version: 66.09
glider: 190
mission: 1
dive: 14
start: 2 29 112 9 36 46
data:
$ID,190
$MISSION,1
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,208
$D_ABORT,1050
$D_NO_BLEED,500
$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,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,340
$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,-8877.4346
$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,2977
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,12
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,290212,092838,4743.702,-12224.466,15,1.8,15,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.3
$GPS2,290212,093550,4743.784,-12224.344,18,1.9,18,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.056,-0.222
$KALMAN_X,1904.3,-432.7,499.1,-1708.5,243.0
$KALMAN_Y,3849.1,-1791.2,570.0,-1878.8,980.5
$MHEAD_RNG_PITCHd_Wd,177.5,2086,-12.1,-7.003
$D_GRID,173
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.73,-146.6,0.0,0.0,0,66,0.00,0.00,-48.30,0.000,2,0.000,0.000,147,2043,3201,0,0,0,0,0,0
$GC,68,-0.73,-146.6,2.3,-3.5,6,118,14.43,2.03,-23.30,0.000,4,0.493,0.151,2731,987,3962,0,0,0,0,0,0
$GC,196,-0.73,-146.6,16.9,-13.6,25,205,0.00,1.98,0.00,0.000,6,0.000,0.101,2727,2052,3963,0,0,0,0,0,0
$GC,277,-0.73,-146.6,24.6,-9.2,38,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2052,3963,0,0,0,0,0,0
$GC,358,-0.73,-146.6,32.5,-9.3,51,367,0.00,1.98,0.00,0.000,4,0.000,0.125,2727,3109,3963,0,0,0,0,0,0
$GC,591,-0.73,-146.6,52.1,-8.1,94,599,0.00,1.90,0.00,0.000,6,0.000,0.092,2727,2052,3962,0,0,0,0,0,0
$GC,740,-0.73,-146.6,64.1,-8.3,119,747,0.00,1.98,0.00,0.000,4,0.000,0.124,2727,981,3962,0,0,0,0,0,0
$GC,1037,-0.73,-146.6,91.1,-9.3,177,1043,0.00,1.95,0.00,0.000,6,0.000,0.101,2727,2061,3962,0,0,0,0,0,0
$GC,1181,-0.73,-146.6,104.4,-9.1,202,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2061,3962,0,0,0,0,0,0
$GC,1329,-0.73,-146.6,117.9,-8.9,227,1335,0.00,1.90,0.00,0.000,4,0.000,0.124,2727,3110,3963,0,0,0,0,0,0
$GC,1503,-0.73,-146.6,134.5,-9.1,261,1510,0.00,1.88,0.00,0.000,6,0.000,0.091,2727,2042,3963,0,0,0,0,0,0
$GC,1648,-0.73,-146.6,147.4,-8.3,286,1657,0.00,1.95,0.00,0.000,4,0.000,0.123,2727,994,3963,0,0,0,0,0,0
$GC,1944,-0.73,-146.6,172.9,-8.8,344,1952,0.00,1.92,0.00,0.000,6,0.000,0.101,2727,2049,3963,0,0,0,0,0,0
$STATE,1957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1957,begin apogee
$GC,1960,-0.23,0.0,174.1,-8.9,346,2063,0.57,0.00,92.68,0.962,6,0.235,0.000,2894,2049,3535,0,0,0,0,0,0
$STATE,2064,end apogee,CONTROL_FINISHED_OK
$STATE,2064,begin climb
$GC,2066,0.73,146.6,176.6,0.0,361,2209,1.00,2.12,130.65,0.917,4,0.163,0.125,3211,988,2936,0,0,0,0,0,0
$GC,2331,0.73,146.6,160.6,8.4,406,2340,0.00,2.00,0.00,0.000,6,0.000,0.099,3211,2053,2932,0,0,0,0,0,0
$GC,2481,0.73,146.6,147.9,8.4,431,2487,0.00,2.00,0.00,0.000,4,0.000,0.125,3218,993,2933,0,0,0,0,0,0
$GC,2529,0.73,146.6,143.2,9.7,440,2538,0.00,1.95,0.00,0.000,6,0.000,0.099,3218,2045,2933,0,0,0,0,0,0
$GC,2678,0.73,146.6,129.6,9.3,465,2684,0.00,1.98,0.00,0.000,4,0.000,0.125,3226,992,2933,0,0,0,0,0,0
$GC,2776,0.73,146.6,120.2,9.7,484,2784,0.00,1.95,0.00,0.000,6,0.000,0.099,3226,2052,2933,0,0,0,0,0,0
$GC,2925,0.73,146.6,106.7,9.3,509,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2053,2933,0,0,0,0,0,0
$GC,3069,0.73,146.6,93.8,8.8,534,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2053,2933,0,0,0,0,0,0
$GC,3216,0.73,146.6,79.8,9.2,559,3223,0.00,1.98,0.00,0.000,4,0.000,0.124,3234,988,2933,0,0,0,0,0,0
$GC,3265,0.73,146.6,74.9,9.5,568,3274,0.00,1.95,0.00,0.000,6,0.000,0.099,3233,2057,2933,0,0,0,0,0,0
$GC,3415,0.73,146.6,61.1,9.7,593,3422,0.00,1.98,0.00,0.000,4,0.000,0.122,3240,988,2933,0,0,0,0,0,0
$GC,3632,0.73,146.6,40.3,9.9,635,3638,0.00,1.90,0.00,0.000,6,0.000,0.097,3242,2051,2933,0,0,0,0,0,0
$GC,3782,0.73,146.6,26.4,9.7,660,3791,0.00,1.98,0.00,0.000,4,0.000,0.122,3249,995,2933,0,0,0,0,0,0
$GC,3899,0.77,179.9,18.6,5.9,679,3924,0.00,1.92,14.30,0.210,6,0.000,0.097,3250,2051,2809,0,0,0,0,0,0
$GC,3997,0.77,179.9,10.9,8.3,694,4006,0.00,1.95,1.38,0.216,4,0.000,0.122,3249,3108,2807,0,0,0,0,0,0
$STATE,4137,end climb,SURFACE_DEPTH_REACHED
$STATE,4137,begin surface coast
$FINISH,2.0,1.021822
$STATE,4150,end surface coast,CONTROL_FINISHED_OK
$STATE,4150,begin surface
$SM_CCo,4168,73.55,0.156,0,0,2152,340.23
$SM_GC,1.26,0.00,0.00,73.55,0.000,0.000,0.156,153,2047,2152,-8.83,-0.08,340.23,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12218.96,290212,080808
$TT8_MAMPS,0.024717,0.024717
$HUMID,29.60
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,11.30
$XPDR_PINGS,4
$24V_AH,13.8,1.873
$10V_AH,13.8,1.572
$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,25.825,47.000,239.000,73.550,0.000,22.702,36.585,283.806,1.000,0.000,19.303,1612.068,297.471,396.997,2301.051,76.430,33.209,1056.165,0.000,1953.326,0.000,0.536,0.000
$DEVICE_MAMPS,492.660,151.470,962.370,156.060,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.354,1536.950,1434.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323448
$DATA_FILE_SIZE,50493,719
$CAP_FILE_SIZE,74051,0
$CFSIZE,259252224,255545344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290212,104836,4743.430,-12224.412,35,1.8,35,16.6