version: 66.11
glider: 206
mission: 1
dive: 10
start: 6 2 115 20 29 41
data:
$ID,206
$MISSION,1
$DIVE,10
$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,85
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1012.3043
$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,2878
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.1
$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,3309
$C_ROLL_CLIMB,3309
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,39
$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,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,-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
$GPS1,030615,032320,4743.739,-12224.846,19,1.2,19,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.9
$GPS2,030615,032924,4743.780,-12224.753,16,1.0,16,16.3
$SPEED_LIMITS,0.092,0.189
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,0.139
$KALMAN_X,-444.8,-226.5,-287.0,1264.0,227.6
$KALMAN_Y,-5202.6,-551.5,-255.9,7417.9,-305.4
$MHEAD_RNG_PITCHd_Wd,315.7,229,-27.6,-9.231,-30.44,895
$D_GRID,176
$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,14,-1.51,-54.1,185,3312,1410,1377,0.0,0.0,0,61,0.00,0.00,-40.03,0.000,16390,0.000,0.000,185,3312,2558,2611,2505,0,0,0,0,0,0,28.83,28.83,26.53
$GC,63,-1.53,-67.4,185,3312,2610,2505,3.2,-7.7,7,78,8.88,0.00,-1.27,0.000,18438,0.243,0.000,2378,3313,2611,2673,2550,0,0,0,0,0,0,25.94,28.83,26.41
$GC,141,-1.53,-67.4,1408,3312,2621,2542,16.2,-15.9,21,148,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3314,2612,2675,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,210,-1.53,-67.4,1440,3312,2625,2543,26.0,-12.9,34,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2612,2675,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,279,-1.53,-67.4,1384,3312,2620,2542,34.1,-9.5,47,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3314,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,348,-1.53,-67.4,1416,3312,2623,2543,42.2,-13.0,60,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,418,-1.53,-68.3,1384,3312,2620,2542,49.2,-9.1,73,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,486,-1.53,-68.3,2378,3313,2676,2550,56.8,-12.3,86,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,616,-1.53,-68.3,2378,3313,2676,2550,73.3,-12.7,111,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-1.53,-68.3,2378,3313,2676,2550,91.6,-14.6,136,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3314,2613,2677,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-1.53,-68.3,2378,3313,2676,2550,109.6,-12.8,161,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3314,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1002,-1.53,-68.3,2378,3313,2676,2550,124.8,-12.5,186,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1134,-1.53,-68.3,2378,3313,2676,2550,142.2,-13.6,211,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-1.53,-68.3,2378,3313,2676,2550,156.9,-12.6,236,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-1.53,-68.3,2378,3313,2676,2550,172.8,-11.1,261,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,3313,2613,2676,2550,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1424,begin apogee
$GC,1427,-0.26,0.0,2378,3313,2675,2550,176.2,-10.1,267,1481,1.35,0.00,48.72,1.184,10246,0.167,0.000,2787,3313,2341,2405,2278,0,0,0,0,0,0,26.46,28.83,24.48
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1483,1.53,68.3,2787,3313,2407,2278,178.2,0.0,276,1542,1.73,0.00,51.17,1.176,10246,0.093,0.000,3364,3313,2070,2122,2018,0,0,0,0,0,0,25.43,28.83,24.03
$GC,1665,1.53,68.3,3364,3314,2123,2014,154.6,15.3,310,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2068,2122,2014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1796,1.53,68.3,3364,3313,2122,2012,134.4,15.0,335,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3314,2067,2122,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1923,1.53,68.3,3364,3313,2122,2012,117.1,14.4,360,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2067,2122,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2054,1.53,68.3,3363,3314,2122,2011,97.9,14.6,385,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3314,2066,2122,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2182,1.53,68.3,3364,3313,2122,2010,80.4,12.6,410,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2066,2122,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2312,1.53,68.3,3364,3313,2122,2010,63.4,13.2,435,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2066,2122,2010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2441,1.54,76.1,3364,3313,2122,2010,49.2,8.3,460,2449,0.00,0.00,3.05,0.546,8198,0.000,0.000,3364,3313,2036,2093,1980,0,0,0,0,0,0,28.83,28.83,25.65
$GC,2512,1.54,76.1,2336,3312,2036,1972,42.2,11.5,473,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2036,2093,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2580,1.54,76.1,2336,3312,2037,1972,32.4,15.4,486,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2036,2093,1980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,1.54,76.1,2336,3312,2037,1972,22.7,12.6,499,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2036,2093,1980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,1.54,76.1,2368,3312,2039,1972,14.2,14.2,512,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2036,2094,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,1.54,76.1,2336,3312,2037,1972,4.9,13.5,525,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,3313,2036,2093,1979,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2815,end climb,SURFACE_DEPTH_REACHED
$STATE,2815,begin surface coast
$FINISH,0.7,1.021691
$STATE,2837,end surface coast,CONTROL_FINISHED_OK
$STATE,2837,begin surface
$SM_CCo,2851,61.42,0.665,0,0,1403,235.12
$SM_GC,1.01,8.95,0.00,61.42,0.080,0.000,0.665,189,3313,1403,-8.34,0.11,235.12,0,0,0,0,0,0,26.53,28.83,25.07
$IRIDIUM_FIX,4722.92,-12220.67,290308,161652
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.95
$INTERNAL_PRESSURE,9.04962
$TCM_TEMP,15.40
$XPDR_PINGS,3
$24V_AH,24.0,3.126
$10V_AH,10.4,7.318
$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,20.900,1.900,102.950,61.425,0.000,32.980,61.345,186.188,0.750,0.000,19.957,1215.541,390.398,269.759,1373.724,40.609,33.238,730.841,0.000,1070.578,0.000,0.547,0.000
$DEVICE_MAMPS,243.270,33.660,1184.220,664.785,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.962,734.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322648
$DATA_FILE_SIZE,26809,534
$CAP_FILE_SIZE,56210,0
$CFSIZE,1024393216,1018822656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,042005,4743.876,-12224.552,40,0.8,40,16.3