version: 66.11
glider: 195
mission: 1
dive: 6
start: 5 28 113 21 16 28
data:
$ID,195
$MISSION,1
$DIVE,6
$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,80
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,200
$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,-1674.9658
$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,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,210
$C_ROLL_CLIMB,210
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$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,2125
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00075000001
$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,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,-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
$GPS1,280513,210830,4744.421,-12224.530,40,1.3,40,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-60.4
$GPS2,280513,211510,4744.471,-12224.524,5,1.1,5,16.3
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,-0.378
$KALMAN_X,-51.7,486.1,205.8,-640.8,-260.2
$KALMAN_Y,3148.3,1461.4,333.2,-2795.8,524.0
$MHEAD_RNG_PITCHd_Wd,153.9,3298,-10.1,-10.000
$D_GRID,177
$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,14,-0.64,-244.4,0.0,0.0,0,94,0.00,0.00,-77.22,0.000,2,0.000,0.000,194,2143,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.64,-244.4,3.6,-8.0,10,113,8.60,0.00,-2.05,0.000,6,0.207,0.000,2490,2142,3122,0,0,0,0,0,0,25.76,28.83,26.28
$GC,185,-0.64,-244.4,20.7,-12.6,24,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,263,-0.64,-244.4,30.3,-11.9,37,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,343,-0.64,-244.4,40.3,-13.0,50,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,422,-0.64,-244.4,51.5,-14.4,63,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,501,-0.64,-244.4,61.7,-12.1,76,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,581,-0.64,-244.4,71.0,-11.1,89,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,660,-0.64,-244.4,79.0,-10.8,102,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,739,-0.64,-244.4,87.9,-11.9,115,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-0.64,-244.4,97.0,-11.2,128,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,898,-0.64,-244.4,105.9,-10.8,141,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-0.64,-244.4,115.0,-12.1,154,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.64,-244.4,123.7,-11.4,167,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1135,-0.64,-244.4,132.3,-11.7,180,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1214,-0.64,-244.4,140.6,-10.2,193,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.64,-244.4,148.2,-9.6,206,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2142,3124,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1321,-0.23,0.0,150.5,-9.8,209,1665,0.40,0.00,287.95,0.389,6,0.109,0.000,2625,245,2124,0,0,0,0,10,0,26.36,28.83,24.89
$STATE,1666,end apogee,CONTROL_FINISHED_OK
$STATE,1666,begin climb
$GC,1667,0.64,244.4,163.4,0.0,254,2116,0.82,0.00,318.58,0.348,6,0.089,0.000,2906,245,1125,0,0,0,0,24,0,25.32,28.83,24.90
$GC,2188,0.64,244.4,118.3,10.6,325,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,245,1117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2267,0.66,263.1,110.5,9.6,338,2306,0.00,0.00,25.12,0.340,6,0.000,0.000,2906,245,1044,0,0,0,0,1,0,28.83,28.83,25.26
$GC,2377,0.66,263.1,99.2,11.2,355,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,245,1038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2456,0.66,263.1,90.0,11.6,368,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,245,1037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,0.66,263.1,80.4,12.8,381,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,245,1037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,0.66,263.1,71.0,11.5,394,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,245,1037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2694,0.66,263.1,62.2,10.2,407,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,245,1037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2774,0.68,299.0,55.1,9.3,420,2843,0.00,0.00,46.97,0.321,6,0.000,0.000,2906,245,900,0,0,0,0,3,0,28.83,28.83,25.51
$GC,2915,0.68,299.0,41.2,10.4,441,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,245,895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2994,0.77,418.8,34.6,7.8,454,3087,0.12,0.00,86.25,0.363,6,0.085,0.000,2976,245,492,0,0,0,0,0,0,26.17,28.83,25.20
$GC,3159,0.77,418.8,12.7,14.1,478,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,245,483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,0.77,418.8,2.0,13.7,491,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,245,482,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3253,end climb,SURFACE_DEPTH_REACHED
$STATE,3253,begin surface coast
$FINISH,-0.4,1.021895
$STATE,3266,end surface coast,CONTROL_FINISHED_OK
$STATE,3266,begin surface
$SM_CCo,3340,0.00,0.000,0,0,481,403.52
$SM_GC,0.51,7.43,0.00,0.00,0.040,0.000,0.000,192,245,481,-7.76,0.99,403.52,0,0,0,0,0,0,25.99,28.83,28.83
$IRIDIUM_FIX,4726.11,-12213.55,280513,191921
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.81
$INTERNAL_PRESSURE,8.72232
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,24.9,0.659
$10V_AH,10.4,0.620
$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,17.375,3.050,764.875,0.000,0.000,0.000,0.000,339.850,0.000,0.000,5.907,905.321,60.547,676.829,2073.973,56.620,33.229,1865.389,0.000,1735.540,0.000,0.540,0.000
$DEVICE_MAMPS,207.315,48.195,388.620,0.000,0.000,0.000,0.000,91.035,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.683,1722.777,1635.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,41.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323448
$DATA_FILE_SIZE,33751,495
$CAP_FILE_SIZE,58339,1
$CFSIZE,2097872896,2094268416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,280513,221243,4744.241,-12224.521,3,1.5,3,16.3