version: 66.10
glider: 191
mission: 2
dive: 4
start: 2 29 112 22 13 29
data:
$ID,191
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,168
$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,70
$T_MISSION,80
$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,-1646.3566
$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,21
$R_STBD_OVSHOOT,24
$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,0
$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,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
$GPS1,290212,220619,4744.455,-12224.317,16,0.9,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-55.6
$GPS2,290212,221231,4744.586,-12224.268,22,1.2,22,16.6
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,-0.231
$KALMAN_X,338.0,299.9,251.0,-492.3,151.6
$KALMAN_Y,1492.2,1121.2,775.0,-1109.5,735.4
$MHEAD_RNG_PITCHd_Wd,179.2,1434,-14.0,-8.000
$D_GRID,175
$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,-0.74,-146.6,0.0,0.0,0,94,0.00,0.00,-76.88,0.000,2,0.000,0.000,163,1598,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.74,-146.6,2.4,-7.1,10,114,10.90,1.98,-2.30,0.000,4,0.457,0.142,2248,545,3294,0,0,0,0,0,0,14.47,14.62,14.83
$GC,184,-0.74,-146.6,18.2,-14.9,24,192,0.00,1.85,0.00,0.000,6,0.000,0.071,2243,1600,3295,0,0,0,0,0,0,28.83,14.64,28.83
$GC,263,-0.74,-146.6,25.4,-10.0,37,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1601,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,340,-0.74,-146.6,34.4,-11.2,50,349,0.00,1.85,0.00,0.000,4,0.000,0.076,2235,2658,3295,0,0,0,0,0,0,28.83,14.66,28.83
$GC,513,-0.74,-146.6,51.1,-9.5,80,521,0.00,1.88,0.00,0.000,6,0.000,0.088,2235,1600,3295,0,0,0,0,0,0,28.83,14.69,28.83
$GC,659,-0.74,-146.6,65.9,-10.7,105,665,0.00,1.88,0.00,0.000,4,0.000,0.113,2234,544,3297,0,0,0,0,0,0,28.83,14.71,28.83
$GC,740,-0.74,-146.6,75.7,-12.3,119,747,0.00,1.80,0.00,0.000,6,0.000,0.067,2227,1605,3297,0,0,0,0,0,0,28.83,14.77,28.83
$GC,881,-0.74,-146.6,91.6,-10.6,144,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1605,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1026,-0.74,-146.6,107.2,-10.7,169,1033,0.00,1.77,0.00,0.000,4,0.000,0.078,2219,2655,3297,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1107,-0.74,-146.6,115.9,-10.7,183,1115,0.12,1.85,0.00,0.000,6,0.302,0.090,2243,1594,3297,0,0,0,0,0,0,14.68,14.78,28.83
$GC,1254,-0.74,-146.6,130.9,-9.9,208,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1595,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1399,-0.74,-146.6,144.8,-9.5,233,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1595,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1540,-0.74,-146.6,157.6,-9.0,258,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1595,3297,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1653,-0.20,0.0,168.4,-10.6,277,1792,0.65,0.00,134.40,1.047,6,0.262,0.000,2416,1594,2692,0,0,0,0,0,0,14.70,28.83,13.88
$STATE,1793,end apogee,CONTROL_FINISHED_OK
$STATE,1793,begin climb
$GC,1794,0.74,146.6,173.0,0.0,298,1941,1.05,1.98,136.77,0.969,4,0.181,0.112,2730,549,2088,0,0,0,0,0,0,14.16,14.07,13.75
$GC,1998,0.74,146.6,155.1,12.9,330,2007,0.00,1.88,0.00,0.000,6,0.000,0.063,2730,1601,2080,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2145,0.74,146.6,137.8,11.3,355,2152,0.00,1.98,0.00,0.000,4,0.000,0.117,2738,540,2077,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2332,0.74,146.6,112.6,12.8,388,2340,0.00,1.85,0.00,0.000,6,0.000,0.063,2738,1604,2076,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2480,0.74,146.6,94.4,12.4,413,2486,0.00,1.95,0.00,0.000,4,0.000,0.117,2746,542,2075,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2679,0.74,146.6,67.4,13.0,448,2687,0.00,1.83,0.00,0.000,6,0.000,0.062,2746,1602,2075,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2827,0.74,146.6,49.8,11.4,473,2834,0.00,1.92,0.00,0.000,4,0.000,0.117,2754,548,2075,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2965,0.74,146.6,32.8,12.9,497,2974,0.00,1.83,0.00,0.000,6,0.000,0.066,2755,1596,2074,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3045,0.74,146.6,23.4,10.8,510,3053,0.00,1.88,0.00,0.000,4,0.000,0.082,2755,2666,2074,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,3230,end climb,SURFACE_DEPTH_REACHED
$STATE,3230,begin surface coast
$FINISH,0.4,1.022203
$STATE,3254,end surface coast,CONTROL_FINISHED_OK
$STATE,3254,begin surface
$SM_CCo,3270,102.70,0.134,0,0,1263,350.04
$SM_GC,0.05,7.80,1.92,102.70,0.099,0.091,0.134,167,1594,1263,-7.23,0.57,350.04,0,0,0,0,0,0,14.71,14.74,14.66
$IRIDIUM_FIX,4748.51,-12233.46,290212,212110
$TT8_MAMPS,0.023219,0.023219
$HUMID,30.70
$INTERNAL_PRESSURE,8.84281
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.5,65.9
$24V_AH,13.7,0.535
$10V_AH,13.4,0.234
$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,20.525,33.850,271.175,102.700,0.000,25.884,31.719,225.700,2.000,0.000,23.888,1202.124,333.326,415.242,1757.319,53.592,32.253,957.182,0.000,1437.877,0.000,16.378,0.000
$DEVICE_MAMPS,457.470,142.290,1046.520,133.875,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.921,1127.237,1069.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323528
$DATA_FILE_SIZE,37098,546
$CAP_FILE_SIZE,58885,0
$CFSIZE,259252224,257105920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290212,231030,4744.428,-12224.411,14,1.6,14,16.6