version: 66.10
glider: 191
mission: 2
dive: 10
start: 3 1 112 5 26 58
data:
$ID,191
$MISSION,2
$DIVE,10
$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,-1654.0055
$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,31
$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
$GPS1,010312,051905,4743.019,-12224.927,33,1.2,33,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-57.8
$GPS2,010312,052601,4743.058,-12224.987,20,0.8,21,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.153
$KALMAN_X,-392.0,283.4,36.8,-431.8,-970.7
$KALMAN_Y,3477.7,781.4,-194.8,-4604.8,-629.1
$MHEAD_RNG_PITCHd_Wd,31.5,1577,-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,-61.17,0.000,2,0.000,0.000,169,1595,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.66,-146.6,2.0,-5.7,8,105,11.10,1.83,-7.18,0.000,4,0.461,0.099,2257,2661,3292,0,0,0,0,0,0,14.43,14.62,14.78
$GC,362,-0.66,-146.6,31.4,-10.8,56,371,0.00,1.90,0.00,0.000,6,0.000,0.089,2256,1599,3293,0,0,0,0,0,0,28.83,14.63,28.83
$GC,441,-0.66,-146.6,40.1,-11.0,69,447,0.00,1.83,0.00,0.000,4,0.000,0.075,2248,2661,3293,0,0,0,0,0,0,28.83,14.69,28.83
$GC,702,-0.66,-146.6,64.5,-9.5,115,709,0.00,1.85,0.00,0.000,6,0.000,0.087,2249,1591,3293,0,0,0,0,0,0,28.83,14.72,28.83
$GC,845,-0.66,-146.6,76.9,-8.3,140,854,0.00,1.85,0.00,0.000,4,0.000,0.076,2241,2652,3293,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1108,-0.66,-146.6,99.4,-9.2,186,1117,0.10,1.85,0.00,0.000,6,0.266,0.086,2266,1605,3293,0,0,0,0,0,0,14.65,14.75,28.83
$GC,1255,-0.66,-146.6,111.2,-7.9,211,1262,0.00,1.80,0.00,0.000,4,0.000,0.076,2261,2654,3293,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1339,-0.66,-146.6,117.9,-8.3,225,1346,0.00,1.85,0.00,0.000,6,0.000,0.086,2261,1592,3293,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1486,-0.66,-146.6,131.4,-9.2,250,1494,0.00,1.85,0.00,0.000,4,0.000,0.077,2254,2654,3293,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1523,-0.66,-146.6,134.9,-9.9,256,1531,0.00,1.85,0.00,0.000,6,0.000,0.086,2254,1605,3293,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1669,-0.66,-146.6,148.2,-8.9,281,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,1605,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1810,-0.66,-146.6,161.0,-9.0,306,1819,0.00,1.83,0.00,0.000,4,0.000,0.077,2245,2654,3293,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1968,-0.66,-146.6,173.6,-6.1,333,1974,0.00,1.83,0.00,0.000,6,0.000,0.086,2246,1600,3293,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,2095,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2095,begin apogee
$GC,2098,-0.20,0.0,183.8,-8.5,355,2245,0.62,0.00,137.15,1.814,6,0.238,0.000,2415,1600,2694,0,0,0,0,1,0,14.70,28.83,13.33
$STATE,2246,end apogee,CONTROL_FINISHED_OK
$STATE,2246,begin climb
$GC,2248,0.66,146.6,187.0,0.0,377,2408,0.95,1.92,144.98,1.825,4,0.167,0.070,2692,2654,2099,0,0,0,0,1,0,13.93,13.90,13.27
$GC,2434,0.66,146.6,173.2,11.5,405,2441,0.00,1.95,0.00,0.000,6,0.000,0.086,2700,1596,2101,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2576,0.66,146.6,157.8,10.4,430,2585,0.00,1.98,0.00,0.000,4,0.000,0.112,2709,549,2101,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2643,0.66,146.6,150.4,11.6,441,2650,0.00,1.83,0.00,0.000,6,0.000,0.061,2709,1608,2101,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2786,0.66,146.6,134.7,11.5,466,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1609,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,0.66,146.6,119.0,10.6,491,2939,0.00,1.95,0.00,0.000,4,0.000,0.115,2717,536,2100,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3128,0.66,146.6,95.8,12.3,525,3135,0.00,1.80,0.00,0.000,6,0.000,0.061,2717,1602,2099,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3272,0.66,146.6,78.8,11.5,550,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1602,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,0.66,146.6,62.8,10.6,575,3423,0.00,1.90,0.00,0.000,4,0.000,0.115,2725,543,2099,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3521,0.66,146.6,50.5,12.0,593,3528,0.00,1.80,0.00,0.000,6,0.000,0.061,2725,1608,2099,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3665,0.66,146.6,33.8,11.4,618,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1609,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3744,0.66,146.6,25.4,9.8,631,3752,0.00,1.98,0.00,0.000,4,0.000,0.116,2733,542,2099,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3879,0.66,146.6,10.3,9.2,654,3887,0.00,1.83,0.00,0.000,6,0.000,0.061,2733,1603,2099,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,3957,end climb,SURFACE_DEPTH_REACHED
$STATE,3957,begin surface coast
$FINISH,-0.1,1.022189
$STATE,4000,end surface coast,CONTROL_FINISHED_OK
$STATE,4000,begin surface
$SM_CCo,4013,78.50,0.136,0,0,1469,300.00
$SM_GC,0.44,7.78,0.00,78.50,0.105,0.000,0.136,164,1604,1469,-7.22,0.11,300.00,0,0,0,0,0,0,14.73,28.83,14.66
$IRIDIUM_FIX,4726.11,-12227.78,010312,040429
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.74
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,125.2,70.1
$24V_AH,13.3,1.213
$10V_AH,13.2,0.616
$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,20.550,41.025,282.125,78.500,0.000,28.343,38.286,257.547,1.750,0.000,22.714,1482.932,440.172,410.061,2119.380,68.971,33.210,1045.234,0.000,1765.253,0.000,11.933,0.000
$DEVICE_MAMPS,460.530,115.515,1825.290,136.170,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.799,1374.381,1298.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323468
$DATA_FILE_SIZE,47025,674
$CAP_FILE_SIZE,68003,0
$CFSIZE,259252224,256831488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,010312,063600,4743.062,-12224.595,16,1.1,16,16.6