version: 66.11
glider: 205
mission: 6
dive: 6
start: 6 2 115 23 3 2
data:
$ID,205
$MISSION,6
$DIVE,6
$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,-2657.5818
$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,38
$R_STBD_OVSHOOT,50
$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
$GPS1,020615,225527,4743.346,-12224.994,19,0.9,19,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.2
$GPS2,020615,230203,4743.344,-12224.997,26,1.0,26,16.3
$SPEED_LIMITS,0.160,0.255
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.074,0.244
$KALMAN_X,-425.0,11.2,140.0,297.1,-292.8
$KALMAN_Y,-2332.8,-790.7,183.9,3719.5,-970.3
$MHEAD_RNG_PITCHd_Wd,0.6,1058,-16.9,-9.231,-19.93,2419
$D_GRID,179
$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,-146.6,192,2003,1483,1254,0.0,0.0,0,61,0.00,0.00,-43.88,0.000,16386,0.000,0.000,192,2003,2647,2659,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.94,-146.6,192,2003,2659,2636,3.1,-7.5,7,86,9.93,2.33,-5.90,0.000,19204,0.237,0.057,2583,582,2912,2936,2889,0,0,0,0,0,0,25.70,26.27,26.71
$GC,434,-0.94,-146.6,1584,582,2900,2882,54.1,-13.7,85,441,0.00,2.12,0.00,0.000,1030,0.000,0.028,2574,1992,2913,2938,2889,0,0,0,0,0,0,28.83,26.54,28.83
$GC,564,-0.94,-146.6,2574,1992,2939,2889,71.6,-14.1,110,571,0.00,2.25,0.00,0.000,516,0.000,0.044,2574,581,2914,2939,2889,0,0,0,0,0,0,28.83,26.40,28.83
$GC,828,-0.94,-146.6,1544,581,2898,2882,105.9,-11.7,169,835,0.00,2.12,0.00,0.000,1030,0.000,0.028,2564,1994,2914,2939,2890,0,0,0,0,0,0,28.83,26.63,28.83
$GC,961,-0.94,-146.6,2564,1994,2939,2889,120.9,-11.7,194,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1994,2914,2939,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1095,-0.94,-146.6,2564,1994,2938,2889,134.7,-9.9,219,1102,0.00,2.20,0.00,0.000,516,0.000,0.043,2564,581,2914,2939,2889,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1165,-0.94,-146.6,1568,580,2900,2882,142.0,-10.3,233,1173,0.12,2.12,0.00,0.000,3078,0.174,0.028,2585,1997,2914,2939,2889,0,0,0,0,0,0,26.26,26.66,28.83
$GC,1300,-0.94,-146.6,2585,1997,2939,2889,156.6,-11.8,258,1307,0.00,2.15,0.00,0.000,260,0.000,0.043,2576,3385,2914,2939,2889,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1415,-0.94,-146.6,1536,3384,2898,2881,168.9,-11.4,283,1421,0.00,2.08,0.00,0.000,1030,0.000,0.029,2576,1977,2914,2939,2889,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,1502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1503,begin apogee
$GC,1507,-0.27,0.0,2576,1977,2939,2889,179.3,-10.4,300,1624,0.68,0.00,112.68,1.434,10246,0.125,0.000,2793,1976,2329,2420,2238,0,0,0,0,0,0,25.87,28.83,23.81
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1627,0.94,146.6,2792,1976,2422,2238,183.9,0.0,320,1750,1.17,0.00,116.00,1.375,10246,0.083,0.000,3182,1976,1745,1891,1599,0,0,0,0,0,0,24.98,28.83,23.37
$GC,1875,0.94,146.6,3182,1976,1891,1600,163.5,11.1,365,1882,0.00,2.22,0.00,0.000,516,0.000,0.044,3182,598,1745,1891,1600,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1978,0.94,146.6,2128,598,1846,1593,152.3,10.9,388,1985,0.00,2.20,0.00,0.000,1030,0.000,0.028,3183,1998,1744,1890,1599,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2110,0.94,146.6,3182,1998,1891,1599,139.0,11.0,413,2116,0.00,2.22,0.00,0.000,516,0.000,0.046,3182,596,1744,1890,1599,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2245,0.94,146.6,2128,596,1845,1593,123.8,11.3,443,2251,0.00,2.12,0.00,0.000,1030,0.000,0.028,3182,1998,1744,1890,1599,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2375,0.94,146.6,3182,1998,1890,1599,108.4,11.5,468,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1999,1744,1890,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2505,0.94,146.6,3182,1999,1889,1599,93.9,11.4,493,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1999,1744,1890,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2634,0.94,146.6,3182,1998,1889,1599,78.2,11.9,518,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1999,1744,1889,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,0.94,146.6,3182,1998,1889,1599,62.6,11.7,543,2772,0.00,2.20,0.00,0.000,516,0.000,0.045,3182,593,1744,1889,1599,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2875,0.94,146.6,3182,593,1889,1600,49.9,11.1,567,2882,0.00,2.15,0.00,0.000,1030,0.000,0.028,3182,1996,1744,1889,1600,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2945,0.94,146.6,2128,1994,1844,1594,41.8,10.4,580,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1996,1744,1889,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3014,0.95,228.1,2128,1994,1842,1593,38.0,5.8,593,3048,0.00,2.25,29.20,0.926,8452,0.000,0.043,3182,3394,1417,1583,1252,0,0,0,0,0,0,28.83,26.16,25.22
$GC,3073,0.95,228.1,3182,3394,1582,1252,31.5,13.3,603,3081,0.00,2.17,0.00,0.000,1030,0.000,0.031,3182,1995,1417,1582,1252,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3143,0.95,228.1,2144,1992,1550,1249,22.8,12.4,616,3151,0.00,2.28,0.00,0.000,516,0.000,0.044,3182,577,1416,1580,1252,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3264,0.95,228.1,3182,578,1578,1252,9.1,9.9,641,3271,0.00,2.17,0.00,0.000,1030,0.000,0.027,3183,1992,1415,1579,1252,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,3332,end climb,SURFACE_DEPTH_REACHED
$STATE,3332,begin surface coast
$FINISH,0.3,1.021751
$STATE,3348,end surface coast,CONTROL_FINISHED_OK
$STATE,3348,begin surface
$SM_CCo,3363,3.67,0.529,0,0,1370,240.15
$SM_GC,2.60,7.82,0.00,3.67,0.032,0.000,0.529,194,1993,1370,-8.34,0.06,240.15,0,0,0,0,0,0,26.40,28.83,25.18
$IRIDIUM_FIX,4726.11,-12226.80,290308,121203
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.01
$INTERNAL_PRESSURE,9.01062
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.3,60.6
$24V_AH,23.4,40.219
$10V_AH,10.2,33.722
$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,19.725,39.375,257.875,3.675,0.000,32.106,47.091,206.144,3.000,0.000,27.427,1442.937,297.896,306.371,1621.048,110.467,33.215,872.557,0.000,1316.533,0.000,22.621,0.000
$DEVICE_MAMPS,237.150,56.610,1434.375,529.380,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.959,887.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322232
$DATA_FILE_SIZE,33440,657
$CAP_FILE_SIZE,65441,0
$CFSIZE,1024393216,1020887040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020615,235951,4743.333,-12225.271,6,1.7,6,16.3