version: 66.11
glider: 194
mission: 6
dive: 24
start: 10 10 113 11 6 9
data:
$ID,194
$MISSION,6
$DIVE,24
$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,-2869.2393
$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,57
$R_STBD_OVSHOOT,39
$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
$GPS1,101013,105852,4744.778,-12224.707,2,0.8,2,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.4
$GPS2,101013,110508,4744.791,-12224.709,4,0.8,5,16.3
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.114
$KALMAN_X,-120.7,1354.5,-442.6,-2436.8,-262.5
$KALMAN_Y,217.9,4084.8,1988.2,-4260.8,9.8
$MHEAD_RNG_PITCHd_Wd,120.1,598,-21.8,-7.500,-25.39,1232
$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,-1.27,-60.8,169,2193,1535,1481,0.0,0.0,0,74,0.00,0.00,-54.50,0.000,16390,0.000,0.000,169,2193,2991,3038,2945,0,0,0,0,0,0,28.83,28.83,26.55
$GC,76,-1.35,-79.6,169,2193,3038,2945,2.8,-5.9,10,95,8.88,2.20,-2.08,0.000,18692,0.202,0.060,2601,3607,3069,3144,2994,0,0,0,0,0,0,25.91,26.18,26.45
$GC,157,-1.35,-79.6,2601,3608,3144,2994,14.4,-15.8,25,164,0.00,2.10,0.00,0.000,1030,0.000,0.028,2601,2185,3069,3144,2994,0,0,0,0,0,0,28.83,26.29,28.83
$GC,227,-1.35,-79.6,2601,2186,3144,2994,24.6,-14.2,35,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2186,3069,3144,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,346,-1.35,-79.6,2600,2186,3144,2994,40.8,-14.4,47,350,0.00,2.20,0.00,0.000,260,0.000,0.045,2590,3609,3068,3144,2993,0,0,0,0,0,0,28.83,26.33,28.83
$GC,431,-1.35,-79.6,2589,3609,3144,2994,53.6,-14.8,55,435,0.00,2.08,0.00,0.000,1030,0.000,0.028,2590,2194,3068,3144,2993,0,0,0,0,0,0,28.83,26.41,28.83
$GC,556,-1.35,-79.6,2589,2194,3144,2994,71.0,-13.4,67,560,0.00,2.17,0.00,0.000,260,0.000,0.044,2579,3610,3068,3143,2994,0,0,0,0,0,0,28.83,26.40,28.83
$GC,682,-1.35,-79.6,2579,3610,3144,2994,88.6,-14.1,79,687,0.15,2.08,0.00,0.000,3078,0.172,0.028,2616,2193,3069,3144,2994,0,0,0,0,0,0,26.25,26.49,28.83
$GC,808,-1.35,-79.6,2616,2194,3144,2994,105.8,-14.3,91,817,0.00,2.10,0.00,0.000,516,0.000,0.041,2616,815,3069,3144,2994,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1114,-1.35,-79.6,2616,815,3144,2993,154.2,-15.5,121,1118,0.00,2.12,0.00,0.000,1030,0.000,0.039,2607,2212,3069,3144,2994,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1238,-1.35,-79.6,2608,2213,3144,2994,171.7,-12.8,133,1242,0.00,2.15,0.00,0.000,516,0.000,0.041,2607,810,3069,3144,2994,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1303,begin apogee
$GC,1309,-0.24,0.0,2596,2298,3144,2994,180.6,-13.2,139,1375,1.15,0.00,57.97,0.672,10246,0.138,0.000,2964,2299,2741,2818,2665,0,0,0,0,0,0,26.35,28.83,24.93
$STATE,1376,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1377,1.35,79.6,2964,2299,2818,2665,184.5,0.0,146,1446,1.42,2.35,59.75,0.657,10500,0.071,0.044,3479,3706,2416,2473,2359,0,0,0,0,0,0,25.62,25.14,24.48
$GC,1598,1.35,79.6,3479,3706,2471,2359,157.6,15.3,168,1602,0.00,2.12,0.00,0.000,1030,0.000,0.028,3490,2299,2415,2471,2359,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1723,1.35,79.6,3490,2299,2471,2359,141.2,12.2,180,1727,0.00,2.17,0.00,0.000,516,0.000,0.041,3500,898,2415,2471,2360,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1842,1.35,79.6,3500,898,2471,2360,126.6,13.3,191,1849,0.00,2.17,0.00,0.000,1030,0.000,0.038,3500,2306,2415,2471,2359,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1969,1.35,79.6,3500,2306,2471,2359,107.2,15.4,204,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,3500,2306,2415,2471,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2089,1.35,79.6,3500,2307,2471,2360,88.7,15.4,216,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2306,2415,2470,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2209,1.35,79.6,3500,2306,2470,2360,70.9,14.7,228,2213,0.00,2.15,0.00,0.000,260,0.000,0.046,3501,3708,2415,2471,2360,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2407,1.35,79.6,3500,3708,2471,2359,39.2,16.7,247,2415,0.00,2.12,0.00,0.000,1030,0.000,0.028,3512,2297,2415,2471,2359,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2534,1.35,79.6,3511,2296,2471,2359,21.0,14.0,260,2538,0.00,2.17,0.00,0.000,260,0.000,0.045,3512,3712,2415,2471,2360,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,2664,end climb,SURFACE_DEPTH_REACHED
$STATE,2664,begin surface coast
$FINISH,1.6,1.022494
$STATE,2670,end surface coast,CONTROL_FINISHED_OK
$STATE,2670,begin surface
$SM_CCo,2687,86.60,0.054,0,0,1518,300.00
$SM_GC,1.29,8.82,2.30,86.60,0.047,0.028,0.054,163,2195,1518,-8.88,1.61,300.00,0,0,0,0,0,0,26.52,26.51,26.34
$IRIDIUM_FIX,4726.11,-12223.37,101013,101047
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.86
$INTERNAL_PRESSURE,9.0651
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,18.2
$ALTIM_BOTTOM_PING,130.7,62.7
$24V_AH,24.5,2.370
$10V_AH,10.5,1.319
$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,20.425,39.100,117.725,86.600,0.000,0.000,0.000,267.650,2.750,0.000,6.037,751.313,1226.197,273.705,891.114,32.044,33.199,892.711,0.000,610.323,0.000,19.712,0.000
$DEVICE_MAMPS,201.960,59.670,671.670,54.315,0.000,0.000,0.000,74.205,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.414,377.951,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322992
$DATA_FILE_SIZE,20378,285
$CAP_FILE_SIZE,51081,0
$CFSIZE,2097872896,2092826624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,115258,4744.529,-12224.435,2,0.8,2,16.3