version: 66.10
glider: 206
mission: 1
dive: 11
start: 9 3 113 19 12 41
data:
$ID,206
$MISSION,1
$DIVE,11
$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,-836.21191
$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,27
$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,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
$GPS1,040913,020415,4742.958,-12225.110,4,1.4,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.7
$GPS2,040913,021115,4742.979,-12225.075,4,1.4,5,16.3
$SPEED_LIMITS,0.146,0.195
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.175
$KALMAN_X,-1700.0,-519.0,-188.9,1796.5,-214.4
$KALMAN_Y,-3199.7,-1152.9,151.0,4533.6,27.7
$MHEAD_RNG_PITCHd_Wd,10.2,1740,-19.8,-8.451
$D_GRID,181
$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,-88.0,0.0,0.0,0,54,0.00,0.00,-37.83,0.000,2,0.000,0.000,188,1959,2069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.02,-88.0,3.0,-6.8,6,79,8.90,2.33,-7.70,0.000,4,0.244,0.064,2373,3379,2384,0,0,0,0,0,0,26.05,26.25,26.55
$GC,108,-1.02,-88.0,9.6,-16.0,14,117,0.00,2.25,0.00,0.000,6,0.000,0.041,2373,1956,2384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,189,-1.02,-88.0,22.0,-13.1,30,195,0.00,2.17,0.00,0.000,4,0.000,0.051,2373,560,2384,0,0,0,0,0,0,28.83,26.34,28.83
$GC,215,-1.02,-88.0,25.4,-14.2,34,224,0.00,2.22,0.00,0.000,6,0.000,0.041,2363,1968,2384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,310,-1.02,-88.0,38.0,-12.7,50,319,0.00,2.25,0.00,0.000,4,0.000,0.052,2354,3378,2384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,436,-1.02,-88.0,54.5,-13.2,74,445,0.10,2.22,0.00,0.000,6,0.171,0.043,2383,1967,2385,0,0,0,0,0,0,26.32,26.48,28.83
$GC,596,-1.02,-88.0,73.6,-11.3,105,602,0.00,2.17,0.00,0.000,4,0.000,0.051,2383,561,2385,0,0,0,0,0,0,28.83,26.52,28.83
$GC,625,-1.02,-88.0,77.2,-12.2,110,633,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1966,2385,0,0,0,0,0,0,28.83,26.55,28.83
$GC,786,-1.02,-88.0,98.9,-13.2,141,793,0.00,2.17,0.00,0.000,4,0.000,0.050,2366,3374,2385,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1062,-1.02,-88.0,134.8,-14.9,199,1069,0.00,2.15,0.00,0.000,6,0.000,0.038,2366,1951,2385,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1212,-1.02,-88.0,155.6,-13.3,230,1221,0.00,2.25,0.00,0.000,4,0.000,0.048,2357,3374,2385,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1326,-1.02,-88.0,168.9,-9.3,254,1334,0.15,2.12,0.00,0.000,6,0.194,0.039,2392,1966,2385,0,0,0,0,0,0,26.54,26.70,28.83
$STATE,1435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1436,begin apogee
$GC,1438,-0.23,0.0,180.4,-10.2,279,1514,0.80,0.00,65.45,1.144,6,0.156,0.000,2638,1964,2028,0,0,0,0,0,0,26.55,28.83,24.48
$STATE,1515,end apogee,CONTROL_FINISHED_OK
$STATE,1515,begin climb
$GC,1517,1.02,88.0,183.2,0.0,291,1590,1.23,0.00,68.22,1.132,6,0.103,0.000,3036,1964,1665,0,0,0,0,0,0,25.31,28.83,24.03
$GC,1737,1.02,88.0,164.4,10.5,333,1744,0.00,2.30,0.00,0.000,4,0.000,0.049,3037,3382,1665,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1837,1.02,88.0,153.4,11.9,352,1845,0.00,2.25,0.00,0.000,6,0.000,0.043,3038,1983,1665,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1997,1.02,88.0,137.2,10.4,383,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1982,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,1.02,88.0,121.1,11.2,414,2163,0.00,2.30,0.00,0.000,4,0.000,0.055,3039,555,1665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2234,1.02,88.0,111.9,12.2,429,2240,0.00,2.20,0.00,0.000,6,0.000,0.042,3038,1976,1665,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2392,1.02,88.0,96.0,9.1,460,2401,0.00,2.30,0.00,0.000,4,0.000,0.055,3039,554,1665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2484,1.02,88.0,88.3,8.8,477,2491,0.00,2.17,0.00,0.000,6,0.000,0.042,3038,1967,1665,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2642,1.02,88.9,75.3,8.4,508,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1967,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2803,1.02,94.6,63.2,8.1,539,2809,0.00,0.00,2.70,0.469,6,0.000,0.000,3039,1967,1638,0,0,0,0,0,0,28.83,28.83,25.92
$GC,2960,1.02,94.6,49.8,8.5,570,2969,0.00,2.28,0.00,0.000,4,0.000,0.054,3039,550,1638,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3089,1.03,95.9,38.4,8.4,594,3097,0.00,2.22,0.00,0.000,6,0.000,0.042,3038,1968,1638,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3186,1.07,134.4,31.5,6.0,610,3210,0.00,2.22,15.70,0.189,4,0.000,0.053,3039,3367,1472,0,0,0,0,0,0,28.83,26.57,26.41
$GC,3362,1.07,134.4,12.9,11.3,639,3371,0.00,2.20,0.00,0.000,6,0.000,0.045,3038,1968,1472,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3457,1.09,147.7,4.4,7.6,655,3465,0.00,0.00,4.62,0.135,6,0.000,0.000,3039,1968,1416,0,0,0,0,0,0,28.83,28.83,26.54
$STATE,3489,end climb,SURFACE_DEPTH_REACHED
$STATE,3489,begin surface coast
$FINISH,0.3,1.021748
$STATE,3525,end surface coast,CONTROL_FINISHED_OK
$STATE,3526,begin surface
$SM_CCo,3539,50.25,0.117,0,0,879,280.13
$SM_GC,1.53,7.72,0.00,50.25,0.062,0.000,0.117,184,1967,879,-7.84,0.03,280.13,0,0,0,0,0,0,26.65,28.83,26.43
$IRIDIUM_FIX,4729.30,-12225.08,040913,000045
$TT8_MAMPS,0.030709,0.030709
$HUMID,62.64
$INTERNAL_PRESSURE,8.75664
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,7.6
$24V_AH,24.0,0.759
$10V_AH,10.4,0.686
$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,18.900,48.975,156.700,50.250,0.000,22.691,39.543,282.758,0.500,0.000,9.300,1506.617,137.485,296.072,2034.053,47.722,33.198,868.349,0.000,1653.437,0.000,5.461,0.000
$DEVICE_MAMPS,244.035,64.260,1143.675,117.045,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.094,1271.243,1193.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323420
$DATA_FILE_SIZE,43773,666
$CAP_FILE_SIZE,74573,0
$CFSIZE,1024393216,1021362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,031238,4743.319,-12224.673,4,1.3,4,16.3