version: 66.10
glider: 191
mission: 2
dive: 6
start: 3 1 112 0 32 33
data:
$ID,191
$MISSION,2
$DIVE,6
$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,-1648.9679
$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,18
$R_STBD_OVSHOOT,30
$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
$GPS1,010312,002529,4744.165,-12224.401,35,1.0,35,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-59.4
$GPS2,010312,003136,4744.288,-12224.345,15,1.3,15,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,-0.213
$KALMAN_X,922.9,408.4,30.0,-1067.4,214.3
$KALMAN_Y,3404.9,1565.8,152.5,-3396.1,897.2
$MHEAD_RNG_PITCHd_Wd,185.1,914,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-68.72,0.000,2,0.000,0.000,158,1597,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.66,-146.6,2.8,-8.1,9,104,11.02,0.00,-1.10,0.000,6,0.457,0.000,2266,1597,3293,0,0,0,0,0,0,14.47,28.83,14.81
$GC,174,-0.66,-146.6,14.8,-11.1,23,183,0.00,1.95,0.00,0.000,4,0.000,0.116,2265,547,3293,0,0,0,0,0,0,28.83,14.58,28.83
$GC,270,-0.66,-146.6,27.2,-14.1,39,278,0.00,1.83,0.00,0.000,6,0.000,0.064,2260,1602,3297,0,0,0,0,0,0,28.83,14.66,28.83
$GC,348,-0.66,-146.6,36.2,-10.5,52,357,0.00,1.83,0.00,0.000,4,0.000,0.077,2252,2649,3297,0,0,0,0,0,0,28.83,14.65,28.83
$GC,596,-0.66,-146.6,59.8,-8.5,95,603,0.00,1.85,0.00,0.000,6,0.000,0.088,2252,1592,3296,0,0,0,0,0,0,28.83,14.73,28.83
$GC,737,-0.66,-146.6,73.7,-9.9,120,746,0.00,1.92,0.00,0.000,4,0.000,0.116,2252,546,3296,0,0,0,0,0,0,28.83,14.69,28.83
$GC,782,-0.66,-146.6,77.9,-10.7,127,789,0.12,1.80,0.00,0.000,6,0.311,0.066,2267,1608,3296,0,0,0,0,0,0,14.66,14.77,28.83
$GC,925,-0.66,-146.6,89.4,-7.6,152,934,0.00,1.83,0.00,0.000,4,0.000,0.079,2262,2657,3296,0,0,0,0,0,0,28.83,14.74,28.83
$GC,995,-0.66,-146.6,94.6,-7.3,164,1004,0.00,1.88,0.00,0.000,6,0.000,0.089,2262,1599,3296,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1141,-0.66,-146.6,105.6,-7.4,189,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1599,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1283,-0.66,-146.6,115.4,-7.1,214,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1599,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1435,-0.66,-146.6,126.6,-7.5,239,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,1599,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1576,-0.66,-146.6,137.1,-7.3,264,1585,0.00,1.92,0.00,0.000,4,0.000,0.116,2262,549,3296,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1613,-0.66,-146.6,140.4,-8.7,270,1622,0.00,1.80,0.00,0.000,6,0.000,0.067,2254,1598,3296,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1761,-0.66,-146.6,152.5,-7.6,295,1767,0.00,1.77,0.00,0.000,4,0.000,0.079,2246,2656,3296,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1859,-0.66,-146.6,161.0,-7.9,312,1867,0.00,1.88,0.00,0.000,6,0.000,0.091,2246,1599,3296,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2006,-0.66,-146.6,173.8,-9.5,337,2012,0.00,1.80,0.00,0.000,4,0.000,0.078,2238,2652,3296,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,2023,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2023,begin apogee
$GC,2028,-0.20,0.0,175.6,-9.3,340,2169,0.68,0.00,134.00,1.074,6,0.246,0.000,2419,1597,2688,0,0,0,0,0,0,14.69,28.83,13.86
$STATE,2170,end apogee,CONTROL_FINISHED_OK
$STATE,2170,begin climb
$GC,2172,0.66,146.6,179.3,0.0,361,2318,0.93,0.00,136.50,0.981,6,0.175,0.000,2693,1597,2087,0,0,0,0,0,0,14.18,28.83,13.72
$GC,2456,0.66,146.6,154.6,11.7,407,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1597,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,0.66,146.6,138.8,10.4,432,2608,0.00,1.98,0.00,0.000,4,0.000,0.116,2702,543,2076,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2681,0.66,146.6,129.6,11.0,446,2689,0.00,1.83,0.00,0.000,6,0.000,0.063,2701,1594,2075,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2829,0.66,146.6,114.3,10.9,471,2835,0.00,1.90,0.00,0.000,4,0.000,0.117,2709,546,2075,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3000,0.66,146.6,94.1,12.6,501,3006,0.00,1.80,0.00,0.000,6,0.000,0.063,2709,1605,2074,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3142,0.66,146.6,77.4,11.1,526,3151,0.00,1.98,0.00,0.000,4,0.000,0.117,2717,543,2074,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3246,0.66,146.6,65.0,11.9,544,3255,0.00,1.80,0.00,0.000,6,0.000,0.062,2718,1592,2075,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3392,0.66,146.6,48.2,11.5,569,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1593,2074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,0.66,146.6,32.8,10.0,594,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1594,2074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3614,0.66,146.6,23.7,11.6,607,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1593,2074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,0.66,146.6,14.8,11.4,620,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1594,2074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,0.66,146.6,6.9,8.4,633,3778,0.00,1.92,0.00,0.000,4,0.000,0.118,2726,554,2074,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,3813,end climb,SURFACE_DEPTH_REACHED
$STATE,3814,begin surface coast
$FINISH,0.3,1.021918
$STATE,3849,end surface coast,CONTROL_FINISHED_OK
$STATE,3849,begin surface
$SM_CCo,3865,77.35,0.135,0,0,1468,300.00
$SM_GC,0.37,7.53,1.80,77.35,0.080,0.060,0.135,164,1608,1468,-7.22,-1.16,300.00,0,0,0,0,0,0,14.73,14.77,14.67
$IRIDIUM_FIX,4726.11,-12222.38,290212,232315
$TT8_MAMPS,0.023219,0.023219
$HUMID,30.74
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,125.4,61.9
$24V_AH,13.7,0.799
$10V_AH,13.7,0.360
$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,20.275,40.925,270.500,77.350,0.000,26.525,31.739,226.041,2.250,0.000,17.153,1426.901,421.835,414.867,1997.975,61.605,33.232,1046.185,0.000,1685.322,0.000,14.820,0.000
$DEVICE_MAMPS,457.470,117.810,1074.060,134.640,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.991,1306.332,1233.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323472
$DATA_FILE_SIZE,43757,646
$CAP_FILE_SIZE,68885,0
$CFSIZE,259252224,257011712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010312,013906,4743.743,-12224.597,16,1.8,16,16.6