version: 66.10
glider: 206
mission: 1
dive: 24
start: 9 4 113 7 19 7
data:
$ID,206
$MISSION,1
$DIVE,24
$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,-1286.5554
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,040913,141035,4744.243,-12223.854,30,0.7,30,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.0
$GPS2,040913,141739,4744.277,-12223.883,4,0.7,4,16.3
$SPEED_LIMITS,0.146,0.277
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,-0.277
$KALMAN_X,-3395.9,1246.7,-3.6,3031.6,-237.3
$KALMAN_Y,-3811.1,824.9,-570.6,6285.5,684.3
$MHEAD_RNG_PITCHd_Wd,160.2,3137,-12.4,-8.451
$D_GRID,170
$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,-46.35,0.000,2,0.000,0.000,182,1975,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.80,-195.5,3.7,-7.7,6,91,9.12,2.28,-7.38,0.000,4,0.242,0.060,2452,556,2821,0,0,0,0,0,0,26.08,26.29,26.57
$GC,305,-0.80,-195.5,40.8,-14.2,46,314,0.00,2.20,0.00,0.000,6,0.000,0.036,2445,1961,2821,0,0,0,0,0,0,28.83,26.46,28.83
$GC,466,-0.80,-195.5,63.8,-14.3,77,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1961,2821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,623,-0.80,-195.5,85.4,-13.4,108,632,0.00,2.22,0.00,0.000,4,0.000,0.048,2434,3373,2821,0,0,0,0,0,0,28.83,26.54,28.83
$GC,701,-0.80,-195.5,95.8,-13.2,122,710,0.00,2.20,0.00,0.000,6,0.000,0.038,2435,1953,2821,0,0,0,0,0,0,28.83,26.60,28.83
$GC,862,-0.80,-195.5,118.1,-13.1,153,869,0.00,2.20,0.00,0.000,4,0.000,0.048,2430,3372,2821,0,0,0,0,0,0,28.83,26.60,28.83
$GC,909,-0.80,-195.5,125.0,-13.3,162,918,0.00,2.17,0.00,0.000,6,0.000,0.039,2429,1967,2821,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1070,-0.80,-195.5,147.0,-13.9,193,1077,0.00,2.17,0.00,0.000,4,0.000,0.048,2425,3372,2821,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1099,-0.80,-195.5,151.4,-14.1,198,1108,0.08,2.17,0.00,0.000,6,0.151,0.039,2450,1966,2821,0,0,0,0,0,0,26.55,26.65,28.83
$STATE,1253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1253,begin apogee
$GC,1256,-0.22,0.0,170.5,-10.9,228,1410,0.60,0.00,144.68,1.088,6,0.138,0.000,2642,1965,2027,0,0,0,0,0,0,26.59,28.83,24.08
$STATE,1411,end apogee,CONTROL_FINISHED_OK
$STATE,1411,begin climb
$GC,1412,0.80,195.5,176.5,0.0,251,1572,1.00,2.40,148.32,1.076,4,0.101,0.047,2963,3364,1229,0,0,0,0,0,0,24.91,24.73,24.01
$GC,1607,0.80,195.5,162.4,11.4,282,1616,0.00,2.30,0.00,0.000,6,0.000,0.041,2964,1973,1229,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1768,0.80,195.5,145.7,10.1,313,1775,0.00,2.28,0.00,0.000,4,0.000,0.054,2964,556,1227,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1806,0.80,195.5,141.6,9.8,320,1815,0.00,2.25,0.00,0.000,6,0.000,0.039,2964,1961,1226,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1968,0.80,195.5,126.0,9.7,351,1975,0.00,2.25,0.00,0.000,4,0.000,0.053,2964,551,1226,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2037,0.80,195.5,118.2,11.4,364,2046,0.00,2.25,0.00,0.000,6,0.000,0.040,2964,1971,1226,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2198,0.80,195.5,99.2,11.2,395,2205,0.00,2.20,0.00,0.000,4,0.000,0.050,2964,3376,1226,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2302,0.80,195.5,87.7,10.9,415,2309,0.00,2.20,0.00,0.000,6,0.000,0.044,2964,1954,1226,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2460,0.80,195.5,71.3,9.8,446,2468,0.00,2.22,0.00,0.000,4,0.000,0.054,2965,563,1226,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2504,0.80,195.5,67.3,8.6,454,2512,0.00,2.20,0.00,0.000,6,0.000,0.041,2964,1966,1226,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2664,0.80,195.5,52.5,9.9,485,2670,0.00,2.20,0.00,0.000,4,0.000,0.054,2965,558,1226,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2718,0.80,195.5,47.2,9.7,495,2725,0.00,2.17,0.00,0.000,6,0.000,0.041,2965,1979,1226,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2889,0.84,229.4,32.7,7.5,526,2913,0.00,2.30,13.82,0.193,4,0.000,0.054,2965,558,1085,0,0,0,0,0,0,28.83,26.50,26.36
$GC,2973,0.84,229.4,26.1,8.8,539,2982,0.00,2.20,0.00,0.000,6,0.000,0.040,2965,1965,1085,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3070,0.84,229.4,17.7,9.9,555,3079,0.00,2.22,0.00,0.000,4,0.000,0.050,2965,3372,1085,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3115,0.84,229.4,12.8,11.5,562,3124,0.00,2.20,0.00,0.000,6,0.000,0.044,2965,1971,1085,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3213,0.85,237.9,3.6,8.2,578,3222,0.00,2.22,3.05,0.145,4,0.000,0.054,2965,551,1048,0,0,0,0,0,0,28.83,26.56,26.51
$STATE,3235,end climb,SURFACE_DEPTH_REACHED
$STATE,3235,begin surface coast
$FINISH,0.4,1.010744
$STATE,3271,end surface coast,CONTROL_FINISHED_OK
$STATE,3271,begin surface
$SM_CCo,3287,7.78,0.129,0,0,961,260.02
$SM_GC,2.87,7.47,2.25,7.78,0.057,0.041,0.129,185,1975,961,-7.82,-0.79,260.02,0,0,0,0,0,0,26.60,26.61,26.48
$IRIDIUM_FIX,4726.11,-12217.96,040913,131358
$TT8_MAMPS,0.031458,0.031458
$HUMID,61.22
$INTERNAL_PRESSURE,8.76641
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,10.3
$24V_AH,24.0,1.708
$10V_AH,10.3,1.389
$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,18.275,57.950,309.875,7.775,0.000,22.847,37.732,288.979,0.500,0.000,8.405,1286.326,109.770,343.868,1946.100,51.756,33.202,936.534,0.000,1572.383,0.000,5.474,0.000
$DEVICE_MAMPS,241.740,59.670,1087.830,128.520,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.574,1235.680,1171.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36965,587
$CAP_FILE_SIZE,65342,0
$CFSIZE,1024393216,1020559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,151409,4744.126,-12223.923,2,0.9,2,16.3