version: 66.11
glider: 205
mission: 6
dive: 14
start: 6 3 115 8 37 18
data:
$ID,205
$MISSION,6
$DIVE,14
$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,-2667.7278
$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,50
$R_STBD_OVSHOOT,53
$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
$GPS1,030615,082754,4743.099,-12225.008,16,0.9,16,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.4
$GPS2,030615,083622,4743.063,-12225.119,40,0.9,40,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,-0.032
$KALMAN_X,-2647.1,-93.4,139.5,2475.1,-394.8
$KALMAN_Y,-9674.5,32.8,287.2,9604.4,-527.1
$MHEAD_RNG_PITCHd_Wd,84.1,782,-21.4,-8.000,-24.19,1416
$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,14,begin dive
$GC,16,-1.19,-74.3,195,2067,1506,1271,0.0,0.0,0,61,0.00,0.00,-42.15,0.000,16390,0.000,0.000,196,2067,2625,2641,2610,0,0,0,0,0,0,28.83,28.83,26.77
$GC,63,-1.19,-93.9,195,2067,2640,2610,2.9,-6.6,7,85,9.60,2.25,-1.88,0.000,18948,0.238,0.052,2500,658,2704,2735,2673,0,0,0,0,0,0,25.64,26.28,26.65
$GC,249,-1.19,-93.9,2500,658,2736,2673,26.8,-14.9,45,256,0.00,2.15,0.00,0.000,1030,0.000,0.026,2492,2063,2704,2736,2673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,318,-1.19,-93.9,1480,2061,2688,2664,36.2,-12.9,58,326,0.00,2.17,0.00,0.000,260,0.000,0.041,2481,3461,2704,2736,2673,0,0,0,0,0,0,28.83,26.37,28.83
$GC,619,-1.19,-93.9,1476,3460,2690,2664,76.9,-13.3,125,626,0.00,2.08,0.00,0.000,1030,0.000,0.027,2481,2041,2704,2737,2672,0,0,0,0,0,0,28.83,26.61,28.83
$GC,749,-1.19,-93.9,2481,2041,2737,2673,93.0,-12.2,150,756,0.00,2.20,0.00,0.000,260,0.000,0.040,2471,3459,2705,2737,2673,0,0,0,0,0,0,28.83,26.48,28.83
$GC,868,-1.19,-93.9,2471,3459,2737,2673,108.3,-13.5,176,876,0.10,2.10,0.00,0.000,3078,0.155,0.027,2502,2049,2705,2737,2673,0,0,0,0,0,0,26.20,26.65,28.83
$GC,1001,-1.19,-93.9,2502,2049,2737,2673,124.9,-12.0,201,1007,0.00,2.10,0.00,0.000,516,0.000,0.039,2502,667,2705,2737,2673,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1337,-1.19,-93.9,1504,667,2690,2664,164.6,-10.5,277,1343,0.00,2.08,0.00,0.000,1030,0.000,0.025,2493,2074,2705,2737,2673,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1467,-1.19,-93.9,2493,2075,2737,2673,178.6,-10.7,302,1475,0.00,2.17,0.00,0.000,516,0.000,0.039,2493,677,2705,2738,2673,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1486,-0.28,0.0,2483,1996,2737,2673,180.1,-10.8,304,1563,1.00,0.00,71.95,1.403,10246,0.145,0.000,2788,1997,2329,2408,2251,0,0,0,0,0,0,25.76,28.83,24.06
$STATE,1564,end apogee,CONTROL_FINISHED_OK
$STATE,1564,begin climb
$GC,1566,1.19,93.9,2787,1997,2408,2252,183.1,0.0,317,1650,1.42,2.35,74.75,1.418,10500,0.084,0.038,3264,3383,1957,2078,1837,0,0,0,0,0,0,25.25,24.73,23.63
$GC,1758,1.19,93.9,2256,3382,2030,1829,162.4,13.6,355,1765,0.00,2.12,0.00,0.000,1030,0.000,0.028,3266,2009,1958,2079,1837,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1889,1.19,93.9,3266,2009,2078,1837,142.6,16.0,380,1896,0.00,2.30,0.00,0.000,516,0.000,0.043,3271,584,1957,2078,1837,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2058,1.19,93.9,2240,583,2028,1829,117.7,16.1,418,2065,0.00,2.15,0.00,0.000,1030,0.000,0.026,3271,1983,1957,2077,1837,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2190,1.19,93.9,3271,1983,2078,1837,97.4,16.0,443,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1983,1957,2078,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,1.19,93.9,3270,1983,2078,1836,79.0,12.3,468,2326,0.00,2.15,0.00,0.000,260,0.000,0.039,3271,3376,1957,2077,1837,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2415,1.19,93.9,2256,3375,2029,1829,66.1,12.7,489,2422,0.00,2.08,0.00,0.000,1030,0.000,0.029,3273,1982,1957,2078,1837,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2546,1.19,93.9,3273,1982,2077,1837,52.3,10.0,514,2553,0.00,2.20,0.00,0.000,516,0.000,0.043,3275,590,1957,2077,1837,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2610,1.19,93.9,3275,590,2077,1837,45.3,10.3,527,2618,0.00,2.12,0.00,0.000,1030,0.000,0.027,3275,1991,1956,2077,1836,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2680,1.19,93.9,2240,1989,2028,1829,38.9,8.9,540,2687,0.00,2.12,0.00,0.000,260,0.000,0.039,3275,3375,1957,2078,1837,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2750,1.19,93.9,3275,3375,2077,1836,32.0,9.6,554,2757,0.00,2.10,0.00,0.000,1030,0.000,0.028,3281,1994,1957,2077,1837,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2819,1.19,93.9,2240,1991,2027,1829,25.0,10.8,567,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1994,1957,2077,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2889,1.19,93.9,2240,1992,2028,1829,18.7,9.3,580,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1994,1957,2077,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,1.19,93.9,2240,1991,2028,1829,11.7,11.2,593,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1994,1956,2077,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,1.19,102.1,2240,1991,2027,1829,5.2,7.4,606,3036,0.00,2.25,3.22,0.483,8708,0.000,0.042,3285,589,1917,2037,1798,0,0,0,0,0,0,28.83,26.60,25.18
$STATE,3069,end climb,SURFACE_DEPTH_REACHED
$STATE,3069,begin surface coast
$FINISH,0.1,1.021705
$STATE,3094,end surface coast,CONTROL_FINISHED_OK
$STATE,3094,begin surface
$SM_CCo,3112,48.03,0.801,0,0,1389,235.12
$SM_GC,0.75,8.12,2.25,48.03,0.038,0.025,0.801,196,2062,1389,-8.33,-1.70,235.12,0,0,0,0,0,0,26.59,26.69,25.04
$IRIDIUM_FIX,4722.92,-12225.08,290308,212135
$TT8_MAMPS,0.029211,0.029211
$HUMID,47.24
$INTERNAL_PRESSURE,9.01062
$TCM_TEMP,14.30
$XPDR_PINGS,1
$24V_AH,23.6,41.186
$10V_AH,10.1,34.295
$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,20.250,47.500,149.925,48.025,0.000,28.047,41.157,300.962,0.250,0.000,42.078,1392.812,240.820,282.642,1647.004,114.177,33.231,803.472,0.000,1250.978,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,52.020,1418.310,800.955,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.963,857.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,30153,619
$CAP_FILE_SIZE,63779,0
$CFSIZE,1024393216,1020362752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,093037,4742.674,-12225.069,4,1.3,4,16.3