version: 66.09
glider: 190
mission: 1
dive: 3
start: 2 28 112 20 45 56
data:
$ID,190
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,10
$T_BOOST,0
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,380
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8863.4922
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3542
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-56.929955
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1024
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$GPS1,280212,204148,4744.188,-12224.321,12,1.6,12,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.2
$GPS2,280212,204500,4744.216,-12224.289,17,1.3,17,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.152,-0.211
$KALMAN_X,292.0,304.3,275.0,-545.2,271.7
$KALMAN_Y,545.8,568.6,514.3,-88.8,507.4
$MHEAD_RNG_PITCHd_Wd,199.2,865,-17.5,-10.000
$D_GRID,180
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.94,-146.6,0.0,0.0,0,56,0.00,0.00,-39.90,0.000,2,0.000,0.000,146,2054,2854,0,0,0,0,0,0
$GC,58,-0.94,-146.6,2.1,-4.0,5,115,13.93,0.00,-37.72,0.000,6,0.490,0.000,2689,2054,3961,0,0,0,0,0,0
$GC,187,-0.94,-146.6,15.0,-14.1,24,196,0.00,1.95,0.00,0.000,4,0.000,0.122,2682,3101,3962,0,0,0,0,0,0
$GC,434,-0.94,-146.6,43.8,-11.3,66,442,0.00,1.90,0.00,0.000,6,0.000,0.094,2682,2045,3962,0,0,0,0,0,0
$GC,584,-0.94,-146.6,61.2,-12.6,91,590,0.00,1.92,0.00,0.000,4,0.000,0.129,2682,990,3962,0,0,0,0,0,0
$GC,778,-0.94,-146.6,86.0,-13.1,129,785,0.00,1.92,0.00,0.000,6,0.000,0.104,2676,2053,3962,0,0,0,0,0,0
$GC,923,-0.94,-146.6,104.3,-12.5,154,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2053,3962,0,0,0,0,0,0
$GC,1078,-0.94,-146.6,123.4,-12.5,179,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2053,3962,0,0,0,0,0,0
$GC,1222,-0.94,-146.6,140.9,-11.8,204,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2053,3962,0,0,0,0,0,0
$GC,1370,-0.94,-146.6,158.0,-12.0,229,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2053,3962,0,0,0,0,0,0
$GC,1514,-0.94,-146.6,175.1,-11.6,254,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2053,3962,0,0,0,0,0,0
$STATE,1550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1550,begin apogee
$GC,1554,-0.22,0.0,179.6,-12.2,260,1657,0.88,0.00,92.85,1.829,6,0.267,0.000,2919,2053,3543,0,0,0,0,0,0
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1660,0.94,146.6,182.3,0.0,275,1802,1.25,0.00,135.10,1.762,6,0.161,0.000,3299,2054,2946,0,0,0,0,0,0
$GC,1939,0.94,146.6,161.1,11.2,320,1948,0.00,2.05,0.00,0.000,4,0.000,0.129,3306,992,2947,0,0,0,0,0,0
$GC,1954,0.94,146.6,159.5,11.7,322,1963,0.00,1.98,0.00,0.000,6,0.000,0.101,3307,2046,2946,0,0,0,0,0,0
$GC,2104,0.94,146.6,141.8,12.6,347,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2045,2947,0,0,0,0,0,0
$GC,2247,0.94,146.6,123.5,12.6,372,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2045,2946,0,0,0,0,0,0
$GC,2395,0.94,146.6,105.9,11.8,397,2402,0.00,1.98,0.00,0.000,4,0.000,0.129,3315,985,2946,0,0,0,0,0,0
$GC,2516,0.94,146.6,90.6,12.1,420,2525,0.00,1.95,0.00,0.000,6,0.000,0.101,3315,2048,2946,0,0,0,0,0,0
$GC,2667,0.94,146.6,71.7,12.8,445,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2048,2947,0,0,0,0,0,0
$GC,2811,0.94,146.6,53.9,11.2,470,2820,0.00,1.98,0.00,0.000,4,0.000,0.129,3323,996,2946,0,0,0,0,0,0
$GC,2856,0.94,146.6,48.2,12.9,478,2865,0.00,1.92,0.00,0.000,6,0.000,0.103,3323,2049,2946,0,0,0,0,0,0
$GC,3006,0.94,146.6,29.6,13.1,503,3015,0.00,2.00,0.00,0.000,4,0.000,0.129,3330,986,2947,0,0,0,0,0,0
$GC,3023,0.94,146.6,27.4,12.9,505,3032,0.00,1.95,0.00,0.000,6,0.000,0.103,3330,2049,2947,0,0,0,0,0,0
$GC,3105,0.94,146.6,16.8,11.0,518,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2049,2946,0,0,0,0,0,0
$GC,3187,1.00,194.4,9.4,7.8,531,3220,0.00,2.03,21.65,0.194,4,0.000,0.127,3338,990,2747,0,0,0,0,0,0
$GC,3228,1.05,239.3,6.1,7.9,536,3254,0.00,1.95,19.50,0.183,6,0.000,0.102,3338,2052,2562,0,0,0,0,0,0
$STATE,3278,end climb,SURFACE_DEPTH_REACHED
$STATE,3278,begin surface coast
$FINISH,0.1,1.012205
$STATE,3328,end surface coast,CONTROL_FINISHED_OK
$STATE,3328,begin surface
$SM_CCo,3344,62.75,0.169,0,0,1990,380.21
$SM_GC,2.10,0.00,0.00,62.75,0.000,0.000,0.169,149,2054,1990,-8.91,0.08,380.21,0,0,0,0,0,0
$IRIDIUM_FIX,4742.09,-12218.40,280212,202022
$TT8_MAMPS,0.023968,0.023968
$HUMID,29.68
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,11.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,73.8
$24V_AH,13.4,0.767
$10V_AH,13.6,0.489
$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,25.725,27.475,269.100,62.750,0.000,0.000,0.000,0.000,1.250,0.000,18.481,1220.516,305.320,390.812,1508.474,58.771,31.308,953.711,0.000,1509.568,0.000,10.314,0.000
$DEVICE_MAMPS,490.365,129.285,1829.115,169.065,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.365,1192.946,1113.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,40490,551
$CAP_FILE_SIZE,78674,0
$CFSIZE,259252224,256024576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280212,214330,4744.210,-12224.652,14,1.1,14,16.6