version: 66.10
glider: 191
mission: 2
dive: 14
start: 3 1 112 10 29 39
data:
$ID,191
$MISSION,2
$DIVE,14
$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,-1659.1361
$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
$GPS1,010312,101919,4743.908,-12224.560,17,1.0,17,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-62.7
$GPS2,010312,102842,4744.033,-12224.420,18,1.2,18,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,-0.143
$KALMAN_X,1837.7,-1642.7,19.5,-15.8,1006.5
$KALMAN_Y,6105.8,-4190.2,45.1,-707.0,823.1
$MHEAD_RNG_PITCHd_Wd,214.6,533,-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,12,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,-68.78,0.000,2,0.000,0.000,169,1602,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.66,-146.6,2.6,-6.9,9,105,11.23,0.00,-1.23,0.000,6,0.467,0.000,2265,1604,3294,1,0,0,0,0,0,14.39,28.83,14.78
$GC,175,-0.66,-146.6,15.9,-11.8,23,182,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1604,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,252,-0.66,-146.6,23.8,-8.3,36,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1604,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,331,-0.66,-146.6,30.7,-8.7,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1604,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,408,-0.66,-146.6,37.7,-8.7,62,417,0.00,1.83,0.00,0.000,4,0.000,0.074,2260,2650,3296,0,0,0,0,0,0,28.83,14.65,28.83
$GC,521,-0.66,-146.6,48.8,-10.6,81,528,0.00,1.85,0.00,0.000,6,0.000,0.086,2260,1592,3296,0,0,0,0,0,0,28.83,14.69,28.83
$GC,663,-0.66,-146.6,63.4,-10.2,106,671,0.00,1.92,0.00,0.000,4,0.000,0.113,2260,547,3297,0,0,0,0,0,0,28.83,14.66,28.83
$GC,764,-0.66,-146.6,73.5,-9.9,123,771,0.00,1.77,0.00,0.000,6,0.000,0.064,2252,1598,3296,0,0,0,0,0,0,28.83,14.74,28.83
$GC,907,-0.66,-146.6,87.5,-9.2,148,915,0.00,1.80,0.00,0.000,4,0.000,0.076,2245,2645,3296,0,0,0,0,0,0,28.83,14.70,28.83
$GC,989,-0.66,-146.6,95.0,-9.7,162,999,0.10,1.85,0.00,0.000,6,0.258,0.088,2270,1601,3296,0,0,0,0,0,0,14.64,14.72,28.83
$GC,1137,-0.66,-146.6,108.1,-8.8,187,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1601,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1286,-0.66,-146.6,120.2,-8.3,212,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1601,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1431,-0.66,-146.6,131.7,-8.0,237,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1601,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1572,-0.66,-146.6,143.0,-8.4,262,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1600,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1718,-0.66,-146.6,154.2,-7.6,287,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1601,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1860,-0.66,-146.6,165.5,-8.0,312,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,1602,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.66,-146.6,176.3,-7.5,337,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1601,3297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2033,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2033,begin apogee
$GC,2036,-0.20,0.0,178.8,-8.2,342,2177,0.52,0.00,134.80,1.076,6,0.229,0.000,2417,1601,2689,0,0,0,0,0,0,14.68,28.83,13.84
$STATE,2178,end apogee,CONTROL_FINISHED_OK
$STATE,2178,begin climb
$GC,2179,0.66,146.6,182.0,0.0,363,2327,0.93,2.03,137.10,0.994,4,0.164,0.110,2701,538,2088,0,0,0,0,0,0,14.16,14.04,13.70
$GC,2400,0.66,146.6,166.0,10.8,398,2409,0.00,1.88,0.00,0.000,6,0.000,0.060,2701,1598,2079,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2549,0.66,146.6,150.0,11.2,423,2555,0.00,1.95,0.00,0.000,4,0.000,0.116,2709,546,2077,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2653,0.66,146.6,139.3,10.5,441,2660,0.00,1.83,0.00,0.000,6,0.000,0.060,2709,1614,2076,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2795,0.66,146.6,123.6,9.8,466,2804,0.00,2.00,0.00,0.000,4,0.000,0.116,2717,545,2076,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2911,0.66,146.6,109.6,12.4,486,2919,0.00,1.83,0.00,0.000,6,0.000,0.059,2717,1605,2075,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3058,0.66,146.6,92.7,11.8,511,3064,0.00,1.95,0.00,0.000,4,0.000,0.115,2725,539,2075,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3167,0.66,146.6,79.0,12.7,530,3176,0.00,1.83,0.00,0.000,6,0.000,0.058,2725,1603,2075,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3314,0.66,146.6,60.8,11.9,555,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1605,2075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3455,0.66,146.6,44.9,9.9,580,3463,0.00,1.95,0.00,0.000,4,0.000,0.116,2733,551,2075,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3721,0.66,146.6,13.7,10.6,626,3729,0.00,1.80,0.00,0.000,6,0.000,0.060,2734,1601,2074,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3799,0.66,146.6,5.2,10.6,639,3808,0.00,1.95,0.00,0.000,4,0.000,0.116,2742,548,2074,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,3820,end climb,SURFACE_DEPTH_REACHED
$STATE,3821,begin surface coast
$FINISH,-0.5,1.011747
$STATE,3850,end surface coast,CONTROL_FINISHED_OK
$STATE,3850,begin surface
$SM_CCo,3866,76.68,0.133,0,0,1470,300.00
$SM_GC,0.56,7.75,1.83,76.68,0.099,0.057,0.133,165,1612,1470,-7.22,-0.85,300.00,0,0,0,0,0,0,14.72,14.76,14.66
$IRIDIUM_FIX,4729.30,-12044.65,010312,101036
$TT8_MAMPS,0.023968,0.023968
$HUMID,29.91
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,70.5
$24V_AH,13.7,1.642
$10V_AH,13.7,0.871
$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,20.525,33.825,271.900,76.675,0.000,53.385,70.630,285.987,1.250,0.000,19.555,1430.778,484.059,408.590,2133.896,64.322,33.210,1037.161,0.000,1686.060,0.000,10.646,0.000
$DEVICE_MAMPS,467.415,115.515,1075.590,133.110,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.845,1308.781,1240.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323508
$DATA_FILE_SIZE,43763,647
$CAP_FILE_SIZE,70468,0
$CFSIZE,259252224,256651264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,010312,113629,4743.867,-12224.976,33,1.6,33,16.6