version: 66.10
glider: 201
mission: 6
dive: 6
start: 5 23 116 20 46 50
data:
$ID,201
$MISSION,6
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,2
$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,65
$T_ABORT,720
$T_TURN,225
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52153
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,125
$ESCAPE_HEADING,48.400002
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3219.3999
$TGT_DEFAULT_LON,-6434.1001
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2685.9231
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,2630
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,130
$R_STBD_OVSHOOT,85
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2872
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-68.568054
$PRESSURE_SLOPE,0.000115772
$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,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.28
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0.1
$SIM_PITCH,-30
$SEABIRD_T_G,0.0043924139
$SEABIRD_T_H,0.00063338951
$SEABIRD_T_I,2.5237914e-05
$SEABIRD_T_J,3.059105e-06
$SEABIRD_C_G,-9.8961887
$SEABIRD_C_H,1.1555814
$SEABIRD_C_I,-0.0012886405
$SEABIRD_C_J,0.00018064222
$GPS1,230516,203711,4739.297,-12219.022,1,1.3,1,16.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-0.9
$GPS2,230516,204552,4739.309,-12219.036,3,1.7,3,16.2
$SPEED_LIMITS,0.173,0.323
$TGT_NAME,HEADING
$TGT_LATLONG,4733.114,-12205.930
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.264,-0.185
$KALMAN_X,-1233.5,-482.1,-81.5,1816.1,-954.8
$KALMAN_Y,833.5,398.3,88.4,-1331.8,669.9
$MHEAD_RNG_PITCHd_Wd,108.8,20000,-12.6,-10.000
$D_GRID,150
$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,-0.95,-243.3,0.0,0.0,0,33,0.00,0.00,-15.68,0.000,2,0.000,0.000,198,2622,869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-0.95,-243.3,2.4,0.0,2,202,6.15,0.00,-156.40,0.000,6,0.054,0.000,2551,2622,3863,0,0,0,0,0,0,26.50,28.83,27.28
$GC,270,-0.95,-243.3,26.4,-10.3,37,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,346,-0.95,-243.3,34.0,-10.2,50,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,423,-0.95,-243.3,41.9,-10.1,63,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,500,-0.95,-243.3,49.4,-9.7,76,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,576,-0.95,-243.3,57.2,-10.4,89,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,652,-0.95,-243.3,65.0,-10.2,102,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,729,-0.95,-243.3,72.7,-10.0,115,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,806,-0.95,-243.3,80.3,-9.4,128,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.95,-243.3,94.7,-10.2,153,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-0.95,-243.3,109.1,-10.0,178,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1233,-0.95,-243.3,123.3,-10.2,203,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2622,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1376,-0.95,-243.3,138.0,-10.8,228,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2622,3876,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1500,begin apogee
$GC,1505,-0.26,0.0,150.5,-9.9,250,1679,0.52,0.00,165.82,0.451,6,0.067,0.000,2761,2622,2866,0,0,0,0,0,0,26.59,28.83,25.42
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1683,0.95,243.3,132.9,0.0,274,1857,1.00,0.00,168.75,0.445,6,0.062,0.000,3141,2622,1876,0,0,0,0,0,0,26.10,28.83,25.32
$GC,1991,0.95,243.4,101.5,10.0,322,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2134,0.95,243.4,87.2,10.1,347,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2621,1871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,0.95,243.7,72.9,10.0,372,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,0.95,243.7,65.1,10.3,385,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,0.95,243.7,57.6,10.0,398,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2505,0.95,243.7,49.9,10.1,411,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,0.96,258.4,42.6,9.6,424,2590,0.00,0.00,6.50,0.151,6,0.000,0.000,3141,2622,1816,0,0,0,0,0,0,28.83,28.83,26.31
$GC,2658,0.96,258.4,35.0,10.1,437,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2734,0.96,258.4,27.3,10.1,450,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,0.96,258.4,19.7,10.1,463,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2622,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,0.97,260.0,12.0,10.0,476,2895,0.00,0.00,1.08,0.220,6,0.000,0.000,3141,2622,1811,0,0,0,0,0,0,28.83,28.83,26.12
$GC,2963,0.99,276.9,4.4,9.5,489,2978,0.00,0.00,7.47,0.151,6,0.000,0.000,3141,2622,1740,0,0,0,0,0,0,28.83,28.83,26.36
$STATE,2985,end climb,SURFACE_DEPTH_REACHED
$STATE,2985,begin surface coast
$FINISH,0.0,0.998339
$STATE,3014,end surface coast,CONTROL_FINISHED_OK
$STATE,3014,begin surface
$SM_CCo,3030,134.20,0.132,0,0,499,581.85
$SM_CCo,3167,-0.12,0.000,0,0,501,581.85
$SM_CCo,3170,0.25,0.463,0,0,498,581.85
$SM_GC,-0.22,8.12,0.00,0.25,0.079,0.000,0.463,205,2622,498,-8.20,-0.23,581.85,0,0,0,0,0,0,26.49,28.83,26.32
$IRIDIUM_FIX,4719.74,-12216.25,200309,101008
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.54
$INTERNAL_PRESSURE,9.5212
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,25.3,32.209
$10V_AH,10.2,45.989
$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,15.800,0.000,349.625,134.450,0.000,0.000,0.000,0.000,0.000,0.000,4.679,899.602,0.000,483.172,1764.387,78.101,33.208,1138.725,0.000,1785.728,0.000,0.551,0.000
$DEVICE_MAMPS,78.795,0.000,450.585,462.825,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,0.000,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.890,1650.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,26888,497
$CAP_FILE_SIZE,56220,0
$CFSIZE,260034560,255414272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230516,214010,4739.308,-12219.031,1,1.9,2,16.2