version: 66.11
glider: 194
mission: 6
dive: 19
start: 10 10 113 7 15 2
data:
$ID,194
$MISSION,6
$DIVE,19
$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,-2854.0811
$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,63
$R_STBD_OVSHOOT,43
$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
$GPS1,101013,071003,4744.734,-12224.429,31,0.9,31,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.0
$GPS2,101013,071401,4744.785,-12224.407,4,0.9,4,16.3
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,-0.217
$KALMAN_X,862.8,73.9,113.6,-2317.4,706.7
$KALMAN_Y,2609.7,-1161.1,-518.3,1092.4,2311.8
$MHEAD_RNG_PITCHd_Wd,185.9,541,-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,14,-1.20,-146.6,160,2190,1537,1479,0.0,0.0,0,80,0.00,0.00,-62.97,0.000,16386,0.000,0.000,160,2190,3270,3346,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.20,-146.6,160,2190,3346,3194,3.2,-5.6,11,102,9.05,2.25,-1.67,0.000,18692,0.201,0.060,2650,3606,3341,3435,3248,0,0,0,0,0,0,25.94,26.21,26.47
$GC,128,-1.20,-146.6,1696,3606,3423,3246,12.6,-20.3,19,134,0.00,2.08,0.00,0.000,1030,0.000,0.029,2650,2203,3342,3436,3248,0,0,0,0,0,0,28.83,26.29,28.83
$GC,201,-1.20,-146.6,2650,2204,3436,3248,28.4,-20.9,29,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,3342,3436,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,321,-1.20,-146.6,2650,2204,3436,3248,51.9,-18.9,41,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,3342,3436,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,441,-1.20,-146.6,2650,2204,3436,3248,74.5,-19.8,53,445,0.00,2.17,0.00,0.000,260,0.000,0.047,2638,3612,3342,3436,3248,0,0,0,0,0,0,28.83,26.38,28.83
$GC,467,-1.20,-146.6,2639,3612,3436,3248,79.5,-19.4,55,471,0.00,2.08,0.00,0.000,1030,0.000,0.028,2639,2200,3342,3436,3248,0,0,0,0,0,0,28.83,26.44,28.83
$GC,592,-1.20,-146.6,2638,2199,3436,3248,103.9,-20.1,67,596,0.00,2.12,0.00,0.000,516,0.000,0.042,2639,812,3341,3435,3248,0,0,0,0,0,0,28.83,26.42,28.83
$GC,617,-1.20,-146.6,2638,813,3436,3248,109.1,-20.0,69,622,0.12,2.15,0.00,0.000,3078,0.174,0.041,2659,2210,3342,3436,3248,0,0,0,0,0,0,26.26,26.45,28.83
$GC,742,-1.20,-146.6,2658,2210,3436,3248,132.6,-18.3,81,746,0.00,2.12,0.00,0.000,260,0.000,0.047,2650,3602,3342,3436,3248,0,0,0,0,0,0,28.83,26.44,28.83
$GC,820,-1.20,-146.6,1792,3601,3425,3246,146.9,-19.4,88,828,0.00,2.10,0.00,0.000,1030,0.000,0.028,2650,2199,3342,3436,3248,0,0,0,0,0,0,28.83,26.53,28.83
$GC,948,-1.20,-146.6,2650,2199,3436,3248,170.6,-17.5,101,952,0.00,2.15,0.00,0.000,260,0.000,0.046,2639,3602,3342,3436,3248,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,1003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1003,begin apogee
$GC,1008,-0.24,0.0,2639,2291,3436,3248,181.7,-20.5,106,1119,1.00,0.00,105.68,0.682,10246,0.129,0.000,2964,2290,2741,2820,2663,0,0,0,0,0,0,26.34,28.83,24.48
$STATE,1120,end apogee,CONTROL_FINISHED_OK
$STATE,1120,begin climb
$GC,1121,1.20,146.6,2964,2290,2820,2662,188.6,0.0,117,1240,1.35,2.25,108.47,0.662,10756,0.073,0.041,3448,912,2144,2199,2089,0,0,0,0,0,0,25.18,24.94,24.30
$GC,1283,1.20,146.6,3448,912,2196,2089,172.0,15.2,133,1287,0.00,2.22,0.00,0.000,1030,0.000,0.039,3448,2308,2142,2196,2089,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1408,1.20,146.6,3447,2309,2196,2089,152.4,16.4,145,1412,0.00,2.17,0.00,0.000,260,0.000,0.046,3447,3697,2142,2195,2089,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1487,1.20,146.6,3448,3697,2195,2089,138.4,19.0,152,1494,0.00,2.12,0.00,0.000,1030,0.000,0.028,3459,2309,2142,2196,2089,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1614,1.20,146.6,3458,2309,2195,2089,115.7,17.0,165,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2309,2142,2195,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1734,1.20,146.6,3458,2309,2195,2089,94.1,18.2,177,1738,0.00,2.17,0.00,0.000,260,0.000,0.046,3458,3708,2142,2195,2089,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1802,1.20,146.6,2688,3707,2145,2084,81.2,19.9,183,1810,0.10,2.15,0.00,0.000,5126,0.148,0.028,3438,2294,2142,2195,2089,0,0,0,0,0,0,26.06,26.27,28.83
$GC,1929,1.20,146.6,3438,2292,2195,2089,59.2,16.0,196,1933,0.00,2.15,0.00,0.000,516,0.000,0.043,3447,895,2142,2195,2089,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2048,1.20,146.6,2656,895,2144,2084,40.7,16.3,207,2055,0.00,2.20,0.00,0.000,1030,0.000,0.040,3447,2299,2141,2194,2089,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2175,1.20,146.6,3446,2300,2194,2089,21.5,14.3,220,2179,0.00,2.17,0.00,0.000,516,0.000,0.043,3457,904,2141,2194,2089,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,2300,end climb,SURFACE_DEPTH_REACHED
$STATE,2300,begin surface coast
$FINISH,0.1,1.020622
$STATE,2316,end surface coast,CONTROL_FINISHED_OK
$STATE,2316,begin surface
$SM_CCo,2332,60.70,0.053,0,0,1518,300.25
$SM_GC,0.99,8.40,2.05,60.70,0.030,0.041,0.053,171,2200,1518,-8.87,-1.36,300.25,0,0,0,0,0,0,26.48,26.44,26.33
$IRIDIUM_FIX,4729.30,-12226.80,101013,060651
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.86
$INTERNAL_PRESSURE,9.0651
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.4
$ALTIM_BOTTOM_PING,130.8,65.4
$24V_AH,24.3,2.153
$10V_AH,10.5,1.210
$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,20.025,42.875,214.150,60.700,0.000,0.000,0.000,190.650,2.750,0.000,5.485,632.511,975.997,325.194,691.742,30.855,33.212,838.557,0.000,491.412,0.000,20.073,0.000
$DEVICE_MAMPS,201.195,59.670,682.380,52.785,0.000,0.000,0.000,74.970,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.498,325.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323036
$DATA_FILE_SIZE,16963,246
$CAP_FILE_SIZE,48433,0
$CFSIZE,2097872896,2093318144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,075532,4744.884,-12224.676,2,0.9,3,16.3