version: 66.11
glider: 195
mission: 1
dive: 2
start: 5 28 113 17 1 0
data:
$ID,195
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59371
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-1590.6215
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2290
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2125
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-50.290909
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$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,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,280513,165634,4743.898,-12224.163,10,0.8,10,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-56.2
$GPS2,280513,170005,4743.934,-12224.188,16,0.8,17,16.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,-0.202
$KALMAN_X,118.7,118.7,118.7,47.8,320.5
$KALMAN_Y,226.2,226.2,226.2,449.2,610.8
$MHEAD_RNG_PITCHd_Wd,184.2,764,-21.7,-10.000
$D_GRID,173
$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,15,-1.15,-97.8,0.0,0.0,0,102,0.00,0.00,-78.32,0.000,6,0.000,0.000,197,2296,2522,0,0,0,0,0,0,28.83,28.83,26.84
$GC,104,-1.15,-97.8,2.5,-5.9,11,121,7.90,2.17,0.00,0.000,4,0.210,0.037,2323,888,2524,0,0,0,0,0,0,26.14,26.46,28.83
$GC,175,-1.15,-97.8,9.0,-9.4,22,184,0.00,2.15,0.00,0.000,6,0.000,0.038,2315,2285,2523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,255,-1.15,-97.8,17.0,-11.2,35,264,0.00,2.22,0.00,0.000,4,0.000,0.049,2305,3691,2523,0,0,0,0,0,0,28.83,26.46,28.83
$GC,283,-1.15,-97.8,20.4,-12.1,39,292,0.00,2.10,0.00,0.000,6,0.000,0.030,2305,2295,2524,0,0,0,0,0,0,28.83,26.54,28.83
$GC,363,-1.15,-97.8,30.6,-12.4,52,372,0.00,2.15,0.00,0.000,4,0.000,0.040,2305,898,2524,0,0,0,0,0,0,28.83,26.49,28.83
$GC,458,-1.15,-97.8,44.4,-15.6,68,467,0.10,2.15,0.00,0.000,6,0.135,0.038,2326,2297,2524,0,0,0,0,0,0,26.32,26.54,28.83
$GC,607,-1.15,-97.8,59.0,-9.7,93,614,0.00,2.15,0.00,0.000,4,0.000,0.049,2317,3689,2524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,655,-1.15,-97.8,64.5,-11.0,101,662,0.00,2.08,0.00,0.000,6,0.000,0.029,2317,2280,2523,0,0,0,0,0,0,28.83,26.60,28.83
$GC,798,-1.15,-97.8,81.4,-12.0,126,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2280,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,944,-1.15,-97.8,98.1,-12.3,151,951,0.00,2.10,0.00,0.000,4,0.000,0.041,2317,898,2523,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1210,-1.15,-97.8,128.9,-10.1,197,1217,0.00,2.12,0.00,0.000,6,0.000,0.039,2307,2296,2523,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1354,-1.15,-97.8,143.6,-10.8,222,1363,0.00,2.15,0.00,0.000,4,0.000,0.041,2307,901,2523,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,1413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1418,-0.24,0.0,150.4,-11.1,232,1500,1.00,0.00,74.70,0.451,6,0.131,0.000,2616,2303,2118,0,0,0,0,0,0,26.38,28.83,25.49
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1502,1.15,97.8,153.3,0.0,244,1584,1.27,2.22,73.00,0.443,4,0.079,0.047,3069,3688,1717,0,0,0,0,0,0,25.96,25.58,25.11
$GC,1671,1.15,97.8,130.0,19.8,271,1678,0.00,2.12,0.00,0.000,6,0.000,0.031,3080,2290,1711,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1816,1.15,97.8,104.9,16.7,296,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2291,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,1.15,97.8,83.2,14.4,321,1969,0.00,2.15,0.00,0.000,4,0.000,0.042,3090,885,1709,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2192,1.15,97.8,43.7,17.4,361,2199,0.00,2.15,0.00,0.000,6,0.000,0.038,3090,2289,1707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2340,1.15,97.8,21.4,15.1,386,2349,0.00,2.17,0.00,0.000,4,0.000,0.042,3101,897,1707,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2437,1.15,97.8,6.2,14.9,402,2446,0.08,2.15,0.00,0.000,6,0.145,0.038,3076,2287,1707,0,0,0,0,0,0,26.28,26.47,28.83
$STATE,2464,end climb,SURFACE_DEPTH_REACHED
$STATE,2464,begin surface coast
$FINISH,-0.1,1.022148
$STATE,2478,end surface coast,CONTROL_FINISHED_OK
$STATE,2478,begin surface
$SM_CCo,2491,174.93,0.335,1,0,901,300.00
$SM_GC,0.60,7.50,0.00,174.93,0.035,0.000,0.335,187,2287,901,-7.77,-0.08,300.00,0,0,0,0,1,0,26.48,28.83,25.18
$IRIDIUM_FIX,4726.11,-12222.38,280513,161618
$TT8_MAMPS,0.026964,0.026964
$HUMID,32.98
$INTERNAL_PRESSURE,8.78091
$TCM_TEMP,11.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.2,11.6
$24V_AH,25.1,0.393
$10V_AH,10.4,0.373
$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,17.850,38.700,147.700,174.925,0.000,0.000,0.000,0.000,1.250,0.000,18.718,930.930,240.696,406.421,1136.163,32.432,30.075,820.945,0.000,1117.257,0.000,10.142,0.000
$DEVICE_MAMPS,210.375,48.960,450.585,335.070,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.333,891.149,849.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,41.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323484
$DATA_FILE_SIZE,30384,408
$CAP_FILE_SIZE,66896,0
$CFSIZE,2097872896,2094694400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,280513,174621,4744.009,-12224.132,16,1.0,16,16.3