version: 66.11
glider: 206
mission: 1
dive: 12
start: 6 2 115 22 25 41
data:
$ID,206
$MISSION,1
$DIVE,12
$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,75
$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,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,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,-1081.7249
$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,2099
$C_ROLL_CLIMB,1809
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,61
$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
$GPS1,030615,051951,4744.013,-12224.458,2,1.1,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.6
$GPS2,030615,052524,4744.042,-12224.457,4,1.1,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,-0.192
$KALMAN_X,1304.9,-237.6,-151.8,-247.3,1148.4
$KALMAN_Y,-6414.6,-256.1,136.0,8427.6,-400.5
$MHEAD_RNG_PITCHd_Wd,200.6,2521,-14.0,-8.000,-18.40,2768
$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,-0.91,-146.6,174,2123,1254,1182,0.0,0.0,0,68,0.00,0.00,-51.47,0.000,16386,0.000,0.000,174,2123,2746,2791,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.91,-146.6,174,2123,2791,2703,3.1,-6.0,8,92,9.48,2.12,-3.95,0.000,18692,0.234,0.056,2568,3485,2925,2997,2854,0,0,0,0,0,0,26.03,26.24,26.53
$GC,395,-0.91,-146.6,1504,3484,2956,2847,45.3,-11.5,71,402,0.00,2.12,0.00,0.000,1030,0.000,0.026,2568,2066,2927,3001,2854,0,0,0,0,0,0,28.83,26.48,28.83
$GC,463,-0.91,-146.6,2568,2066,3000,2854,52.6,-9.2,84,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2066,2927,3001,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,594,-0.91,-146.6,2568,2066,3000,2854,68.6,-12.3,109,600,0.00,2.17,0.00,0.000,260,0.000,0.042,2559,3482,2927,3001,2854,0,0,0,0,0,0,28.83,26.50,28.83
$GC,678,-0.91,-146.6,2558,3482,3001,2854,77.1,-9.0,125,685,0.00,2.03,0.00,0.000,1030,0.000,0.026,2559,2093,2927,3001,2854,0,0,0,0,0,0,28.83,26.58,28.83
$GC,807,-0.91,-146.6,2558,2092,3001,2854,89.6,-9.2,150,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2092,2927,3001,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,938,-0.91,-146.6,2558,2092,3001,2854,103.8,-11.7,175,944,0.00,2.12,0.00,0.000,260,0.000,0.042,2552,3479,2927,3001,2854,0,0,0,0,0,0,28.83,26.58,28.83
$GC,972,-0.91,-146.6,2552,3479,3001,2854,107.6,-11.2,181,979,0.12,2.03,0.00,0.000,3078,0.172,0.026,2582,2084,2927,3001,2854,0,0,0,0,0,0,26.47,26.64,28.83
$GC,1102,-0.91,-146.6,2582,2084,3001,2854,121.7,-11.0,206,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2084,2927,3001,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-0.91,-146.6,2582,2084,3002,2854,134.6,-9.4,231,1239,0.00,2.15,0.00,0.000,260,0.000,0.044,2581,3488,2927,3001,2854,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1296,-0.91,-146.6,2581,3488,3001,2854,140.0,-8.5,243,1303,0.00,2.03,0.00,0.000,1030,0.000,0.026,2581,2092,2928,3002,2854,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1427,-0.91,-146.6,2581,2092,3001,2854,151.3,-9.6,268,1435,0.00,2.08,0.00,0.000,516,0.000,0.037,2581,714,2927,3001,2854,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1488,-0.91,-146.6,2581,714,3001,2854,157.5,-10.9,279,1494,0.00,2.03,0.00,0.000,1030,0.000,0.024,2573,2093,2927,3001,2854,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1617,-0.91,-146.6,2573,2093,3001,2854,170.9,-10.3,304,1624,0.00,2.17,0.00,0.000,260,0.000,0.044,2566,3501,2927,3001,2854,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,1649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1649,begin apogee
$GC,1655,-0.26,0.0,2566,1825,3001,2854,174.3,-10.2,310,1767,0.68,0.00,103.75,1.196,10246,0.132,0.000,2786,1825,2343,2403,2283,0,0,0,0,0,0,26.55,28.83,24.01
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1769,0.91,146.6,2786,1825,2403,2283,178.4,0.0,329,1887,1.15,2.35,108.80,1.177,10756,0.091,0.041,3167,410,1758,1812,1704,0,0,0,0,0,0,25.04,24.77,23.88
$GC,1934,0.91,146.6,3167,410,1809,1699,165.3,13.4,358,1941,0.00,2.22,0.00,0.000,1030,0.000,0.023,3167,1826,1754,1809,1699,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2066,0.91,146.6,3167,1830,1809,1698,151.2,9.8,383,2072,0.00,2.12,0.00,0.000,260,0.000,0.037,3167,3210,1753,1809,1698,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2134,0.91,146.6,3167,3210,1809,1698,143.5,10.9,396,2141,0.00,2.17,0.00,0.000,1030,0.000,0.028,3170,1806,1753,1809,1698,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2265,0.91,146.6,3169,1806,1809,1696,128.8,11.1,421,2271,0.00,2.15,0.00,0.000,516,0.000,0.042,3176,409,1752,1809,1695,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2319,0.91,146.6,3176,409,1808,1695,122.5,11.3,431,2326,0.00,2.10,0.00,0.000,1030,0.000,0.024,3176,1825,1751,1808,1695,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2448,0.91,146.6,3175,1828,1808,1694,108.1,10.6,456,2456,0.00,2.10,0.00,0.000,260,0.000,0.037,3176,3187,1751,1808,1694,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2559,0.91,146.6,3176,3187,1808,1694,93.5,13.0,477,2565,0.00,2.08,0.00,0.000,1030,0.000,0.028,3176,1797,1751,1808,1694,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2688,0.91,146.6,3176,1798,1808,1694,76.8,13.7,502,2695,0.00,2.15,0.00,0.000,516,0.000,0.043,3180,413,1751,1809,1694,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2782,0.91,146.6,3180,413,1808,1693,63.7,13.4,520,2789,0.00,2.10,0.00,0.000,1030,0.000,0.024,3180,1817,1750,1808,1693,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2913,0.91,146.6,3179,1819,1808,1693,49.1,11.2,545,2920,0.00,2.10,0.00,0.000,260,0.000,0.037,3180,3191,1750,1808,1693,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3132,0.91,146.6,2080,3189,1763,1688,23.7,9.4,588,3140,0.00,2.10,0.00,0.000,1030,0.000,0.028,3180,1803,1750,1808,1693,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3201,0.91,146.6,2112,1801,1764,1688,17.6,9.1,601,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1803,1750,1808,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,0.91,146.6,2112,1801,1765,1688,11.6,8.3,614,3278,0.00,2.15,0.00,0.000,516,0.000,0.042,3180,409,1750,1808,1693,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,3394,end climb,SURFACE_DEPTH_REACHED
$STATE,3394,begin surface coast
$FINISH,0.3,1.008397
$STATE,3421,end surface coast,CONTROL_FINISHED_OK
$STATE,3422,begin surface
$SM_CCo,3438,33.78,0.682,0,0,1403,235.12
$SM_GC,2.13,7.90,2.58,33.78,0.046,0.024,0.682,196,2092,1403,-8.31,-1.70,235.12,0,0,0,0,0,0,26.58,26.63,25.42
$IRIDIUM_FIX,4726.11,-12205.42,290308,181822
$TT8_MAMPS,0.030709,0.030709
$HUMID,48.18
$INTERNAL_PRESSURE,9.04962
$TCM_TEMP,15.50
$XPDR_PINGS,1
$24V_AH,23.9,3.352
$10V_AH,10.4,7.418
$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,19.325,58.850,212.550,33.775,0.000,33.228,49.882,179.205,0.250,0.000,7.911,1432.028,448.415,337.532,1558.428,50.821,33.215,896.333,0.000,1289.014,0.000,0.547,0.000
$DEVICE_MAMPS,234.090,55.845,1195.695,682.380,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.877,880.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,33558,643
$CAP_FILE_SIZE,68179,0
$CFSIZE,1024393216,1018642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,062455,4743.798,-12224.739,2,1.3,2,16.3