version: 66.10
glider: 191
mission: 2
dive: 9
start: 3 1 112 4 9 29
data:
$ID,191
$MISSION,2
$DIVE,9
$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,-1652.7455
$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,23
$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
$GPS1,010312,040224,4743.025,-12225.173,16,1.1,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-60.2
$GPS2,010312,040832,4743.076,-12225.230,19,0.8,20,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,0.152
$KALMAN_X,-23.5,618.4,56.0,-1450.4,-654.4
$KALMAN_Y,3957.9,1606.8,-487.4,-5581.8,125.0
$MHEAD_RNG_PITCHd_Wd,31.7,1617,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-61.25,0.000,2,0.000,0.000,163,1589,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.66,-146.6,2.0,-5.1,8,105,11.23,1.85,-6.53,0.000,4,0.465,0.103,2260,2665,3293,1,0,0,0,0,0,14.38,14.61,14.78
$GC,362,-0.66,-146.6,29.2,-9.8,56,370,0.00,1.90,0.00,0.000,6,0.000,0.086,2260,1600,3294,0,0,0,0,0,0,28.83,14.63,28.83
$GC,440,-0.66,-146.6,37.4,-10.5,69,449,0.00,1.83,0.00,0.000,4,0.000,0.076,2252,2649,3294,0,0,0,0,0,0,28.83,14.64,28.83
$GC,685,-0.66,-146.6,60.6,-8.3,112,693,0.00,1.85,0.00,0.000,6,0.000,0.087,2252,1606,3294,0,0,0,0,0,0,28.83,14.67,28.83
$GC,831,-0.66,-146.6,72.8,-8.5,137,838,0.00,1.90,0.00,0.000,4,0.000,0.116,2252,547,3294,0,0,0,0,0,0,28.83,14.70,28.83
$GC,861,-0.66,-146.6,76.1,-10.6,142,870,0.10,1.83,0.00,0.000,6,0.274,0.066,2269,1602,3294,0,0,0,0,0,0,14.62,14.71,28.83
$GC,1008,-0.66,-146.6,88.9,-8.8,167,1014,0.00,1.83,0.00,0.000,4,0.000,0.080,2263,2661,3294,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1251,-0.66,-146.6,110.2,-8.1,209,1257,0.00,1.85,0.00,0.000,6,0.000,0.087,2264,1598,3294,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1395,-0.66,-146.6,123.7,-8.9,234,1403,0.00,1.85,0.00,0.000,4,0.000,0.079,2256,2656,3294,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1487,-0.66,-146.6,131.6,-9.9,249,1494,0.00,1.85,0.00,0.000,6,0.000,0.088,2256,1594,3294,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1638,-0.66,-146.6,146.6,-9.8,274,1646,0.00,1.85,0.00,0.000,4,0.000,0.078,2248,2654,3294,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1766,-0.66,-146.6,158.3,-8.8,296,1774,0.00,1.85,0.00,0.000,6,0.000,0.087,2249,1605,3294,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1912,-0.66,-146.6,171.4,-9.4,321,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1605,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2054,-0.66,-146.6,185.2,-8.8,346,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1605,3294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2099,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2099,begin apogee
$GC,2102,-0.20,0.0,189.2,-9.3,353,2241,0.62,0.00,134.75,1.066,6,0.236,0.000,2418,1605,2693,0,0,0,0,0,0,14.69,28.83,13.83
$STATE,2242,end apogee,CONTROL_FINISHED_OK
$STATE,2242,begin climb
$GC,2243,0.66,146.6,192.3,0.0,374,2390,0.95,1.88,137.70,0.988,4,0.176,0.072,2697,2657,2090,0,0,0,0,0,0,14.13,14.08,13.74
$GC,2421,0.66,146.6,179.4,10.1,401,2427,0.00,1.92,0.00,0.000,6,0.000,0.086,2705,1600,2082,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2563,0.66,146.6,164.6,8.9,426,2571,0.00,1.98,0.00,0.000,4,0.000,0.115,2713,552,2078,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2732,0.66,146.6,146.3,12.3,455,2739,0.00,1.80,0.00,0.000,6,0.000,0.062,2713,1605,2077,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2876,0.66,146.6,129.0,11.9,480,2884,0.00,1.98,0.00,0.000,4,0.000,0.116,2722,546,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2898,0.66,146.6,126.6,12.1,483,2904,0.00,1.77,0.00,0.000,6,0.000,0.062,2721,1601,2077,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3040,0.66,146.6,108.3,12.5,508,3048,0.00,1.98,0.00,0.000,4,0.000,0.116,2730,539,2076,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3099,0.66,146.6,100.5,13.1,518,3108,0.00,1.83,0.00,0.000,6,0.000,0.062,2730,1598,2076,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3246,0.66,146.6,82.8,12.5,543,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1598,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3389,0.66,146.6,64.1,11.8,568,3398,0.00,1.95,0.00,0.000,4,0.000,0.116,2737,545,2076,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3490,0.66,146.6,50.8,13.5,585,3497,0.15,1.80,0.00,0.000,6,0.307,0.061,2707,1608,2076,0,0,0,0,0,0,14.64,14.76,28.83
$GC,3638,0.66,146.6,34.5,9.9,610,3646,0.00,1.98,0.00,0.000,4,0.000,0.115,2713,539,2076,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3858,0.66,146.6,12.0,9.2,648,3867,0.00,1.83,0.00,0.000,6,0.000,0.060,2713,1602,2076,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3937,0.66,146.6,4.9,8.2,661,3945,0.00,1.83,0.00,0.000,4,0.000,0.074,2713,2655,2076,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,3964,end climb,SURFACE_DEPTH_REACHED
$STATE,3964,begin surface coast
$FINISH,-0.2,1.021953
$STATE,4016,end surface coast,CONTROL_FINISHED_OK
$STATE,4016,begin surface
$SM_CCo,4032,76.95,0.137,0,0,1469,300.00
$SM_GC,0.62,7.68,1.90,76.95,0.101,0.088,0.137,168,1597,1469,-7.22,0.62,300.00,0,0,0,0,0,0,14.71,14.73,14.66
$IRIDIUM_FIX,4729.30,-12226.80,010312,020211
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.31
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.4,55.3
$24V_AH,13.7,1.047
$10V_AH,13.4,0.549
$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,20.725,48.625,272.450,76.950,0.000,25.144,30.020,222.704,3.000,0.000,22.225,1497.489,428.840,405.705,2091.226,67.044,33.204,1044.652,0.000,1776.065,0.000,23.998,0.000
$DEVICE_MAMPS,465.120,115.515,1066.410,136.935,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.928,1393.911,1317.304,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323440
$DATA_FILE_SIZE,47080,674
$CAP_FILE_SIZE,69988,0
$CFSIZE,259252224,256872448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,010312,051905,4743.019,-12224.927,33,1.2,33,16.6