version: 66.11
glider: 206
mission: 1
dive: 18
start: 6 3 115 5 5 32
data:
$ID,206
$MISSION,1
$DIVE,18
$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,-1252.1591
$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,63
$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
$GPS1,030615,115605,4742.771,-12225.015,22,1.0,22,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.0
$GPS2,030615,120518,4742.779,-12225.081,19,1.0,19,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,0.204
$KALMAN_X,62.9,87.0,-756.0,501.4,-133.2
$KALMAN_Y,-9484.1,1028.7,-191.6,8197.5,-1057.2
$MHEAD_RNG_PITCHd_Wd,11.8,379,-14.8,-8.000,-19.11,2522
$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,14,-0.94,-133.5,191,2089,1405,1381,0.0,0.0,0,62,0.00,0.00,-45.53,0.000,16386,0.000,0.000,191,2089,2753,2802,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.95,-141.5,191,2089,2802,2705,3.4,-7.7,7,86,9.35,2.22,-3.38,0.000,18692,0.233,0.057,2554,3471,2906,2979,2833,0,0,0,0,0,0,25.95,26.15,26.42
$GC,243,-0.95,-141.5,1504,3469,2939,2827,26.6,-14.8,41,250,0.00,2.08,0.00,0.000,1030,0.000,0.026,2554,2090,2907,2980,2834,0,0,0,0,0,0,28.83,26.36,28.83
$GC,313,-0.95,-141.5,1536,2087,2941,2828,35.0,-11.2,54,320,0.00,2.10,0.00,0.000,516,0.000,0.036,2554,713,2907,2981,2834,0,0,0,0,0,0,28.83,26.35,28.83
$GC,458,-0.95,-141.5,2554,713,2981,2834,53.8,-12.9,82,465,0.00,2.08,0.00,0.000,1030,0.000,0.024,2546,2085,2908,2981,2835,0,0,0,0,0,0,28.83,26.46,28.83
$GC,589,-0.95,-141.5,2546,2085,2982,2834,69.5,-12.1,107,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2085,2908,2982,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,717,-0.95,-141.5,2546,2086,2982,2834,85.4,-12.5,132,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2085,2908,2982,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,847,-0.95,-141.5,2546,2085,2982,2834,101.2,-12.7,157,854,0.00,2.08,0.00,0.000,516,0.000,0.035,2546,697,2908,2982,2834,0,0,0,0,0,0,28.83,26.55,28.83
$GC,875,-0.95,-141.5,2546,697,2981,2834,105.0,-13.8,162,883,0.08,2.12,0.00,0.000,3078,0.155,0.024,2563,2100,2908,2982,2834,0,0,0,0,0,0,26.42,26.58,28.83
$GC,1007,-0.95,-141.5,2562,2100,2982,2834,120.1,-10.9,187,1013,0.00,2.12,0.00,0.000,260,0.000,0.042,2554,3505,2908,2982,2834,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1031,-0.95,-141.5,2554,3505,2982,2834,123.1,-11.8,191,1037,0.00,2.05,0.00,0.000,1030,0.000,0.026,2555,2100,2908,2982,2835,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1160,-0.95,-141.5,2554,2098,2982,2834,136.8,-11.3,216,1167,0.00,2.10,0.00,0.000,516,0.000,0.036,2554,708,2908,2982,2834,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1230,-0.95,-141.5,2554,708,2982,2834,145.4,-12.6,229,1236,0.00,2.08,0.00,0.000,1030,0.000,0.025,2553,2110,2908,2982,2834,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1359,-0.95,-141.5,2553,2110,2982,2834,160.4,-11.4,254,1366,0.00,2.15,0.00,0.000,260,0.000,0.044,2549,3501,2908,2982,2835,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1531,-0.95,-141.5,2549,3501,2982,2834,179.3,-11.6,287,1537,0.00,2.05,0.00,0.000,1030,0.000,0.025,2549,2087,2908,2982,2835,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,1543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1543,begin apogee
$GC,1547,-0.26,0.0,2549,1801,2982,2834,180.7,-11.7,289,1652,0.73,0.00,100.03,1.213,10246,0.132,0.000,2786,1801,2343,2404,2282,0,0,0,0,0,0,26.53,28.83,24.03
$STATE,1653,end apogee,CONTROL_FINISHED_OK
$STATE,1653,begin climb
$GC,1654,0.95,141.5,2785,1800,2404,2282,184.4,0.0,307,1765,1.17,0.00,104.22,1.193,10246,0.090,0.000,3174,1800,1778,1832,1724,0,0,0,0,0,0,25.00,28.83,23.87
$GC,1887,0.95,141.5,3174,1800,1832,1718,163.8,11.3,350,1895,0.00,2.28,0.00,0.000,260,0.000,0.035,3174,3222,1774,1832,1717,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1941,0.95,141.5,3174,3222,1832,1717,157.5,12.3,360,1948,0.00,2.17,0.00,0.000,1030,0.000,0.028,3174,1826,1774,1833,1715,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2072,0.95,141.5,3174,1826,1832,1715,142.9,11.5,385,2079,0.00,2.15,0.00,0.000,260,0.000,0.037,3174,3219,1773,1832,1715,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2137,0.95,141.5,3174,3219,1832,1715,135.7,11.6,397,2143,0.00,2.15,0.00,0.000,1030,0.000,0.028,3176,1793,1773,1832,1714,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2267,0.95,141.5,3176,1794,1832,1715,121.7,11.0,422,2275,0.00,2.15,0.00,0.000,516,0.000,0.043,3180,417,1773,1832,1715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2372,0.95,141.5,3179,417,1830,1715,110.1,11.1,442,2379,0.00,2.15,0.00,0.000,1030,0.000,0.023,3180,1846,1772,1831,1714,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2503,0.95,141.5,3180,1849,1831,1714,95.8,11.0,467,2509,0.00,2.22,0.00,0.000,516,0.000,0.042,3180,407,1773,1831,1715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2587,0.95,141.5,3180,407,1830,1715,86.8,10.7,483,2594,0.00,2.08,0.00,0.000,1030,0.000,0.024,3180,1822,1772,1830,1714,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2716,0.95,141.5,3180,1824,1830,1714,74.6,9.3,508,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1824,1772,1830,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,0.95,141.5,3180,1824,1830,1714,62.5,10.1,533,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1824,1772,1830,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,0.95,141.5,3180,1824,1830,1714,50.4,9.5,558,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1824,1772,1830,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3102,0.95,141.5,2080,1823,1784,1709,38.9,8.3,583,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1825,1772,1830,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3170,0.95,141.5,2112,1823,1784,1709,33.1,8.1,596,3178,0.00,2.20,0.00,0.000,516,0.000,0.042,3181,414,1772,1830,1714,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3219,0.95,141.5,2112,414,1785,1709,28.7,9.0,605,3226,0.00,2.08,0.00,0.000,1030,0.000,0.023,3181,1816,1771,1829,1714,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3288,0.95,141.5,2096,1816,1784,1709,22.1,9.2,618,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1818,1772,1830,1715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3358,0.95,141.5,2096,1816,1784,1709,16.0,8.2,631,3365,0.00,2.20,0.00,0.000,516,0.000,0.042,3185,404,1772,1830,1714,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3392,0.95,141.5,2144,404,1786,1709,12.9,9.1,637,3399,0.00,2.08,0.00,0.000,1030,0.000,0.024,3185,1803,1771,1829,1714,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3461,0.95,141.5,2096,1803,1784,1709,6.5,8.3,650,3468,0.00,2.10,0.00,0.000,260,0.000,0.037,3185,3186,1772,1830,1714,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,3519,end climb,SURFACE_DEPTH_REACHED
$STATE,3519,begin surface coast
$FINISH,0.2,1.000140
$STATE,3545,end surface coast,CONTROL_FINISHED_OK
$STATE,3545,begin surface
$SM_CCo,3560,35.97,0.680,0,0,1403,235.12
$SM_GC,1.24,7.95,1.65,35.97,0.049,0.027,0.680,193,2084,1403,-8.32,1.24,235.12,0,0,0,0,0,0,26.60,26.66,25.46
$IRIDIUM_FIX,4726.11,-12224.09,300308,010143
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.32
$INTERNAL_PRESSURE,9.03986
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.9,3.912
$10V_AH,10.4,7.739
$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,19.275,55.250,204.250,35.975,0.000,64.945,116.806,217.209,0.000,0.000,22.965,1489.677,512.825,338.399,1778.219,50.432,33.196,921.711,0.000,1330.777,0.000,0.546,0.000
$DEVICE_MAMPS,232.560,57.375,1212.525,680.085,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.376,910.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322652
$DATA_FILE_SIZE,33487,666
$CAP_FILE_SIZE,73464,0
$CFSIZE,1024393216,1018249216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,130729,4743.101,-12224.760,39,1.0,39,16.3