version: 66.09
glider: 190
mission: 1
dive: 12
start: 2 29 112 6 50 28
data:
$ID,190
$MISSION,1
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,208
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,2
$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,99
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,340
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8874.916
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2977
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3542
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-56.929955
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1024
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$GPS1,290212,064238,4743.952,-12223.931,14,1.0,15,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.5
$GPS2,290212,064932,4744.024,-12223.917,18,2.0,18,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,-0.151
$KALMAN_X,1236.6,-160.9,12.3,-292.4,518.7
$KALMAN_Y,1654.6,-495.0,-357.1,380.6,-223.2
$MHEAD_RNG_PITCHd_Wd,212.2,2687,-12.1,-7.003
$D_GRID,208
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.6,0.0,0.0,0,57,0.00,0.00,-40.05,0.000,2,0.000,0.000,148,2046,3058,0,0,0,0,0,0
$GC,59,-0.73,-146.6,2.5,-5.1,5,109,13.93,1.95,-27.55,0.000,4,0.478,0.147,2735,988,3961,1,0,0,0,0,0
$GC,299,-0.73,-146.6,22.0,-9.8,43,308,0.00,1.95,0.00,0.000,6,0.000,0.100,2732,2045,3961,0,0,0,0,0,0
$GC,380,-0.73,-146.6,29.6,-10.0,56,389,0.00,1.98,0.00,0.000,4,0.000,0.124,2727,3106,3962,0,0,0,0,0,0
$GC,629,-0.73,-146.6,54.0,-9.4,102,637,0.00,1.90,0.00,0.000,6,0.000,0.091,2726,2049,3961,0,0,0,0,0,0
$GC,778,-0.73,-146.6,66.5,-8.7,127,785,0.00,1.95,0.00,0.000,4,0.000,0.122,2727,989,3961,0,0,0,0,0,0
$GC,917,-0.73,-146.6,79.1,-8.9,154,926,0.00,1.95,0.00,0.000,6,0.000,0.099,2721,2054,3961,0,0,0,0,0,0
$GC,1067,-0.73,-146.6,93.3,-9.2,179,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2054,3961,0,0,0,0,0,0
$GC,1210,-0.73,-146.6,106.3,-8.5,204,1219,0.00,2.00,0.00,0.000,4,0.000,0.121,2721,986,3961,0,0,0,0,0,0
$GC,1325,-0.73,-146.6,116.5,-9.4,225,1332,0.00,1.92,0.00,0.000,6,0.000,0.103,2719,2052,3962,0,0,0,0,0,0
$GC,1470,-0.73,-146.6,129.6,-8.8,250,1479,0.00,1.95,0.00,0.000,4,0.000,0.126,2719,3107,3962,0,0,0,0,0,0
$GC,1632,-0.73,-146.6,143.7,-8.1,281,1639,0.00,1.88,0.00,0.000,6,0.000,0.091,2719,2040,3962,0,0,0,0,0,0
$GC,1777,-0.73,-146.6,157.0,-8.7,306,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2040,3962,0,0,0,0,0,0
$GC,1926,-0.73,-146.6,170.2,-9.6,331,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2040,3962,0,0,0,0,0,0
$STATE,1950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1951,begin apogee
$GC,1954,-0.23,0.0,172.7,-9.4,335,2055,0.62,0.00,92.50,0.969,6,0.239,0.000,2900,2040,3536,0,0,0,0,0,0
$STATE,2055,end apogee,CONTROL_FINISHED_OK
$STATE,2056,begin climb
$GC,2057,0.73,146.6,175.9,0.0,350,2194,0.98,0.00,130.85,0.919,6,0.161,0.000,3202,2039,2940,0,0,0,0,0,0
$GC,2332,0.73,146.6,160.5,8.2,394,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2039,2933,0,0,0,0,0,0
$GC,2481,0.73,146.6,148.6,8.7,419,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2039,2933,0,0,0,0,0,0
$GC,2624,0.73,146.6,136.6,8.1,444,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2039,2933,0,0,0,0,0,0
$GC,2773,0.73,146.6,125.4,7.6,469,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2039,2933,0,0,0,0,0,0
$GC,2917,0.73,146.6,114.3,7.2,494,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2039,2933,0,0,0,0,0,0
$GC,3066,0.74,157.0,104.5,6.7,519,3080,0.00,0.00,10.43,0.927,6,0.000,0.000,3202,2039,2895,0,0,0,0,0,0
$GC,3222,0.74,157.0,92.5,8.5,545,3228,0.00,1.95,0.00,0.000,4,0.000,0.126,3210,987,2892,0,0,0,0,0,0
$GC,3248,0.74,157.0,90.0,9.8,549,3254,0.00,1.92,0.00,0.000,6,0.000,0.097,3210,2055,2892,0,0,0,0,0,0
$GC,3392,0.74,157.0,76.1,8.6,574,3401,0.00,2.00,0.00,0.000,4,0.000,0.125,3217,994,2892,0,0,0,0,0,0
$GC,3435,0.74,157.0,72.9,8.2,581,3441,0.00,1.90,0.00,0.000,6,0.000,0.099,3217,2050,2892,0,0,0,0,0,0
$GC,3579,0.74,157.0,58.9,9.9,606,3588,0.00,2.00,0.00,0.000,4,0.000,0.126,3225,991,2892,0,0,0,0,0,0
$GC,3613,0.74,157.0,55.5,10.6,612,3622,0.00,1.92,0.00,0.000,6,0.000,0.101,3226,2045,2892,0,0,0,0,0,0
$GC,3763,0.74,157.0,41.6,9.1,637,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2045,2892,0,0,0,0,0,0
$GC,3912,0.74,157.0,28.3,10.5,662,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2045,2892,0,0,0,0,0,0
$GC,3993,0.74,157.0,21.2,10.3,675,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2045,2892,0,0,0,0,0,0
$GC,4074,0.74,157.0,14.2,7.0,688,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2045,2892,0,0,0,0,0,0
$GC,4155,0.74,157.0,7.3,8.4,701,4164,0.00,1.95,0.00,0.000,4,0.000,0.123,3225,3104,2892,0,0,0,0,0,0
$GC,4184,0.74,157.0,5.1,7.7,705,4192,0.00,1.88,0.00,0.000,6,0.000,0.094,3233,2058,2892,0,0,0,0,0,0
$STATE,4205,end climb,SURFACE_DEPTH_REACHED
$STATE,4205,begin surface coast
$FINISH,0.8,1.020016
$STATE,4236,end surface coast,CONTROL_FINISHED_OK
$STATE,4236,begin surface
$SM_CCo,4252,82.40,0.164,0,0,2153,340.23
$SM_GC,1.63,0.00,0.00,82.40,0.000,0.000,0.164,151,2056,2153,-8.83,0.17,340.23,0,0,0,0,0,0
$IRIDIUM_FIX,4729.30,-12222.38,290212,050510
$TT8_MAMPS,0.024717,0.024717
$HUMID,29.16
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,11.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,115.3,72.3
$24V_AH,13.8,1.700
$10V_AH,13.5,1.342
$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,25.200,34.950,233.775,82.400,0.000,22.729,37.561,266.308,2.500,0.000,19.973,1608.336,393.029,410.179,2266.919,82.212,33.231,1072.529,0.000,1934.145,0.000,10.320,0.000
$DEVICE_MAMPS,478.125,146.880,969.255,164.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.995,1518.708,1417.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,50529,713
$CAP_FILE_SIZE,75680,0
$CFSIZE,259252224,255639552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,290212,080358,4743.766,-12224.493,22,2.3,41,16.6