version: 66.11
glider: 194
mission: 6
dive: 22
start: 10 10 113 9 33 14
data:
$ID,194
$MISSION,6
$DIVE,22
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,80
$T_MISSION,100
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,0
$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,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2866.2581
$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,53
$R_STBD_OVSHOOT,43
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$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
$GPS1,101013,092806,4745.025,-12224.981,3,1.4,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.4
$GPS2,101013,093214,4745.076,-12225.013,4,1.4,4,16.3
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,-0.226
$KALMAN_X,-329.4,1416.6,41.8,-3152.3,-299.8
$KALMAN_Y,34.6,3393.7,1268.6,-2138.4,1065.3
$MHEAD_RNG_PITCHd_Wd,147.7,1243,-13.1,-7.500,-17.71,2947
$D_GRID,180
$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,-1.20,-146.6,158,2195,1535,1483,0.0,0.0,0,80,0.00,0.00,-62.65,0.000,16386,0.000,0.000,157,2195,3255,3329,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.20,-146.6,158,2194,3329,3182,3.0,-4.6,11,102,9.10,2.15,-2.00,0.000,18948,0.203,0.056,2658,805,3342,3435,3249,0,0,0,0,0,0,25.92,26.20,26.47
$GC,327,-1.20,-146.6,2658,805,3436,3249,53.5,-18.6,42,334,0.00,2.15,0.00,0.000,1030,0.000,0.041,2650,2206,3342,3436,3249,0,0,0,0,0,0,28.83,26.35,28.83
$GC,453,-1.20,-146.6,2649,2206,3436,3249,77.1,-17.8,55,457,0.00,2.15,0.00,0.000,260,0.000,0.046,2638,3608,3343,3437,3249,0,0,0,0,0,0,28.83,26.37,28.83
$GC,469,-1.20,-146.6,2638,3608,3436,3249,80.2,-18.4,56,473,0.00,2.10,0.00,0.000,1030,0.000,0.028,2638,2186,3342,3436,3249,0,0,0,0,0,0,28.83,26.43,28.83
$GC,596,-1.20,-146.6,2638,2186,3436,3249,105.1,-19.8,68,605,0.00,2.17,0.00,0.000,260,0.000,0.047,2627,3604,3342,3436,3249,0,0,0,0,0,0,28.83,26.41,28.83
$GC,648,-1.20,-146.6,2627,3604,3436,3249,116.8,-21.4,73,658,0.12,2.08,0.00,0.000,3078,0.170,0.028,2658,2193,3343,3437,3249,0,0,0,0,0,0,26.27,26.48,28.83
$GC,778,-1.20,-146.6,2658,2193,3436,3249,139.6,-16.9,86,782,0.00,2.12,0.00,0.000,516,0.000,0.042,2658,803,3342,3436,3248,0,0,0,0,0,0,28.83,26.46,28.83
$GC,917,-1.20,-146.6,2658,803,3436,3249,161.3,-15.3,99,924,0.00,2.15,0.00,0.000,1030,0.000,0.040,2650,2214,3342,3436,3249,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1027,-0.24,0.0,2649,2298,3436,3249,180.7,-17.5,110,1137,0.98,0.00,105.75,0.674,10246,0.125,0.000,2967,2298,2742,2820,2664,0,0,0,0,0,0,26.35,28.83,24.50
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1140,1.20,146.6,2967,2298,2820,2664,186.0,0.0,121,1258,1.33,2.33,109.35,0.657,10756,0.072,0.042,3443,916,2142,2197,2088,0,0,0,0,0,0,25.18,24.95,24.31
$GC,1315,1.20,146.6,3443,916,2193,2088,166.9,16.6,139,1320,0.00,2.20,0.00,0.000,1030,0.000,0.038,3443,2305,2141,2194,2088,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1440,1.20,146.6,3443,2305,2193,2088,146.7,15.2,151,1445,0.00,2.17,0.00,0.000,260,0.000,0.046,3443,3696,2140,2193,2088,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1476,1.20,146.6,3443,3696,2193,2088,141.1,15.6,154,1480,0.00,2.10,0.00,0.000,1030,0.000,0.028,3454,2306,2140,2193,2088,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1601,1.20,146.6,3454,2306,2193,2088,119.9,17.6,166,1605,0.00,2.17,0.00,0.000,516,0.000,0.041,3465,901,2140,2193,2088,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1709,1.20,146.6,2688,900,2143,2084,102.8,16.8,176,1717,0.00,2.20,0.00,0.000,1030,0.000,0.038,3465,2298,2140,2192,2088,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1837,1.20,146.6,3465,2298,2192,2088,78.9,18.5,189,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2298,2140,2192,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1957,1.20,146.6,3465,2298,2192,2089,54.6,19.6,201,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2297,2141,2193,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,1.20,146.6,3465,2298,2193,2089,33.1,16.9,213,2081,0.00,2.15,0.00,0.000,260,0.000,0.046,3465,3703,2140,2192,2089,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2214,1.20,146.6,3465,3703,2192,2089,9.0,15.0,232,2222,0.15,2.08,0.00,0.000,5126,0.162,0.029,3436,2292,2140,2192,2088,0,0,0,0,0,0,26.22,26.43,28.83
$STATE,2257,end climb,SURFACE_DEPTH_REACHED
$STATE,2257,begin surface coast
$FINISH,0.1,1.001769
$STATE,2279,end surface coast,CONTROL_FINISHED_OK
$STATE,2279,begin surface
$SM_CCo,2294,60.33,0.051,0,0,1518,300.00
$SM_GC,0.95,8.35,0.10,60.33,0.030,0.092,0.051,166,2195,1518,-8.87,1.58,300.00,0,0,0,0,0,0,26.46,26.48,26.32
$IRIDIUM_FIX,4729.30,-12226.80,101013,080857
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.58
$INTERNAL_PRESSURE,9.07486
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,136.2,66.2
$24V_AH,24.3,2.294
$10V_AH,10.5,1.274
$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,20.025,34.675,215.100,60.325,0.000,0.000,0.000,198.000,3.000,0.000,5.581,622.206,939.115,320.437,712.326,30.386,33.191,842.573,0.000,505.273,0.000,21.283,0.000
$DEVICE_MAMPS,202.725,97.920,673.965,51.255,0.000,0.000,0.000,74.970,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.064,322.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323084
$DATA_FILE_SIZE,17010,244
$CAP_FILE_SIZE,46325,0
$CFSIZE,2097872896,2093023232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,101318,4745.039,-12224.895,15,0.8,15,16.3