version: 66.10
glider: 191
mission: 2
dive: 12
start: 3 1 112 7 56 53
data:
$ID,191
$MISSION,2
$DIVE,12
$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,-1656.5229
$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,35
$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
$GPS1,010312,074943,4743.165,-12224.300,18,1.1,18,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-56.5
$GPS2,010312,075556,4743.230,-12224.290,23,0.8,23,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,0.227
$KALMAN_X,69.9,-763.2,-166.1,1219.5,-273.8
$KALMAN_Y,4203.9,-1871.8,-50.9,-2509.3,-480.3
$MHEAD_RNG_PITCHd_Wd,336.3,1393,-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,-68.60,0.000,2,0.000,0.000,164,1598,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.66,-146.6,2.3,-5.4,9,106,11.35,1.98,-1.52,0.000,4,0.470,0.137,2276,542,3293,0,0,0,0,0,0,14.45,14.58,14.79
$GC,113,-0.66,-146.6,8.2,-17.2,12,122,0.00,1.83,0.00,0.000,6,0.000,0.063,2271,1596,3295,0,0,0,0,0,0,28.83,14.60,28.83
$GC,192,-0.66,-146.6,16.2,-9.7,25,200,0.00,1.95,0.00,0.000,4,0.000,0.115,2270,550,3295,0,0,0,0,0,0,28.83,14.58,28.83
$GC,457,-0.66,-146.6,42.3,-9.5,71,463,0.00,1.80,0.00,0.000,6,0.000,0.063,2263,1611,3295,0,0,0,0,0,0,28.83,14.70,28.83
$GC,599,-0.66,-146.6,52.8,-6.5,96,608,0.00,1.98,0.00,0.000,4,0.000,0.116,2263,548,3296,0,0,0,0,0,0,28.83,14.65,28.83
$GC,860,-0.66,-146.6,76.4,-10.0,142,869,0.00,1.80,0.00,0.000,6,0.000,0.063,2255,1597,3296,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1007,-0.66,-146.6,89.3,-8.4,167,1013,0.00,1.92,0.00,0.000,4,0.000,0.116,2255,541,3296,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1088,-0.66,-146.6,97.0,-9.4,181,1095,0.00,1.80,0.00,0.000,6,0.000,0.063,2247,1605,3296,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1230,-0.66,-146.6,109.7,-9.9,206,1242,0.00,1.83,0.00,0.000,4,0.000,0.077,2239,2654,3296,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1297,-0.66,-146.6,116.0,-9.2,216,1306,0.10,1.88,0.00,0.000,6,0.258,0.088,2266,1596,3296,0,0,0,0,0,0,14.66,14.73,28.83
$GC,1449,-0.66,-146.6,129.2,-7.9,241,1456,0.00,1.83,0.00,0.000,4,0.000,0.076,2260,2661,3296,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1498,-0.66,-146.6,133.0,-8.1,249,1504,0.00,1.85,0.00,0.000,6,0.000,0.088,2260,1599,3296,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1641,-0.66,-146.6,145.8,-9.0,274,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,1599,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1786,-0.66,-146.6,158.6,-8.9,299,1792,0.00,1.77,0.00,0.000,4,0.000,0.076,2253,2653,3296,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1892,-0.66,-146.6,167.4,-7.8,317,1898,0.00,1.83,0.00,0.000,6,0.000,0.088,2253,1599,3296,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,1997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1997,begin apogee
$GC,2000,-0.20,0.0,176.0,-7.8,335,2146,0.60,0.00,135.50,1.049,6,0.239,0.000,2415,1598,2686,0,0,0,0,0,0,14.69,28.83,13.82
$STATE,2147,end apogee,CONTROL_FINISHED_OK
$STATE,2147,begin climb
$GC,2148,0.66,146.6,180.2,0.0,357,2296,0.95,2.08,133.68,1.059,4,0.173,0.115,2704,546,2099,0,0,0,0,1,0,14.17,14.01,13.45
$GC,2434,0.66,146.6,155.4,11.6,403,2441,0.00,1.83,0.00,0.000,6,0.000,0.060,2704,1601,2104,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2577,0.66,146.6,138.9,11.2,428,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1602,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2722,0.66,146.6,122.8,11.8,453,2729,0.00,0.00,1.25,0.189,6,0.000,0.000,2704,1602,2095,0,0,0,0,0,0,28.83,28.83,14.55
$GC,2865,0.66,146.6,106.0,11.4,478,2874,0.00,1.98,0.00,0.000,4,0.000,0.116,2712,542,2103,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2956,0.66,146.6,95.7,11.3,493,2962,0.00,1.80,0.00,0.000,6,0.000,0.060,2712,1604,2103,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3097,0.66,146.6,81.0,9.2,518,3106,0.00,1.95,0.00,0.000,4,0.000,0.115,2720,553,2103,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3179,0.66,146.6,73.5,8.6,532,3187,0.00,1.80,0.00,0.000,6,0.000,0.060,2720,1604,2103,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3326,0.66,146.6,60.6,9.5,557,3333,0.00,1.92,0.00,0.000,4,0.000,0.115,2728,546,2103,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3537,0.66,146.6,39.7,10.5,594,3545,0.00,1.80,0.00,0.000,6,0.000,0.060,2728,1595,2103,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3617,0.66,146.6,31.0,11.1,607,3625,0.00,1.92,0.00,0.000,4,0.000,0.115,2736,553,2103,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3780,0.66,146.6,13.8,9.3,635,3789,0.10,1.80,0.00,0.000,6,0.285,0.060,2711,1608,2103,0,0,0,0,0,0,14.62,14.73,28.83
$GC,3859,0.66,146.6,6.6,8.4,648,3868,0.00,1.80,0.00,0.000,4,0.000,0.071,2711,2649,2103,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3875,0.66,146.6,5.3,7.5,650,3884,0.00,1.88,0.00,0.000,6,0.000,0.087,2717,1594,2103,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,3908,end climb,SURFACE_DEPTH_REACHED
$STATE,3908,begin surface coast
$FINISH,-0.5,1.021733
$STATE,3949,end surface coast,CONTROL_FINISHED_OK
$STATE,3950,begin surface
$SM_CCo,3963,77.85,0.138,0,0,1468,300.00
$SM_GC,0.23,7.65,0.00,77.85,0.097,0.000,0.138,166,1594,1468,-7.22,-0.17,300.00,0,0,0,0,0,0,14.73,28.83,14.64
$IRIDIUM_FIX,4726.11,-12220.67,010312,060610
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.42
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.1,62.6
$24V_AH,13.4,1.414
$10V_AH,13.5,0.744
$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,20.750,48.575,270.425,77.850,0.000,28.601,33.059,220.241,2.250,0.000,25.211,1466.290,426.028,413.482,2056.145,66.039,33.212,1052.969,0.000,1734.197,0.000,20.632,0.000
$DEVICE_MAMPS,470.475,136.935,1058.760,137.700,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.157,1351.731,1278.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323504
$DATA_FILE_SIZE,47146,662
$CAP_FILE_SIZE,70634,0
$CFSIZE,259252224,256737280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,010312,090529,4743.575,-12224.326,41,1.1,41,16.6