version: 66.11
glider: 206
mission: 1
dive: 14
start: 6 3 115 0 37 31
data:
$ID,206
$MISSION,1
$DIVE,14
$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,-1114.3838
$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,50
$R_STBD_OVSHOOT,37
$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
$GPS1,030615,073128,4743.358,-12225.087,2,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.0
$GPS2,030615,073719,4743.359,-12225.156,4,1.3,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.222
$KALMAN_X,642.2,268.0,552.6,-1648.7,260.4
$KALMAN_Y,-6923.0,205.2,437.6,6912.1,-224.4
$MHEAD_RNG_PITCHd_Wd,153.6,1299,-15.4,-8.000,-19.55,2384
$D_GRID,181
$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,-0.96,-126.1,195,2082,1407,1381,0.0,0.0,0,62,0.00,0.00,-44.88,0.000,16386,0.000,0.000,195,2082,2733,2783,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.98,-142.0,195,2082,2783,2684,3.3,-7.3,7,86,9.35,2.15,-3.83,0.000,18948,0.234,0.048,2557,687,2908,2981,2835,0,0,0,0,0,0,25.94,26.17,26.43
$GC,237,-0.98,-142.0,1504,687,2941,2829,25.4,-12.2,40,245,0.00,2.17,0.00,0.000,1030,0.000,0.024,2551,2103,2909,2983,2835,0,0,0,0,0,0,28.83,26.34,28.83
$GC,308,-0.98,-142.0,1504,2100,2942,2829,33.1,-11.0,53,315,0.00,2.20,0.00,0.000,260,0.000,0.044,2543,3505,2909,2983,2835,0,0,0,0,0,0,28.83,26.33,28.83
$GC,382,-0.98,-142.0,1504,3504,2943,2829,41.0,-10.2,67,389,0.00,2.12,0.00,0.000,1030,0.000,0.026,2543,2090,2909,2983,2835,0,0,0,0,0,0,28.83,26.44,28.83
$GC,451,-0.98,-142.0,1504,2087,2943,2829,48.9,-12.0,80,458,0.00,2.22,0.00,0.000,260,0.000,0.043,2536,3501,2909,2983,2835,0,0,0,0,0,0,28.83,26.41,28.83
$GC,622,-0.98,-142.0,2535,3501,2983,2836,68.7,-11.2,113,629,0.00,2.05,0.00,0.000,1030,0.000,0.026,2536,2097,2909,2983,2836,0,0,0,0,0,0,28.83,26.53,28.83
$GC,752,-0.98,-142.0,2535,2098,2983,2836,81.7,-10.6,138,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2097,2909,2983,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,882,-0.98,-142.0,2535,2096,2983,2836,98.4,-13.2,163,888,0.00,2.17,0.00,0.000,260,0.000,0.042,2525,3515,2909,2983,2836,0,0,0,0,0,0,28.83,26.53,28.83
$GC,946,-0.98,-142.0,2525,3514,2983,2836,106.7,-12.2,175,953,0.15,2.08,0.00,0.000,3078,0.165,0.026,2564,2088,2909,2983,2836,0,0,0,0,0,0,26.44,26.61,28.83
$GC,1076,-0.98,-142.0,2564,2087,2983,2836,119.0,-9.2,200,1083,0.00,2.22,0.00,0.000,260,0.000,0.042,2557,3512,2910,2984,2836,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1126,-0.98,-142.0,2556,3512,2983,2836,123.8,-10.1,209,1133,0.00,2.05,0.00,0.000,1030,0.000,0.026,2556,2104,2910,2984,2836,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1255,-0.98,-142.0,2556,2103,2983,2836,137.1,-11.0,234,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2103,2910,2984,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.98,-142.0,2556,2102,2983,2836,151.6,-11.7,259,1392,0.00,2.15,0.00,0.000,260,0.000,0.043,2549,3511,2909,2983,2836,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1470,-0.98,-142.0,2549,3511,2983,2836,161.9,-12.0,275,1477,0.00,2.05,0.00,0.000,1030,0.000,0.026,2549,2096,2910,2984,2836,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1599,-0.98,-142.0,2549,2096,2984,2836,178.5,-12.7,300,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2096,2910,2984,2836,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1611,begin apogee
$GC,1614,-0.26,0.0,2549,1793,2983,2836,180.3,-13.7,302,1720,0.73,0.00,100.45,1.203,10246,0.131,0.000,2786,1794,2343,2404,2282,0,0,0,0,0,0,26.55,28.83,24.03
$STATE,1721,end apogee,CONTROL_FINISHED_OK
$STATE,1721,begin climb
$GC,1723,0.98,142.0,2785,1794,2404,2282,185.2,0.0,320,1836,1.23,2.30,105.05,1.195,10756,0.090,0.042,3190,437,1776,1830,1723,0,0,0,0,0,0,25.01,24.77,23.87
$GC,1858,0.98,142.0,3190,437,1828,1722,175.0,11.4,343,1865,0.00,2.17,0.00,0.000,1030,0.000,0.023,3190,1842,1774,1828,1721,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1987,0.98,142.0,3189,1845,1828,1717,157.9,13.4,368,1995,0.00,2.12,0.00,0.000,260,0.000,0.037,3190,3193,1773,1829,1717,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2010,0.98,142.0,3190,3193,1829,1717,155.0,13.0,372,2018,0.00,2.12,0.00,0.000,1030,0.000,0.028,3190,1831,1772,1829,1716,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2142,0.98,142.0,3189,1831,1828,1715,138.8,11.4,397,2149,0.00,2.20,0.00,0.000,516,0.000,0.042,3190,409,1772,1829,1715,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2177,0.98,142.0,3190,409,1827,1715,134.6,12.5,403,2184,0.00,2.10,0.00,0.000,1030,0.000,0.024,3191,1816,1771,1827,1715,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2306,0.98,142.0,3190,1819,1827,1715,118.3,11.7,428,2313,0.00,2.12,0.00,0.000,260,0.000,0.037,3191,3192,1771,1827,1715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2336,0.98,142.0,3190,3191,1827,1715,114.6,13.1,433,2342,0.00,2.10,0.00,0.000,1030,0.000,0.028,3190,1795,1771,1827,1715,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2465,0.98,142.0,3190,1795,1827,1715,98.3,12.6,458,2473,0.00,2.15,0.00,0.000,516,0.000,0.043,3191,414,1771,1827,1715,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2515,0.98,142.0,3190,414,1827,1715,91.9,13.2,467,2522,0.00,2.08,0.00,0.000,1030,0.000,0.024,3190,1825,1771,1827,1715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2644,0.98,142.0,3190,1828,1827,1715,75.5,12.0,492,2652,0.00,2.10,0.00,0.000,260,0.000,0.037,3191,3194,1771,1827,1715,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2704,0.98,142.0,3190,3194,1827,1715,68.9,10.7,503,2711,0.00,2.08,0.00,0.000,1030,0.000,0.028,3191,1802,1771,1827,1715,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2834,0.98,142.0,3190,1802,1827,1715,56.6,10.2,528,2841,0.00,2.15,0.00,0.000,260,0.000,0.037,3191,3189,1771,1827,1715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2919,0.98,142.0,3190,3188,1827,1715,47.1,10.9,544,2926,0.00,2.10,0.00,0.000,1030,0.000,0.028,3191,1805,1771,1827,1715,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2988,0.98,142.0,2120,1803,1782,1709,38.8,12.3,557,2995,0.00,2.15,0.00,0.000,260,0.000,0.037,3191,3193,1771,1827,1715,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3092,0.98,142.0,2112,3191,1781,1709,26.5,11.5,577,3099,0.00,2.10,0.00,0.000,1030,0.000,0.028,3191,1808,1771,1827,1715,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3162,0.98,142.0,2112,1806,1781,1709,19.1,10.8,590,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1807,1770,1827,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3231,0.98,142.0,2128,1806,1783,1709,11.6,10.8,603,3238,0.00,2.12,0.00,0.000,260,0.000,0.037,3191,3185,1770,1827,1714,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3255,0.98,142.0,2152,3184,1785,1709,8.7,11.9,607,3262,0.00,2.10,0.00,0.000,1030,0.000,0.029,3192,1797,1770,1827,1714,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3325,0.98,142.0,2112,1795,1782,1708,2.2,8.7,620,3332,0.00,2.12,0.00,0.000,516,0.000,0.044,3193,417,1771,1828,1714,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,3338,end climb,SURFACE_DEPTH_REACHED
$STATE,3338,begin surface coast
$FINISH,0.2,1.010031
$STATE,3359,end surface coast,CONTROL_FINISHED_OK
$STATE,3359,begin surface
$SM_CCo,3376,36.00,0.684,0,0,1403,235.12
$SM_GC,1.40,8.00,2.58,36.00,0.050,0.025,0.684,191,2093,1403,-8.33,-1.53,235.12,0,0,0,0,0,0,26.57,26.61,25.41
$IRIDIUM_FIX,4719.74,-12127.44,290308,202000
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.83
$INTERNAL_PRESSURE,9.04962
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.9,3.534
$10V_AH,10.4,7.522
$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,19.450,69.125,205.500,36.000,0.000,33.030,60.383,183.675,0.000,0.000,7.919,1408.283,435.201,347.548,1538.834,48.932,33.218,913.208,0.000,1249.508,0.000,0.547,0.000
$DEVICE_MAMPS,234.090,48.195,1202.580,683.910,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.849,854.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322664
$DATA_FILE_SIZE,30195,626
$CAP_FILE_SIZE,72902,0
$CFSIZE,1024393216,1018527744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,083623,4742.779,-12225.426,39,1.4,39,16.3