version: 66.11
glider: 194
mission: 6
dive: 3
start: 10 9 113 21 52 35
data:
$ID,194
$MISSION,6
$DIVE,3
$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,-2697.1091
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.200001
$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,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,58
$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,100
$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
$GPS1,091013,214527,4743.763,-12223.464,4,1.1,5,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-62.6
$GPS2,091013,215136,4743.775,-12223.465,7,1.1,7,16.3
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.234
$KALMAN_X,404.1,301.3,265.5,18.6,153.0
$KALMAN_Y,66.0,41.1,33.3,996.7,24.5
$MHEAD_RNG_PITCHd_Wd,317.9,1388,-17.5,-10.000,-21.03,2226
$D_GRID,158
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.41,-146.6,188,2226,569,497,0.0,0.0,0,121,0.00,0.00,-102.68,0.000,16390,0.000,0.000,189,2226,3341,3417,3265,0,0,0,0,0,0,28.83,28.83,26.69
$GC,124,-1.41,-146.6,190,2227,3417,3265,2.7,-4.1,16,139,8.73,2.22,0.00,0.000,2564,0.200,0.038,2585,792,3342,3422,3263,0,0,0,0,0,0,25.86,26.25,28.83
$GC,244,-1.41,-146.6,2585,792,3424,3262,25.1,-20.0,36,253,0.00,2.20,0.00,0.000,1030,0.000,0.043,2578,2180,3344,3425,3263,0,0,0,0,0,0,28.83,26.29,28.83
$GC,372,-1.41,-146.6,2578,2181,3424,3262,54.2,-22.7,49,382,0.00,2.22,0.00,0.000,260,0.000,0.050,2567,3615,3343,3424,3262,0,0,0,0,0,0,28.83,26.28,28.83
$GC,508,-1.41,-146.6,2566,3615,3424,3262,83.0,-23.2,62,518,0.08,2.15,0.00,0.000,3078,0.161,0.031,2589,2185,3343,3425,3262,0,0,0,0,0,0,26.12,26.43,28.83
$GC,637,-1.41,-146.6,2589,2185,3425,3262,108.0,-16.8,75,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2185,3343,3424,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,757,-1.41,-146.6,2589,2185,3424,3262,131.2,-20.8,87,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2185,3343,3424,3262,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,855,begin apogee
$GC,859,-0.24,0.0,2588,2311,3424,3262,151.5,-19.9,97,970,1.17,0.00,105.85,0.671,10246,0.131,0.000,2966,2311,2742,2822,2662,0,0,0,0,0,0,26.12,28.83,24.44
$STATE,971,end apogee,CONTROL_FINISHED_OK
$STATE,971,begin climb
$GC,973,1.41,146.6,2966,2311,2822,2663,156.9,0.0,108,1089,1.52,2.38,108.68,0.653,11012,0.070,0.042,3514,908,2142,2197,2088,0,0,0,0,0,0,25.18,24.97,24.28
$GC,1165,1.41,146.6,3514,907,2193,2087,129.5,21.0,127,1174,0.00,2.28,0.00,0.000,1030,0.000,0.042,3514,2303,2140,2193,2087,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1294,1.41,146.6,3514,2304,2193,2087,100.1,21.3,140,1303,0.00,2.20,0.00,0.000,260,0.000,0.049,3514,3703,2140,2193,2088,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1336,1.41,146.6,3514,3703,2193,2087,90.4,22.7,144,1346,0.00,2.10,0.00,0.000,1030,0.000,0.029,3526,2302,2140,2193,2087,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1466,1.41,146.6,3525,2302,2193,2087,63.9,19.7,157,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2302,2140,2193,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,1.41,146.6,3525,2302,2193,2087,39.6,21.0,169,1596,0.00,2.20,0.00,0.000,260,0.000,0.048,3526,3712,2140,2193,2087,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1629,1.41,146.6,3525,3712,2193,2087,29.9,23.1,173,1639,0.12,2.10,0.00,0.000,5126,0.180,0.030,3508,2295,2140,2193,2087,0,0,0,0,0,0,26.01,26.27,28.83
$STATE,1758,end climb,SURFACE_DEPTH_REACHED
$STATE,1758,begin surface coast
$FINISH,0.2,1.021750
$STATE,1775,end surface coast,CONTROL_FINISHED_OK
$STATE,1775,begin surface
$SM_CCo,1790,154.90,0.052,0,0,540,540.15
$SM_GC,1.06,8.62,0.10,154.90,0.034,0.093,0.052,163,2194,540,-8.87,1.70,540.15,0,0,0,0,0,0,26.36,26.41,26.13
$IRIDIUM_FIX,4726.11,-12223.37,091013,212106
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.91
$INTERNAL_PRESSURE,9.0065
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,106.3,56.1
$24V_AH,24.3,1.369
$10V_AH,10.4,0.891
$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,20.250,22.325,214.525,154.900,0.000,0.000,0.000,0.000,1.000,0.000,8.701,466.771,548.301,417.546,555.817,24.783,31.311,718.725,0.000,551.769,0.000,8.785,0.000
$DEVICE_MAMPS,199.665,92.565,670.905,52.020,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,129.822,259.801,423.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323088
$DATA_FILE_SIZE,13621,197
$CAP_FILE_SIZE,78630,0
$CFSIZE,2097872896,2094858240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091013,222603,4743.976,-12223.546,27,0.9,27,16.3