version: 66.11
glider: 206
mission: 1
dive: 5
start: 6 2 115 15 6 26
data:
$ID,206
$MISSION,1
$DIVE,5
$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,-868.80292
$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,50
$R_STBD_OVSHOOT,54
$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
$GPS1,020615,220110,4743.528,-12225.034,2,1.1,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.5
$GPS2,020615,220613,4743.524,-12225.044,4,1.1,4,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,0.252
$KALMAN_X,-76.8,80.5,83.3,-134.5,-58.6
$KALMAN_Y,-1619.6,-155.2,87.5,2630.7,-958.9
$MHEAD_RNG_PITCHd_Wd,347.5,760,-16.2,-9.231,-20.04,2407
$D_GRID,178
$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,-1.03,-146.6,196,2013,1385,1360,0.0,0.0,0,74,0.00,0.00,-53.53,0.000,16390,0.000,0.000,196,2013,2926,2982,2871,0,0,0,0,0,0,28.83,28.83,26.58
$GC,76,-1.03,-146.6,196,2013,2982,2871,3.3,-4.8,9,91,9.25,2.22,0.00,0.000,2820,0.232,0.034,2547,600,2927,2985,2870,0,0,0,0,0,0,25.96,26.24,28.83
$GC,395,-1.03,-146.6,1472,601,2947,2863,26.8,-7.8,71,402,0.00,2.12,0.00,0.000,1030,0.000,0.024,2541,2009,2929,2990,2869,0,0,0,0,0,0,28.83,26.51,28.83
$GC,464,-1.03,-146.6,1536,2007,2951,2862,32.4,-8.4,84,471,0.00,2.15,0.00,0.000,516,0.000,0.037,2541,612,2929,2990,2869,0,0,0,0,0,0,28.83,26.50,28.83
$GC,775,-1.03,-146.6,2541,612,2991,2868,69.2,-13.5,145,782,0.00,2.05,0.00,0.000,1030,0.000,0.024,2532,2009,2929,2991,2868,0,0,0,0,0,0,28.83,26.63,28.83
$GC,904,-1.03,-146.6,2532,2009,2991,2868,83.3,-9.8,170,911,0.00,2.15,0.00,0.000,516,0.000,0.037,2532,608,2930,2991,2869,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1188,-1.03,-146.6,2532,608,2992,2868,117.9,-13.3,225,1195,0.00,2.05,0.00,0.000,1030,0.000,0.024,2526,2005,2930,2992,2868,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1319,-1.03,-146.6,2526,2005,2992,2868,130.5,-11.2,250,1326,0.00,2.12,0.00,0.000,516,0.000,0.037,2526,614,2930,2992,2868,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1372,-1.03,-146.6,2526,614,2992,2868,137.1,-13.1,259,1379,0.15,2.05,0.00,0.000,3078,0.174,0.024,2556,2015,2930,2992,2868,0,0,0,0,0,0,26.51,26.73,28.83
$GC,1507,-1.03,-146.6,2556,2015,2992,2868,153.3,-10.5,284,1514,0.00,2.12,0.00,0.000,260,0.000,0.042,2548,3400,2930,2992,2868,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1612,-1.03,-146.6,2548,3400,2992,2868,162.8,-8.4,303,1619,0.00,2.05,0.00,0.000,1030,0.000,0.026,2548,1986,2930,2992,2868,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1742,-1.03,-146.6,2548,1984,2992,2868,174.5,-8.6,328,1749,0.00,2.20,0.00,0.000,260,0.000,0.042,2540,3405,2930,2992,2868,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,1781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1781,begin apogee
$GC,1786,-0.26,0.0,2540,2004,2993,2869,178.5,-10.4,335,1897,0.80,0.00,105.53,1.180,10246,0.132,0.000,2799,2004,2342,2402,2283,0,0,0,0,0,0,26.55,28.83,24.02
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1900,1.03,146.6,2799,2004,2403,2283,180.2,0.0,354,2018,1.25,2.33,110.10,1.153,10756,0.086,0.038,3225,619,1758,1808,1709,0,0,0,0,0,0,25.05,24.85,23.91
$GC,2086,1.03,146.6,3224,619,1807,1704,160.6,12.5,387,2093,0.00,2.12,0.00,0.000,1030,0.000,0.023,3225,2013,1755,1807,1704,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2215,1.03,146.6,3224,2013,1807,1701,147.5,12.2,412,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2013,1754,1807,1701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,1.03,146.6,3224,2013,1807,1700,127.6,19.0,437,2352,0.00,2.15,0.00,0.000,516,0.000,0.038,3225,613,1753,1807,1700,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2484,1.03,146.6,3224,614,1807,1698,107.8,14.6,464,2492,0.00,2.12,0.00,0.000,1030,0.000,0.024,3224,2020,1752,1806,1699,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2616,1.03,146.6,3224,2020,1807,1698,89.7,12.9,489,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2020,1753,1808,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2744,1.03,146.6,3224,2020,1807,1698,71.4,13.9,514,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2020,1752,1807,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2874,1.03,146.6,3224,2020,1807,1698,55.0,12.5,539,2881,0.00,2.12,0.00,0.000,516,0.000,0.039,3224,619,1752,1807,1698,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2911,1.03,146.6,3224,619,1807,1698,50.1,12.2,546,2919,0.00,2.10,0.00,0.000,1030,0.000,0.024,3224,2019,1752,1807,1698,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3042,1.03,146.6,2144,2017,1761,1692,34.3,12.3,571,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2019,1752,1807,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3110,1.03,146.6,2144,2016,1762,1693,26.4,11.3,584,3117,0.00,2.17,0.00,0.000,516,0.000,0.040,3224,614,1752,1806,1698,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,3339,end climb,SURFACE_DEPTH_REACHED
$STATE,3339,begin surface coast
$FINISH,0.6,1.021884
$STATE,3351,end surface coast,CONTROL_FINISHED_OK
$STATE,3351,begin surface
$SM_CCo,3367,35.33,0.606,0,0,1383,240.15
$SM_GC,1.12,8.00,2.12,35.33,0.044,0.023,0.606,192,2039,1383,-8.35,-1.24,240.15,0,0,0,0,0,0,26.59,26.67,25.45
$IRIDIUM_FIX,4726.11,-12226.80,290308,111124
$TT8_MAMPS,0.030709,0.030709
$HUMID,49.92
$INTERNAL_PRESSURE,9.04962
$TCM_TEMP,15.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,155.4,52.0
$24V_AH,23.9,2.681
$10V_AH,10.4,7.069
$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,19.450,42.650,215.625,35.325,0.000,26.077,41.957,165.393,4.750,0.000,7.908,1403.954,437.897,313.858,1525.453,43.745,33.224,848.007,0.000,1269.469,0.000,22.745,0.000
$DEVICE_MAMPS,231.795,42.075,1179.630,605.880,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.445,893.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322712
$DATA_FILE_SIZE,30192,631
$CAP_FILE_SIZE,62830,0
$CFSIZE,1024393216,1019150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020615,230431,4743.312,-12225.333,2,1.6,2,16.3