version: 66.09
glider: 191
mission: 1
dive: 2
start: 2 28 112 19 42 14
data:
$ID,191
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,44
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,350
$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,-798.07562
$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,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3294
$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,-42.505695
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,280212,193702,4743.873,-12224.222,13,0.8,14,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-58.9
$GPS2,280212,194054,4743.951,-12224.193,17,1.1,17,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.220,-0.139
$KALMAN_X,96.3,96.3,96.3,-34.5,268.3
$KALMAN_Y,134.8,134.8,134.8,300.9,375.6
$MHEAD_RNG_PITCHd_Wd,221.0,761,-17.5,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.85,-146.6,0.0,0.0,0,119,0.00,0.00,-102.07,0.000,2,0.000,0.000,166,1900,3116,0,0,0,0,0,0
$GC,121,-0.85,-146.6,2.4,-3.1,13,155,11.12,1.98,-16.67,0.000,4,0.485,0.132,2168,834,3894,0,0,0,0,0,0
$GC,285,-0.85,-146.6,36.7,-19.4,39,294,0.00,1.88,0.00,0.000,6,0.000,0.072,2163,1897,3895,0,0,0,0,0,0
$GC,362,-0.85,-146.6,52.0,-18.4,52,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1898,3895,0,0,0,0,0,0
$GC,508,-0.85,-146.6,79.0,-17.7,77,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1898,3895,0,0,0,0,0,0
$GC,660,-0.85,-146.6,106.4,-17.9,102,669,0.00,1.92,0.00,0.000,4,0.000,0.103,2163,843,3895,0,0,0,0,0,0
$GC,742,-0.85,-146.6,121.8,-18.1,116,751,0.00,1.88,0.00,0.000,6,0.000,0.072,2155,1909,3895,0,0,0,0,0,0
$GC,891,-0.85,-146.6,146.9,-16.6,141,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,1910,3895,0,0,0,0,0,0
$STATE,908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,908,begin apogee
$GC,911,-0.19,0.0,150.3,-16.7,144,1054,0.82,0.00,136.62,2.028,6,0.253,0.000,2376,1910,3295,0,0,0,0,0,0
$STATE,1054,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1056,0.85,146.6,157.4,0.0,165,1206,1.17,2.12,142.27,2.045,4,0.170,0.103,2725,833,2697,0,0,0,0,0,0
$GC,1269,1.14,381.9,164.2,-0.8,198,1506,0.25,1.92,229.90,1.978,6,0.132,0.063,2808,1904,1737,0,0,0,0,0,0
$GC,1647,1.14,381.9,112.4,20.5,257,1653,0.00,1.83,0.00,0.000,4,0.000,0.078,2808,2951,1736,0,0,0,0,0,0
$GC,1768,1.14,381.9,88.6,19.4,278,1776,0.00,1.90,0.00,0.000,6,0.000,0.084,2817,1891,1735,0,0,0,0,0,0
$GC,1917,1.14,381.9,60.4,19.1,303,1923,0.00,1.92,0.00,0.000,4,0.000,0.107,2825,833,1735,0,0,0,0,0,0
$GC,2185,1.14,381.9,5.9,14.8,349,2194,0.00,1.88,0.00,0.000,6,0.000,0.070,2825,1893,1733,0,0,0,0,0,0
$STATE,2207,end climb,SURFACE_DEPTH_REACHED
$STATE,2207,begin surface coast
$FINISH,-0.3,1.007235
$STATE,2226,end surface coast,CONTROL_FINISHED_OK
$STATE,2226,begin surface
$SM_CCo,2300,0.00,0.000,0,0,1732,383.16
$SM_GC,0.90,8.12,0.00,0.00,0.107,0.000,0.000,162,1895,1732,-7.11,-0.14,383.16,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12220.67,280212,191928
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.94
$INTERNAL_PRESSURE,8.88188
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.7,6.6
$24V_AH,13.3,0.868
$10V_AH,13.4,0.371
$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,21.500,19.225,508.800,0.000,0.000,0.000,0.000,0.000,1.500,0.000,18.472,694.573,237.445,451.740,964.340,51.038,30.075,923.504,0.000,954.532,0.000,14.140,0.000
$DEVICE_MAMPS,485.010,132.345,2044.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.878,744.923,697.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,27086,355
$CAP_FILE_SIZE,57829,0
$CFSIZE,259252224,257224704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280212,202204,4744.027,-12224.436,59,0.8,59,16.6