version: 66.10
glider: 191
mission: 2
dive: 15
start: 3 1 112 11 43 46
data:
$ID,191
$MISSION,2
$DIVE,15
$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,-1660.3965
$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,38
$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
$GPS1,010312,113629,4743.867,-12224.976,33,1.6,33,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-63.6
$GPS2,010312,114249,4743.943,-12224.895,19,1.2,19,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.112,-0.199
$KALMAN_X,1720.4,-1401.0,310.0,-1013.2,982.8
$KALMAN_Y,7193.2,-4635.4,74.7,-1541.9,1806.9
$MHEAD_RNG_PITCHd_Wd,134.0,1801,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-62.05,0.000,2,0.000,0.000,165,1612,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.66,-146.6,2.0,-5.1,8,106,11.15,1.77,-6.43,0.000,4,0.462,0.102,2257,2651,3292,0,0,0,0,0,0,14.48,14.62,14.82
$GC,363,-0.66,-146.6,27.6,-9.2,56,371,0.00,1.88,0.00,0.000,6,0.000,0.085,2257,1598,3292,0,0,0,0,0,0,28.83,14.63,28.83
$GC,441,-0.66,-146.6,35.7,-10.9,69,450,0.00,1.83,0.00,0.000,4,0.000,0.073,2249,2644,3293,0,0,0,0,0,0,28.83,14.65,28.83
$GC,706,-0.66,-146.6,60.5,-9.3,115,713,0.00,1.83,0.00,0.000,6,0.000,0.085,2249,1597,3296,0,0,0,0,0,0,28.83,14.71,28.83
$GC,848,-0.66,-146.6,73.8,-9.6,140,856,0.00,1.83,0.00,0.000,4,0.000,0.076,2241,2643,3296,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1017,-0.66,-146.6,89.3,-9.5,169,1025,0.15,1.83,0.00,0.000,6,0.282,0.086,2273,1594,3296,0,0,0,0,0,0,14.66,14.75,28.83
$GC,1160,-0.66,-146.6,101.2,-8.3,194,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1595,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.66,-146.6,111.9,-7.1,219,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,1595,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1455,-0.66,-146.6,121.3,-6.2,244,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1595,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1605,-0.66,-146.6,130.7,-6.4,269,1611,0.00,1.80,0.00,0.000,4,0.000,0.077,2268,2648,3296,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1711,-0.66,-146.6,137.8,-7.6,287,1718,0.00,1.83,0.00,0.000,6,0.000,0.087,2268,1597,3296,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1853,-0.66,-146.6,149.7,-8.9,312,1861,0.00,1.83,0.00,0.000,4,0.000,0.077,2260,2646,3296,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2068,-0.66,-146.6,168.8,-9.0,349,2074,0.00,1.83,0.00,0.000,6,0.000,0.087,2260,1597,3295,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2210,-0.66,-146.6,178.3,-7.9,374,2218,0.00,1.92,0.00,0.000,4,0.000,0.113,2260,546,3296,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,2223,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2223,begin apogee
$GC,2229,-0.20,0.0,179.5,-9.0,376,2375,0.62,0.00,136.90,1.840,6,0.251,0.000,2418,1597,2694,0,0,0,0,1,0,14.67,28.83,13.33
$STATE,2376,end apogee,CONTROL_FINISHED_OK
$STATE,2376,begin climb
$GC,2378,0.66,146.6,184.0,0.0,398,2538,0.95,2.05,145.27,1.860,4,0.173,0.112,2701,546,2098,0,0,0,0,1,0,13.90,13.84,13.26
$GC,2607,0.66,146.6,165.0,11.6,434,2616,0.00,1.88,0.00,0.000,6,0.000,0.060,2701,1600,2099,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2755,0.66,146.6,149.5,11.1,459,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1601,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,0.66,146.6,134.1,10.7,484,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1601,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3043,0.66,146.6,120.1,9.6,509,3050,0.00,1.95,0.00,0.000,4,0.000,0.114,2709,539,2099,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3185,0.66,146.6,103.6,10.9,534,3193,0.00,1.83,0.00,0.000,6,0.000,0.060,2709,1598,2099,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3332,0.66,146.6,88.0,9.7,559,3339,0.00,1.92,0.00,0.000,4,0.000,0.114,2717,546,2099,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3436,0.66,146.6,75.6,12.2,577,3443,0.00,1.77,0.00,0.000,6,0.000,0.060,2717,1601,2099,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3580,0.66,146.6,60.0,10.0,602,3588,0.00,1.83,0.00,0.000,4,0.000,0.072,2717,2654,2099,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3628,0.66,146.6,54.7,11.0,610,3637,0.00,1.88,0.00,0.000,6,0.000,0.089,2725,1600,2099,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3775,0.66,146.6,39.8,9.6,635,3784,0.00,1.95,0.00,0.000,4,0.000,0.116,2733,540,2099,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3820,0.66,146.6,34.9,11.5,642,3829,0.00,1.83,0.00,0.000,6,0.000,0.061,2733,1604,2099,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3900,0.66,146.6,25.9,11.4,655,3908,0.00,1.95,0.00,0.000,4,0.000,0.116,2742,551,2099,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4069,0.66,146.6,5.2,11.8,684,4078,0.12,1.80,0.00,0.000,6,0.292,0.060,2710,1610,2099,0,0,0,0,0,0,14.62,14.73,28.83
$STATE,4090,end climb,SURFACE_DEPTH_REACHED
$STATE,4090,begin surface coast
$FINISH,0.2,1.021806
$STATE,4121,end surface coast,CONTROL_FINISHED_OK
$STATE,4121,begin surface
$SM_CCo,4134,78.50,0.134,0,0,1468,300.00
$SM_GC,0.56,7.65,0.00,78.50,0.100,0.000,0.134,167,1609,1468,-7.22,0.25,300.00,0,0,0,0,0,0,14.72,28.83,14.66
$IRIDIUM_FIX,4726.11,-12220.67,010312,101047
$TT8_MAMPS,0.02247,0.02247
$HUMID,30.07
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,60.8
$24V_AH,13.3,1.809
$10V_AH,13.1,0.938
$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,20.650,44.600,282.175,78.500,0.000,27.466,34.345,229.463,1.750,0.000,21.065,1538.105,455.022,420.426,2125.389,67.042,33.205,1076.446,0.000,1802.510,0.000,13.484,0.000
$DEVICE_MAMPS,462.060,115.515,1859.715,133.875,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.067,1399.268,1326.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,47116,692
$CAP_FILE_SIZE,71335,0
$CFSIZE,259252224,256602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,010312,125504,4743.441,-12224.518,24,0.9,31,16.6