version: 66.11
glider: 206
mission: 1
dive: 11
start: 6 2 115 21 25 47
data:
$ID,206
$MISSION,1
$DIVE,11
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-1065.9071
$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,330
$C_ROLL_CLIMB,330
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,030615,042005,4743.876,-12224.552,40,0.8,40,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.6
$GPS2,030615,042508,4743.902,-12224.528,4,0.8,4,16.3
$SPEED_LIMITS,0.344,0.354
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.320,0.128
$KALMAN_X,63.8,-235.2,-221.5,978.5,479.4
$KALMAN_Y,-5836.2,-413.4,-62.4,7946.8,-329.3
$MHEAD_RNG_PITCHd_Wd,275.5,338,-10.4,-9.231,-15.00,4927
$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,13,begin dive
$GC,15,-0.84,-244.4,188,328,1397,1381,0.0,0.0,0,62,0.00,0.00,-45.35,0.000,16386,0.000,0.000,188,328,2761,2813,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.84,-244.4,188,328,2813,2710,3.5,-7.8,7,91,9.80,0.00,-11.23,0.000,18438,0.242,0.000,2601,328,3315,3398,3232,0,0,0,0,0,0,25.89,28.83,26.43
$GC,154,-0.84,-244.4,1544,328,3382,3230,19.1,-15.5,23,161,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3398,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,222,-0.84,-244.4,1544,328,3382,3231,29.5,-15.5,36,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3398,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,292,-0.84,-244.4,1552,328,3382,3231,38.0,-13.1,49,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3398,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,361,-0.84,-244.4,1568,328,3383,3232,47.9,-13.1,62,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3397,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,430,-0.84,-244.4,2601,328,3398,3235,56.2,-11.7,75,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3398,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,558,-0.84,-244.4,2601,328,3398,3235,72.2,-13.2,100,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3398,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,688,-0.84,-244.4,2601,328,3398,3235,88.7,-10.9,125,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3317,3398,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,816,-0.84,-244.4,2601,328,3398,3235,103.5,-10.9,150,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3398,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,947,-0.84,-244.4,2602,328,3398,3235,119.3,-13.6,175,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3316,3398,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1074,-0.84,-244.4,2601,328,3398,3236,136.4,-12.9,200,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3317,3398,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1205,-0.84,-244.4,2601,328,3398,3236,154.1,-12.3,225,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,328,3317,3398,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-0.84,-244.4,2601,328,3398,3236,169.1,-10.8,250,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,328,3317,3398,3236,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1374,begin apogee
$GC,1377,-0.26,0.0,2601,328,3398,3236,174.0,-11.3,258,1559,0.55,0.00,173.45,1.216,10246,0.132,0.000,2784,328,2342,2400,2285,0,0,0,0,0,0,26.51,28.83,23.84
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1560,begin climb
$GC,1561,0.84,244.4,2783,328,2400,2285,181.7,0.0,289,1748,1.12,0.00,180.35,1.204,10246,0.107,0.000,3140,327,1369,1417,1321,0,0,0,0,0,0,24.86,28.83,23.70
$GC,1872,0.84,244.4,3140,327,1417,1313,148.9,16.4,345,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1365,1417,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2000,0.84,244.4,3139,327,1417,1312,129.3,14.3,370,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1364,1417,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,0.84,244.4,3139,327,1417,1311,111.7,12.9,395,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1364,1417,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2259,0.84,244.4,3139,327,1417,1311,95.6,11.7,420,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1364,1417,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,0.84,244.4,3139,327,1417,1311,79.2,13.1,445,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1364,1417,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,0.84,244.4,3139,327,1417,1311,64.4,10.8,470,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1363,1417,1310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,0.89,279.4,3139,327,1417,1310,52.0,8.5,495,2665,0.00,0.00,13.85,0.766,8198,0.000,0.000,3140,327,1227,1277,1178,0,0,0,0,0,0,28.83,28.83,25.44
$GC,2789,0.89,279.4,2048,327,1256,1170,35.9,12.5,522,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1225,1277,1173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2857,0.89,279.4,2064,327,1257,1170,28.1,11.3,535,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1224,1277,1172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,0.89,279.4,2048,327,1257,1169,20.0,10.2,548,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1224,1277,1171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2995,0.89,279.4,2080,327,1257,1169,12.1,12.5,561,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,327,1224,1277,1171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3064,0.89,279.4,2048,327,1257,1169,3.7,10.9,574,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,327,1223,1277,1170,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3083,end climb,SURFACE_DEPTH_REACHED
$STATE,3083,begin surface coast
$FINISH,0.3,1.010697
$STATE,3100,end surface coast,CONTROL_FINISHED_OK
$STATE,3100,begin surface
$SM_CCo,3173,0.00,0.000,0,0,1222,281.34
$SM_GC,1.34,7.88,0.00,0.00,0.048,0.000,0.000,187,327,1222,-8.34,-0.08,281.34,0,0,0,0,0,0,26.44,28.83,28.83
$IRIDIUM_FIX,4726.11,-12226.80,290308,171720
$TT8_MAMPS,0.030709,0.030709
$HUMID,48.22
$INTERNAL_PRESSURE,9.03009
$TCM_TEMP,15.50
$XPDR_PINGS,2
$24V_AH,23.7,3.261
$10V_AH,10.4,7.366
$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,19.350,4.700,367.650,0.000,0.000,31.771,38.809,161.894,0.500,0.000,7.952,1228.156,450.870,392.575,1399.754,40.926,33.207,941.983,0.000,1152.634,0.000,0.547,0.000
$DEVICE_MAMPS,241.740,29.070,1216.350,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.249,779.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30202,580
$CAP_FILE_SIZE,56943,1
$CFSIZE,1024393216,1018757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,051951,4744.013,-12224.458,2,1.1,2,16.3