version: 66.10
glider: 191
mission: 2
dive: 16
start: 3 1 112 13 5 21
data:
$ID,191
$MISSION,2
$DIVE,16
$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,-1661.6573
$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,39
$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
$GPS1,010312,125504,4743.441,-12224.518,24,0.9,31,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-61.1
$GPS2,010312,130425,4743.526,-12224.432,15,0.9,15,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.186,-0.039
$KALMAN_X,421.5,-587.1,570.0,-207.4,44.2
$KALMAN_Y,6387.8,-3787.3,276.4,-2547.1,1470.0
$MHEAD_RNG_PITCHd_Wd,85.3,1704,-15.8,-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,15,-0.75,-95.8,0.0,0.0,0,85,0.00,0.00,-64.38,0.000,6,0.000,0.000,167,1610,3083,0,0,0,0,0,0,28.83,28.83,14.81
$GC,87,-0.81,-146.6,1.8,-3.1,9,113,11.18,1.83,-5.43,0.000,4,0.473,0.103,2213,2650,3292,1,0,0,0,0,0,14.39,14.59,14.79
$GC,369,-0.81,-146.6,36.8,-11.5,57,378,0.00,1.88,0.00,0.000,6,0.000,0.085,2213,1596,3293,0,0,0,0,0,0,28.83,14.64,28.83
$GC,446,-0.81,-146.6,46.7,-12.9,70,455,0.00,1.83,0.00,0.000,4,0.000,0.076,2205,2640,3293,0,0,0,0,0,0,28.83,14.66,28.83
$GC,707,-0.81,-146.6,78.3,-10.6,116,716,0.00,1.85,0.00,0.000,6,0.000,0.086,2205,1597,3293,0,0,0,0,0,0,28.83,14.70,28.83
$GC,854,-0.81,-146.6,94.7,-12.1,141,861,0.00,1.80,0.00,0.000,4,0.000,0.077,2198,2647,3293,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1120,-0.81,-146.6,126.3,-11.6,187,1128,0.12,1.83,0.00,0.000,6,0.309,0.088,2221,1597,3296,0,0,0,0,0,0,14.67,14.76,28.83
$GC,1263,-0.81,-146.6,142.6,-11.3,212,1271,0.00,1.83,0.00,0.000,4,0.000,0.077,2216,2646,3295,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1387,-0.81,-146.6,155.5,-10.8,233,1394,0.00,1.83,0.00,0.000,6,0.000,0.087,2216,1596,3296,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1529,-0.81,-146.6,171.1,-10.5,258,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1596,3296,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1586,begin apogee
$GC,1589,-0.20,0.0,177.6,-11.1,268,1730,0.75,0.00,134.05,1.066,6,0.257,0.000,2414,1596,2689,0,0,0,0,0,0,14.66,28.83,13.85
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1731,begin climb
$GC,1732,0.81,146.6,180.2,0.0,289,1879,1.10,2.00,136.15,0.962,4,0.171,0.112,2748,543,2087,0,0,0,0,0,0,14.17,14.04,13.72
$GC,1973,0.81,146.6,156.4,13.5,327,1980,0.00,1.83,0.00,0.000,6,0.000,0.061,2748,1594,2079,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2117,0.81,146.6,136.9,13.8,352,2126,0.00,1.98,0.00,0.000,4,0.000,0.114,2756,545,2076,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2176,0.81,146.6,128.3,14.5,362,2185,0.00,1.83,0.00,0.000,6,0.000,0.060,2756,1597,2076,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2324,0.81,146.6,107.5,14.3,387,2331,0.00,1.90,0.00,0.000,4,0.000,0.113,2764,547,2075,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2445,0.81,146.6,89.3,15.9,408,2453,0.00,1.80,0.00,0.000,6,0.000,0.061,2764,1594,2075,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2593,0.81,146.6,68.0,13.8,433,2600,0.00,1.90,0.00,0.000,4,0.000,0.115,2772,545,2075,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2641,0.81,146.6,61.3,14.0,441,2648,0.00,1.80,0.00,0.000,6,0.000,0.060,2772,1607,2074,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2785,0.81,146.6,40.9,14.5,466,2793,0.00,1.98,0.00,0.000,4,0.000,0.115,2780,542,2075,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3022,0.81,146.6,3.7,13.2,507,3032,0.10,1.80,0.00,0.000,6,0.323,0.060,2757,1599,2074,0,0,0,0,0,0,14.59,14.71,28.83
$STATE,3040,end climb,SURFACE_DEPTH_REACHED
$STATE,3040,begin surface coast
$FINISH,-0.3,1.021806
$STATE,3065,end surface coast,CONTROL_FINISHED_OK
$STATE,3065,begin surface
$SM_CCo,3078,76.65,0.133,0,0,1470,300.00
$SM_GC,0.66,7.88,0.00,76.65,0.107,0.000,0.133,164,1599,1470,-7.23,-0.03,300.00,0,0,0,0,0,0,14.70,28.83,14.64
$IRIDIUM_FIX,4726.11,-12220.67,010312,121220
$TT8_MAMPS,0.023219,0.023219
$HUMID,30.42
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.1,74.3
$24V_AH,13.7,1.913
$10V_AH,13.7,0.991
$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,21.125,33.450,270.200,76.650,0.000,52.247,71.854,285.197,1.000,0.000,16.509,1130.268,380.048,373.501,1790.020,53.377,33.188,888.175,0.000,1355.352,0.000,8.790,0.000
$DEVICE_MAMPS,472.770,114.750,1066.410,133.110,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.207,1055.737,996.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,37165,513
$CAP_FILE_SIZE,57522,0
$CFSIZE,259252224,256581632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,010312,135848,4743.238,-12223.997,18,1.0,18,16.6