version: 66.10
glider: 206
mission: 1
dive: 12
start: 9 3 113 20 21 12
data:
$ID,206
$MISSION,1
$DIVE,12
$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,-875.07037
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,040913,031238,4743.319,-12224.673,4,1.3,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.0
$GPS2,040913,031945,4743.320,-12224.680,25,1.5,25,16.3
$SPEED_LIMITS,0.146,0.195
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.071,0.182
$KALMAN_X,-1393.2,-635.4,-255.3,2165.5,224.4
$KALMAN_Y,-3996.0,-794.6,476.5,5278.8,-244.8
$MHEAD_RNG_PITCHd_Wd,322.5,1084,-19.8,-8.451
$D_GRID,176
$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,-88.0,0.0,0.0,0,58,0.00,0.00,-41.78,0.000,2,0.000,0.000,184,1968,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-1.02,-88.0,3.3,-7.1,6,79,8.93,2.30,-4.00,0.000,4,0.246,0.063,2375,3379,2384,0,0,0,0,0,0,26.09,26.28,26.56
$GC,397,-1.02,-88.0,51.0,-13.5,65,404,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1952,2384,0,0,0,0,0,0,28.83,26.50,28.83
$GC,557,-1.02,-88.0,70.6,-11.6,96,565,0.00,2.25,0.00,0.000,4,0.000,0.048,2366,3370,2384,0,0,0,0,0,0,28.83,26.54,28.83
$GC,749,-1.02,-88.0,95.3,-13.7,133,755,0.00,2.12,0.00,0.000,6,0.000,0.039,2366,1969,2384,0,0,0,0,0,0,28.83,26.60,28.83
$GC,907,-1.02,-88.0,116.6,-12.0,164,916,0.00,2.22,0.00,0.000,4,0.000,0.050,2366,556,2384,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1080,-1.02,-88.0,140.4,-13.9,199,1087,0.12,2.17,0.00,0.000,6,0.202,0.037,2387,1976,2385,0,0,0,0,0,0,26.52,26.69,28.83
$GC,1227,-1.02,-88.0,158.8,-11.8,230,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1976,2384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1370,-1.02,-88.0,172.4,-9.4,261,1377,0.00,2.15,0.00,0.000,4,0.000,0.049,2378,3380,2384,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,1401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1407,-0.23,0.0,176.2,-11.4,268,1480,0.85,0.00,65.60,1.139,6,0.152,0.000,2639,1950,2027,0,0,0,0,0,0,26.59,28.83,24.49
$STATE,1481,end apogee,CONTROL_FINISHED_OK
$STATE,1481,begin climb
$GC,1482,1.02,88.0,179.5,0.0,280,1561,1.23,2.38,67.90,1.127,4,0.104,0.053,3038,568,1666,0,0,0,0,0,0,25.29,24.83,24.05
$GC,1589,1.02,88.0,173.4,9.3,297,1595,0.00,2.25,0.00,0.000,6,0.000,0.041,3038,1962,1666,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1743,1.02,88.0,156.9,9.9,328,1750,0.00,2.28,0.00,0.000,4,0.000,0.051,3038,3383,1666,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1973,1.02,88.0,133.6,9.0,374,1982,0.00,2.25,0.00,0.000,6,0.000,0.044,3038,1977,1666,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2134,1.02,88.0,118.9,9.6,405,2141,0.00,2.25,0.00,0.000,4,0.000,0.055,3038,548,1666,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2384,1.02,88.0,96.6,8.7,454,2393,0.00,2.22,0.00,0.000,6,0.000,0.042,3038,1964,1666,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2546,1.02,88.0,82.5,8.9,485,2553,0.00,2.20,0.00,0.000,4,0.000,0.052,3039,3377,1666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2740,1.02,88.0,64.7,9.0,523,2747,0.00,2.20,0.00,0.000,6,0.000,0.044,3039,1950,1666,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2898,1.09,144.2,53.2,4.8,554,2927,0.00,2.28,22.83,0.679,4,0.000,0.055,3038,558,1435,0,0,0,0,0,0,28.83,26.25,25.74
$GC,2994,1.10,155.3,46.9,7.7,571,3010,0.10,2.17,4.65,0.546,6,0.111,0.041,3083,1969,1389,0,0,0,0,0,0,26.33,26.36,25.75
$GC,3177,1.10,155.3,24.9,13.6,603,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1968,1388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,1.10,155.3,12.6,12.6,619,3282,0.00,2.28,0.00,0.000,4,0.000,0.055,3087,558,1388,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3341,1.10,155.3,3.6,13.2,630,3350,0.00,2.20,0.00,0.000,6,0.000,0.041,3086,1962,1388,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,3357,end climb,SURFACE_DEPTH_REACHED
$STATE,3357,begin surface coast
$FINISH,0.3,1.021620
$STATE,3382,end surface coast,CONTROL_FINISHED_OK
$STATE,3382,begin surface
$SM_CCo,3395,48.03,0.118,0,0,881,280.13
$SM_GC,0.98,7.88,0.00,48.03,0.061,0.000,0.118,192,1961,881,-7.82,-0.14,280.13,0,0,0,0,0,0,26.51,28.83,26.31
$IRIDIUM_FIX,4726.11,-12222.38,040913,020221
$TT8_MAMPS,0.031458,0.031458
$HUMID,62.16
$INTERNAL_PRESSURE,8.76641
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,6.4
$24V_AH,24.0,0.827
$10V_AH,10.4,0.751
$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,19.100,44.575,160.975,48.025,0.000,22.830,40.433,266.199,0.500,0.000,28.546,1435.200,135.402,276.972,1991.144,45.159,33.206,816.223,0.000,1611.057,0.000,5.458,0.000
$DEVICE_MAMPS,245.565,62.730,1139.085,117.810,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.076,1227.776,1154.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,10.490,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323496
$DATA_FILE_SIZE,40401,636
$CAP_FILE_SIZE,67456,0
$CFSIZE,1024393216,1021296640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040913,041905,4743.848,-12224.693,25,1.0,26,16.3