version: 66.10
glider: 206
mission: 1
dive: 10
start: 9 3 113 18 5 48
data:
$ID,206
$MISSION,1
$DIVE,10
$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,-817.60205
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,040913,005235,4742.694,-12225.477,34,1.1,34,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.6
$GPS2,040913,010422,4742.749,-12225.509,4,1.1,4,16.3
$SPEED_LIMITS,0.146,0.195
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,0.125
$KALMAN_X,-1807.9,-405.5,-76.4,1141.8,-426.8
$KALMAN_Y,-2589.7,-1334.3,-177.0,4003.8,-25.1
$MHEAD_RNG_PITCHd_Wd,33.8,2307,-19.8,-8.451
$D_GRID,190
$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,14,-1.02,-88.0,0.0,0.0,0,63,0.00,0.00,-46.92,0.000,2,0.000,0.000,184,1956,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.02,-88.0,3.2,-6.5,7,82,8.93,2.20,-0.32,0.000,4,0.246,0.061,2382,547,2381,0,0,0,0,0,0,26.08,26.28,26.44
$GC,153,-1.02,-88.0,17.7,-15.2,21,162,0.00,2.25,0.00,0.000,6,0.000,0.041,2375,1971,2381,0,0,0,0,0,0,28.83,26.37,28.83
$GC,250,-1.02,-88.0,31.7,-14.6,37,259,0.00,2.25,0.00,0.000,4,0.000,0.052,2364,3383,2381,0,0,0,0,0,0,28.83,26.40,28.83
$GC,549,-1.02,-88.0,72.2,-11.6,95,556,0.00,2.20,0.00,0.000,6,0.000,0.041,2364,1954,2381,0,0,0,0,0,0,28.83,26.56,28.83
$GC,712,-1.02,-88.0,92.7,-14.2,126,721,0.00,2.20,0.00,0.000,4,0.000,0.050,2364,558,2381,0,0,0,0,0,0,28.83,26.58,28.83
$GC,742,-1.02,-88.0,96.7,-14.0,131,749,0.15,2.17,0.00,0.000,6,0.200,0.039,2392,1982,2381,0,0,0,0,0,0,26.44,26.62,28.83
$GC,902,-1.02,-88.0,117.5,-12.4,162,910,0.00,2.20,0.00,0.000,4,0.000,0.051,2383,3377,2382,0,0,0,0,0,0,28.83,26.62,28.83
$GC,986,-1.02,-88.0,127.9,-12.0,178,994,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1958,2382,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1146,-1.02,-88.0,146.7,-11.9,209,1152,0.00,2.20,0.00,0.000,4,0.000,0.049,2374,3377,2381,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1357,-1.02,-88.0,172.3,-14.7,251,1364,0.00,2.15,0.00,0.000,6,0.000,0.040,2374,1955,2381,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1416,-0.23,0.0,180.1,-12.0,262,1488,0.88,0.00,64.88,1.147,6,0.155,0.000,2642,1953,2026,0,0,0,0,0,0,26.58,28.83,24.49
$STATE,1488,end apogee,CONTROL_FINISHED_OK
$STATE,1489,begin climb
$GC,1490,1.02,88.0,183.8,0.0,274,1566,1.23,2.33,68.05,1.134,4,0.105,0.052,3042,567,1665,0,0,0,0,0,0,25.28,24.84,24.04
$GC,1596,1.02,88.0,177.2,10.2,293,1603,0.00,2.28,0.00,0.000,6,0.000,0.041,3042,1973,1665,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1731,1.02,88.0,163.0,8.6,324,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1973,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1888,1.02,88.0,145.4,13.0,355,1895,0.00,2.22,0.00,0.000,4,0.000,0.053,3041,3376,1665,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1983,1.02,88.0,134.4,9.1,373,1990,0.00,2.20,0.00,0.000,6,0.000,0.044,3042,1963,1665,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2142,1.02,88.0,117.0,12.2,404,2151,0.00,2.28,0.00,0.000,4,0.000,0.050,3042,3374,1665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2193,1.02,88.0,111.2,11.9,413,2200,0.00,2.20,0.00,0.000,6,0.000,0.044,3042,1969,1665,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2351,1.04,108.6,96.5,7.1,444,2366,0.00,2.22,8.85,0.815,4,0.000,0.048,3043,3376,1582,0,0,0,0,0,0,28.83,26.28,25.62
$GC,2414,1.04,108.7,91.9,8.4,455,2421,0.00,2.20,0.00,0.000,6,0.000,0.044,3043,1955,1582,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2573,1.04,108.7,77.4,10.0,486,2582,0.00,2.28,0.00,0.000,4,0.000,0.050,3042,3373,1582,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2638,1.04,108.7,70.7,10.7,498,2646,0.00,2.22,0.00,0.000,6,0.000,0.045,3043,1969,1582,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2798,1.04,108.7,56.2,8.6,529,2804,0.00,2.22,0.00,0.000,4,0.000,0.056,3043,547,1582,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2872,1.07,127.9,50.4,7.2,543,2886,0.00,2.20,8.10,0.630,6,0.000,0.042,3043,1979,1499,0,0,0,0,0,0,28.83,26.57,25.87
$GC,3041,1.10,152.4,38.6,6.9,575,3058,0.00,2.28,9.75,0.212,4,0.000,0.054,3043,547,1399,0,0,0,0,0,0,28.83,26.45,26.29
$GC,3139,1.10,152.4,30.1,9.5,591,3148,0.00,2.22,0.00,0.000,6,0.000,0.041,3043,1962,1399,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3236,1.10,158.6,21.8,8.0,607,3245,0.00,2.22,2.10,0.207,4,0.000,0.050,3043,3386,1376,0,0,0,0,0,0,28.83,26.52,26.39
$GC,3385,1.10,158.6,6.3,11.9,632,3392,0.00,2.20,0.00,0.000,6,0.000,0.044,3043,1959,1376,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,3421,end climb,SURFACE_DEPTH_REACHED
$STATE,3422,begin surface coast
$FINISH,0.2,1.011207
$STATE,3441,end surface coast,CONTROL_FINISHED_OK
$STATE,3441,begin surface
$SM_CCo,3454,46.75,0.119,0,0,879,280.13
$SM_GC,1.00,7.75,0.00,46.75,0.062,0.000,0.119,188,1958,879,-7.83,-0.23,280.13,0,0,0,0,0,0,26.60,28.83,26.38
$IRIDIUM_FIX,4722.92,-12223.37,030913,232305
$TT8_MAMPS,0.030709,0.030709
$HUMID,62.48
$INTERNAL_PRESSURE,8.76641
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,7.7
$24V_AH,24.0,0.693
$10V_AH,10.3,0.620
$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,18.925,57.800,161.725,46.750,0.000,91.975,89.016,266.537,0.500,0.000,8.302,1458.255,316.326,296.311,2103.677,48.099,33.222,853.560,0.000,1621.585,0.000,5.686,0.000
$DEVICE_MAMPS,245.565,61.200,1147.500,119.340,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.223,1243.966,1171.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323476
$DATA_FILE_SIZE,40384,643
$CAP_FILE_SIZE,75028,0
$CFSIZE,1024393216,1021427712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,020415,4742.958,-12225.110,4,1.4,4,16.3