version: 66.10
glider: 206
mission: 1
dive: 2
start: 9 3 113 11 25 59
data:
$ID,206
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,40
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53368
$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,250
$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,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-558.56207
$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,2720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.700001
$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,1966
$C_ROLL_CLIMB,1966
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2024
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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
$CF8_MAXERRORS,20
$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,-43.029884
$PRESSURE_SLOPE,0.0001158948
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.004400393
$SEABIRD_T_H,0.00063796766
$SEABIRD_T_I,2.5839279e-05
$SEABIRD_T_J,3.1328634e-06
$SEABIRD_C_G,-9.7507257
$SEABIRD_C_H,1.1319174
$SEABIRD_C_I,-0.0012900834
$SEABIRD_C_J,0.00018380559
$GPS1,030913,182110,4742.818,-12224.536,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.0
$GPS2,030913,182431,4742.859,-12224.544,3,1.2,3,16.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.056,0.228
$KALMAN_X,20.0,20.0,20.0,-7.2,69.9
$KALMAN_Y,-24.5,-24.5,-24.5,185.2,-85.6
$MHEAD_RNG_PITCHd_Wd,329.9,1954,-19.7,-10.000
$D_GRID,179
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-117.3,0.0,0.0,0,84,0.00,0.00,-65.80,0.000,6,0.000,0.000,187,1965,2503,0,0,0,0,0,0,28.83,28.83,26.92
$GC,86,-1.05,-117.3,3.4,-6.5,9,103,8.57,2.22,0.00,0.000,4,0.236,0.046,2363,3382,2505,0,0,0,0,0,0,26.26,26.53,28.83
$GC,226,-1.05,-117.3,26.7,-13.8,32,235,0.00,2.22,0.00,0.000,6,0.000,0.043,2362,1955,2504,0,0,0,0,0,0,28.83,26.60,28.83
$GC,323,-1.05,-117.3,39.0,-12.5,48,331,0.00,2.20,0.00,0.000,4,0.000,0.053,2362,560,2505,0,0,0,0,0,0,28.83,26.60,28.83
$GC,393,-1.05,-117.3,49.1,-14.8,61,400,0.00,2.17,0.00,0.000,6,0.000,0.042,2353,1976,2505,0,0,0,0,0,0,28.83,26.65,28.83
$GC,551,-1.05,-117.3,71.0,-14.7,92,559,0.00,2.20,0.00,0.000,4,0.000,0.052,2343,3373,2504,0,0,0,0,0,0,28.83,26.66,28.83
$GC,851,-1.05,-117.3,117.9,-15.8,150,861,0.10,2.17,0.00,0.000,6,0.168,0.041,2372,1966,2505,0,0,0,0,0,0,26.53,26.73,28.83
$GC,1013,-1.05,-117.3,141.2,-12.9,181,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1966,2505,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1075,begin apogee
$GC,1078,-0.23,0.0,150.2,-13.9,193,1172,0.85,0.00,86.72,1.164,6,0.148,0.000,2638,1965,2026,0,0,0,0,0,0,26.57,28.83,24.33
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1173,begin climb
$GC,1174,1.05,117.3,153.9,0.0,207,1273,1.25,2.35,89.70,1.143,4,0.099,0.052,3048,556,1546,0,0,0,0,0,0,25.24,24.99,24.18
$GC,1331,1.05,117.3,141.2,11.9,233,1338,0.00,2.28,0.00,0.000,6,0.000,0.042,3048,1968,1546,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1488,1.05,117.3,122.0,11.2,264,1497,0.00,2.30,0.00,0.000,4,0.000,0.055,3053,561,1545,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1529,1.05,117.3,117.8,11.2,271,1535,0.00,2.20,0.00,0.000,6,0.000,0.044,3052,1965,1545,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1687,1.05,117.3,99.5,11.5,302,1696,0.00,2.28,0.00,0.000,4,0.000,0.056,3053,3377,1545,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1859,1.05,117.3,78.6,11.8,335,1866,0.00,2.20,0.00,0.000,6,0.000,0.047,3053,1952,1545,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2015,1.05,117.3,60.1,10.9,366,2024,0.00,2.22,0.00,0.000,4,0.000,0.057,3053,558,1545,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2036,1.05,117.3,58.0,11.1,369,2043,0.00,2.20,0.00,0.000,6,0.000,0.044,3053,1977,1545,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2197,1.05,117.3,39.0,13.5,400,2206,0.00,2.22,0.00,0.000,4,0.000,0.054,3053,3377,1545,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2213,1.05,117.3,37.0,12.1,402,2222,0.00,2.22,0.00,0.000,6,0.000,0.047,3053,1968,1545,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2310,1.05,117.3,25.9,10.8,418,2319,0.00,2.25,0.00,0.000,4,0.000,0.058,3053,557,1544,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2453,1.05,117.3,10.4,10.3,442,2461,0.00,2.20,0.00,0.000,6,0.000,0.044,3053,1960,1544,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2550,1.09,145.3,2.4,8.4,458,2559,0.00,0.00,7.50,0.125,2,0.000,0.000,3052,1960,1457,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2560,end climb,SURFACE_DEPTH_REACHED
$STATE,2560,begin surface coast
$FINISH,0.2,0.999153
$STATE,2596,end surface coast,CONTROL_FINISHED_OK
$STATE,2596,begin surface
$SM_CCo,2609,41.25,0.120,0,0,1001,250.21
$SM_GC,0.88,7.78,0.00,41.25,0.064,0.000,0.120,188,1960,1001,-7.83,-0.17,250.21,0,0,0,0,0,0,26.67,28.83,26.46
$IRIDIUM_FIX,4726.11,-12222.38,030913,181853
$TT8_MAMPS,0.030709,0.030709
$HUMID,62.36
$INTERNAL_PRESSURE,8.81524
$TCM_TEMP,14.30
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,100.1,7.4
$24V_AH,24.2,0.268
$10V_AH,10.4,0.228
$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,18.550,40.125,183.925,41.250,0.000,0.000,0.000,0.000,4.000,0.000,7.467,1042.836,81.834,280.055,1280.632,30.465,30.074,737.851,0.000,1261.242,0.000,11.336,0.000
$DEVICE_MAMPS,236.385,58.140,1163.565,120.105,0.000,0.000,0.000,0.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.901,1007.815,957.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323500
$DATA_FILE_SIZE,30381,465
$CAP_FILE_SIZE,60696,0
$CFSIZE,1024393216,1021935616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030913,191034,4743.010,-12224.670,21,1.0,22,16.3