version: 66.11
glider: 206
mission: 1
dive: 15
start: 6 3 115 1 42 23
data:
$ID,206
$MISSION,1
$DIVE,15
$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,-1167.4188
$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,44
$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
$GPS1,030615,083623,4742.779,-12225.426,39,1.4,39,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.6
$GPS2,030615,084210,4742.771,-12225.512,4,1.4,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.225,0.086
$KALMAN_X,-335.6,539.8,616.6,-1444.3,-595.9
$KALMAN_Y,-7414.7,519.4,524.8,5910.2,-449.0
$MHEAD_RNG_PITCHd_Wd,52.7,897,-14.0,-8.000,-18.40,2768
$D_GRID,190
$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,-146.6,191,2094,1405,1381,0.0,0.0,0,62,0.00,0.00,-45.03,0.000,16386,0.000,0.000,191,2095,2732,2782,2682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.91,-146.6,191,2095,2782,2682,3.2,-6.5,7,85,9.43,0.00,-4.35,0.000,18438,0.233,0.000,2577,2095,2926,3002,2850,0,0,0,0,0,0,25.95,28.83,26.44
$GC,148,-0.91,-146.6,1536,2092,2962,2845,13.4,-11.1,22,155,0.00,2.17,0.00,0.000,516,0.000,0.036,2576,691,2926,3002,2851,0,0,0,0,0,0,28.83,26.24,28.83
$GC,172,-0.91,-146.6,2576,691,3002,2851,16.7,-13.2,26,179,0.00,2.15,0.00,0.000,1030,0.000,0.024,2570,2095,2926,3002,2851,0,0,0,0,0,0,28.83,26.29,28.83
$GC,241,-0.91,-146.6,1536,2093,2963,2845,25.0,-12.8,39,248,0.00,2.20,0.00,0.000,260,0.000,0.044,2560,3497,2927,3003,2851,0,0,0,0,0,0,28.83,26.28,28.83
$GC,310,-0.91,-146.6,1536,3495,2964,2845,34.1,-13.8,52,317,0.00,2.12,0.00,0.000,1030,0.000,0.026,2560,2085,2927,3003,2851,0,0,0,0,0,0,28.83,26.39,28.83
$GC,380,-0.91,-146.6,1536,2083,2963,2845,43.4,-12.7,65,387,0.00,2.22,0.00,0.000,260,0.000,0.042,2553,3495,2927,3003,2851,0,0,0,0,0,0,28.83,26.36,28.83
$GC,429,-0.91,-146.6,1536,3493,2964,2845,49.8,-12.4,74,436,0.00,2.10,0.00,0.000,1030,0.000,0.026,2553,2096,2927,3003,2851,0,0,0,0,0,0,28.83,26.44,28.83
$GC,499,-0.91,-146.6,2552,2094,3003,2851,58.4,-12.4,87,506,0.12,2.17,0.00,0.000,2308,0.180,0.041,2579,3498,2927,3003,2852,0,0,0,0,0,0,26.32,26.41,28.83
$GC,649,-0.91,-146.6,2578,3498,3003,2852,74.9,-10.5,116,656,0.00,2.10,0.00,0.000,1030,0.000,0.026,2579,2093,2927,3003,2852,0,0,0,0,0,0,28.83,26.53,28.83
$GC,780,-0.91,-146.6,2578,2093,3003,2852,88.2,-10.1,141,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2093,2927,3003,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,908,-0.91,-146.6,2578,2093,3003,2852,103.0,-11.4,166,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2093,2927,3004,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1038,-0.91,-146.6,2579,2093,3003,2852,117.6,-11.2,191,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2093,2928,3004,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1166,-0.91,-146.6,2578,2093,3003,2852,130.8,-9.5,216,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2093,2928,3004,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1296,-0.91,-146.6,2578,2092,3004,2852,143.9,-11.5,241,1303,0.00,2.05,0.00,0.000,516,0.000,0.036,2579,703,2928,3004,2852,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1381,-0.91,-146.6,2578,703,3003,2852,153.8,-11.9,257,1387,0.00,2.08,0.00,0.000,1030,0.000,0.024,2571,2109,2927,3003,2852,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1510,-0.91,-146.6,2571,2109,3004,2852,169.9,-12.1,282,1517,0.00,2.15,0.00,0.000,260,0.000,0.044,2563,3501,2927,3003,2852,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,1609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1610,begin apogee
$GC,1615,-0.26,0.0,2562,1818,3003,2853,180.5,-10.9,301,1726,0.68,0.00,103.68,1.200,10246,0.125,0.000,2786,1817,2343,2404,2282,0,0,0,0,0,0,26.55,28.83,24.02
$STATE,1727,end apogee,CONTROL_FINISHED_OK
$STATE,1727,begin climb
$GC,1729,0.91,146.6,2786,1817,2405,2282,184.1,0.0,320,1846,1.15,0.00,108.78,1.180,10246,0.090,0.000,3167,1817,1758,1812,1704,0,0,0,0,0,0,25.02,28.83,23.87
$GC,1968,0.91,146.6,3167,1817,1811,1698,161.1,11.4,364,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1817,1754,1811,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,0.91,146.6,3167,1817,1812,1697,146.9,11.9,389,2105,0.00,2.17,0.00,0.000,516,0.000,0.041,3172,411,1754,1811,1697,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2188,0.91,146.6,3172,411,1809,1696,136.7,11.0,406,2195,0.00,2.15,0.00,0.000,1030,0.000,0.023,3172,1832,1753,1810,1696,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2319,0.91,146.6,3172,1836,1809,1696,121.9,12.7,431,2326,0.00,2.20,0.00,0.000,516,0.000,0.041,3172,414,1753,1810,1696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2465,0.91,146.6,3172,414,1809,1696,103.1,12.0,459,2471,0.00,2.05,0.00,0.000,1030,0.000,0.023,3172,1815,1752,1809,1696,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2594,0.91,146.6,3172,1820,1809,1696,87.4,11.3,484,2601,0.00,2.10,0.00,0.000,260,0.000,0.037,3173,3183,1752,1809,1696,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2755,0.91,146.6,3172,3183,1809,1696,69.8,10.5,515,2762,0.00,2.05,0.00,0.000,1030,0.000,0.028,3173,1801,1752,1809,1696,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2884,0.91,146.6,3172,1801,1809,1695,58.0,8.3,540,2891,0.00,2.15,0.00,0.000,516,0.000,0.042,3172,412,1752,1809,1695,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2934,0.91,146.6,3172,412,1808,1694,53.3,10.1,549,2941,0.00,2.05,0.00,0.000,1030,0.000,0.024,3172,1818,1751,1808,1694,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3064,0.91,146.6,2080,1818,1764,1689,40.5,10.7,574,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1819,1752,1809,1695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,0.91,146.6,2080,1817,1765,1689,32.9,11.4,587,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1820,1751,1808,1695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3202,0.91,146.6,2080,1818,1764,1690,26.2,8.9,600,3209,0.00,2.20,0.00,0.000,516,0.000,0.041,3173,409,1751,1808,1694,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3251,0.91,146.6,2112,408,1765,1689,20.9,10.5,609,3258,0.00,2.08,0.00,0.000,1030,0.000,0.024,3172,1811,1751,1808,1694,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3321,0.91,146.6,2080,1811,1764,1689,13.8,10.5,622,3328,0.00,2.10,0.00,0.000,260,0.000,0.037,3172,3187,1751,1809,1694,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3365,0.91,146.6,2112,3186,1765,1689,8.4,12.7,630,3372,0.00,2.08,0.00,0.000,1030,0.000,0.028,3175,1809,1751,1808,1694,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,3423,end climb,SURFACE_DEPTH_REACHED
$STATE,3423,begin surface coast
$FINISH,0.3,1.021690
$STATE,3440,end surface coast,CONTROL_FINISHED_OK
$STATE,3440,begin surface
$SM_CCo,3454,33.85,0.657,0,0,1403,235.12
$SM_GC,0.92,7.88,0.40,33.85,0.044,0.040,0.657,193,2089,1403,-8.32,-2.21,235.12,0,0,0,0,0,0,26.58,26.65,25.49
$IRIDIUM_FIX,4722.92,-12225.08,290308,222241
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.28
$INTERNAL_PRESSURE,9.03986
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.9,3.627
$10V_AH,10.4,7.575
$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,19.250,51.850,212.450,33.850,0.000,26.340,38.685,209.752,0.000,0.000,7.902,1435.409,459.533,340.654,1568.725,48.743,33.216,910.703,0.000,1281.842,0.000,0.547,0.000
$DEVICE_MAMPS,232.560,43.605,1200.285,657.135,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.155,865.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33492,644
$CAP_FILE_SIZE,69780,0
$CFSIZE,1024393216,1018445824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,094153,4742.602,-12225.167,2,1.4,2,16.3