version: 66.11
glider: 205
mission: 6
dive: 13
start: 6 3 115 7 20 13
data:
$ID,205
$MISSION,6
$DIVE,13
$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,-2666.4658
$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,52
$R_STBD_OVSHOOT,56
$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
$GPS1,030615,070724,4743.767,-12224.861,3,1.3,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.1
$GPS2,030615,071917,4743.793,-12224.997,5,1.2,5,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,-0.232
$KALMAN_X,-2132.8,-74.4,56.3,2172.4,-133.2
$KALMAN_Y,-9007.4,-117.7,74.7,10647.2,-408.5
$MHEAD_RNG_PITCHd_Wd,147.2,2039,-14.9,-8.000,-18.27,2786
$D_GRID,180
$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,-146.6,186,2049,1506,1270,0.0,0.0,0,61,0.00,0.00,-43.72,0.000,16386,0.000,0.000,186,2049,2682,2696,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.84,-146.6,186,2050,2696,2669,3.0,-6.2,7,86,10.20,2.25,-5.20,0.000,18948,0.240,0.054,2612,655,2912,2940,2884,0,0,0,0,0,0,25.65,26.26,26.68
$GC,282,-0.84,-146.6,2611,654,2942,2885,27.4,-10.2,52,289,0.00,2.15,0.00,0.000,1030,0.000,0.027,2604,2062,2913,2942,2884,0,0,0,0,0,0,28.83,26.48,28.83
$GC,352,-0.84,-146.6,1568,2059,2902,2877,33.9,-8.7,65,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2062,2913,2942,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,421,-0.84,-146.6,1568,2060,2902,2877,40.4,-9.7,78,428,0.00,2.15,0.00,0.000,260,0.000,0.041,2594,3445,2913,2942,2884,0,0,0,0,0,0,28.83,26.39,28.83
$GC,549,-0.84,-146.6,1568,3444,2904,2877,54.6,-12.0,105,555,0.00,2.05,0.00,0.000,1030,0.000,0.027,2594,2044,2913,2942,2884,0,0,0,0,0,0,28.83,26.58,28.83
$GC,679,-0.84,-146.6,2594,2044,2944,2884,69.6,-11.5,130,687,0.00,2.20,0.00,0.000,260,0.000,0.041,2584,3456,2913,2943,2884,0,0,0,0,0,0,28.83,26.46,28.83
$GC,710,-0.84,-146.6,1576,3455,2905,2877,72.9,-11.0,136,718,0.10,2.10,0.00,0.000,3078,0.135,0.028,2616,2050,2913,2943,2884,0,0,0,0,0,0,26.24,26.62,28.83
$GC,843,-0.84,-146.6,2616,2050,2943,2884,83.9,-6.6,161,849,0.00,2.10,0.00,0.000,516,0.000,0.037,2616,662,2913,2943,2883,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1005,-0.84,-146.6,2616,662,2943,2884,98.9,-8.2,197,1012,0.00,2.08,0.00,0.000,1030,0.000,0.026,2608,2065,2913,2943,2884,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1135,-0.84,-146.6,2608,2065,2944,2884,111.6,-8.2,222,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2066,2913,2943,2884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-0.84,-146.6,2608,2066,2943,2885,124.4,-8.4,247,1272,0.00,2.12,0.00,0.000,516,0.000,0.038,2608,669,2913,2943,2884,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1283,-0.84,-146.6,2608,669,2943,2884,126.0,-8.5,250,1291,0.00,2.10,0.00,0.000,1030,0.000,0.026,2599,2062,2914,2943,2885,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1416,-0.84,-146.6,2598,2062,2943,2885,138.6,-9.9,275,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2062,2914,2943,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,-0.84,-146.6,2598,2062,2943,2884,151.9,-9.0,300,1552,0.00,2.15,0.00,0.000,260,0.000,0.042,2589,3454,2913,2943,2884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1564,-0.84,-146.6,2588,3454,2943,2885,153.7,-9.7,303,1571,0.12,2.03,0.00,0.000,3078,0.153,0.027,2620,2056,2913,2943,2884,0,0,0,0,0,0,26.37,26.72,28.83
$GC,1695,-0.84,-146.6,2620,2056,2944,2884,165.1,-7.8,328,1702,0.00,2.15,0.00,0.000,260,0.000,0.041,2612,3446,2913,2943,2884,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1758,-0.84,-146.6,1584,3444,2904,2877,170.5,-7.8,341,1764,0.00,2.03,0.00,0.000,1030,0.000,0.028,2612,2053,2913,2943,2884,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1866,begin apogee
$GC,1870,-0.28,0.0,2611,2053,2944,2885,180.2,-8.0,362,1987,0.55,0.00,112.18,1.400,10246,0.117,0.000,2792,2052,2328,2423,2234,0,0,0,0,0,0,26.03,28.83,23.79
$STATE,1988,end apogee,CONTROL_FINISHED_OK
$STATE,1988,begin climb
$GC,1990,0.84,146.6,2793,2052,2424,2235,184.2,0.0,382,2115,1.08,2.55,117.62,1.415,10756,0.080,0.041,3152,605,1745,1894,1596,0,0,0,0,0,0,24.99,24.33,23.20
$GC,2140,0.84,146.6,2128,605,1850,1591,174.6,9.8,408,2147,0.00,2.25,0.00,0.000,1030,0.000,0.026,3152,1985,1745,1894,1597,0,0,0,0,0,0,28.83,24.92,28.83
$GC,2272,0.84,146.6,3152,1985,1894,1597,160.5,10.8,433,2279,0.00,2.17,0.00,0.000,260,0.000,0.039,3151,3380,1745,1894,1596,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2342,0.84,146.6,2112,3379,1849,1592,152.0,12.5,448,2349,0.00,2.15,0.00,0.000,1030,0.000,0.029,3152,1995,1745,1894,1597,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2476,0.84,146.6,3152,1995,1894,1597,136.7,12.5,473,2482,0.00,2.20,0.00,0.000,516,0.000,0.042,3152,593,1745,1893,1597,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2542,0.84,146.6,2112,593,1849,1591,128.8,10.9,487,2549,0.00,2.12,0.00,0.000,1030,0.000,0.026,3152,2006,1745,1894,1597,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2674,0.84,146.6,3152,2006,1893,1598,115.6,10.8,512,2681,0.00,2.25,0.00,0.000,516,0.000,0.042,3152,597,1745,1893,1597,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2701,0.84,146.6,2112,597,1849,1591,112.8,10.4,517,2708,0.00,2.10,0.00,0.000,1030,0.000,0.027,3152,1998,1745,1893,1597,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2833,0.84,146.6,3152,1998,1893,1597,100.5,9.5,542,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1999,1745,1893,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,0.84,146.6,3152,1998,1893,1597,88.0,8.6,567,2970,0.00,2.17,0.00,0.000,516,0.000,0.041,3152,596,1744,1892,1597,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3056,0.84,146.6,2112,596,1849,1591,79.6,9.2,587,3062,0.00,2.08,0.00,0.000,1030,0.000,0.026,3152,1995,1744,1892,1597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3186,0.84,146.6,3151,1995,1892,1596,67.9,8.7,612,3193,0.00,2.22,0.00,0.000,516,0.000,0.042,3153,591,1744,1892,1597,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3244,0.84,146.6,2144,590,1850,1592,62.9,8.4,624,3251,0.00,2.12,0.00,0.000,1030,0.000,0.027,3152,1993,1744,1892,1597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3375,0.84,146.6,3152,1993,1892,1597,51.3,9.3,649,3382,0.00,2.10,0.00,0.000,260,0.000,0.041,3152,3386,1744,1892,1597,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3439,0.84,146.6,2096,3384,1848,1591,45.2,8.9,662,3446,0.00,2.10,0.00,0.000,1030,0.000,0.028,3152,1991,1744,1892,1597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3509,0.84,146.6,2088,1988,1847,1591,38.8,9.4,675,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1990,1744,1892,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,0.84,146.6,2088,1988,1847,1592,32.1,9.1,688,3585,0.00,2.15,0.00,0.000,260,0.000,0.040,3152,3382,1744,1891,1597,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3740,0.84,146.6,3152,3382,1891,1597,17.7,8.2,722,3747,0.00,2.10,0.00,0.000,1030,0.000,0.029,3152,1987,1744,1891,1598,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3810,0.84,188.8,2096,1985,1847,1591,12.4,6.5,735,3831,0.00,2.25,15.23,0.757,8708,0.000,0.043,3152,588,1573,1731,1415,0,0,0,0,0,0,28.83,26.52,25.51
$STATE,3948,end climb,SURFACE_DEPTH_REACHED
$STATE,3948,begin surface coast
$FINISH,0.2,1.005105
$STATE,3973,end surface coast,CONTROL_FINISHED_OK
$STATE,3973,begin surface
$SM_CCo,3991,16.20,0.775,0,0,1389,235.12
$SM_GC,3.42,7.75,2.28,16.20,0.034,0.026,0.775,195,2064,1389,-8.34,-1.50,235.12,0,0,0,0,0,0,26.49,26.59,25.32
$IRIDIUM_FIX,4722.92,-12225.08,290308,202003
$TT8_MAMPS,0.029211,0.029211
$HUMID,47.28
$INTERNAL_PRESSURE,9.00085
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.2,41.095
$10V_AH,10.1,34.231
$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,19.800,69.025,245.025,16.200,0.000,102.990,138.864,271.247,0.000,0.000,6.881,1702.747,478.649,355.043,2043.597,150.866,33.228,1018.679,0.000,1545.623,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,53.550,1415.250,774.945,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.248,1053.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322440
$DATA_FILE_SIZE,40240,768
$CAP_FILE_SIZE,85070,0
$CFSIZE,1024393216,1020379136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,082754,4743.099,-12225.008,16,0.9,16,16.3