version: 66.11
glider: 194
mission: 6
dive: 20
start: 10 10 113 8 5 6
data:
$ID,194
$MISSION,6
$DIVE,20
$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,-2855.3374
$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,52
$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
$GPS1,101013,075532,4744.884,-12224.676,2,0.9,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.1
$GPS2,101013,080406,4744.968,-12224.696,5,0.8,5,16.3
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,-0.224
$KALMAN_X,-327.9,1212.6,231.5,-2742.1,0.4
$KALMAN_Y,2109.3,227.2,-26.2,51.9,2281.8
$MHEAD_RNG_PITCHd_Wd,180.9,900,-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,-146.6,171,2202,1537,1476,0.0,0.0,0,85,0.00,0.00,-65.68,0.000,16390,0.000,0.000,171,2202,3341,3420,3262,0,0,0,0,0,0,28.83,28.83,26.56
$GC,87,-1.20,-146.6,171,2202,3421,3262,3.5,-5.8,12,101,9.05,2.22,0.00,0.000,2308,0.203,0.041,2649,3616,3342,3423,3262,0,0,0,0,0,0,25.90,26.20,28.83
$GC,197,-1.20,-146.6,2649,3616,3427,3258,29.0,-20.6,29,202,0.00,2.10,0.00,0.000,1030,0.000,0.029,2649,2195,3342,3427,3258,0,0,0,0,0,0,28.83,26.32,28.83
$GC,322,-1.20,-146.6,2648,2195,3427,3258,53.4,-19.8,41,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,3343,3428,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,442,-1.20,-146.6,2649,2195,3428,3258,76.2,-18.8,53,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,3342,3427,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,562,-1.20,-146.6,2648,2196,3428,3258,98.9,-19.7,65,566,0.00,2.12,0.00,0.000,516,0.000,0.043,2649,810,3342,3427,3257,0,0,0,0,0,0,28.83,26.41,28.83
$GC,608,-1.20,-146.6,2649,810,3427,3257,108.6,-21.4,69,612,0.00,2.15,0.00,0.000,1030,0.000,0.041,2638,2207,3343,3428,3258,0,0,0,0,0,0,28.83,26.44,28.83
$GC,735,-1.20,-146.6,2637,2207,3428,3258,133.6,-19.8,81,746,0.00,2.15,0.00,0.000,260,0.000,0.047,2627,3612,3342,3427,3258,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,947,begin apogee
$GC,952,-0.24,0.0,2626,2288,3427,3258,181.0,-20.2,102,1063,1.05,0.00,105.68,0.676,10246,0.129,0.000,2966,2287,2742,2820,2664,0,0,0,0,0,0,26.32,28.83,24.49
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1066,1.20,146.6,2966,2286,2820,2664,187.6,0.0,113,1184,1.33,0.00,109.72,0.660,10758,0.071,0.000,3433,2286,2143,2198,2088,0,0,0,0,0,0,25.18,28.83,24.30
$GC,1303,1.20,146.6,3433,2286,2195,2088,159.2,15.7,137,1307,0.00,2.25,0.00,0.000,260,0.000,0.046,3434,3702,2141,2195,2088,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1349,1.20,146.6,3433,3702,2195,2088,151.1,17.7,141,1353,0.00,2.12,0.00,0.000,1030,0.000,0.028,3445,2299,2141,2195,2088,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1474,1.20,146.6,3445,2299,2194,2088,128.9,17.6,153,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2299,2141,2194,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,1.20,146.6,3444,2299,2194,2088,108.2,18.1,165,1598,0.00,2.20,0.00,0.000,260,0.000,0.046,3445,3709,2141,2194,2088,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1703,1.20,146.6,3444,3709,2194,2088,88.5,19.0,175,1710,0.00,2.15,0.00,0.000,1030,0.000,0.028,3456,2296,2141,2194,2088,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1830,1.20,146.6,3455,2297,2194,2088,63.8,19.1,188,1834,0.00,2.15,0.00,0.000,516,0.000,0.043,3466,901,2141,2194,2088,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1938,1.20,146.6,2688,900,2144,2083,44.3,17.9,198,1946,0.00,2.20,0.00,0.000,1030,0.000,0.039,3466,2299,2140,2193,2088,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2065,1.20,146.6,3466,2298,2193,2088,24.3,14.7,211,2069,0.00,2.15,0.00,0.000,516,0.000,0.043,3477,906,2140,2193,2088,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,2196,end climb,SURFACE_DEPTH_REACHED
$STATE,2196,begin surface coast
$FINISH,0.3,1.022224
$STATE,2213,end surface coast,CONTROL_FINISHED_OK
$STATE,2213,begin surface
$SM_CCo,2229,60.58,0.054,0,0,1518,300.00
$SM_GC,0.93,8.48,2.05,60.58,0.032,0.040,0.054,174,2204,1518,-8.86,-1.33,300.00,0,0,0,0,0,0,26.46,26.43,26.32
$IRIDIUM_FIX,4726.11,-12227.78,101013,070739
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.58
$INTERNAL_PRESSURE,9.0651
$TCM_TEMP,19.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.6,17.7
$ALTIM_BOTTOM_PING,135.5,63.7
$24V_AH,24.3,2.202
$10V_AH,10.5,1.232
$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,19.900,30.025,215.400,60.575,0.000,0.000,0.000,344.725,3.250,0.000,6.517,597.120,1048.783,326.880,826.719,29.128,33.220,969.811,0.000,472.276,0.000,21.265,0.000
$DEVICE_MAMPS,202.725,46.665,676.260,53.550,0.000,0.000,0.000,74.970,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,156.904,312.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323052
$DATA_FILE_SIZE,17013,236
$CAP_FILE_SIZE,43896,0
$CFSIZE,2097872896,2093219840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,084402,4745.005,-12224.905,11,1.5,11,16.3