version: 66.11
glider: 206
mission: 1
dive: 8
start: 6 2 115 18 18 14
data:
$ID,206
$MISSION,1
$DIVE,8
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,45
$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,75
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$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,53113
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-941.04114
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3912
$C_PITCH,2888
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,262
$ROLL_MAX,3863
$ROLL_DEG,40
$C_ROLL_DIVE,2009
$C_ROLL_CLIMB,2009
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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,2341
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-43.092354
$PRESSURE_SLOPE,0.0001158948
$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,110
$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,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$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,0.0044039036
$SEABIRD_T_H,0.0006378853
$SEABIRD_T_I,2.5652185e-05
$SEABIRD_T_J,3.0680867e-06
$SEABIRD_C_G,-9.7477055
$SEABIRD_C_H,1.1309673
$SEABIRD_C_I,-0.0010514539
$SEABIRD_C_J,0.00016674379
$GPS1,030615,011002,4743.188,-12225.683,1,1.4,1,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.8
$GPS2,030615,011800,4743.186,-12225.600,4,1.4,4,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.238
$KALMAN_X,-1157.6,63.4,-122.7,469.3,-420.6
$KALMAN_Y,-4606.2,-347.3,-239.7,5498.1,-1035.1
$MHEAD_RNG_PITCHd_Wd,3.8,1655,-16.2,-9.231,-20.04,2407
$D_GRID,190
$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,14,-1.03,-146.6,190,2008,1386,1353,0.0,0.0,0,61,0.00,0.00,-44.72,0.000,16386,0.000,0.000,190,2008,2680,2733,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.03,-146.6,190,2008,2732,2629,3.1,-7.5,7,85,9.32,2.17,-5.57,0.000,18948,0.233,0.048,2552,598,2925,3001,2850,0,0,0,0,0,0,25.95,26.20,26.48
$GC,228,-1.03,-146.6,1504,598,2960,2846,28.9,-13.2,38,235,0.00,2.15,0.00,0.000,1030,0.000,0.024,2546,2015,2927,3002,2852,0,0,0,0,0,0,28.83,26.38,28.83
$GC,297,-1.03,-146.6,1504,2013,2962,2846,36.8,-11.1,51,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2015,2927,3002,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,366,-1.03,-146.6,1488,2013,2962,2846,43.9,-9.8,64,374,0.00,2.17,0.00,0.000,516,0.000,0.037,2545,608,2927,3003,2852,0,0,0,0,0,0,28.83,26.41,28.83
$GC,558,-1.03,-146.6,2545,608,3002,2853,68.0,-13.7,101,565,0.00,2.08,0.00,0.000,1030,0.000,0.024,2539,2009,2927,3002,2852,0,0,0,0,0,0,28.83,26.52,28.83
$GC,689,-1.03,-146.6,2539,2009,3003,2852,84.5,-11.1,126,696,0.00,2.15,0.00,0.000,260,0.000,0.042,2529,3400,2928,3003,2853,0,0,0,0,0,0,28.83,26.51,28.83
$GC,974,-1.03,-146.6,2529,3399,3003,2853,120.2,-13.6,181,980,0.00,2.05,0.00,0.000,1030,0.000,0.026,2529,1988,2928,3003,2853,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1104,-1.03,-146.6,2528,1987,3003,2853,136.2,-11.5,206,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1987,2928,3003,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1239,-1.03,-146.6,2529,1987,3003,2853,153.4,-11.6,231,1245,0.00,2.17,0.00,0.000,260,0.000,0.041,2520,3416,2928,3004,2853,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1298,-1.03,-146.6,2520,3415,3003,2853,160.6,-12.2,242,1306,0.10,2.10,0.00,0.000,3078,0.146,0.026,2551,2000,2928,3003,2853,0,0,0,0,0,0,26.48,26.68,28.83
$GC,1430,-1.03,-146.6,2551,1999,3003,2853,175.1,-10.8,267,1436,0.00,2.05,0.00,0.000,516,0.000,0.038,2551,618,2928,3003,2853,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,1473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1473,begin apogee
$GC,1478,-0.26,0.0,2545,2015,3003,2853,180.4,-12.7,275,1590,0.77,0.00,104.60,1.205,10246,0.133,0.000,2796,2016,2342,2404,2281,0,0,0,0,0,0,26.52,28.83,23.98
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1592,1.03,146.6,2795,2016,2404,2281,184.6,0.0,294,1710,1.25,2.30,109.32,1.190,10756,0.085,0.037,3221,628,1757,1808,1707,0,0,0,0,0,0,25.01,24.79,23.84
$GC,1859,1.03,146.6,3221,628,1806,1699,155.3,14.9,343,1866,0.00,2.10,0.00,0.000,1030,0.000,0.022,3221,2021,1752,1805,1699,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1988,1.03,146.6,3221,2021,1806,1698,138.6,12.4,368,1995,0.00,2.20,0.00,0.000,516,0.000,0.038,3229,624,1752,1806,1698,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2028,1.03,146.6,3229,624,1806,1698,133.4,12.7,375,2035,0.00,2.08,0.00,0.000,1030,0.000,0.024,3229,2013,1751,1805,1698,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2157,1.03,146.6,3229,2014,1806,1698,117.8,10.3,400,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2014,1752,1806,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,1.03,146.6,3229,2014,1805,1698,103.8,11.5,425,2294,0.00,2.12,0.00,0.000,516,0.000,0.039,3234,622,1752,1806,1698,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2332,1.03,146.6,3233,622,1805,1698,98.3,12.4,433,2338,0.00,2.05,0.00,0.000,1030,0.000,0.024,3234,2012,1752,1806,1698,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2462,1.03,146.6,3233,2013,1805,1698,80.8,11.1,458,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2013,1752,1806,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2594,1.03,146.6,3233,2013,1806,1697,64.7,13.4,483,2600,0.00,2.10,0.00,0.000,516,0.000,0.039,3234,626,1751,1805,1698,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2720,1.03,146.6,3233,626,1805,1696,46.9,15.3,507,2727,0.00,2.08,0.00,0.000,1030,0.000,0.024,3234,2010,1751,1806,1696,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2789,1.03,146.6,2176,2008,1761,1691,37.9,12.6,520,2796,0.00,2.15,0.00,0.000,516,0.000,0.041,3234,624,1750,1805,1696,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2879,1.03,146.6,2144,623,1759,1691,25.8,12.2,537,2887,0.00,2.08,0.00,0.000,1030,0.000,0.024,3234,2007,1750,1805,1696,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2948,1.03,146.6,2176,2006,1761,1691,17.1,11.4,550,2956,0.00,2.15,0.00,0.000,260,0.000,0.041,3233,3402,1750,1805,1696,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2987,1.03,146.6,2176,3401,1762,1691,12.6,11.1,557,2995,0.00,2.08,0.00,0.000,1030,0.000,0.028,3234,2026,1751,1806,1696,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3058,1.03,146.6,2176,2024,1760,1691,5.5,9.8,570,3065,0.00,2.17,0.00,0.000,516,0.000,0.041,3234,609,1750,1805,1696,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,3096,end climb,SURFACE_DEPTH_REACHED
$STATE,3096,begin surface coast
$FINISH,0.2,1.016646
$STATE,3112,end surface coast,CONTROL_FINISHED_OK
$STATE,3113,begin surface
$SM_CCo,3129,35.05,0.630,0,0,1381,240.15
$SM_GC,0.74,8.05,2.12,35.05,0.046,0.024,0.630,195,2021,1381,-8.34,-1.47,240.15,0,0,0,0,0,0,26.56,26.63,25.42
$IRIDIUM_FIX,4722.92,-12229.50,290308,141458
$TT8_MAMPS,0.030709,0.030709
$HUMID,48.50
$INTERNAL_PRESSURE,9.03986
$TCM_TEMP,15.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,155.5,57.5
$24V_AH,23.8,2.968
$10V_AH,10.3,7.217
$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,19.500,51.000,213.925,35.050,0.000,64.720,119.951,176.459,3.500,0.000,8.111,1298.623,452.853,324.642,1542.752,43.791,33.225,838.375,0.000,1156.644,0.000,22.749,0.000
$DEVICE_MAMPS,232.560,48.195,1204.875,630.360,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.201,783.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322660
$DATA_FILE_SIZE,30209,580
$CAP_FILE_SIZE,64121,0
$CFSIZE,1024393216,1018953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,021224,4743.376,-12225.334,6,1.0,6,16.3