version: 66.11
glider: 206
mission: 1
dive: 4
start: 6 2 115 14 8 39
data:
$ID,206
$MISSION,1
$DIVE,4
$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,-852.9715
$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,43
$R_STBD_OVSHOOT,60
$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,110
$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
$GPS1,020615,210302,4743.554,-12224.856,2,1.2,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-62.9
$GPS2,020615,210826,4743.540,-12224.817,4,1.1,4,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.019,0.252
$KALMAN_X,143.7,80.3,58.2,-51.4,88.5
$KALMAN_Y,-620.8,-120.2,22.1,1696.1,-430.3
$MHEAD_RNG_PITCHd_Wd,339.4,667,-16.2,-9.231,-20.04,2407
$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,-1.03,-146.6,193,2025,1381,1360,0.0,0.0,0,68,0.00,0.00,-51.15,0.000,16386,0.000,0.000,194,2025,2897,2951,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.03,-146.6,193,2025,2951,2845,3.7,-7.5,8,86,9.20,2.25,-0.60,0.000,18948,0.230,0.048,2547,595,2926,2991,2862,0,0,0,0,0,0,25.97,26.25,26.41
$GC,358,-1.03,-146.6,1480,595,2951,2855,41.4,-11.5,64,365,0.00,2.12,0.00,0.000,1030,0.000,0.026,2539,1993,2928,2994,2862,0,0,0,0,0,0,28.83,26.51,28.83
$GC,428,-1.03,-146.6,1488,1991,2953,2855,49.8,-12.8,77,435,0.00,2.20,0.00,0.000,260,0.000,0.044,2530,3407,2927,2994,2861,0,0,0,0,0,0,28.83,26.47,28.83
$GC,598,-1.03,-146.6,2529,3407,2995,2861,74.4,-14.8,110,606,0.00,2.12,0.00,0.000,1030,0.000,0.027,2530,1983,2928,2995,2861,0,0,0,0,0,0,28.83,26.60,28.83
$GC,729,-1.03,-146.6,2530,1983,2995,2861,92.0,-14.0,135,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1983,2928,2995,2861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,857,-1.03,-146.6,2529,1983,2995,2861,107.7,-12.0,160,864,0.00,2.08,0.00,0.000,516,0.000,0.037,2530,612,2928,2996,2861,0,0,0,0,0,0,28.83,26.62,28.83
$GC,921,-1.03,-146.6,2530,612,2995,2861,115.6,-13.5,171,928,0.12,2.08,0.00,0.000,3078,0.184,0.025,2554,2023,2928,2996,2861,0,0,0,0,0,0,26.46,26.67,28.83
$GC,1051,-1.03,-146.6,2553,2024,2996,2861,132.4,-11.7,196,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2025,2928,2996,2861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-1.03,-146.6,2554,2024,2996,2861,145.3,-9.3,221,1188,0.00,2.10,0.00,0.000,260,0.000,0.041,2546,3414,2928,2996,2861,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1468,-1.03,-146.6,2545,3414,2996,2861,172.5,-10.5,277,1475,0.00,2.05,0.00,0.000,1030,0.000,0.027,2546,1998,2928,2996,2861,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,1491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1491,begin apogee
$GC,1494,-0.26,0.0,2546,1998,2996,2862,175.0,-10.6,281,1605,0.77,0.00,105.82,1.170,10246,0.129,0.000,2799,1996,2342,2402,2282,0,0,0,0,0,0,26.54,28.83,24.01
$STATE,1606,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1607,1.03,146.6,2798,1996,2403,2283,177.7,0.0,300,1722,1.25,0.00,109.95,1.164,10502,0.086,0.000,3217,1996,1757,1805,1709,0,0,0,0,0,0,25.06,28.83,23.92
$GC,1846,1.03,146.6,3217,1996,1808,1702,152.4,12.9,343,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1996,1755,1808,1702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,1.03,146.6,3217,1996,1808,1700,136.5,11.9,368,1981,0.00,2.22,0.00,0.000,260,0.000,0.040,3217,3404,1754,1808,1700,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2176,1.03,146.6,3217,3404,1808,1699,109.4,12.5,407,2182,0.00,2.08,0.00,0.000,1030,0.000,0.027,3220,2012,1753,1808,1699,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2305,1.03,146.6,3220,2012,1808,1699,93.9,11.8,432,2312,0.00,2.15,0.00,0.000,516,0.000,0.040,3229,613,1753,1808,1699,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2456,1.03,146.6,3228,613,1808,1698,74.1,13.3,461,2463,0.00,2.08,0.00,0.000,1030,0.000,0.024,3229,2026,1752,1807,1698,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2587,1.03,146.6,3229,2026,1807,1698,56.4,14.5,486,2594,0.00,2.10,0.00,0.000,260,0.000,0.040,3229,3395,1753,1808,1698,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2626,1.03,146.6,3229,3395,1808,1698,50.6,13.8,493,2633,0.00,2.05,0.00,0.000,1030,0.000,0.028,3233,2004,1752,1807,1698,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2757,1.03,146.6,2144,2001,1762,1692,36.6,12.0,518,2764,0.00,2.15,0.00,0.000,516,0.000,0.041,3235,602,1753,1808,1698,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2931,1.03,146.6,2144,602,1760,1692,8.6,15.7,552,2938,0.00,2.10,0.00,0.000,1030,0.000,0.024,3235,2010,1752,1807,1698,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,2994,end climb,SURFACE_DEPTH_REACHED
$STATE,2994,begin surface coast
$FINISH,0.2,1.011087
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3020,begin surface
$SM_CCo,3034,35.22,0.622,0,0,1382,240.15
$SM_GC,2.12,8.07,0.00,35.22,0.048,0.000,0.622,197,2012,1382,-8.34,0.08,240.15,0,0,0,0,0,0,26.59,28.83,25.41
$IRIDIUM_FIX,4726.11,-12216.97,290308,101032
$TT8_MAMPS,0.030709,0.030709
$HUMID,50.03
$INTERNAL_PRESSURE,9.04962
$TCM_TEMP,15.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,115.6,79.8
$24V_AH,23.9,2.591
$10V_AH,10.4,7.018
$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,19.425,33.925,215.775,35.225,0.000,33.171,59.109,163.053,1.750,0.000,7.920,1260.158,408.053,299.183,1405.503,40.449,32.224,787.632,0.000,1136.341,0.000,7.242,0.000
$DEVICE_MAMPS,229.500,48.195,1170.450,621.945,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.478,775.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322668
$DATA_FILE_SIZE,26840,569
$CAP_FILE_SIZE,57011,0
$CFSIZE,1024393216,1019215872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1653.80,0x233ccc,1,24
$GPS,020615,220110,4743.528,-12225.034,2,1.1,2,16.3