version: 66.11
glider: 194
mission: 6
dive: 18
start: 10 10 113 6 30 17
data:
$ID,194
$MISSION,6
$DIVE,18
$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,-2852.8228
$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,67
$R_STBD_OVSHOOT,41
$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
$GPS1,101013,061816,4744.462,-12224.155,15,0.9,15,16.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.9
$GPS2,101013,062915,4744.813,-12224.340,16,0.9,16,16.3
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,-0.216
$KALMAN_X,796.9,-1.7,-102.0,-1877.5,647.8
$KALMAN_Y,2028.8,-980.1,-1097.3,2110.9,1606.0
$MHEAD_RNG_PITCHd_Wd,187.1,613,-13.1,-7.500,-17.71,2947
$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,-1.20,-146.6,157,2179,1534,1485,0.0,0.0,0,80,0.00,0.00,-62.92,0.000,16386,0.000,0.000,157,2180,3279,3355,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.20,-146.6,157,2180,3355,3202,3.2,-6.3,11,102,9.10,2.28,-1.42,0.000,18692,0.202,0.060,2647,3608,3342,3435,3250,0,0,0,0,0,0,25.89,26.16,26.41
$GC,176,-1.20,-146.6,2646,3608,3435,3250,23.2,-23.5,27,184,0.00,2.12,0.00,0.000,1030,0.000,0.029,2646,2214,3342,3435,3250,0,0,0,0,0,0,28.83,26.28,28.83
$GC,303,-1.20,-146.6,2646,2214,3435,3250,49.8,-18.9,40,307,0.00,2.17,0.00,0.000,260,0.000,0.048,2635,3609,3343,3436,3250,0,0,0,0,0,0,28.83,26.29,28.83
$GC,371,-1.20,-146.6,1760,3608,3424,3247,63.3,-20.4,46,380,0.00,2.15,0.00,0.000,1030,0.000,0.028,2635,2191,3342,3435,3250,0,0,0,0,0,0,28.83,26.37,28.83
$GC,500,-1.20,-146.6,2635,2191,3435,3249,90.9,-21.9,59,509,0.00,2.12,0.00,0.000,516,0.000,0.042,2635,806,3342,3435,3249,0,0,0,0,0,0,28.83,26.37,28.83
$GC,543,-1.20,-146.6,1760,805,3424,3247,99.6,-20.8,63,552,0.10,2.20,0.00,0.000,3078,0.151,0.041,2656,2205,3342,3435,3250,0,0,0,0,0,0,26.20,26.41,28.83
$GC,675,-1.20,-146.6,2656,2205,3436,3249,126.3,-20.7,76,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,3342,3435,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,801,-1.20,-146.6,2656,2205,3435,3249,151.0,-18.8,89,805,0.00,2.15,0.00,0.000,260,0.000,0.047,2647,3608,3343,3436,3250,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,945,begin apogee
$GC,950,-0.24,0.0,2647,2282,3435,3250,180.2,-20.4,103,1061,1.00,0.00,105.78,0.679,10246,0.127,0.000,2972,2282,2741,2820,2662,0,0,0,0,0,0,26.31,28.83,24.47
$STATE,1063,end apogee,CONTROL_FINISHED_OK
$STATE,1063,begin climb
$GC,1064,1.20,146.6,2971,2282,2820,2662,186.2,0.0,114,1182,1.30,0.00,109.32,0.664,10246,0.066,0.000,3434,2281,2142,2198,2087,0,0,0,0,0,0,25.18,28.83,24.29
$GC,1302,1.20,146.6,3433,2281,2195,2087,158.2,16.2,138,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2281,2141,2195,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1421,1.20,146.6,3433,2281,2194,2088,138.7,16.7,150,1425,0.00,2.25,0.00,0.000,260,0.000,0.047,3434,3711,2141,2194,2088,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1477,1.20,146.6,3433,3711,2194,2088,128.2,19.2,155,1481,0.00,2.12,0.00,0.000,1030,0.000,0.028,3445,2299,2141,2194,2088,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1602,1.20,146.6,3445,2299,2194,2088,106.2,17.2,167,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2299,2140,2193,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1722,1.20,146.6,3444,2299,2194,2088,86.0,17.1,179,1726,0.00,2.20,0.00,0.000,260,0.000,0.047,3445,3712,2140,2194,2087,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1748,1.20,146.6,3445,3712,2194,2088,81.4,17.4,181,1751,0.00,2.10,0.00,0.000,1030,0.000,0.028,3456,2300,2141,2194,2088,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1873,1.20,146.6,3455,2299,2193,2088,60.3,17.2,193,1877,0.00,2.15,0.00,0.000,516,0.000,0.043,3466,903,2140,2193,2088,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1911,1.20,146.6,2704,902,2144,2083,53.7,17.8,196,1919,0.08,2.20,0.00,0.000,5126,0.145,0.041,3442,2304,2140,2193,2088,0,0,0,0,0,0,26.16,26.34,28.83
$GC,2038,1.20,146.6,3442,2304,2193,2088,31.8,16.5,209,2042,0.00,2.15,0.00,0.000,260,0.000,0.047,3442,3705,2140,2193,2088,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2104,1.20,146.6,3442,3705,2193,2088,20.6,17.3,215,2108,0.00,2.08,0.00,0.000,1030,0.000,0.028,3450,2295,2140,2193,2088,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,2228,end climb,SURFACE_DEPTH_REACHED
$STATE,2229,begin surface coast
$FINISH,0.1,1.003440
$STATE,2245,end surface coast,CONTROL_FINISHED_OK
$STATE,2245,begin surface
$SM_CCo,2259,60.45,0.053,0,0,1518,300.00
$SM_GC,0.88,8.40,0.10,60.45,0.031,0.091,0.053,160,2191,1518,-8.87,1.67,300.00,0,0,0,0,0,0,26.48,26.51,26.33
$IRIDIUM_FIX,4726.11,-12225.08,101013,060635
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.06
$INTERNAL_PRESSURE,9.07486
$TCM_TEMP,19.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.2,17.8
$ALTIM_BOTTOM_PING,126.3,64.2
$24V_AH,24.3,2.107
$10V_AH,10.5,1.189
$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,19.975,34.550,215.100,60.450,0.000,0.000,0.000,420.225,2.750,0.000,17.955,608.214,1124.052,344.600,899.085,30.914,33.235,1060.110,0.000,458.430,0.000,18.518,0.000
$DEVICE_MAMPS,201.960,91.035,679.320,52.785,0.000,0.000,0.000,73.440,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.992,318.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323072
$DATA_FILE_SIZE,16944,241
$CAP_FILE_SIZE,47535,0
$CFSIZE,2097872896,2093416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,071003,4744.734,-12224.429,31,0.9,31,16.3