version: 66.11
glider: 204
mission: 6
dive: 1
start: 12 18 113 18 26 47
data:
$ID,204
$MISSION,6
$DIVE,1
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51746
$MASS_COMP,0
$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,580
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-305.30731
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3038
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2005
$C_ROLL_CLIMB,2005
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$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,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,-73.251076
$PRESSURE_SLOPE,0.0001157966
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$GPS1,181213,181521,4742.968,-12223.956,6,1.7,6,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-56.5
$GPS2,181213,182534,4743.073,-12224.034,32,1.0,32,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.138,0.221
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,311.8,1804,-17.5,-10.000,-21.04,2225
$D_GRID,167
$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,14,-0.76,-146.6,206,2018,563,441,0.0,0.0,0,140,0.00,0.00,-120.57,0.000,16390,0.000,0.000,207,2019,3448,3399,3498,0,0,0,0,0,0,28.83,28.83,27.15
$GC,142,-0.76,-146.6,206,2019,3400,3498,3.2,-3.7,23,161,12.73,2.33,0.00,0.000,2564,0.305,0.064,2792,586,3450,3404,3496,0,0,0,0,0,0,26.19,26.53,28.83
$GC,273,-0.76,-146.6,2792,586,3411,3492,19.9,-9.0,48,279,0.00,2.17,0.00,0.000,1030,0.000,0.047,2783,2004,3451,3411,3492,0,0,0,0,0,0,28.83,26.71,28.83
$GC,341,-0.76,-146.6,2783,2004,3411,3492,26.1,-9.5,61,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2004,3452,3412,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,408,-0.76,-146.6,2783,2004,3412,3492,33.1,-10.4,74,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2004,3452,3412,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-0.76,-146.6,2782,2004,3412,3492,38.2,-7.2,87,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2004,3452,3412,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,542,-0.76,-146.6,2783,2004,3412,3493,44.1,-10.0,100,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2004,3451,3411,3492,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,553,begin apogee
$GC,555,-0.17,0.0,2783,2004,3412,3492,45.3,-10.2,102,621,0.73,0.00,56.78,0.960,10246,0.226,0.000,2971,2005,2849,2829,2870,0,0,0,0,0,0,26.36,28.83,24.71
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,623,0.76,146.6,2971,2005,2829,2870,47.4,0.0,114,689,1.17,2.38,57.35,0.732,10756,0.207,0.064,3281,598,2251,2248,2254,0,0,0,0,0,0,25.50,25.38,24.67
$GC,767,0.81,182.4,3281,598,2248,2254,37.0,8.4,141,790,0.00,2.22,13.73,0.662,9222,0.000,0.047,3272,2005,2103,2104,2102,0,0,0,0,0,0,28.83,26.01,25.08
$GC,852,0.95,296.6,3271,2005,2104,2103,31.6,4.8,157,901,0.22,0.00,43.80,0.669,10758,0.175,0.000,3333,2006,1638,1648,1629,0,0,0,0,0,0,25.92,28.83,24.92
$GC,963,0.95,296.6,3333,2006,1647,1623,22.7,11.8,178,969,0.00,2.33,0.00,0.000,516,0.000,0.068,3344,585,1635,1647,1623,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1021,0.95,296.6,3344,586,1645,1622,15.7,12.2,189,1027,0.00,2.22,0.00,0.000,1030,0.000,0.047,3335,2005,1633,1645,1622,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1088,0.95,296.6,3334,2004,1645,1622,7.4,11.7,202,1095,0.00,2.22,0.00,0.000,260,0.000,0.059,3323,3416,1633,1645,1622,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1116,0.95,296.6,3324,3416,1645,1622,3.9,12.4,207,1123,0.00,2.20,0.00,0.000,1030,0.000,0.047,3333,1995,1633,1645,1622,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,1133,end climb,SURFACE_DEPTH_REACHED
$STATE,1133,begin surface coast
$FINISH,0.4,1.017902
$STATE,1149,end surface coast,CONTROL_FINISHED_OK
$STATE,1149,begin surface
$SM_CCo,1165,105.32,0.129,0,0,496,576.46
$SM_CCo,1273,-0.20,0.000,0,0,502,576.46
$SM_CCo,1275,0.08,1.730,0,0,497,576.46
$SM_GC,0.97,9.95,0.00,0.08,0.126,0.000,1.730,184,1990,497,-8.81,-0.34,576.46,0,0,0,0,0,0,26.39,28.83,25.13
$IRIDIUM_FIX,4722.92,-12227.78,181213,181836
$TT8_MAMPS,0.029211,0.029211
$HUMID,32.12
$INTERNAL_PRESSURE,8.70578
$TCM_TEMP,17.40
$XPDR_PINGS,20
$24V_AH,24.7,5.579
$10V_AH,10.2,2.903
$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,24.800,18.075,171.650,105.400,0.000,0.000,0.000,0.000,5.000,0.000,33.183,445.552,178.835,393.601,343.263,22.908,29.129,623.758,0.000,316.429,0.000,1.005,0.000
$DEVICE_MAMPS,305.235,68.085,960.075,1729.665,0.000,0.000,0.000,0.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,137.458,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,6807,213
$CAP_FILE_SIZE,68072,0
$CFSIZE,1024393216,1021476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181213,184837,4743.322,-12224.021,1,1.0,2,16.3