version: 66.11
glider: 194
mission: 6
dive: 2
start: 10 9 113 20 3 53
data:
$ID,194
$MISSION,6
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,20
$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,60
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58592
$MASS_COMP,3867
$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,540
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-2620.5684
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2742
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0040000002
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-53.385216
$PRESSURE_SLOPE,0.0001158091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.223
$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,0.0044109076
$SEABIRD_T_H,0.00064730842
$SEABIRD_T_I,2.664891e-05
$SEABIRD_T_J,3.309405e-06
$SEABIRD_C_G,-9.5383005
$SEABIRD_C_H,1.0995622
$SEABIRD_C_I,-0.0013844616
$SEABIRD_C_J,0.00017264462
$GPS1,091013,195909,4743.268,-12223.884,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.7
$GPS2,091013,200256,4743.276,-12223.856,4,1.2,4,16.3
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.065,0.252
$KALMAN_X,110.3,110.3,110.3,169.0,243.2
$KALMAN_Y,-2.5,-2.5,-2.5,224.0,-5.6
$MHEAD_RNG_PITCHd_Wd,329.2,2270,-17.5,-10.000,-21.03,2226
$D_GRID,166
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.46,-146.6,191,2025,584,481,0.0,0.0,0,121,0.00,0.00,-103.40,0.000,16390,0.000,0.000,191,2026,3341,3417,3265,0,0,0,0,0,0,28.83,28.83,26.72
$GC,124,-1.46,-146.6,190,2026,3417,3265,2.3,-3.2,16,139,8.48,2.20,0.00,0.000,2564,0.200,0.041,2524,616,3342,3422,3263,0,0,0,0,0,0,25.93,26.27,28.83
$GC,252,-1.46,-146.6,2524,616,3424,3263,22.4,-20.0,39,262,0.00,2.20,0.00,0.000,1030,0.000,0.044,2516,2036,3342,3423,3262,0,0,0,0,0,0,28.83,26.31,28.83
$GC,382,-1.46,-146.6,2515,2036,3423,3262,49.4,-23.1,52,392,0.00,2.15,0.00,0.000,260,0.000,0.048,2505,3435,3342,3423,3262,0,0,0,0,0,0,28.83,26.29,28.83
$GC,414,-1.46,-146.6,2505,3434,3423,3262,56.2,-21.4,55,424,0.00,2.10,0.00,0.000,1030,0.000,0.031,2505,2015,3342,3423,3262,0,0,0,0,0,0,28.83,26.43,28.83
$GC,544,-1.46,-146.6,2505,2015,3424,3262,86.2,-22.5,68,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2015,3342,3423,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,664,-1.46,-146.6,2504,2015,3423,3262,114.1,-23.6,80,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2015,3342,3423,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,784,-1.46,-146.6,2505,2015,3423,3262,139.7,-19.2,92,794,0.00,2.20,0.00,0.000,260,0.000,0.047,2493,3442,3342,3423,3262,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,836,begin apogee
$GC,841,-0.25,0.0,2493,2016,3424,3262,151.1,-21.6,97,958,1.35,0.00,105.82,0.671,10246,0.148,0.000,2910,2016,2742,2821,2663,0,0,0,0,0,0,26.10,28.83,24.44
$STATE,959,end apogee,CONTROL_FINISHED_OK
$STATE,960,begin climb
$GC,961,1.46,146.6,2910,2016,2821,2662,158.7,0.0,109,1078,1.60,0.00,108.82,0.653,10758,0.078,0.000,3467,2016,2143,2198,2088,0,0,0,0,0,0,25.27,28.83,24.30
$GC,1197,1.46,146.6,3467,2016,2195,2087,122.9,18.4,133,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2016,2140,2194,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1317,1.46,146.6,3467,2016,2195,2087,101.2,18.2,145,1327,0.00,2.22,0.00,0.000,260,0.000,0.047,3467,3435,2141,2195,2087,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1339,1.46,146.6,3467,3435,2195,2087,96.9,18.8,147,1349,0.00,2.15,0.00,0.000,1030,0.000,0.031,3478,2016,2141,2195,2087,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1469,1.46,146.6,3478,2016,2194,2087,71.4,19.7,160,1479,0.00,2.17,0.00,0.000,516,0.000,0.046,3489,626,2140,2193,2087,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1542,1.46,146.6,3489,626,2193,2087,55.1,22.3,167,1552,0.00,2.20,0.00,0.000,1030,0.000,0.042,3490,2030,2140,2193,2087,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1673,1.46,146.6,3489,2030,2193,2087,28.4,20.0,180,1682,0.00,2.17,0.00,0.000,260,0.000,0.047,3489,3441,2140,2193,2087,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,1806,end climb,SURFACE_DEPTH_REACHED
$STATE,1807,begin surface coast
$FINISH,0.6,1.021253
$STATE,1819,end surface coast,CONTROL_FINISHED_OK
$STATE,1819,begin surface
$SM_CCo,1835,154.00,0.053,0,0,540,540.15
$SM_GC,1.03,8.57,2.17,154.00,0.034,0.031,0.053,162,2026,540,-8.72,1.55,540.15,0,0,0,0,0,0,26.40,26.37,26.15
$IRIDIUM_FIX,4726.11,-12232.20,091013,191945
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.58
$INTERNAL_PRESSURE,9.0065
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,17.6
$24V_AH,24.3,1.288
$10V_AH,10.4,0.820
$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,20.000,26.125,214.650,154.000,0.000,0.000,0.000,0.000,0.500,0.000,5.911,472.426,576.352,436.733,542.400,26.191,30.073,735.100,0.000,545.916,0.000,2.639,0.000
$DEVICE_MAMPS,199.665,48.195,670.905,52.785,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,133.727,267.685,436.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323092
$DATA_FILE_SIZE,13712,203
$CAP_FILE_SIZE,67959,0
$CFSIZE,2097872896,2094956544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091013,203740,4743.588,-12223.842,3,1.0,3,16.3