version: 66.10
glider: 191
mission: 2
dive: 8
start: 3 1 112 2 57 26
data:
$ID,191
$MISSION,2
$DIVE,8
$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,-1651.4854
$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,21
$R_STBD_OVSHOOT,33
$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
$GPS1,010312,025004,4743.500,-12225.054,35,1.5,35,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-59.3
$GPS2,010312,025630,4743.532,-12225.138,18,1.2,18,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.064
$KALMAN_X,1049.5,526.2,-148.4,-2114.5,159.9
$KALMAN_Y,4497.8,1793.4,-678.8,-5277.7,834.9
$MHEAD_RNG_PITCHd_Wd,105.2,801,-26.7,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.11,-37.1,0.0,0.0,0,78,0.00,0.00,-56.00,0.000,6,0.000,0.000,164,1604,2846,0,0,0,0,0,0,28.83,28.83,14.82
$GC,80,-1.13,-51.3,1.9,-5.2,8,98,10.27,1.98,-1.60,0.000,4,0.459,0.135,2124,542,2905,0,0,0,0,0,0,14.44,14.59,14.79
$GC,219,-1.13,-51.3,12.4,-7.1,31,227,0.00,1.83,0.00,0.000,6,0.000,0.063,2118,1599,2905,0,0,0,0,0,0,28.83,14.63,28.83
$GC,297,-1.14,-56.5,18.3,-6.3,44,306,0.00,1.83,-0.30,0.000,4,0.000,0.101,2111,2650,2926,0,0,0,0,0,0,28.83,14.64,14.75
$GC,561,-1.14,-56.5,44.1,-10.8,90,570,0.00,1.88,0.00,0.000,6,0.000,0.086,2112,1594,2927,0,0,0,0,0,0,28.83,14.67,28.83
$GC,710,-1.14,-56.5,60.9,-10.8,115,716,0.00,1.83,0.00,0.000,4,0.000,0.073,2106,2662,2927,0,0,0,0,0,0,28.83,14.73,28.83
$GC,972,-1.14,-56.5,85.2,-8.8,161,978,0.00,1.85,0.00,0.000,6,0.000,0.085,2106,1597,2926,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1114,-1.14,-57.7,96.9,-6.9,186,1123,0.00,1.83,0.00,0.000,4,0.000,0.073,2099,2653,2926,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1377,-1.14,-57.7,114.8,-8.5,232,1386,0.00,1.85,0.00,0.000,6,0.000,0.086,2100,1603,2926,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1527,-1.14,-57.7,128.0,-8.3,257,1533,0.00,1.80,0.00,0.000,4,0.000,0.079,2094,2653,2927,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1795,-1.14,-57.7,152.0,-9.4,303,1802,0.00,1.83,0.00,0.000,6,0.000,0.088,2094,1599,2926,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1940,-1.14,-57.7,167.5,-11.1,328,1948,0.00,1.83,0.00,0.000,4,0.000,0.076,2087,2651,2927,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2134,-1.14,-57.7,187.2,-10.4,362,2143,0.12,1.85,0.00,0.000,6,0.336,0.090,2115,1605,2927,0,0,0,0,0,0,14.65,14.76,28.83
$STATE,2159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2159,begin apogee
$GC,2162,-0.20,0.0,189.6,-9.6,366,2224,1.20,0.00,54.08,1.125,6,0.311,0.000,2413,1605,2690,0,0,0,0,0,0,14.65,28.83,14.09
$STATE,2225,end apogee,CONTROL_FINISHED_OK
$STATE,2225,begin climb
$GC,2227,1.14,57.7,191.2,0.0,375,2295,1.45,1.90,54.58,1.050,4,0.172,0.071,2849,2656,2452,0,0,0,0,0,0,14.43,14.26,13.91
$GC,2330,1.14,57.7,182.5,13.0,391,2337,0.00,1.90,0.00,0.000,6,0.000,0.087,2858,1602,2449,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2473,1.14,57.7,164.2,11.9,416,2482,0.00,1.98,0.00,0.000,4,0.000,0.112,2866,542,2447,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2690,1.14,57.7,132.9,13.8,454,2699,0.00,1.83,0.00,0.000,6,0.000,0.063,2866,1598,2446,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2838,1.14,57.7,111.4,15.2,479,2845,0.00,1.83,0.00,0.000,4,0.000,0.074,2866,2661,2446,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3100,1.14,57.7,73.9,13.7,525,3106,0.00,1.88,0.00,0.000,6,0.000,0.087,2874,1591,2446,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3242,1.14,57.7,54.8,14.1,550,3251,0.00,1.92,0.00,0.000,4,0.000,0.113,2882,544,2446,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3423,1.14,57.7,29.5,11.8,581,3431,0.00,1.83,0.00,0.000,6,0.000,0.064,2882,1602,2446,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3501,1.14,57.7,21.4,10.5,594,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1602,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3579,1.14,57.7,13.5,10.3,607,3588,0.00,1.83,0.00,0.000,4,0.000,0.076,2882,2652,2445,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,3668,end climb,SURFACE_DEPTH_REACHED
$STATE,3668,begin surface coast
$FINISH,2.2,1.021733
$STATE,3710,end surface coast,CONTROL_FINISHED_OK
$STATE,3710,begin surface
$SM_CCo,3727,121.47,0.138,0,0,1470,300.00
$SM_GC,0.49,9.30,1.90,121.47,0.201,0.086,0.138,163,1591,1470,-7.24,0.51,300.00,0,0,0,0,0,0,14.69,14.73,14.63
$IRIDIUM_FIX,4729.30,-12226.80,010312,010114
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.27
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.3,41.2
$24V_AH,13.9,0.947
$10V_AH,13.8,0.483
$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,22.350,40.925,108.650,121.475,0.000,28.593,34.239,238.633,3.750,0.000,19.586,1444.811,414.906,326.781,2000.757,60.652,33.226,872.881,0.000,1660.623,0.000,28.646,0.000
$DEVICE_MAMPS,459.000,135.405,1124.550,138.465,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.063,1310.011,1240.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323512
$DATA_FILE_SIZE,43939,629
$CAP_FILE_SIZE,64633,0
$CFSIZE,259252224,256929792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010312,040224,4743.025,-12225.173,16,1.1,16,16.6