version: 66.10
glider: 191
mission: 2
dive: 7
start: 3 1 112 1 46 21
data:
$ID,191
$MISSION,2
$DIVE,7
$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,-1650.228
$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,40
$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
$GPS1,010312,013906,4743.743,-12224.597,16,1.8,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-55.1
$GPS2,010312,014524,4743.763,-12224.639,18,1.3,18,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,-0.111
$KALMAN_X,1225.8,403.0,-129.2,-1568.4,363.9
$KALMAN_Y,4058.3,1735.8,-383.7,-4647.9,908.8
$MHEAD_RNG_PITCHd_Wd,203.9,324,-21.8,-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,-0.94,-54.0,0.0,0.0,0,77,0.00,0.00,-59.42,0.000,6,0.000,0.000,164,1608,2916,0,0,0,0,0,0,28.83,28.83,14.83
$GC,79,-0.96,-72.4,1.8,-5.4,8,97,10.68,2.00,-1.98,0.000,4,0.464,0.138,2175,543,2992,0,0,0,0,0,0,14.43,14.59,14.80
$GC,354,-0.96,-72.4,32.0,-11.2,55,363,0.00,1.83,0.00,0.000,6,0.000,0.064,2169,1595,2993,0,0,0,0,0,0,28.83,14.66,28.83
$GC,433,-0.96,-72.4,40.4,-10.3,68,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1596,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,578,-0.96,-72.4,54.8,-10.1,93,585,0.00,1.83,0.00,0.000,4,0.000,0.076,2161,2658,2993,0,0,0,0,0,0,28.83,14.71,28.83
$GC,841,-0.96,-72.4,80.8,-10.6,139,848,0.00,1.85,0.00,0.000,6,0.000,0.086,2162,1595,2993,0,0,0,0,0,0,28.83,14.74,28.83
$GC,983,-0.96,-72.4,95.0,-9.2,164,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1595,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1128,-0.96,-72.4,108.0,-9.1,189,1135,0.00,1.88,0.00,0.000,4,0.000,0.111,2168,541,2993,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1393,-0.96,-72.4,134.2,-9.4,235,1399,0.00,1.77,0.00,0.000,6,0.000,0.065,2162,1604,2993,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1537,-0.96,-72.4,147.4,-8.6,260,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1605,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1684,-0.96,-72.4,160.3,-9.3,285,1691,0.00,1.80,0.00,0.000,4,0.000,0.076,2154,2659,2993,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1755,-0.96,-72.4,166.2,-8.3,297,1761,0.00,1.85,0.00,0.000,6,0.000,0.086,2154,1594,2993,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1897,-0.96,-72.4,179.0,-9.8,322,1906,0.00,1.92,0.00,0.000,4,0.000,0.112,2154,542,2993,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,1934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1934,begin apogee
$GC,1939,-0.20,0.0,182.8,-11.0,328,2019,1.08,0.00,67.47,1.675,6,0.298,0.000,2417,1602,2697,0,0,0,0,1,0,14.65,28.83,13.60
$STATE,2020,end apogee,CONTROL_FINISHED_OK
$STATE,2020,begin climb
$GC,2021,0.96,72.4,185.5,0.0,340,2109,1.27,1.92,72.18,1.741,4,0.170,0.071,2794,2651,2401,0,0,0,0,1,0,14.19,13.97,13.28
$GC,2158,0.96,72.4,175.7,11.1,361,2165,0.00,1.90,0.00,0.000,6,0.000,0.087,2802,1602,2404,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2300,0.96,72.4,157.4,11.8,386,2308,0.00,1.98,0.00,0.000,4,0.000,0.112,2810,549,2404,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2562,0.96,72.4,120.3,13.6,432,2570,0.00,1.83,0.00,0.000,6,0.000,0.063,2810,1601,2404,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2709,0.96,72.4,103.2,12.2,457,2716,0.00,1.92,0.00,0.000,4,0.000,0.113,2818,544,2404,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2971,0.96,72.4,67.9,14.4,503,2978,0.00,1.80,0.00,0.000,6,0.000,0.063,2818,1605,2404,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3113,0.96,72.4,51.5,10.6,528,3122,0.00,1.95,0.00,0.000,4,0.000,0.113,2826,548,2404,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3379,0.96,72.4,16.9,11.5,574,3387,0.00,1.80,0.00,0.000,6,0.000,0.062,2826,1599,2404,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3457,0.96,72.4,9.4,9.2,587,3466,0.00,1.92,0.00,0.000,4,0.000,0.112,2835,546,2404,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,3552,end climb,SURFACE_DEPTH_REACHED
$STATE,3552,begin surface coast
$FINISH,-0.1,1.021789
$STATE,3622,end surface coast,CONTROL_FINISHED_OK
$STATE,3622,begin surface
$SM_CCo,3638,115.75,0.136,0,0,1471,300.00
$SM_GC,0.18,8.52,1.83,115.75,0.150,0.060,0.136,165,1604,1471,-7.23,-0.96,300.00,0,0,0,0,0,0,14.71,14.76,14.64
$IRIDIUM_FIX,4726.11,-12227.78,010312,000035
$TT8_MAMPS,0.023968,0.023968
$HUMID,29.95
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.4,64.2
$24V_AH,13.3,0.889
$10V_AH,13.4,0.421
$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,21.550,37.400,139.650,115.750,0.000,26.322,30.269,233.532,1.750,0.000,19.446,1396.523,399.030,342.360,1947.975,58.816,33.216,883.352,0.000,1629.292,0.000,13.496,0.000
$DEVICE_MAMPS,464.355,138.465,1741.140,136.170,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.748,1285.854,1214.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323492
$DATA_FILE_SIZE,43784,615
$CAP_FILE_SIZE,62035,0
$CFSIZE,259252224,256974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,010312,025004,4743.500,-12225.054,35,1.5,35,16.6