version: 66.10
glider: 191
mission: 2
dive: 5
start: 2 29 112 23 19 11
data:
$ID,191
$MISSION,2
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,208
$D_ABORT,1090
$D_NO_BLEED,44
$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,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,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,300
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1647.7091
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2694
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-43.015984
$PRESSURE_SLOPE,0.0001171456
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,105
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$GPS1,290212,231030,4744.428,-12224.411,14,1.6,14,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-54.3
$GPS2,290212,231814,4744.543,-12224.347,15,0.8,16,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,-0.223
$KALMAN_X,466.9,382.3,211.5,-766.8,46.8
$KALMAN_Y,2265.5,1390.5,614.9,-2071.6,784.8
$MHEAD_RNG_PITCHd_Wd,176.3,1319,-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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.66,-146.6,0.0,0.0,0,100,0.00,0.00,-81.32,0.000,6,0.000,0.000,167,1592,3293,0,0,0,0,0,0,28.83,28.83,14.84
$GC,101,-0.66,-146.6,2.8,-8.0,11,119,11.48,1.90,0.00,0.000,4,0.477,0.074,2260,2665,3295,1,0,0,0,0,0,14.41,14.64,28.83
$GC,149,-0.66,-146.6,11.2,-5.8,18,158,0.00,1.90,0.00,0.000,6,0.000,0.090,2260,1604,3295,0,0,0,0,0,0,28.83,14.59,28.83
$GC,228,-0.66,-146.6,20.5,-13.4,31,236,0.00,1.98,0.00,0.000,4,0.000,0.118,2260,544,3296,0,0,0,0,0,0,28.83,14.59,28.83
$GC,306,-0.66,-146.6,32.3,-11.0,44,315,0.00,1.85,0.00,0.000,6,0.000,0.068,2253,1604,3297,0,0,0,0,0,0,28.83,14.64,28.83
$GC,385,-0.66,-146.6,42.0,-9.5,57,391,0.00,1.83,0.00,0.000,4,0.000,0.079,2245,2659,3297,0,0,0,0,0,0,28.83,14.68,28.83
$GC,522,-0.66,-146.6,54.0,-9.7,81,530,0.12,1.88,0.00,0.000,6,0.298,0.090,2269,1590,3297,0,0,0,0,0,0,14.61,14.71,28.83
$GC,666,-0.66,-146.6,65.8,-8.9,106,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.66,-146.6,78.9,-9.2,131,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,952,-0.66,-146.6,90.8,-8.6,156,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-0.66,-146.6,102.6,-8.5,181,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1239,-0.66,-146.6,115.1,-8.0,206,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1389,-0.66,-146.6,127.6,-8.2,231,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.66,-146.6,140.5,-8.8,256,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1677,-0.66,-146.6,152.7,-8.1,281,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1590,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1820,-0.66,-146.6,164.7,-8.5,306,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,1590,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1966,-0.66,-146.6,176.6,-6.8,331,1972,0.00,1.80,0.00,0.000,4,0.000,0.076,2263,2657,3297,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,1980,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1980,begin apogee
$GC,1985,-0.20,0.0,177.7,-7.7,333,2131,0.57,0.00,136.88,1.781,6,0.236,0.000,2419,1591,2694,0,0,0,0,1,0,14.70,28.83,13.36
$STATE,2132,end apogee,CONTROL_FINISHED_OK
$STATE,2132,begin climb
$GC,2133,0.66,146.6,181.0,0.0,355,2293,0.95,0.00,144.45,1.852,6,0.168,0.000,2696,1590,2098,0,0,0,0,1,0,13.95,28.83,13.31
$GC,2431,0.66,146.6,157.7,9.8,403,2437,0.00,1.92,0.00,0.000,4,0.000,0.116,2704,546,2099,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2535,0.66,146.6,145.3,12.1,421,2542,0.00,1.83,0.00,0.000,6,0.000,0.063,2704,1605,2099,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2678,0.66,146.6,128.5,11.7,446,2687,0.00,1.98,0.00,0.000,4,0.000,0.116,2712,552,2099,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2801,0.66,146.6,112.8,13.1,467,2808,0.00,1.77,0.00,0.000,6,0.000,0.063,2712,1606,2098,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2943,0.66,146.6,96.3,11.1,492,2952,0.00,1.98,0.00,0.000,4,0.000,0.117,2720,546,2098,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3171,0.66,146.6,69.1,11.9,532,3180,0.00,1.80,0.00,0.000,6,0.000,0.063,2720,1595,2098,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3318,0.66,146.6,53.0,10.6,557,3325,0.00,1.90,0.00,0.000,4,0.000,0.116,2728,541,2098,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3468,0.66,146.6,35.8,11.8,583,3477,0.00,1.83,0.00,0.000,6,0.000,0.063,2728,1598,2098,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3546,0.66,146.6,27.5,8.6,596,3555,0.00,1.83,0.00,0.000,4,0.000,0.074,2728,2651,2098,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3682,0.66,146.6,14.2,11.1,619,3692,0.10,1.88,0.00,0.000,6,0.304,0.091,2712,1599,2097,0,0,0,0,0,0,14.62,14.72,28.83
$GC,3762,0.66,146.6,6.0,10.5,632,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1598,2098,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3793,end climb,SURFACE_DEPTH_REACHED
$STATE,3793,begin surface coast
$FINISH,-0.7,1.021671
$STATE,3818,end surface coast,CONTROL_FINISHED_OK
$STATE,3818,begin surface
$SM_CCo,3831,77.75,0.135,0,0,1467,300.00
$SM_GC,0.52,7.62,0.00,77.75,0.096,0.000,0.135,158,1599,1467,-7.24,-0.06,300.00,0,0,0,0,0,0,14.74,28.83,14.67
$IRIDIUM_FIX,4726.11,-12222.38,290212,222223
$TT8_MAMPS,0.02247,0.02247
$HUMID,30.70
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,69.0
$24V_AH,13.3,0.700
$10V_AH,13.2,0.297
$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,20.850,33.725,281.325,77.750,0.000,53.047,43.118,224.430,1.250,0.000,17.594,1404.933,482.105,425.579,2016.683,60.946,33.224,1053.826,0.000,1665.272,0.000,10.356,0.000
$DEVICE_MAMPS,476.595,117.810,1852.065,134.640,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.065,1286.958,1220.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323500
$DATA_FILE_SIZE,43901,641
$CAP_FILE_SIZE,67654,0
$CFSIZE,259252224,257056768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,2,1,0
$GPS,010312,002529,4744.165,-12224.401,35,1.0,35,16.6