version: 66.10
glider: 191
mission: 2
dive: 17
start: 3 1 112 14 6 8
data:
$ID,191
$MISSION,2
$DIVE,17
$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,-1662.9159
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,010312,135848,4743.238,-12223.997,18,1.0,18,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-63.2
$GPS2,010312,140512,4743.250,-12223.973,18,0.8,18,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.228
$KALMAN_X,-680.1,37.8,444.8,963.1,-863.5
$KALMAN_Y,4277.5,-2258.1,394.3,-2592.3,399.2
$MHEAD_RNG_PITCHd_Wd,167.4,1448,-12.1,-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,14,begin dive
$GC,15,-0.66,-146.6,0.0,0.0,0,79,0.00,0.00,-61.28,0.000,2,0.000,0.000,163,1599,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.66,-146.6,2.1,-5.0,8,106,11.38,1.80,-6.20,0.000,4,0.470,0.103,2263,2648,3291,1,0,0,0,0,0,14.38,14.60,14.78
$GC,307,-0.66,-146.6,24.4,-9.1,46,315,0.00,1.85,0.00,0.000,6,0.000,0.084,2263,1606,3291,0,0,0,0,0,0,28.83,14.62,28.83
$GC,385,-0.66,-146.6,31.3,-9.0,59,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1606,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,463,-0.66,-146.6,38.7,-9.2,72,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1606,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,542,-0.66,-146.6,46.3,-10.1,85,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1606,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,683,-0.66,-146.6,60.4,-10.8,110,692,0.00,1.83,0.00,0.000,4,0.000,0.075,2255,2652,3292,0,0,0,0,0,0,28.83,14.69,28.83
$GC,799,-0.66,-146.6,71.2,-9.1,130,807,0.00,1.85,0.00,0.000,6,0.000,0.085,2255,1606,3291,0,0,0,0,0,0,28.83,14.70,28.83
$GC,945,-0.66,-146.6,84.5,-8.6,155,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1605,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-0.66,-146.6,97.2,-8.5,180,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1605,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-0.66,-146.6,109.7,-9.4,205,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1605,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-0.66,-146.6,121.7,-6.9,230,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1605,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.66,-146.6,132.8,-7.8,255,1533,0.00,1.77,0.00,0.000,4,0.000,0.076,2247,2655,3291,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1653,-0.66,-146.6,143.1,-8.3,277,1660,0.00,1.85,0.00,0.000,6,0.000,0.087,2247,1592,3291,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1797,-0.66,-146.6,155.3,-8.4,302,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1592,3291,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1911,begin apogee
$GC,1914,-0.20,0.0,165.4,-8.4,322,2061,0.62,0.00,135.45,1.811,6,0.240,0.000,2416,1592,2696,0,0,0,0,1,0,14.67,28.83,13.36
$STATE,2062,end apogee,CONTROL_FINISHED_OK
$STATE,2062,begin climb
$GC,2063,0.66,146.6,169.2,0.0,344,2223,0.95,2.08,143.60,1.803,4,0.166,0.115,2701,546,2099,0,0,0,0,1,0,13.92,13.84,13.29
$GC,2324,0.66,146.6,149.2,12.0,386,2333,0.00,1.85,0.00,0.000,6,0.000,0.062,2701,1589,2100,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2471,0.66,146.6,133.8,10.5,411,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1589,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,0.66,146.6,117.0,11.3,436,2622,0.00,1.95,0.00,0.000,4,0.000,0.114,2709,549,2100,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2736,0.66,146.6,103.0,11.3,457,2743,0.00,1.80,0.00,0.000,6,0.000,0.060,2709,1604,2100,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2879,0.66,146.6,87.5,10.8,482,2888,0.00,1.83,0.00,0.000,4,0.000,0.072,2709,2650,2100,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2925,0.66,146.6,82.5,11.5,489,2931,0.00,1.85,0.00,0.000,6,0.000,0.088,2717,1599,2100,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3067,0.66,146.6,66.8,10.5,514,3075,0.00,1.95,0.00,0.000,4,0.000,0.116,2725,545,2099,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3201,0.66,146.6,51.1,11.6,537,3207,0.00,1.75,0.00,0.000,6,0.000,0.061,2725,1599,2100,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3346,0.66,146.6,35.7,10.4,562,3354,0.00,1.95,0.00,0.000,4,0.000,0.116,2733,548,2100,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3538,0.66,146.6,13.3,11.2,595,3546,0.00,1.80,0.00,0.000,6,0.000,0.061,2733,1596,2100,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3616,0.66,146.6,5.7,11.6,608,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1598,2100,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3643,end climb,SURFACE_DEPTH_REACHED
$STATE,3643,begin surface coast
$FINISH,-0.1,1.022117
$STATE,3673,end surface coast,CONTROL_FINISHED_OK
$STATE,3673,begin surface
$SM_CCo,3686,77.15,0.135,0,0,1470,300.00
$SM_GC,0.60,7.70,0.00,77.15,0.095,0.000,0.135,163,1598,1470,-7.23,-0.06,300.00,0,0,0,0,0,0,14.70,28.83,14.64
$IRIDIUM_FIX,4726.11,-12222.38,010312,121202
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.27
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,56.8
$24V_AH,13.3,2.076
$10V_AH,13.1,1.052
$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,20.650,29.750,279.050,77.150,0.000,27.850,31.001,242.537,1.250,0.000,20.282,1356.055,383.012,408.960,1952.462,62.428,33.200,1014.318,0.000,1625.906,0.000,10.310,0.000
$DEVICE_MAMPS,470.475,115.515,1810.755,134.640,0.000,83.380,160.000,223.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.878,1277.532,1211.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323664
$DATA_FILE_SIZE,43840,617
$CAP_FILE_SIZE,64589,0
$CFSIZE,259252224,256532480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,2,1,0
$GPS,010312,150959,4742.663,-12224.204,34,0.8,34,16.6