version: 66.11
glider: 206
mission: 1
dive: 19
start: 6 3 115 6 16 5
data:
$ID,206
$MISSION,1
$DIVE,19
$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,-1304.8696
$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,55
$R_STBD_OVSHOOT,68
$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
$GPS1,030615,130729,4743.101,-12224.760,39,1.0,39,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.0
$GPS2,030615,131552,4743.161,-12224.776,4,1.0,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,-0.117
$KALMAN_X,174.0,-18.6,-864.4,989.8,248.3
$KALMAN_Y,-8942.5,722.1,-596.9,9070.4,-402.3
$MHEAD_RNG_PITCHd_Wd,195.8,854,-26.9,-8.000,-30.00,862
$D_GRID,177
$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,-1.46,-45.2,192,2080,1404,1380,0.0,0.0,0,55,0.00,0.00,-38.72,0.000,16390,0.000,0.000,193,2080,2522,2574,2470,0,0,0,0,0,0,28.83,28.83,26.49
$GC,58,-1.48,-56.9,193,2080,2573,2470,2.9,-6.6,6,73,8.75,2.25,-1.17,0.000,18692,0.235,0.054,2390,3472,2568,2630,2506,0,0,0,0,0,0,25.94,26.15,26.37
$GC,90,-1.48,-56.9,1440,3471,2579,2499,6.8,-10.8,11,97,0.00,2.10,0.00,0.000,1030,0.000,0.025,2390,2082,2569,2632,2506,0,0,0,0,0,0,28.83,26.23,28.83
$GC,160,-1.48,-56.9,1408,2078,2577,2498,14.9,-10.5,24,167,0.00,2.10,0.00,0.000,516,0.000,0.035,2390,706,2569,2632,2506,0,0,0,0,0,0,28.83,26.26,28.83
$GC,309,-1.48,-56.9,1384,707,2577,2498,35.1,-14.9,53,317,0.00,2.08,0.00,0.000,1030,0.000,0.024,2381,2077,2569,2633,2506,0,0,0,0,0,0,28.83,26.39,28.83
$GC,380,-1.48,-56.9,1384,2074,2578,2498,43.8,-12.5,66,387,0.00,2.20,0.00,0.000,260,0.000,0.041,2370,3491,2569,2633,2506,0,0,0,0,0,0,28.83,26.38,28.83
$GC,441,-1.48,-56.9,2370,3491,2633,2506,51.4,-13.2,77,448,0.12,2.05,0.00,0.000,3078,0.200,0.025,2397,2081,2569,2633,2506,0,0,0,0,0,0,26.25,26.46,28.83
$GC,572,-1.48,-56.9,2397,2081,2634,2506,64.6,-8.5,102,580,0.00,2.08,0.00,0.000,516,0.000,0.035,2397,711,2570,2634,2506,0,0,0,0,0,0,28.83,26.47,28.83
$GC,744,-1.48,-56.9,2397,711,2634,2506,79.9,-9.2,135,750,0.00,2.05,0.00,0.000,1030,0.000,0.024,2389,2101,2570,2634,2506,0,0,0,0,0,0,28.83,26.55,28.83
$GC,872,-1.48,-56.9,2389,2101,2634,2506,92.8,-11.8,160,880,0.00,2.15,0.00,0.000,260,0.000,0.042,2379,3492,2570,2634,2506,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1186,-1.48,-56.9,2378,3492,2634,2506,122.0,-8.6,221,1193,0.00,2.03,0.00,0.000,1030,0.000,0.025,2379,2090,2570,2635,2506,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1315,-1.48,-56.9,2378,2090,2635,2506,134.6,-10.1,246,1322,0.00,2.17,0.00,0.000,260,0.000,0.040,2368,3492,2570,2634,2506,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1630,-1.48,-56.9,2368,3492,2634,2506,163.4,-9.4,307,1637,0.12,2.03,0.00,0.000,3078,0.204,0.025,2395,2080,2570,2635,2506,0,0,0,0,0,0,26.51,26.72,28.83
$GC,1761,-1.48,-59.0,2395,2080,2635,2506,174.7,-7.8,332,1768,0.00,2.20,0.00,0.000,260,0.000,0.041,2387,3499,2570,2635,2506,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,1793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1793,begin apogee
$GC,1799,-0.26,0.0,2387,1831,2635,2506,177.4,-8.5,338,1847,1.30,0.00,40.65,1.212,10246,0.161,0.000,2785,1831,2342,2404,2281,0,0,0,0,0,0,26.53,28.83,24.70
$STATE,1848,end apogee,CONTROL_FINISHED_OK
$STATE,1848,begin climb
$GC,1849,1.48,59.0,2785,1831,2404,2281,178.8,0.0,346,1904,1.65,2.35,43.60,1.147,10756,0.090,0.041,3355,414,2108,2163,2053,0,0,0,0,0,0,25.62,25.10,24.20
$GC,2007,1.48,59.0,3355,414,2161,2052,159.0,16.5,375,2014,0.00,2.12,0.00,0.000,1030,0.000,0.022,3356,1831,2106,2161,2052,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2137,1.48,59.0,3355,1831,2161,2051,139.3,14.4,400,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1831,2106,2161,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2267,1.48,59.0,3355,1831,2161,2050,120.8,14.0,425,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1831,2106,2161,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,1.48,59.0,3355,1831,2161,2050,103.9,11.9,450,2402,0.00,2.08,0.00,0.000,260,0.000,0.035,3355,3187,2105,2161,2050,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2520,1.48,59.0,3355,3187,2162,2050,88.5,11.6,474,2527,0.00,2.10,0.00,0.000,1030,0.000,0.027,3364,1794,2106,2162,2050,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2651,1.48,59.0,3363,1795,2161,2050,73.4,12.0,499,2658,0.00,2.08,0.00,0.000,516,0.000,0.040,3373,417,2105,2161,2050,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2675,1.48,59.0,3373,417,2161,2050,70.3,12.4,503,2682,0.00,2.05,0.00,0.000,1030,0.000,0.024,3373,1818,2106,2162,2050,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2804,1.48,59.0,3373,1818,2161,2050,53.8,12.8,528,2812,0.00,2.10,0.00,0.000,260,0.000,0.036,3373,3197,2106,2162,2050,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2838,1.48,59.0,3373,3197,2161,2050,49.3,13.7,534,2846,0.00,2.10,0.00,0.000,1030,0.000,0.028,3381,1806,2105,2161,2050,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2909,1.48,59.0,2368,1804,2106,2043,40.0,12.6,547,2916,0.00,2.12,0.00,0.000,260,0.000,0.035,3382,3186,2105,2161,2050,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3218,1.48,59.0,2336,3184,2104,2042,6.5,10.4,608,3226,0.10,2.08,0.00,0.000,5126,0.184,0.027,3364,1806,2105,2162,2049,0,0,0,0,0,0,26.41,26.60,28.83
$STATE,3268,end climb,SURFACE_DEPTH_REACHED
$STATE,3268,begin surface coast
$FINISH,0.2,1.021946
$STATE,3290,end surface coast,CONTROL_FINISHED_OK
$STATE,3290,begin surface
$SM_CCo,3305,69.50,0.676,0,0,1401,235.12
$SM_GC,1.81,8.52,0.43,69.50,0.057,0.037,0.676,193,2108,1401,-8.31,-1.75,235.12,0,0,0,0,0,0,26.58,26.65,25.03
$IRIDIUM_FIX,4726.11,-12226.80,300308,020238
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.59
$INTERNAL_PRESSURE,9.03986
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,24.2,3.972
$10V_AH,10.4,7.791
$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,20.575,51.600,84.250,69.500,0.000,55.327,82.639,228.266,0.000,0.000,7.897,1441.562,507.900,262.149,1639.308,45.962,33.197,766.975,0.000,1242.181,0.000,0.547,0.000
$DEVICE_MAMPS,234.855,54.315,1211.760,676.260,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.883,841.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322604
$DATA_FILE_SIZE,30237,621
$CAP_FILE_SIZE,66711,0
$CFSIZE,1024393216,1018200064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,141347,4743.175,-12224.902,6,1.2,6,16.3