version: 66.11
glider: 205
mission: 6
dive: 5
start: 6 2 115 21 55 30
data:
$ID,205
$MISSION,6
$DIVE,5
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,35
$D_BOOST,0
$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,65
$T_MISSION,70
$T_ABORT,1440
$T_TURN,300
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53045
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$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,240
$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,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2656.2292
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.299999
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3984
$ROLL_DEG,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2328
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,5
$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,-60.397808
$PRESSURE_SLOPE,0.0001159995
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.98000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,147
$DEVICE3,-1
$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,0.0043419907
$SEABIRD_T_H,0.000621902
$SEABIRD_T_I,2.2352948e-05
$SEABIRD_T_J,2.3392056e-06
$SEABIRD_C_G,-9.6916523
$SEABIRD_C_H,1.1209148
$SEABIRD_C_I,-0.0012442283
$SEABIRD_C_J,0.0001684351
$GPS1,020615,214449,4743.531,-12224.999,3,1.5,4,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.6
$GPS2,020615,215431,4743.496,-12224.973,5,1.4,5,16.3
$SPEED_LIMITS,0.160,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.060,0.247
$KALMAN_X,-208.8,21.0,169.4,73.7,-146.5
$KALMAN_Y,-1267.0,-608.3,127.3,2812.4,-654.0
$MHEAD_RNG_PITCHd_Wd,357.4,779,-16.9,-9.231,-19.93,2419
$D_GRID,178
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,-0.94,-146.6,190,2002,1479,1259,0.0,0.0,0,66,0.00,0.00,-49.33,0.000,16386,0.000,0.000,190,2001,2838,2842,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.94,-146.6,190,2002,2843,2834,3.6,-7.9,8,90,9.98,2.20,-1.58,0.000,18692,0.239,0.057,2569,3380,2913,2929,2898,0,0,0,0,0,0,25.72,26.30,26.67
$GC,98,-0.94,-146.6,2570,3380,2930,2898,10.3,-21.0,12,105,0.00,2.15,0.00,0.000,1030,0.000,0.030,2569,1978,2914,2930,2898,0,0,0,0,0,0,28.83,26.38,28.83
$GC,168,-0.94,-146.6,1552,1976,2889,2891,18.8,-12.2,25,175,0.00,2.20,0.00,0.000,260,0.000,0.043,2560,3375,2914,2930,2898,0,0,0,0,0,0,28.83,26.29,28.83
$GC,521,-0.94,-146.6,1536,3374,2890,2891,55.7,-9.9,101,527,0.00,2.08,0.00,0.000,1030,0.000,0.030,2559,1981,2914,2931,2898,0,0,0,0,0,0,28.83,26.53,28.83
$GC,650,-0.94,-146.6,2559,1981,2932,2898,69.5,-10.3,126,657,0.00,2.17,0.00,0.000,260,0.000,0.043,2550,3374,2915,2932,2898,0,0,0,0,0,0,28.83,26.42,28.83
$GC,868,-0.94,-146.6,1536,3372,2890,2891,94.8,-12.5,175,876,0.15,2.05,0.00,0.000,3078,0.151,0.031,2589,1987,2915,2932,2898,0,0,0,0,0,0,26.19,26.58,28.83
$GC,999,-0.94,-146.6,2589,1987,2932,2898,109.1,-9.6,200,1007,0.00,2.20,0.00,0.000,516,0.000,0.045,2589,595,2915,2932,2898,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1183,-0.94,-146.6,1536,595,2890,2891,126.2,-10.4,239,1189,0.00,2.08,0.00,0.000,1030,0.000,0.028,2580,1983,2915,2932,2898,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1318,-0.94,-146.6,2580,1982,2932,2898,141.4,-10.2,264,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1982,2915,2932,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,-0.94,-146.6,2580,1982,2932,2898,153.3,-8.5,289,1455,0.00,2.12,0.00,0.000,260,0.000,0.042,2570,3383,2915,2932,2898,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1541,-0.94,-146.6,1544,3381,2891,2891,162.2,-9.4,309,1547,0.00,2.08,0.00,0.000,1030,0.000,0.030,2570,1982,2915,2933,2898,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1671,-0.94,-146.6,2570,1982,2932,2898,175.7,-10.2,334,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1982,2915,2932,2898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1693,begin apogee
$GC,1697,-0.27,0.0,2570,1982,2932,2898,178.5,-11.3,338,1814,0.70,0.00,112.75,1.436,10246,0.121,0.000,2796,1981,2328,2418,2238,0,0,0,0,0,0,25.81,28.83,23.79
$STATE,1815,end apogee,CONTROL_FINISHED_OK
$STATE,1816,begin climb
$GC,1817,0.94,146.6,2795,1981,2421,2239,182.3,0.0,358,1941,1.17,0.00,117.55,1.480,10246,0.077,0.000,3192,1980,1745,1890,1600,0,0,0,0,0,0,25.01,28.83,23.26
$GC,2066,0.94,146.6,3191,1981,1891,1601,159.8,12.8,403,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1981,1746,1891,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2195,0.94,146.6,3191,1981,1890,1600,143.9,10.6,428,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1981,1745,1891,1600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,0.94,146.6,3191,1981,1890,1601,129.0,11.2,453,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1980,1745,1890,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2455,0.94,146.6,3191,1980,1890,1600,115.1,9.4,478,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1980,1745,1890,1600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,0.94,146.6,3191,1981,1891,1600,102.0,10.5,503,2591,0.00,2.17,0.00,0.000,516,0.000,0.044,3191,595,1745,1890,1601,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2747,0.94,146.6,2144,595,1844,1595,78.9,17.3,539,2754,0.00,2.10,0.00,0.000,1030,0.000,0.028,3191,1990,1745,1889,1601,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2878,0.94,146.6,3191,1990,1889,1600,63.3,10.9,564,2885,0.00,2.17,0.00,0.000,260,0.000,0.042,3192,3387,1744,1889,1600,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2932,0.94,146.6,2176,3386,1845,1595,56.9,11.7,575,2938,0.00,2.10,0.00,0.000,1030,0.000,0.031,3191,1984,1744,1889,1600,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3063,0.94,146.6,2128,1982,1843,1594,41.5,11.3,600,3070,0.00,2.20,0.00,0.000,260,0.000,0.043,3192,3388,1744,1888,1600,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3113,0.94,146.6,3192,3389,1889,1600,36.1,10.3,610,3121,0.00,2.15,0.00,0.000,1030,0.000,0.032,3193,1982,1745,1889,1601,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3184,0.94,162.7,2144,1980,1843,1594,29.7,8.6,623,3198,0.00,2.22,5.95,0.783,8708,0.000,0.045,3192,592,1678,1825,1532,0,0,0,0,0,0,28.83,26.60,25.36
$GC,3326,0.94,162.7,3192,593,1824,1531,15.3,10.4,652,3333,0.00,2.15,0.00,0.000,1030,0.000,0.028,3192,1995,1677,1824,1531,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3395,0.94,162.7,2176,1993,1782,1526,8.6,9.6,665,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1995,1677,1824,1531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3465,0.94,186.5,2128,1993,1780,1526,2.7,8.2,678,3479,0.00,2.22,8.35,0.734,8708,0.000,0.044,3192,586,1580,1733,1427,0,0,0,0,0,0,28.83,26.55,25.48
$STATE,3485,end climb,SURFACE_DEPTH_REACHED
$STATE,3485,begin surface coast
$FINISH,0.1,1.021820
$STATE,3505,end surface coast,CONTROL_FINISHED_OK
$STATE,3505,begin surface
$SM_CCo,3522,18.40,0.767,0,0,1369,240.15
$SM_GC,2.94,7.82,2.17,18.40,0.033,0.027,0.767,192,1992,1369,-8.34,-1.50,240.15,0,0,0,0,0,0,26.55,26.60,25.37
$IRIDIUM_FIX,4726.11,-12226.80,290308,111106
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.17
$INTERNAL_PRESSURE,9.02038
$TCM_TEMP,15.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,135.3,61.0
$24V_AH,23.3,40.105
$10V_AH,10.1,33.656
$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,19.825,43.000,244.600,18.400,0.000,89.710,101.042,197.545,3.000,0.000,6.701,1506.904,408.521,327.283,1779.379,117.127,33.201,917.227,0.000,1379.296,0.000,22.408,0.000
$DEVICE_MAMPS,239.445,56.610,1479.510,767.295,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.031,934.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,33636,685
$CAP_FILE_SIZE,70922,0
$CFSIZE,1024393216,1020936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020615,225527,4743.346,-12224.994,19,0.9,19,16.3