.3,88.2,-282.5,13129.4,152.2
$MHEAD_RNG_PITCHd_Wd,234.0,1161,-18.1,-10.000,-20.93,2236
$D_GRID,172
$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,-1.02,-146.6,196,2068,1512,1266,0.0,0.0,0,67,0.00,0.00,-49.47,0.000,16386,0.000,0.000,196,2068,2884,2885,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.02,-146.6,196,2068,2885,2882,3.7,-7.0,8,86,9.82,2.20,-0.60,0.000,18692,0.239,0.053,2542,3443,2913,2925,2902,0,0,0,0,0,0,25.64,26.29,26.54
$GC,429,-1.02,-146.6,1536,3441,2886,2895,60.4,-13.1,85,436,0.00,2.08,0.00,0.000,1030,0.000,0.028,2543,2034,2914,2927,2902,0,0,0,0,0,0,28.83,26.56,28.83
$GC,558,-1.02,-146.6,2543,2034,2927,2902,77.9,-14.0,110,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2034,2914,2927,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,689,-1.02,-146.6,2542,2034,2927,2902,96.1,-13.9,135,695,0.00,2.15,0.00,0.000,260,0.000,0.041,2533,3443,2914,2927,2902,0,0,0,0,0,0,28.83,26.51,28.83
$GC,785,-1.02,-146.6,1552,3443,2889,2895,109.4,-13.4,156,792,0.00,2.08,0.00,0.000,1030,0.000,0.028,2533,2060,2914,2927,2902,0,0,0,0,0,0,28.83,26.65,28.83
$GC,916,-1.02,-146.6,2533,2059,2927,2902,125.5,-12.9,181,922,0.00,2.12,0.00,0.000,516,0.000,0.039,2533,662,2914,2927,2902,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1030,-1.02,-146.6,1536,662,2887,2895,140.6,-13.5,206,1038,0.10,2.10,0.00,0.000,3078,0.152,0.028,2555,2041,2914,2927,2902,0,0,0,0,0,0,26.25,26.67,28.83
$GC,1163,-1.02,-146.6,2554,2041,2928,2902,156.9,-12.0,231,1169,0.00,2.15,0.00,0.000,260,0.000,0.040,2546,3463,2914,2927,2902,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1180,-1.02,-146.6,2546,3463,2927,2902,159.0,-11.6,234,1187,0.00,2.12,0.00,0.000,1030,0.000,0.028,2546,2044,2914,2927,2902,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1293,-0.28,0.0,2545,2043,2927,2902,172.7,-13.4,255,1416,0.77,0.00,113.82,1.454,10246,0.126,0.000,2793,2043,2329,2422,2236,0,0,0,0,0,0,25.98,28.83,23.70
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1419,1.02,146.6,2793,2043,2422,2236,177.5,0.0,276,1549,1.25,2.28,118.75,1.453,10500,0.078,0.039,3213,3389,1744,1896,1593,0,0,0,0,0,0,24.98,24.29,23.16
$GC,1575,1.02,146.6,3213,3388,1895,1594,165.4,11.6,303,1581,0.00,2.22,0.00,0.000,1030,0.000,0.028,3213,2001,1745,1896,1594,0,0,0,0,0,0,28.83,24.90,28.83
$GC,1705,1.02,146.6,3213,2001,1896,1594,149.4,12.4,328,1712,0.00,2.30,0.00,0.000,516,0.000,0.042,3214,594,1744,1895,1594,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1785,1.02,146.6,3213,594,1896,1594,139.6,10.7,345,1791,0.00,2.15,0.00,0.000,1030,0.000,0.026,3214,1999,1745,1896,1594,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1915,1.02,146.6,3213,1998,1895,1594,124.4,11.6,370,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1998,1744,1895,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,1.02,146.6,3213,1999,1896,1594,108.7,12.3,395,2053,0.00,2.22,0.00,0.000,516,0.000,0.042,3213,580,1744,1895,1594,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2100,1.02,146.6,3213,580,1895,1594,101.6,13.4,406,2108,0.00,2.17,0.00,0.000,1030,0.000,0.027,3214,1995,1744,1895,1594,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2233,1.02,146.6,3213,1995,1895,1594,85.8,11.4,431,2239,0.00,2.10,0.00,0.000,260,0.000,0.039,3213,3384,1744,1895,1594,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2268,1.02,146.6,2208,3383,1853,1589,81.4,12.0,438,2275,0.00,2.15,0.00,0.000,1030,0.000,0.029,3214,1981,1744,1895,1594,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2402,1.02,146.6,3213,1980,1895,1594,67.6,10.5,463,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1980,1744,1894,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2530,1.02,146.6,3213,1981,1894,1594,52.5,12.5,488,2538,0.00,2.20,0.00,0.000,516,0.000,0.043,3214,588,1744,1894,1594,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2738,1.02,152.8,2144,587,1848,1588,28.8,9.7,532,2746,0.00,2.15,2.38,0.396,9222,0.000,0.027,3214,1999,1717,1865,1569,0,0,0,0,0,0,28.83,26.67,24.96
$GC,2809,1.02,152.8,2176,1998,1821,1563,21.1,10.7,545,2816,0.00,2.12,0.00,0.000,260,0.000,0.040,3214,3381,1717,1865,1569,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2842,1.02,152.8,3213,3381,1865,1569,17.5,10.5,551,2849,0.00,2.12,0.00,0.000,1030,0.000,0.029,3216,1986,1717,1865,1569,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2912,1.02,163.0,2152,1984,1822,1563,10.9,9.5,564,2921,0.00,2.25,3.47,0.515,8708,0.000,0.043,3216,585,1676,1826,1527,0,0,0,0,0,0,28.83,26.60,25.18
$STATE,2991,end climb,SURFACE_DEPTH_REACHED
$STATE,2991,begin surface coast
$FINISH,0.1,1.021734
$STATE,3012,end surface coast,CONTROL_FINISHED_OK
$STATE,3012,begin surface
$SM_CCo,3030,59.28,0.708,0,0,1031,325.05
$SM_GC,1.25,7.93,2.28,59.28,0.036,0.025,0.708,187,2063,1031,-8.36,-1.47,325.05,0,0,0,0,0,0,26.60,26.69,25.09
$IRIDIUM_FIX,4722.92,-12225.08,300308,030337
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.33
$INTERNAL_PRESSURE,8.98132
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,23.2,41.782
$10V_AH,10.1,34.655
$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,19.875,47.725,238.425,59.275,0.000,30.081,43.126,256.686,0.250,0.000,18.297,1282.979,280.823,355.222,1494.222,119.553,33.217,871.478,0.000,1178.816,0.000,0.543,0.000
$DEVICE_MAMPS,238.680,52.785,1453.500,707.625,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.070,799.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322276
$DATA_FILE_SIZE,30227,584
$CAP_FILE_SIZE,62620,0
$CFSIZE,1024393216,1020035072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,152657,4743.887,-12224.811,35,1.4,40,16.3