version: 66.10
glider: 206
mission: 1
dive: 21
start: 9 4 113 4 19 6
data:
$ID,206
$MISSION,1
$DIVE,21
$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,-1191.6788
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,040913,110843,4744.322,-12223.653,3,1.1,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.2
$GPS2,040913,111738,4744.301,-12223.646,4,1.3,4,16.3
$SPEED_LIMITS,0.146,0.277
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.049,0.138
$KALMAN_X,-2540.7,705.9,-219.9,3229.8,317.7
$KALMAN_Y,-6001.7,1992.3,-477.6,7264.5,-574.6
$MHEAD_RNG_PITCHd_Wd,324.3,261,-27.0,-8.451
$D_GRID,163
$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,-1.27,-49.1,0.0,0.0,0,63,0.00,0.00,-45.25,0.000,6,0.000,0.000,183,1982,2224,0,0,0,0,0,0,28.83,28.83,26.64
$GC,65,-1.30,-71.4,3.1,-5.9,6,82,8.50,0.00,-2.10,0.000,6,0.245,0.000,2286,1982,2315,0,0,0,0,0,0,26.12,28.83,26.55
$GC,170,-1.30,-71.4,21.8,-19.1,23,179,0.00,2.20,0.00,0.000,4,0.000,0.047,2278,3373,2315,0,0,0,0,0,0,28.83,26.38,28.83
$GC,261,-1.30,-71.4,37.8,-16.8,38,270,0.00,2.20,0.00,0.000,6,0.000,0.038,2278,1962,2315,0,0,0,0,0,0,28.83,26.44,28.83
$GC,347,-1.30,-71.4,51.6,-14.9,54,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,1962,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,506,-1.30,-71.4,74.9,-13.9,85,513,0.00,2.20,0.00,0.000,4,0.000,0.047,2268,3381,2316,0,0,0,0,0,0,28.83,26.53,28.83
$GC,763,-1.30,-71.4,110.3,-12.2,135,770,0.12,2.15,0.00,0.000,6,0.199,0.038,2295,1962,2316,0,0,0,0,0,0,26.46,26.62,28.83
$GC,920,-1.30,-71.4,128.2,-13.1,166,929,0.00,2.22,0.00,0.000,4,0.000,0.047,2286,3374,2315,0,0,0,0,0,0,28.83,26.64,28.83
$GC,990,-1.30,-71.4,137.2,-13.0,179,997,0.00,2.15,0.00,0.000,6,0.000,0.038,2286,1966,2316,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1148,-1.30,-71.4,155.9,-12.0,210,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1965,2315,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1210,-0.22,0.0,163.4,-13.1,221,1270,1.17,0.00,53.03,1.089,6,0.167,0.000,2637,1964,2026,0,0,0,0,0,0,26.54,28.83,24.77
$STATE,1271,end apogee,CONTROL_FINISHED_OK
$STATE,1271,begin climb
$GC,1272,1.30,71.4,166.8,0.0,230,1334,1.48,0.00,54.53,1.080,6,0.103,0.000,3122,1964,1734,0,0,0,0,0,0,25.48,28.83,24.20
$GC,1486,1.30,71.4,146.9,10.8,269,1492,0.00,2.28,0.00,0.000,4,0.000,0.049,3123,3382,1734,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1771,1.30,71.4,108.3,15.7,325,1777,0.00,2.20,0.00,0.000,6,0.000,0.042,3127,1969,1734,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1928,1.30,71.4,88.6,11.7,356,1937,0.00,2.25,0.00,0.000,4,0.000,0.050,3126,3370,1733,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2132,1.30,71.4,67.1,9.6,396,2141,0.00,2.22,0.00,0.000,6,0.000,0.044,3127,1960,1733,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2294,1.30,74.6,54.0,8.1,427,2300,0.00,0.00,1.60,0.286,6,0.000,0.000,3127,1960,1718,0,0,0,0,0,0,28.83,28.83,26.30
$GC,2452,1.31,77.3,40.5,8.1,458,2461,0.00,2.22,1.17,0.275,4,0.000,0.053,3128,563,1706,0,0,0,0,0,0,28.83,26.54,26.37
$GC,2479,1.31,77.3,38.2,9.5,462,2487,0.00,2.20,0.00,0.000,6,0.000,0.041,3128,1965,1707,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2576,1.31,77.3,28.7,9.9,478,2584,0.00,2.25,0.00,0.000,4,0.000,0.052,3129,3383,1707,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2661,1.31,84.6,21.6,7.6,492,2671,0.00,2.22,2.60,0.177,6,0.000,0.046,3128,1970,1676,0,0,0,0,0,0,28.83,26.60,26.45
$GC,2760,1.34,106.3,15.2,5.9,508,2776,0.00,0.00,8.20,0.152,6,0.000,0.000,3129,1970,1586,0,0,0,0,0,0,28.83,28.83,26.47
$GC,2864,1.34,106.3,6.8,8.7,525,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1970,1585,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2919,end climb,SURFACE_DEPTH_REACHED
$STATE,2919,begin surface coast
$FINISH,0.3,1.008631
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2963,73.88,0.115,0,0,797,300.00
$SM_GC,1.64,7.97,0.00,73.88,0.063,0.000,0.115,187,1970,797,-7.82,0.08,300.00,0,0,0,0,0,0,26.63,28.83,26.37
$IRIDIUM_FIX,4726.11,-12220.67,040913,101036
$TT8_MAMPS,0.031458,0.031458
$HUMID,60.00
$INTERNAL_PRESSURE,8.75664
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,7.7
$24V_AH,24.2,1.436
$10V_AH,10.4,1.204
$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,19.250,30.975,121.125,73.875,0.000,75.279,62.630,201.834,0.500,0.000,8.353,1240.886,232.266,263.476,1811.224,42.359,33.195,749.528,0.000,1448.594,0.000,5.463,0.000
$DEVICE_MAMPS,244.800,52.785,1088.595,114.750,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.830,1140.496,1085.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323456
$DATA_FILE_SIZE,33827,539
$CAP_FILE_SIZE,58718,0
$CFSIZE,1024393216,1020772352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,120951,4744.512,-12223.750,3,1.1,3,16.3