version: 66.10
glider: 206
mission: 1
dive: 20
start: 9 4 113 3 22 3
data:
$ID,206
$MISSION,1
$DIVE,20
$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,200
$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,300
$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,-1173.9772
$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,2716
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.299999
$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,21
$R_STBD_OVSHOOT,33
$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,3
$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
$GPS1,040913,101434,4744.123,-12223.635,37,1.1,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-65.8
$GPS2,040913,102034,4744.087,-12223.646,5,0.9,5,16.3
$SPEED_LIMITS,0.146,0.277
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,0.206
$KALMAN_X,-2485.5,470.4,-228.8,3420.5,384.4
$KALMAN_Y,-5612.0,1787.6,-269.4,6480.2,-593.1
$MHEAD_RNG_PITCHd_Wd,329.3,276,-17.9,-8.451
$D_GRID,164
$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,14,-0.93,-106.3,0.0,0.0,0,63,0.00,0.00,-46.67,0.000,2,0.000,0.000,192,1958,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.99,-153.1,3.1,-5.9,6,90,8.90,0.00,-8.25,0.000,6,0.245,0.000,2388,1956,2649,0,0,0,0,0,0,26.09,28.83,26.58
$GC,178,-0.99,-153.1,20.6,-15.6,24,187,0.00,2.25,0.00,0.000,4,0.000,0.048,2379,3365,2649,0,0,0,0,0,0,28.83,26.36,28.83
$GC,395,-0.99,-153.1,54.4,-13.2,63,401,0.00,2.17,0.00,0.000,6,0.000,0.039,2379,1953,2649,0,0,0,0,0,0,28.83,26.49,28.83
$GC,555,-0.99,-153.1,78.6,-14.9,94,563,0.00,2.20,0.00,0.000,4,0.000,0.050,2379,559,2650,0,0,0,0,0,0,28.83,26.53,28.83
$GC,599,-0.99,-153.1,85.6,-15.0,102,608,0.00,2.20,0.00,0.000,6,0.000,0.038,2372,1961,2649,0,0,0,0,0,0,28.83,26.57,28.83
$GC,763,-0.99,-153.1,109.1,-14.3,133,770,0.00,2.20,0.00,0.000,4,0.000,0.048,2361,3391,2649,0,0,0,0,0,0,28.83,26.58,28.83
$GC,830,-0.99,-153.1,119.4,-15.0,146,840,0.10,2.22,0.00,0.000,6,0.162,0.041,2390,1958,2650,0,0,0,0,0,0,26.48,26.63,28.83
$GC,991,-0.99,-153.1,141.1,-13.8,177,998,0.00,2.22,0.00,0.000,4,0.000,0.049,2384,3392,2650,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1045,-0.99,-153.1,149.1,-14.5,187,1051,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1959,2649,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1152,begin apogee
$GC,1155,-0.22,0.0,164.4,-12.9,208,1275,0.80,0.00,113.88,1.101,6,0.149,0.000,2632,1958,2025,0,0,0,0,0,0,26.54,28.83,24.14
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1277,0.99,153.1,168.6,0.0,226,1405,1.23,2.40,116.38,1.089,4,0.103,0.054,3024,568,1400,0,0,0,0,0,0,24.92,24.75,24.02
$GC,1470,0.99,153.1,151.1,12.9,258,1479,0.00,2.30,0.00,0.000,6,0.000,0.043,3024,1969,1400,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1631,0.99,153.1,132.2,12.3,289,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1969,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,0.99,153.1,111.6,13.2,320,1798,0.00,2.30,0.00,0.000,4,0.000,0.054,3024,559,1399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1890,0.99,153.1,97.8,12.4,339,1897,0.00,2.22,0.00,0.000,6,0.000,0.041,3025,1979,1399,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2049,0.99,153.1,76.6,12.8,370,2057,0.00,2.22,0.00,0.000,4,0.000,0.051,3025,3372,1399,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2162,0.99,153.1,60.6,13.7,392,2171,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,1979,1399,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2323,0.99,153.1,40.1,11.7,423,2329,0.00,2.25,0.00,0.000,4,0.000,0.056,3025,548,1399,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2394,0.99,153.1,31.8,11.8,435,2403,0.00,2.22,0.00,0.000,6,0.000,0.042,3025,1961,1399,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2492,0.99,153.1,21.4,10.2,451,2500,0.00,2.25,0.00,0.000,4,0.000,0.051,3026,3378,1399,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2577,0.99,153.1,11.8,11.9,465,2586,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,1967,1399,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2674,0.99,153.1,2.5,10.1,481,2682,0.00,2.25,0.00,0.000,4,0.000,0.057,3025,558,1399,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,2691,end climb,SURFACE_DEPTH_REACHED
$STATE,2691,begin surface coast
$FINISH,0.3,0.999219
$STATE,2720,end surface coast,CONTROL_FINISHED_OK
$STATE,2721,begin surface
$SM_CCo,2736,56.83,0.114,0,0,798,300.00
$SM_GC,2.11,7.70,2.25,56.83,0.061,0.041,0.114,184,1979,798,-7.83,-0.62,300.00,0,0,0,0,0,0,26.59,26.60,26.36
$IRIDIUM_FIX,4726.11,-12220.67,040913,090912
$TT8_MAMPS,0.030709,0.030709
$HUMID,60.27
$INTERNAL_PRESSURE,8.75664
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,7.7
$24V_AH,24.0,1.384
$10V_AH,10.4,1.146
$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,18.725,44.750,230.250,56.825,0.000,23.321,33.618,233.764,0.500,0.000,8.356,1088.908,92.463,326.075,1628.778,38.988,33.199,816.812,0.000,1316.755,0.000,5.463,0.000
$DEVICE_MAMPS,244.800,56.610,1100.835,113.985,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.844,1035.662,983.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323408
$DATA_FILE_SIZE,30295,488
$CAP_FILE_SIZE,54781,0
$CFSIZE,1024393216,1020854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,110843,4744.322,-12223.653,3,1.1,3,16.3