version: 66.11
glider: 206
mission: 1
dive: 17
start: 6 3 115 3 54 57
data:
$ID,206
$MISSION,1
$DIVE,17
$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,-1201.105
$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,42
$R_STBD_OVSHOOT,65
$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
$GPS1,030615,104906,4742.639,-12225.129,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.4
$GPS2,030615,105444,4742.634,-12225.185,5,1.2,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.086,0.225
$KALMAN_X,-606.7,438.2,-208.3,145.6,-812.3
$KALMAN_Y,-9147.1,1034.9,190.9,7206.0,-1121.6
$MHEAD_RNG_PITCHd_Wd,4.5,495,-14.0,-8.000,-18.40,2768
$D_GRID,186
$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,-146.6,187,2087,1405,1382,0.0,0.0,0,62,0.00,0.00,-45.05,0.000,16386,0.000,0.000,187,2087,2743,2793,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.91,-146.6,187,2087,2792,2695,3.5,-7.5,7,86,9.43,2.20,-3.92,0.000,18692,0.233,0.054,2569,3479,2925,3001,2850,0,0,0,0,0,0,25.95,26.15,26.42
$GC,273,-0.91,-146.6,1504,3478,2960,2845,29.0,-11.8,47,280,0.00,2.12,0.00,0.000,1030,0.000,0.026,2569,2068,2926,3001,2851,0,0,0,0,0,0,28.83,26.37,28.83
$GC,342,-0.91,-146.6,1536,2066,2962,2845,36.5,-11.0,60,349,0.00,2.08,0.00,0.000,516,0.000,0.037,2569,708,2926,3002,2851,0,0,0,0,0,0,28.83,26.36,28.83
$GC,396,-0.91,-146.6,1536,708,2962,2846,42.5,-11.3,70,403,0.00,2.08,0.00,0.000,1030,0.000,0.024,2560,2080,2926,3002,2851,0,0,0,0,0,0,28.83,26.44,28.83
$GC,465,-0.91,-146.6,1536,2077,2962,2845,50.4,-11.4,83,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2080,2927,3002,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,593,-0.91,-146.6,2560,2079,3002,2852,65.3,-10.9,108,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2080,2926,3002,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,723,-0.91,-146.6,2560,2080,3002,2852,79.8,-10.7,133,729,0.00,2.15,0.00,0.000,260,0.000,0.042,2552,3493,2927,3002,2852,0,0,0,0,0,0,28.83,26.50,28.83
$GC,787,-0.91,-146.6,2552,3493,3002,2852,87.3,-11.3,145,794,0.12,2.05,0.00,0.000,3078,0.173,0.025,2582,2084,2927,3002,2852,0,0,0,0,0,0,26.40,26.57,28.83
$GC,918,-0.91,-146.6,2582,2084,3002,2852,99.9,-8.4,170,925,0.00,2.20,0.00,0.000,260,0.000,0.043,2580,3488,2927,3002,2852,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1008,-0.91,-146.6,2580,3488,3002,2852,109.5,-11.2,187,1015,0.00,2.03,0.00,0.000,1030,0.000,0.026,2580,2100,2927,3002,2852,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1138,-0.91,-146.6,2580,2100,3002,2852,123.2,-10.3,212,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2100,2927,3002,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.91,-146.6,2580,2100,3002,2852,137.5,-11.2,237,1274,0.00,2.15,0.00,0.000,260,0.000,0.043,2580,3503,2927,3002,2852,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1383,-0.91,-146.6,2580,3503,3002,2852,148.7,-8.6,259,1389,0.00,2.05,0.00,0.000,1030,0.000,0.026,2580,2091,2927,3002,2852,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1512,-0.91,-146.6,2579,2090,3002,2852,161.2,-10.3,284,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2089,2927,3002,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-0.91,-146.6,2579,2090,3002,2852,173.7,-8.5,309,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2090,2927,3002,2852,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1704,begin apogee
$GC,1708,-0.26,0.0,2579,1804,3002,2852,180.0,-10.0,321,1819,0.62,0.00,103.28,1.210,10246,0.129,0.000,2786,1804,2343,2404,2282,0,0,0,0,0,0,26.55,28.83,24.02
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1820,begin climb
$GC,1821,0.91,146.6,2785,1804,2404,2282,183.4,0.0,340,1939,1.15,2.25,108.32,1.187,10756,0.090,0.041,3166,433,1758,1812,1704,0,0,0,0,0,0,25.03,24.77,23.88
$GC,2031,0.91,146.6,3166,433,1809,1700,162.4,13.5,378,2039,0.00,2.15,0.00,0.000,1030,0.000,0.023,3166,1825,1754,1809,1700,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2163,0.91,146.6,3166,1828,1809,1698,146.7,12.1,403,2169,0.00,2.10,0.00,0.000,260,0.000,0.036,3167,3200,1753,1809,1698,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2210,0.91,146.6,3166,3200,1809,1698,140.8,12.5,412,2217,0.00,2.12,0.00,0.000,1030,0.000,0.028,3166,1826,1753,1808,1698,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2341,0.91,146.6,3166,1826,1809,1698,126.6,10.3,437,2348,0.00,2.10,0.00,0.000,260,0.000,0.037,3166,3193,1753,1809,1698,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2396,0.91,146.6,3166,3193,1809,1698,119.5,12.5,447,2402,0.00,2.10,0.00,0.000,1030,0.000,0.028,3171,1795,1753,1809,1698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2525,0.91,146.6,3171,1795,1809,1698,104.4,11.2,472,2532,0.00,2.15,0.00,0.000,516,0.000,0.043,3176,416,1753,1809,1697,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2578,0.91,146.6,3176,416,1808,1697,97.7,12.1,482,2585,0.00,2.10,0.00,0.000,1030,0.000,0.024,3176,1813,1752,1808,1697,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2709,0.91,146.6,3176,1815,1809,1697,82.8,11.5,507,2716,0.00,2.08,0.00,0.000,260,0.000,0.037,3176,3197,1753,1809,1697,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2775,0.91,146.6,3176,3197,1809,1697,74.9,11.9,519,2781,0.00,2.08,0.00,0.000,1030,0.000,0.028,3176,1803,1753,1809,1697,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2905,0.91,146.6,3176,1803,1809,1697,60.4,10.3,544,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1802,1752,1808,1697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3034,0.91,146.6,2112,1801,1766,1691,46.3,10.7,569,3041,0.00,2.15,0.00,0.000,516,0.000,0.042,3176,412,1752,1809,1696,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3078,0.91,146.6,2112,411,1765,1691,41.5,10.4,577,3085,0.00,2.10,0.00,0.000,1030,0.000,0.024,3176,1821,1752,1808,1696,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3148,0.91,146.6,2088,1821,1764,1691,34.5,9.7,590,3156,0.00,2.20,0.00,0.000,516,0.000,0.042,3176,414,1752,1808,1696,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3248,0.91,146.6,2080,414,1764,1691,24.4,9.8,609,3255,0.00,2.08,0.00,0.000,1030,0.000,0.023,3176,1813,1752,1808,1696,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3317,0.91,146.6,2112,1813,1765,1690,17.9,9.8,622,3324,0.00,2.17,0.00,0.000,516,0.000,0.042,3176,420,1751,1808,1695,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3376,0.91,146.6,2112,420,1765,1690,12.1,9.7,633,3383,0.00,2.08,0.00,0.000,1030,0.000,0.024,3176,1810,1751,1808,1695,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3446,0.91,146.6,2096,1811,1764,1690,6.0,8.4,646,3453,0.00,2.10,0.00,0.000,260,0.000,0.037,3177,3190,1751,1808,1695,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,3494,end climb,SURFACE_DEPTH_REACHED
$STATE,3494,begin surface coast
$FINISH,0.2,1.021775
$STATE,3515,end surface coast,CONTROL_FINISHED_OK
$STATE,3516,begin surface
$SM_CCo,3530,33.80,0.665,0,0,1402,235.12
$SM_GC,1.91,7.93,1.65,33.80,0.047,0.028,0.665,191,2096,1402,-8.33,1.44,235.12,0,0,0,0,0,0,26.58,26.63,25.46
$IRIDIUM_FIX,4722.92,-12225.08,300308,000027
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.36
$INTERNAL_PRESSURE,9.03986
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.9,3.816
$10V_AH,10.4,7.682
$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,19.250,59.225,211.600,33.800,0.000,28.148,42.840,192.610,0.000,0.000,8.923,1471.444,462.424,343.585,1593.427,48.749,33.205,924.640,0.000,1316.173,0.000,0.547,0.000
$DEVICE_MAMPS,232.560,54.315,1210.230,664.785,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.362,899.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322616
$DATA_FILE_SIZE,33557,659
$CAP_FILE_SIZE,71720,0
$CFSIZE,1024393216,1018314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,115605,4742.771,-12225.015,22,1.0,22,16.3