version: 66.10
glider: 206
mission: 1
dive: 23
start: 9 4 113 6 17 15
data:
$ID,206
$MISSION,1
$DIVE,23
$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,260
$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,-1242.3033
$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,26
$R_STBD_OVSHOOT,35
$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,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
$DEVICE2,101
$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
$GPS1,040913,130856,4744.385,-12223.620,11,0.8,11,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.8
$GPS2,040913,131545,4744.403,-12223.530,12,0.8,12,16.3
$SPEED_LIMITS,0.146,0.277
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,-0.263
$KALMAN_X,-3229.6,1204.9,-25.8,3371.4,-77.4
$KALMAN_Y,-4999.5,1444.0,-794.1,7310.0,170.5
$MHEAD_RNG_PITCHd_Wd,182.5,3529,-12.4,-8.451
$D_GRID,161
$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,-0.80,-195.5,0.0,0.0,0,63,0.00,0.00,-46.40,0.000,2,0.000,0.000,184,1962,2255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.80,-195.5,3.1,-5.8,6,98,9.10,2.28,-12.57,0.000,4,0.242,0.063,2441,3375,2823,0,0,0,0,0,0,26.12,26.31,26.60
$GC,336,-0.80,-195.5,40.0,-13.4,51,345,0.00,2.20,0.00,0.000,6,0.000,0.038,2441,1964,2823,0,0,0,0,0,0,28.83,26.48,28.83
$GC,422,-0.80,-195.5,52.6,-16.1,67,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1964,2823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,580,-0.80,-195.5,78.0,-15.5,98,588,0.00,2.22,0.00,0.000,4,0.000,0.047,2434,3366,2823,0,0,0,0,0,0,28.83,26.55,28.83
$GC,620,-0.80,-195.5,84.3,-15.7,105,627,0.00,2.15,0.00,0.000,6,0.000,0.040,2435,1953,2823,0,0,0,0,0,0,28.83,26.58,28.83
$GC,781,-0.80,-195.5,107.8,-11.9,136,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1952,2823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.80,-195.5,124.5,-11.3,167,947,0.00,2.15,0.00,0.000,4,0.000,0.049,2434,553,2823,0,0,0,0,0,0,28.83,26.63,28.83
$GC,976,-0.80,-195.5,128.4,-11.6,173,983,0.00,2.15,0.00,0.000,6,0.000,0.039,2429,1964,2823,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1135,-0.80,-195.5,145.9,-12.6,204,1143,0.00,2.22,0.00,0.000,4,0.000,0.050,2423,3380,2823,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1235,-0.80,-195.5,159.8,-13.4,223,1242,0.12,2.15,0.00,0.000,6,0.171,0.041,2453,1963,2823,0,0,0,0,0,0,26.58,26.70,28.83
$STATE,1249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1249,begin apogee
$GC,1252,-0.22,0.0,161.9,-13.7,225,1404,0.57,0.00,145.12,1.090,6,0.135,0.000,2637,1962,2025,0,0,0,0,0,0,26.58,28.83,24.07
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1406,0.80,195.5,167.8,0.0,248,1566,1.02,2.42,148.45,1.074,4,0.102,0.048,2966,3366,1228,0,0,0,0,0,0,24.87,24.73,24.01
$GC,1597,0.80,195.5,154.7,11.0,278,1606,0.00,2.30,0.00,0.000,6,0.000,0.043,2967,1975,1228,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1758,0.80,195.5,137.3,12.3,309,1765,0.00,2.30,0.00,0.000,4,0.000,0.055,2970,559,1226,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1832,0.80,195.5,128.0,12.2,323,1839,0.00,2.20,0.00,0.000,6,0.000,0.039,2970,1967,1225,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1990,0.80,195.5,108.6,11.9,354,1999,0.00,2.30,0.00,0.000,4,0.000,0.055,2970,558,1225,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2045,0.80,195.5,102.1,12.1,364,2053,0.00,2.22,0.00,0.000,6,0.000,0.041,2970,1961,1225,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2205,0.80,195.5,84.9,10.7,395,2212,0.00,2.22,0.00,0.000,4,0.000,0.054,2970,558,1225,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2239,0.80,195.5,81.3,10.8,401,2246,0.00,2.17,0.00,0.000,6,0.000,0.041,2970,1968,1225,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2398,0.80,198.5,66.0,8.4,432,2407,0.00,2.22,1.08,0.338,4,0.000,0.050,2970,3366,1214,0,0,0,0,0,0,28.83,26.41,26.20
$GC,2451,0.80,198.5,61.8,8.8,441,2457,0.00,2.17,0.00,0.000,6,0.000,0.044,2970,1955,1215,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2608,0.80,198.5,47.4,9.1,472,2617,0.00,2.25,0.00,0.000,4,0.000,0.050,2969,3365,1214,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2689,0.80,198.5,39.9,9.6,487,2698,0.00,2.20,0.00,0.000,6,0.000,0.044,2970,1973,1214,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2786,0.80,198.5,30.9,9.2,503,2795,0.00,2.25,0.00,0.000,4,0.000,0.055,2970,562,1214,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2975,0.80,198.5,12.4,10.0,535,2984,0.00,2.20,0.00,0.000,6,0.000,0.040,2970,1974,1214,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3072,0.80,198.5,3.6,8.8,551,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1974,1214,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3092,end climb,SURFACE_DEPTH_REACHED
$STATE,3092,begin surface coast
$FINISH,0.3,0.999715
$STATE,3129,end surface coast,CONTROL_FINISHED_OK
$STATE,3129,begin surface
$SM_CCo,3142,23.50,0.119,0,0,961,260.02
$SM_GC,2.49,7.47,0.00,23.50,0.057,0.000,0.119,182,1974,961,-7.83,0.25,260.02,0,0,0,0,0,0,26.63,28.83,26.47
$IRIDIUM_FIX,4726.11,-12222.38,040913,121256
$TT8_MAMPS,0.030709,0.030709
$HUMID,61.14
$INTERNAL_PRESSURE,8.77617
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.8,10.3
$24V_AH,24.0,1.598
$10V_AH,10.3,1.325
$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,18.300,48.975,294.650,23.500,0.000,18.510,36.136,277.552,0.500,0.000,15.438,1228.156,101.434,350.172,1864.708,50.990,33.208,915.742,0.000,1508.261,0.000,5.473,0.000
$DEVICE_MAMPS,241.740,62.730,1090.125,118.575,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.400,1190.165,1131.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,36955,560
$CAP_FILE_SIZE,62486,0
$CFSIZE,1024393216,1020624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,141035,4744.243,-12223.854,30,0.7,30,16.3