version: 66.10
glider: 206
mission: 1
dive: 8
start: 9 3 113 15 52 44
data:
$ID,206
$MISSION,1
$DIVE,8
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,71
$T_MISSION,80
$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,90
$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,280
$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,-734.50201
$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,21.799999
$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,29
$R_STBD_OVSHOOT,29
$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,2
$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
$GPS1,030913,224452,4742.289,-12225.159,12,1.4,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.2
$GPS2,030913,225116,4742.238,-12225.162,15,1.5,15,16.3
$SPEED_LIMITS,0.146,0.195
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,0.188
$KALMAN_X,-673.4,-345.0,-110.4,411.1,-220.2
$KALMAN_Y,-2231.7,-1225.3,-241.7,2664.7,-848.1
$MHEAD_RNG_PITCHd_Wd,359.7,3110,-19.8,-8.451
$D_GRID,154
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.02,-88.0,0.0,0.0,0,62,0.00,0.00,-44.95,0.000,2,0.000,0.000,190,1957,2294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.02,-88.0,3.2,-6.1,6,81,8.90,2.28,-2.00,0.000,4,0.246,0.067,2379,555,2384,0,0,0,0,0,0,26.07,26.28,26.55
$GC,108,-1.02,-88.0,10.8,-13.8,13,114,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,1967,2385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,192,-1.02,-88.0,21.5,-12.8,29,201,0.00,2.25,0.00,0.000,4,0.000,0.053,2363,3372,2385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,299,-1.02,-88.0,34.6,-11.6,50,308,0.00,2.22,0.00,0.000,6,0.000,0.043,2362,1959,2385,0,0,0,0,0,0,28.83,26.46,28.83
$GC,385,-1.02,-88.0,44.9,-12.8,66,394,0.00,2.28,0.00,0.000,4,0.000,0.051,2354,3378,2385,0,0,0,0,0,0,28.83,26.48,28.83
$GC,473,-1.02,-88.0,54.9,-9.7,83,480,0.15,2.17,0.00,0.000,6,0.184,0.043,2389,1959,2385,0,0,0,0,0,0,26.36,26.53,28.83
$GC,621,-1.02,-88.0,68.2,-9.7,114,628,0.00,2.17,0.00,0.000,4,0.000,0.053,2388,560,2385,0,0,0,0,0,0,28.83,26.55,28.83
$GC,730,-1.02,-88.0,79.9,-11.2,137,737,0.00,2.15,0.00,0.000,6,0.000,0.040,2382,1966,2385,0,0,0,0,0,0,28.83,26.60,28.83
$GC,887,-1.02,-88.0,98.9,-12.8,168,896,0.00,2.22,0.00,0.000,4,0.000,0.051,2371,3377,2385,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1004,-1.02,-88.0,114.5,-13.9,191,1010,0.00,2.15,0.00,0.000,6,0.000,0.042,2371,1962,2385,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1150,-1.02,-88.0,135.4,-12.8,222,1159,0.00,2.20,0.00,0.000,4,0.000,0.052,2371,562,2385,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1201,-1.02,-88.0,142.5,-13.6,232,1211,0.08,2.20,0.00,0.000,6,0.191,0.041,2384,1966,2385,0,0,0,0,0,0,26.51,26.70,28.83
$STATE,1300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1303,-0.23,0.0,154.5,-12.0,252,1377,0.82,0.00,65.60,1.136,6,0.158,0.000,2637,1967,2026,0,0,0,0,0,0,26.55,28.83,24.48
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1379,1.02,88.0,158.5,0.0,264,1458,1.25,2.42,67.82,1.128,4,0.108,0.054,3042,572,1665,0,0,0,0,0,0,25.29,24.87,24.08
$GC,1527,1.02,88.0,148.1,11.0,290,1533,0.00,2.25,0.00,0.000,6,0.000,0.044,3042,1972,1665,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1677,1.02,88.0,132.3,10.5,321,1683,0.00,2.28,0.00,0.000,4,0.000,0.055,3042,3380,1665,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1748,1.02,88.0,124.2,11.0,335,1755,0.00,2.22,0.00,0.000,6,0.000,0.047,3042,1970,1666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1886,1.02,88.0,108.4,12.1,366,1895,0.00,2.28,0.00,0.000,4,0.000,0.057,3042,562,1665,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1986,1.02,88.0,96.2,11.7,387,1993,0.00,2.20,0.00,0.000,6,0.000,0.044,3042,1977,1665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2124,1.02,88.0,82.2,9.7,418,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1977,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2264,1.02,88.0,68.7,9.6,449,2270,0.00,2.25,0.00,0.000,4,0.000,0.054,3042,549,1665,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2538,1.03,102.1,43.7,7.5,507,2553,0.00,2.17,5.97,0.578,6,0.000,0.043,3043,1965,1605,0,0,0,0,0,0,28.83,26.60,25.93
$GC,2721,1.07,134.8,31.2,6.3,539,2737,0.00,0.00,12.73,0.190,6,0.000,0.000,3042,1964,1472,0,0,0,0,0,0,28.83,28.83,26.34
$GC,2825,1.07,134.8,22.6,9.8,556,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1964,1471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,1.09,146.5,14.8,7.7,572,2931,0.00,2.28,4.25,0.164,4,0.000,0.052,3042,3376,1423,0,0,0,0,0,0,28.83,26.55,26.45
$STATE,3072,end climb,SURFACE_DEPTH_REACHED
$STATE,3072,begin surface coast
$FINISH,0.3,1.002434
$STATE,3108,end surface coast,CONTROL_FINISHED_OK
$STATE,3108,begin surface
$SM_CCo,3124,50.70,0.116,0,0,881,280.13
$SM_GC,1.71,7.78,2.25,50.70,0.064,0.045,0.116,184,1957,881,-7.84,0.76,280.13,0,0,0,0,0,0,26.63,26.63,26.40
$IRIDIUM_FIX,4726.11,-12220.67,030913,212123
$TT8_MAMPS,0.030709,0.030709
$HUMID,63.38
$INTERNAL_PRESSURE,8.77617
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.4,6.3
$24V_AH,24.1,0.557
$10V_AH,10.4,0.489
$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,18.975,49.100,156.375,50.700,0.000,24.168,41.358,236.255,0.750,0.000,18.866,1374.065,112.201,283.654,1760.961,43.421,33.212,814.288,0.000,1410.914,0.000,5.676,0.000
$DEVICE_MAMPS,245.565,66.555,1136.025,116.280,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.554,1090.095,1008.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,37034,603
$CAP_FILE_SIZE,76984,0
$CFSIZE,1024393216,1021558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030913,234602,4742.549,-12225.582,20,1.7,20,16.3