version: 66.11
glider: 194
mission: 6
dive: 21
start: 10 10 113 8 49 4
data:
$ID,194
$MISSION,6
$DIVE,21
$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,-2856.5918
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,101013,084402,4745.005,-12224.905,11,1.5,11,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.5
$GPS2,101013,084804,4745.035,-12224.890,6,0.9,6,16.3
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.234
$KALMAN_X,-244.2,1279.9,170.0,-3076.2,-96.8
$KALMAN_Y,407.5,2479.7,625.3,-1024.5,1477.9
$MHEAD_RNG_PITCHd_Wd,167.5,1103,-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,-146.6,174,2206,1536,1484,0.0,0.0,0,80,0.00,0.00,-62.75,0.000,16386,0.000,0.000,174,2206,3284,3361,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.20,-146.6,174,2205,3361,3208,3.4,-6.1,11,102,9.00,2.20,-1.30,0.000,18692,0.200,0.058,2648,3598,3342,3435,3250,0,0,0,0,0,0,25.93,26.20,26.45
$GC,253,-1.20,-146.6,2648,3598,3436,3250,39.7,-19.6,35,257,0.00,2.08,0.00,0.000,1030,0.000,0.029,2648,2192,3343,3436,3250,0,0,0,0,0,0,28.83,26.35,28.83
$GC,378,-1.20,-146.6,2648,2191,3436,3250,64.9,-20.6,47,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2191,3343,3436,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,498,-1.20,-146.6,2648,2191,3436,3250,87.2,-17.9,59,502,0.00,2.12,0.00,0.000,516,0.000,0.042,2648,804,3343,3436,3250,0,0,0,0,0,0,28.83,26.40,28.83
$GC,636,-1.20,-146.6,2648,805,3436,3250,114.8,-20.1,72,640,0.00,2.17,0.00,0.000,1030,0.000,0.041,2637,2203,3342,3435,3250,0,0,0,0,0,0,28.83,26.46,28.83
$GC,761,-1.20,-146.6,2636,2203,3436,3250,139.5,-21.2,84,770,0.00,2.15,0.00,0.000,260,0.000,0.047,2626,3608,3342,3435,3250,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,951,begin apogee
$GC,956,-0.24,0.0,2626,2282,3435,3250,180.2,-19.2,103,1067,1.05,0.00,105.65,0.679,10246,0.129,0.000,2966,2281,2742,2820,2664,0,0,0,0,0,0,26.32,28.83,24.49
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1070,1.20,146.6,2966,2281,2820,2664,186.7,0.0,114,1189,1.33,2.22,109.10,0.659,10756,0.071,0.041,3444,916,2142,2196,2088,0,0,0,0,0,0,25.18,24.94,24.31
$GC,1231,1.20,146.6,3443,916,2193,2088,170.3,15.8,130,1235,0.00,2.22,0.00,0.000,1030,0.000,0.039,3444,2304,2140,2193,2088,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1356,1.20,146.6,3443,2305,2193,2088,149.5,16.9,142,1360,0.00,2.20,0.00,0.000,260,0.000,0.046,3444,3705,2140,2193,2088,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1422,1.20,146.6,3444,3706,2193,2088,136.3,20.6,148,1426,0.00,2.12,0.00,0.000,1030,0.000,0.028,3455,2299,2140,2193,2088,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1547,1.20,146.6,3455,2298,2192,2088,111.5,21.4,160,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2298,2140,2193,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1667,1.20,146.6,3455,2298,2192,2088,88.5,18.1,172,1671,0.00,2.20,0.00,0.000,260,0.000,0.045,3455,3707,2140,2193,2088,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1706,1.20,146.6,3455,3707,2192,2088,81.7,18.7,175,1714,0.08,2.15,0.00,0.000,5126,0.150,0.028,3443,2298,2140,2192,2088,0,0,0,0,0,0,26.05,26.26,28.83
$GC,1833,1.20,146.6,3442,2298,2193,2088,59.3,16.3,188,1837,0.00,2.15,0.00,0.000,516,0.000,0.043,3450,902,2140,2192,2088,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2018,1.20,146.6,3450,902,2192,2088,30.0,15.2,206,2022,0.00,2.15,0.00,0.000,1030,0.000,0.039,3450,2307,2140,2193,2088,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2144,1.20,146.6,3450,2308,2192,2088,13.1,13.2,223,2151,0.00,2.15,0.00,0.000,260,0.000,0.047,3450,3704,2139,2191,2088,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,2211,end climb,SURFACE_DEPTH_REACHED
$STATE,2211,begin surface coast
$FINISH,0.4,1.022390
$STATE,2227,end surface coast,CONTROL_FINISHED_OK
$STATE,2227,begin surface
$SM_CCo,2244,60.45,0.052,0,0,1518,300.00
$SM_GC,1.00,8.43,2.30,60.45,0.031,0.028,0.052,158,2195,1518,-8.89,1.50,300.00,0,0,0,0,0,0,26.46,26.44,26.32
$IRIDIUM_FIX,4726.11,-12225.08,101013,080852
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.78
$INTERNAL_PRESSURE,9.07486
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.7
$ALTIM_BOTTOM_PING,135.2,66.3
$24V_AH,24.3,2.248
$10V_AH,10.5,1.253
$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,19.875,34.600,214.750,60.450,0.000,0.000,0.000,193.200,3.250,0.000,7.525,609.903,900.736,311.974,719.308,30.109,33.216,828.320,0.000,512.518,0.000,21.288,0.000
$DEVICE_MAMPS,200.430,58.140,678.555,52.020,0.000,0.000,0.000,74.205,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.951,316.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323024
$DATA_FILE_SIZE,17066,239
$CAP_FILE_SIZE,44578,0
$CFSIZE,2097872896,2093121536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,092806,4745.025,-12224.981,3,1.4,3,16.3