version: 66.09
glider: 190
mission: 1
dive: 16
start: 2 29 112 12 13 2
data:
$ID,190
$MISSION,1
$DIVE,16
$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,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,-8879.9541
$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,15
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,290212,120505,4743.196,-12224.545,37,1.3,37,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.7
$GPS2,290212,121206,4743.327,-12224.443,15,1.2,15,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,-0.208
$KALMAN_X,2845.5,-490.1,152.2,-2367.4,252.6
$KALMAN_Y,4815.6,-1785.9,910.8,-4036.2,459.5
$MHEAD_RNG_PITCHd_Wd,187.9,1243,-12.1,-7.003
$D_GRID,176
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.73,-146.6,0.0,0.0,0,57,0.00,0.00,-39.70,0.000,2,0.000,0.000,148,2043,3019,0,0,0,0,0,0
$GC,59,-0.73,-146.6,2.2,-4.3,5,116,14.02,2.00,-31.83,0.000,4,0.482,0.149,2732,988,3962,0,0,0,0,0,0
$GC,136,-0.73,-146.6,6.1,-5.8,15,145,0.00,1.95,0.00,0.000,6,0.000,0.093,2728,2051,3962,0,0,0,0,0,0
$GC,217,-0.73,-146.6,12.2,-9.3,28,226,0.00,1.98,0.00,0.000,4,0.000,0.128,2727,3105,3962,0,0,0,0,0,0
$GC,441,-0.73,-146.6,36.4,-10.6,65,449,0.00,1.90,0.00,0.000,6,0.000,0.091,2727,2049,3962,0,0,0,0,0,0
$GC,519,-0.73,-146.6,44.3,-9.4,78,528,0.00,1.98,0.00,0.000,4,0.000,0.122,2727,996,3962,0,0,0,0,0,0
$GC,741,-0.73,-146.6,66.9,-9.8,121,748,0.00,1.92,0.00,0.000,6,0.000,0.100,2727,2059,3962,0,0,0,0,0,0
$GC,886,-0.73,-146.6,80.3,-9.0,146,894,0.00,1.92,0.00,0.000,4,0.000,0.125,2727,3100,3962,0,0,0,0,0,0
$GC,1078,-0.73,-146.6,97.2,-9.6,183,1085,0.00,1.85,0.00,0.000,6,0.000,0.090,2728,2046,3962,0,0,0,0,0,0
$GC,1223,-0.73,-146.6,109.9,-8.5,208,1232,0.00,1.95,0.00,0.000,4,0.000,0.122,2727,997,3963,0,0,0,0,0,0
$GC,1405,-0.73,-146.6,125.8,-8.8,243,1412,0.00,1.90,0.00,0.000,6,0.000,0.101,2727,2053,3962,0,0,0,0,0,0
$GC,1550,-0.73,-146.6,138.4,-8.1,268,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2054,3963,0,0,0,0,0,0
$GC,1699,-0.73,-146.6,151.0,-8.8,293,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2054,3963,0,0,0,0,0,0
$GC,1843,-0.73,-146.6,164.5,-9.2,318,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2053,3963,0,0,0,0,0,0
$STATE,1959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1959,begin apogee
$GC,1963,-0.23,0.0,176.2,-9.5,338,2066,0.57,0.00,92.65,0.962,6,0.233,0.000,2895,2053,3534,0,0,0,0,0,0
$STATE,2066,end apogee,CONTROL_FINISHED_OK
$STATE,2067,begin climb
$GC,2068,0.73,146.6,179.6,0.0,353,2205,1.00,0.00,130.65,0.913,6,0.166,0.000,3203,2054,2940,0,0,0,0,0,0
$GC,2346,0.73,146.6,166.0,7.8,397,2353,0.00,2.03,0.00,0.000,4,0.000,0.125,3210,991,2932,0,0,0,0,0,0
$GC,2374,0.73,146.6,163.5,8.5,402,2383,0.00,1.98,0.00,0.000,6,0.000,0.098,3210,2050,2931,0,0,0,0,0,0
$GC,2524,0.73,146.6,150.9,8.8,427,2531,0.00,2.00,0.00,0.000,4,0.000,0.125,3218,990,2931,0,0,0,0,0,0
$GC,2629,0.73,146.6,141.4,9.2,447,2636,0.00,1.92,0.00,0.000,6,0.000,0.098,3217,2051,2932,0,0,0,0,0,0
$GC,2774,0.73,146.6,127.0,10.1,472,2783,0.00,2.00,0.00,0.000,4,0.000,0.126,3225,997,2931,0,0,0,0,0,0
$GC,2855,0.73,146.6,119.0,9.8,487,2862,0.00,1.90,0.00,0.000,6,0.000,0.099,3225,2051,2931,0,0,0,0,0,0
$GC,3000,0.73,146.6,104.0,10.1,512,3009,0.00,2.00,0.00,0.000,4,0.000,0.123,3232,991,2931,0,0,0,0,0,0
$GC,3145,0.73,146.6,89.2,9.3,540,3154,0.00,1.92,0.00,0.000,6,0.000,0.098,3234,2046,2931,0,0,0,0,0,0
$GC,3295,0.73,146.6,74.5,9.7,565,3302,0.00,1.92,0.00,0.000,4,0.000,0.123,3233,3107,2931,0,0,0,0,0,0
$GC,3360,0.73,146.6,68.0,10.2,577,3367,0.00,1.85,0.00,0.000,6,0.000,0.092,3240,2052,2931,0,0,0,0,0,0
$GC,3505,0.73,146.6,53.9,11.0,602,3514,0.00,1.98,0.00,0.000,4,0.000,0.125,3249,995,2931,0,0,0,0,0,0
$GC,3520,0.73,146.6,52.3,10.9,604,3529,0.10,1.92,0.00,0.000,6,0.275,0.098,3220,2050,2931,0,0,0,0,0,0
$GC,3670,0.73,146.6,39.3,8.0,629,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2051,2931,0,0,0,0,0,0
$GC,3752,0.73,146.6,32.7,7.4,642,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2051,2931,0,0,0,0,0,0
$GC,3833,0.73,146.6,26.8,7.4,655,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2050,2931,0,0,0,0,0,0
$GC,3914,0.77,177.2,20.9,6.0,668,3932,0.00,2.03,12.98,0.219,4,0.000,0.123,3228,985,2818,0,0,0,0,0,0
$GC,4099,0.77,177.2,8.7,7.1,698,4108,0.00,1.95,1.50,0.186,6,0.000,0.100,3228,2049,2820,0,0,0,0,0,0
$STATE,4168,end climb,SURFACE_DEPTH_REACHED
$STATE,4168,begin surface coast
$FINISH,0.2,1.011883
$STATE,4206,end surface coast,CONTROL_FINISHED_OK
$STATE,4206,begin surface
$SM_CCo,4221,75.45,0.160,0,0,2152,340.23
$SM_GC,2.03,0.00,0.00,75.45,0.000,0.000,0.160,146,2054,2152,-8.85,0.08,340.23,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12220.67,290212,101045
$TT8_MAMPS,0.024717,0.024717
$HUMID,28.81
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,11.00
$XPDR_PINGS,3
$24V_AH,13.8,2.043
$10V_AH,13.8,1.789
$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,24.900,46.750,237.775,75.450,0.000,23.611,34.603,276.790,0.750,0.000,16.658,1611.558,343.241,404.118,2289.350,81.298,33.208,1073.048,0.000,1952.274,0.000,0.536,0.000
$DEVICE_MAMPS,481.950,149.175,961.605,159.885,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.473,1544.671,1440.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323436
$DATA_FILE_SIZE,50584,715
$CAP_FILE_SIZE,75896,0
$CFSIZE,259252224,255455232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290212,132531,4742.813,-12224.878,19,1.1,19,16.6