version: 66.11
glider: 205
mission: 6
dive: 12
start: 6 3 115 6 0 48
data:
$ID,205
$MISSION,6
$DIVE,12
$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,75
$T_MISSION,80
$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,235
$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,-2665.2119
$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,2888
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.1
$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,2060
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,48
$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,0
$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
$GPS1,030615,055304,4743.325,-12225.134,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.3
$GPS2,030615,055949,4743.336,-12225.146,6,0.8,6,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,0.229
$KALMAN_X,-1926.6,-11.7,-38.5,1816.3,-191.4
$KALMAN_Y,-8518.8,-225.3,-97.9,9604.2,-632.4
$MHEAD_RNG_PITCHd_Wd,2.7,1130,-14.9,-8.000,-18.27,2786
$D_GRID,181
$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,-0.84,-146.6,181,2067,671,300,0.0,0.0,0,92,0.00,0.00,-74.32,0.000,16386,0.000,0.000,181,2068,2650,2673,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.84,-146.6,181,2068,2672,2628,3.0,-6.3,12,116,10.43,0.00,-5.95,0.000,18438,0.248,0.000,2611,2069,2913,2944,2883,0,0,0,0,0,0,25.70,28.83,26.77
$GC,178,-0.84,-146.6,1568,2067,2906,2875,14.3,-12.5,27,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2069,2914,2945,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,247,-0.84,-146.6,1568,2066,2906,2875,22.4,-11.5,40,254,0.00,2.17,0.00,0.000,260,0.000,0.042,2603,3463,2914,2946,2883,0,0,0,0,0,0,28.83,26.38,28.83
$GC,303,-0.84,-146.6,2602,3463,2946,2883,29.2,-12.4,51,310,0.00,2.15,0.00,0.000,1030,0.000,0.027,2603,2031,2914,2946,2883,0,0,0,0,0,0,28.83,26.53,28.83
$GC,372,-0.84,-146.6,1568,2029,2907,2876,37.0,-9.7,64,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2031,2914,2946,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,442,-0.84,-146.6,1568,2029,2908,2875,43.0,-7.4,77,449,0.00,2.12,0.00,0.000,516,0.000,0.040,2603,671,2914,2946,2883,0,0,0,0,0,0,28.83,26.44,28.83
$GC,570,-0.84,-146.6,1584,671,2908,2875,53.1,-8.2,104,577,0.00,2.12,0.00,0.000,1030,0.000,0.027,2593,2063,2914,2946,2882,0,0,0,0,0,0,28.83,26.62,28.83
$GC,703,-0.84,-146.6,2592,2063,2946,2883,66.1,-12.5,129,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2063,2914,2946,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-0.84,-146.6,2593,2063,2946,2882,84.4,-13.3,154,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2063,2915,2947,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-0.84,-146.6,2593,2063,2948,2883,99.7,-10.4,179,969,0.00,2.12,0.00,0.000,260,0.000,0.041,2583,3466,2914,2947,2882,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1049,-0.84,-146.6,1552,3466,2908,2875,108.7,-10.3,198,1057,0.10,2.10,0.00,0.000,3078,0.132,0.027,2616,2053,2915,2947,2883,0,0,0,0,0,0,26.34,26.71,28.83
$GC,1182,-0.84,-146.6,2616,2053,2945,2883,118.9,-7.1,223,1189,0.00,2.10,0.00,0.000,516,0.000,0.040,2616,671,2915,2947,2883,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1296,-0.84,-146.6,2616,671,2947,2883,127.4,-8.4,248,1303,0.00,2.12,0.00,0.000,1030,0.000,0.027,2609,2067,2915,2947,2883,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1427,-0.84,-146.6,2608,2068,2947,2883,139.8,-10.4,273,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2068,2915,2947,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-0.84,-146.6,2608,2068,2947,2883,153.7,-10.2,298,1563,0.00,2.15,0.00,0.000,260,0.000,0.042,2599,3460,2915,2947,2883,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1656,-0.84,-146.6,2598,3460,2947,2883,165.3,-11.0,320,1663,0.00,2.08,0.00,0.000,1030,0.000,0.028,2598,2066,2914,2947,2882,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,1777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1777,begin apogee
$GC,1782,-0.28,0.0,2598,1980,2947,2883,180.1,-12.7,343,1900,0.60,0.00,111.57,1.359,10246,0.119,0.000,2794,1979,2328,2423,2234,0,0,0,0,0,0,26.05,28.83,23.85
$STATE,1901,end apogee,CONTROL_FINISHED_OK
$STATE,1901,begin climb
$GC,1903,0.84,146.6,2794,1979,2423,2234,185.1,0.0,363,2025,1.08,0.00,116.68,1.386,10502,0.083,0.000,3151,1979,1744,1889,1599,0,0,0,0,0,0,25.03,28.83,23.25
$GC,2148,0.84,146.6,3150,1978,1889,1599,167.4,8.9,408,2155,0.00,2.25,0.00,0.000,516,0.000,0.042,3151,608,1744,1889,1599,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2231,0.84,146.6,2112,607,1844,1594,159.4,10.7,426,2239,0.00,2.17,0.00,0.000,1030,0.000,0.026,3150,1996,1744,1889,1599,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2365,0.84,146.6,3150,1996,1889,1599,147.7,9.3,451,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1997,1744,1889,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,0.84,146.6,3150,1996,1888,1599,134.6,10.0,476,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1996,1743,1887,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,0.84,146.6,3150,1996,1888,1599,122.6,8.8,501,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1996,1744,1889,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2754,0.84,152.2,3150,1996,1888,1599,111.2,7.8,526,2761,0.00,0.00,2.22,0.589,8198,0.000,0.000,3151,1996,1722,1866,1578,0,0,0,0,0,0,28.83,28.83,24.71
$GC,2886,0.84,152.6,3150,1996,1865,1578,100.1,8.0,551,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1996,1721,1865,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,0.84,152.6,3150,1996,1865,1579,87.9,10.4,576,3022,0.00,2.15,0.00,0.000,260,0.000,0.040,3150,3390,1722,1866,1578,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3052,0.84,152.6,3150,3390,1866,1578,83.8,12.0,583,3059,0.00,2.08,0.00,0.000,1030,0.000,0.028,3151,1985,1722,1865,1579,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3182,0.84,152.6,3150,1985,1865,1578,68.1,13.1,608,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1985,1721,1865,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3312,0.84,152.6,3150,1985,1865,1578,54.4,9.0,633,3318,0.00,2.15,0.00,0.000,516,0.000,0.043,3151,592,1721,1865,1578,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3449,0.84,172.4,2080,592,1821,1573,44.1,7.3,662,3463,0.00,2.12,7.43,0.795,9222,0.000,0.027,3151,1996,1639,1787,1492,0,0,0,0,0,0,28.83,26.70,25.38
$GC,3526,0.84,208.4,2080,1994,1746,1487,39.2,6.7,676,3546,0.00,2.22,12.95,0.835,8708,0.000,0.041,3151,589,1495,1654,1337,0,0,0,0,0,0,28.83,26.39,25.35
$GC,3609,0.84,208.4,3150,589,1654,1337,32.2,8.7,692,3616,0.00,2.15,0.00,0.000,1030,0.000,0.027,3151,1996,1495,1654,1337,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3679,0.84,208.4,2112,1995,1618,1333,25.4,10.7,705,3686,0.00,2.15,0.00,0.000,260,0.000,0.041,3151,3385,1495,1654,1337,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3703,0.84,208.4,3150,3385,1654,1337,22.8,10.8,709,3710,0.00,2.12,0.00,0.000,1030,0.000,0.028,3150,1984,1495,1654,1337,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3773,0.84,208.4,2080,1982,1618,1333,15.7,10.9,722,3780,0.00,2.17,0.00,0.000,260,0.000,0.040,3151,3384,1495,1654,1337,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,3906,end climb,SURFACE_DEPTH_REACHED
$STATE,3906,begin surface coast
$FINISH,0.0,1.020626
$STATE,3930,end surface coast,CONTROL_FINISHED_OK
$STATE,3930,begin surface
$SM_CCo,3948,9.18,0.677,0,0,1388,235.12
$SM_GC,2.70,7.72,2.03,9.18,0.033,0.028,0.677,186,2052,1388,-8.35,1.36,235.12,0,0,0,0,0,0,26.57,26.60,25.41
$IRIDIUM_FIX,4726.11,-12226.80,290308,191949
$TT8_MAMPS,0.029211,0.029211
$HUMID,47.75
$INTERNAL_PRESSURE,9.01062
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.2,40.974
$10V_AH,10.0,34.151
$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,19.925,49.800,250.850,9.175,0.000,36.884,48.875,224.729,0.000,0.000,6.904,1653.277,418.152,363.090,1811.464,127.431,33.220,1025.597,0.000,1515.664,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,109.395,1386.180,677.025,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.734,1033.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322252
$DATA_FILE_SIZE,36834,755
$CAP_FILE_SIZE,77825,0
$CFSIZE,1024393216,1020477440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,070724,4743.767,-12224.861,3,1.3,3,16.3