version: 66.11
glider: 206
mission: 1
dive: 3
start: 6 2 115 13 15 15
data:
$ID,206
$MISSION,1
$DIVE,3
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,45
$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,65
$T_MISSION,75
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$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,53113
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$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,240
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-837.12347
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3912
$C_PITCH,2888
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,262
$ROLL_MAX,3863
$ROLL_DEG,40
$C_ROLL_DIVE,2009
$C_ROLL_CLIMB,2009
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2341
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-43.092354
$PRESSURE_SLOPE,0.0001158948
$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,80
$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,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$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,0.0044039036
$SEABIRD_T_H,0.0006378853
$SEABIRD_T_I,2.5652185e-05
$SEABIRD_T_J,3.0680867e-06
$SEABIRD_C_G,-9.7477055
$SEABIRD_C_H,1.1309673
$SEABIRD_C_I,-0.0010514539
$SEABIRD_C_J,0.00016674379
$GPS1,020615,201119,4743.494,-12224.673,11,1.1,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.0
$GPS2,020615,201502,4743.497,-12224.663,4,1.0,4,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,0.210
$KALMAN_X,92.1,65.1,55.5,206.4,89.4
$KALMAN_Y,-67.1,-0.5,19.3,947.9,-59.2
$MHEAD_RNG_PITCHd_Wd,325.7,767,-19.2,-9.231,-22.71,1780
$D_GRID,174
$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,14,begin dive
$GC,15,-1.14,-108.1,187,1985,689,627,0.0,0.0,0,92,0.00,0.00,-72.78,0.000,16390,0.000,0.000,188,1986,2771,2816,2727,0,0,0,0,0,0,28.83,28.83,26.82
$GC,95,-1.17,-133.2,187,1986,2817,2727,3.5,-7.8,12,116,9.00,2.10,-2.22,0.000,19204,0.230,0.050,2506,619,2874,2937,2811,0,0,0,0,0,0,26.15,26.44,26.70
$GC,343,-1.17,-133.2,1456,619,2894,2804,39.1,-13.5,60,350,0.00,2.10,0.00,0.000,1030,0.000,0.024,2499,2014,2875,2939,2811,0,0,0,0,0,0,28.83,26.59,28.83
$GC,412,-1.17,-133.2,1472,2011,2896,2804,48.1,-14.1,73,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2013,2875,2940,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,480,-1.17,-133.2,2498,2013,2940,2810,58.5,-14.7,86,487,0.00,2.15,0.00,0.000,260,0.000,0.041,2489,3410,2875,2941,2810,0,0,0,0,0,0,28.83,26.58,28.83
$GC,621,-1.17,-133.2,2488,3410,2941,2811,78.5,-15.2,113,628,0.00,2.05,0.00,0.000,1030,0.000,0.026,2489,1999,2875,2940,2811,0,0,0,0,0,0,28.83,26.67,28.83
$GC,752,-1.17,-133.2,2488,1999,2940,2811,98.4,-15.1,138,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1999,2875,2940,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-1.17,-133.2,2489,1997,2941,2810,117.0,-13.1,163,889,0.00,2.15,0.00,0.000,260,0.000,0.041,2479,3416,2875,2941,2810,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1008,-1.17,-133.2,2478,3416,2941,2810,130.2,-12.1,187,1015,0.12,2.05,0.00,0.000,3078,0.181,0.026,2509,1999,2875,2941,2810,0,0,0,0,0,0,26.50,26.74,28.83
$GC,1138,-1.17,-133.2,2508,1998,2941,2810,145.0,-12.0,212,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1998,2875,2941,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-1.17,-133.2,2508,1998,2942,2811,160.6,-11.4,237,1275,0.00,2.12,0.00,0.000,260,0.000,0.041,2500,3406,2875,2941,2810,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1343,-1.17,-133.2,2500,3406,2942,2810,168.4,-9.9,251,1349,0.00,2.03,0.00,0.000,1030,0.000,0.026,2500,2004,2875,2941,2810,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,1396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1396,begin apogee
$GC,1399,-0.26,0.0,2500,2004,2941,2810,174.3,-11.7,261,1505,0.93,0.00,96.70,1.189,10246,0.138,0.000,2796,2003,2342,2401,2283,0,0,0,0,0,0,26.52,28.83,24.02
$STATE,1506,end apogee,CONTROL_FINISHED_OK
$STATE,1506,begin climb
$GC,1507,1.17,133.2,2796,2003,2400,2283,177.4,0.0,279,1618,1.38,2.28,100.70,1.154,10756,0.086,0.038,3269,624,1811,1858,1764,0,0,0,0,0,0,25.18,24.94,23.96
$GC,1647,1.17,133.2,3268,624,1857,1761,163.5,15.2,303,1654,0.00,2.15,0.00,0.000,1030,0.000,0.024,3269,2026,1809,1857,1761,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1776,1.17,133.2,3268,2027,1857,1757,141.8,15.9,328,1784,0.00,2.15,0.00,0.000,260,0.000,0.040,3268,3397,1807,1857,1757,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1968,1.17,133.2,3268,3397,1857,1756,108.2,17.4,365,1974,0.00,2.05,0.00,0.000,1030,0.000,0.028,3275,2029,1806,1857,1755,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2097,1.17,133.2,3275,2028,1857,1753,88.8,14.6,390,2104,0.00,2.20,0.00,0.000,516,0.000,0.040,3282,601,1805,1857,1753,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2181,1.17,133.2,3282,601,1856,1752,75.6,15.3,406,2188,0.00,2.12,0.00,0.000,1030,0.000,0.024,3282,2015,1804,1856,1752,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2312,1.17,133.2,3282,2015,1856,1752,57.5,13.5,431,2319,0.00,2.08,0.00,0.000,260,0.000,0.039,3282,3396,1803,1856,1751,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2360,1.17,133.2,3282,3396,1856,1752,50.6,14.2,440,2367,0.00,2.10,0.00,0.000,1030,0.000,0.028,3286,2006,1804,1856,1752,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2489,1.17,133.2,2208,2004,1808,1745,30.0,15.2,465,2496,0.00,2.15,0.00,0.000,516,0.000,0.041,3286,603,1804,1857,1751,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,2712,end climb,SURFACE_DEPTH_REACHED
$STATE,2712,begin surface coast
$FINISH,0.2,1.021863
$STATE,2730,end surface coast,CONTROL_FINISHED_OK
$STATE,2730,begin surface
$SM_CCo,2746,39.92,0.594,0,0,1382,240.15
$SM_GC,0.83,8.15,2.12,39.92,0.044,0.023,0.594,194,2020,1382,-8.35,-1.50,240.15,0,0,0,0,0,0,26.58,26.66,25.38
$IRIDIUM_FIX,4726.11,-12224.09,290308,090910
$TT8_MAMPS,0.030709,0.030709
$HUMID,50.11
$INTERNAL_PRESSURE,9.06915
$TCM_TEMP,15.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.4,7.9
$24V_AH,24.0,2.501
$10V_AH,10.4,6.971
$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,19.575,38.150,197.400,39.925,0.000,0.000,0.000,0.000,1.500,0.000,7.972,1123.464,351.193,317.281,1029.553,30.092,31.301,774.002,0.000,1026.618,0.000,5.457,0.000
$DEVICE_MAMPS,230.265,49.725,1188.810,593.640,0.000,0.000,0.000,0.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.045,706.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322708
$DATA_FILE_SIZE,26906,512
$CAP_FILE_SIZE,62453,0
$CFSIZE,1024393216,1019281408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020615,210302,4743.554,-12224.856,2,1.2,2,16.3