version: 66.10
glider: 206
mission: 1
dive: 9
start: 9 3 113 16 53 54
data:
$ID,206
$MISSION,1
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,40
$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,71
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53368
$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,280
$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,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-769.63483
$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,2720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.799999
$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,1966
$C_ROLL_CLIMB,1966
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2024
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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
$CF8_MAXERRORS,20
$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,-43.029884
$PRESSURE_SLOPE,0.0001158948
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.004400393
$SEABIRD_T_H,0.00063796766
$SEABIRD_T_I,2.5839279e-05
$SEABIRD_T_J,3.1328634e-06
$SEABIRD_C_G,-9.7507257
$SEABIRD_C_H,1.1319174
$SEABIRD_C_I,-0.0012900834
$SEABIRD_C_J,0.00018380559
$GPS1,030913,234602,4742.549,-12225.582,20,1.7,20,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.6
$GPS2,030913,235228,4742.539,-12225.603,4,1.6,5,16.3
$SPEED_LIMITS,0.146,0.195
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.147
$KALMAN_X,-1406.8,-400.4,-40.5,591.4,-463.1
$KALMAN_Y,-2259.6,-1289.1,-316.6,3370.2,-404.7
$MHEAD_RNG_PITCHd_Wd,25.0,2712,-19.8,-8.451
$D_GRID,189
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-1.02,-88.0,0.0,0.0,0,60,0.00,0.00,-43.08,0.000,2,0.000,0.000,184,1958,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.02,-88.0,3.0,-6.4,6,81,9.02,2.28,-3.12,0.000,4,0.249,0.066,2384,555,2384,0,0,0,0,0,0,26.06,26.27,26.55
$GC,112,-1.02,-88.0,10.8,-13.8,13,121,0.00,2.22,0.00,0.000,6,0.000,0.041,2376,1958,2384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,200,-1.02,-88.0,22.9,-13.6,29,209,0.00,2.28,0.00,0.000,4,0.000,0.053,2366,3380,2384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,314,-1.02,-88.0,39.2,-15.2,50,323,0.00,2.22,0.00,0.000,6,0.000,0.042,2366,1964,2384,0,0,0,0,0,0,28.83,26.46,28.83
$GC,392,-1.02,-88.0,51.3,-14.6,66,399,0.00,2.22,0.00,0.000,4,0.000,0.050,2357,3381,2384,0,0,0,0,0,0,28.83,26.46,28.83
$GC,528,-1.02,-88.0,70.4,-13.4,94,536,0.12,2.17,0.00,0.000,6,0.190,0.041,2385,1959,2385,0,0,0,0,0,0,26.39,26.54,28.83
$GC,679,-1.02,-88.0,89.0,-11.7,125,685,0.00,2.17,0.00,0.000,4,0.000,0.053,2385,555,2385,0,0,0,0,0,0,28.83,26.56,28.83
$GC,915,-1.02,-88.0,121.3,-14.4,177,922,0.00,2.15,0.00,0.000,6,0.000,0.039,2379,1971,2385,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1062,-1.02,-88.0,138.8,-11.9,208,1071,0.00,2.22,0.00,0.000,4,0.000,0.050,2378,565,2385,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1120,-1.02,-88.0,147.9,-15.1,219,1127,0.00,2.12,0.00,0.000,6,0.000,0.039,2371,1964,2385,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1255,-1.02,-88.0,163.7,-10.2,250,1264,0.00,2.22,0.00,0.000,4,0.000,0.051,2361,3378,2385,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,1420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1420,begin apogee
$GC,1425,-0.23,0.0,180.3,-8.3,285,1496,0.93,0.00,65.78,1.151,6,0.164,0.000,2638,1963,2025,0,0,0,0,0,0,26.55,28.83,24.46
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1498,1.02,88.0,182.5,0.0,296,1571,1.23,0.00,68.10,1.141,6,0.103,0.000,3038,1963,1665,0,0,0,0,0,0,25.26,28.83,24.06
$GC,1710,1.02,88.0,163.7,9.6,337,1717,0.00,2.28,0.00,0.000,4,0.000,0.050,3038,3379,1666,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1917,1.02,88.0,139.8,11.4,378,1926,0.00,2.25,0.00,0.000,6,0.000,0.043,3039,1973,1665,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2078,1.02,88.0,122.3,11.5,409,2085,0.00,2.25,0.00,0.000,4,0.000,0.054,3039,544,1665,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2227,1.02,90.8,107.9,8.3,438,2237,0.00,2.25,1.42,0.386,6,0.000,0.041,3039,1971,1654,0,0,0,0,0,0,28.83,26.44,26.06
$GC,2389,1.04,108.7,95.6,7.3,469,2405,0.00,2.22,7.80,0.798,4,0.000,0.053,3039,3374,1580,0,0,0,0,0,0,28.83,26.32,25.66
$GC,2450,1.06,119.5,90.5,7.8,480,2460,0.00,2.25,4.60,0.685,6,0.000,0.046,3039,1962,1534,0,0,0,0,0,0,28.83,26.39,25.63
$GC,2611,1.06,119.5,76.7,9.3,511,2618,0.00,2.22,0.00,0.000,4,0.000,0.057,3039,551,1535,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2755,1.06,119.5,62.3,10.0,539,2762,0.00,2.20,0.00,0.000,6,0.000,0.044,3039,1973,1535,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2913,1.06,119.5,46.7,9.5,570,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1974,1535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3085,1.06,119.5,30.1,10.4,601,3094,0.00,2.22,0.00,0.000,4,0.000,0.051,3039,3377,1535,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3337,1.07,128.1,5.7,7.9,644,3347,0.00,2.22,3.22,0.135,6,0.000,0.043,3039,1956,1497,0,0,0,0,0,0,28.83,26.66,26.54
$STATE,3382,end climb,SURFACE_DEPTH_REACHED
$STATE,3382,begin surface coast
$FINISH,0.3,1.004600
$STATE,3413,end surface coast,CONTROL_FINISHED_OK
$STATE,3413,begin surface
$SM_CCo,3426,57.70,0.117,0,0,880,280.13
$SM_GC,2.00,7.78,0.00,57.70,0.066,0.000,0.117,184,1956,880,-7.84,-0.28,280.13,0,0,0,0,0,0,26.65,28.83,26.41
$IRIDIUM_FIX,4726.11,-12225.08,030913,222201
$TT8_MAMPS,0.030709,0.030709
$HUMID,62.99
$INTERNAL_PRESSURE,8.76641
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.8,6.3
$24V_AH,24.1,0.623
$10V_AH,10.4,0.553
$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,19.075,48.875,150.925,57.700,0.000,24.521,38.212,244.592,0.500,0.000,9.285,1493.521,142.054,274.634,1929.443,45.457,33.224,834.707,0.000,1583.013,0.000,5.457,0.000
$DEVICE_MAMPS,248.625,65.790,1150.560,117.045,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.155,1205.057,1128.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323448
$DATA_FILE_SIZE,43639,656
$CAP_FILE_SIZE,74617,0
$CFSIZE,1024393216,1021493248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,005235,4742.694,-12225.477,34,1.1,34,16.3