version: 66.11
glider: 189
mission: 7
dive: 3
start: 9 13 112 22 50 16
data:
$ID,189
$MISSION,7
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,480
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,15
$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,160
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-45568.223
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2331
$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,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,10
$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,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,130912,224531,2435.244,-3802.598,14,1.0,14,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.6
$GPS2,130912,224919,2435.259,-3802.611,20,0.9,20,-14.0
$SPEED_LIMITS,0.173,0.246
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,0.180
$KALMAN_X,-646.2,-918.2,-551.6,1285.7,232.7
$KALMAN_Y,274.1,378.1,237.5,909.2,-119.2
$MHEAD_RNG_PITCHd_Wd,57.0,34479,-19.1,-10.000,-22.15
$D_GRID,480
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.14,-146.6,0.0,0.0,0,99,0.00,0.00,-77.30,0.000,2,0.000,0.000,157,2036,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.14,-146.6,2.1,-2.5,8,121,10.30,2.33,-2.45,0.000,4,0.228,0.064,2792,580,2931,0,0,0,0,0,0,26.18,26.54,26.89
$GC,346,-1.14,-146.6,42.6,-19.3,32,353,0.00,2.17,0.00,0.000,6,0.000,0.031,2783,2074,2931,0,0,0,0,0,0,28.83,26.74,28.83
$GC,663,-1.14,-146.6,81.0,-12.2,51,668,0.00,2.33,0.00,0.000,4,0.000,0.060,2783,590,2931,0,0,0,0,0,0,28.83,26.61,28.83
$GC,894,-1.14,-146.6,117.0,-15.7,62,899,0.00,2.12,0.00,0.000,6,0.000,0.032,2771,2058,2931,0,0,0,0,0,0,28.83,26.80,28.83
$GC,1206,-1.14,-146.6,154.0,-10.9,78,1211,0.00,2.00,0.00,0.000,4,0.000,0.029,2761,3465,2931,0,0,0,0,0,0,28.83,26.78,28.83
$GC,1436,-1.14,-146.6,177.7,-10.5,89,1442,0.00,2.28,0.00,0.000,6,0.000,0.052,2761,1993,2931,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1748,-1.14,-146.6,215.1,-11.6,105,1753,0.00,2.12,0.00,0.000,4,0.000,0.031,2750,3472,2929,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1939,-1.14,-146.6,233.9,-10.2,114,1945,0.12,2.28,0.00,0.000,6,0.161,0.052,2781,2006,2929,0,0,0,0,0,0,26.48,26.67,28.83
$GC,2251,-1.14,-146.6,268.6,-11.0,130,2256,0.00,2.22,0.00,0.000,4,0.000,0.062,2781,590,2928,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2482,-1.14,-146.6,299.6,-14.3,141,2487,0.00,2.12,0.00,0.000,6,0.000,0.034,2771,2041,2926,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2794,-1.14,-146.6,332.3,-9.5,152,2799,0.00,2.05,0.00,0.000,4,0.000,0.031,2761,3472,2924,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3025,-1.14,-146.6,350.0,-8.3,159,3031,0.00,2.28,0.00,0.000,6,0.000,0.053,2760,2001,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3338,-1.14,-146.6,385.6,-11.1,170,3343,0.00,2.10,0.00,0.000,4,0.000,0.031,2750,3456,2922,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3568,-1.14,-146.6,407.7,-10.4,177,3574,0.12,2.28,0.00,0.000,6,0.157,0.054,2782,2005,2921,0,0,0,0,0,0,26.46,26.63,28.83
$GC,3882,-1.14,-146.6,441.2,-10.3,188,3887,0.00,2.25,-0.08,0.000,4,0.000,0.076,2782,590,2949,0,0,0,0,0,0,28.83,26.61,26.05
$GC,4113,-1.14,-146.6,472.3,-15.0,195,4119,0.00,2.15,0.00,0.000,6,0.000,0.036,2772,2038,2947,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,4154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4154,begin apogee
$GC,4157,-0.25,0.0,480.4,-14.1,197,4286,0.88,0.03,119.60,1.284,6,0.125,0.122,3061,2020,2330,0,0,0,0,0,0,26.41,25.01,24.31
$STATE,4287,end apogee,CONTROL_FINISHED_OK
$STATE,4287,begin climb
$GC,4289,1.14,146.6,484.5,0.0,201,4416,1.20,2.22,118.53,1.251,4,0.036,0.028,3536,3461,1733,0,0,0,0,0,0,25.51,25.28,24.33
$GC,4642,1.14,146.6,402.8,27.7,213,4648,0.12,2.30,0.00,0.000,6,0.219,0.053,3521,2003,1730,0,0,0,0,0,0,26.09,26.29,28.83
$GC,4970,1.14,146.6,301.0,31.7,224,4975,0.00,2.22,0.00,0.000,4,0.000,0.060,3531,591,1727,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5203,1.14,146.6,213.4,40.6,235,5208,0.00,2.17,0.00,0.000,6,0.000,0.035,3521,2032,1724,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5515,1.14,146.6,109.3,31.7,251,5520,0.00,2.08,0.00,0.000,4,0.000,0.031,3513,3475,1724,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5641,1.14,146.6,76.2,27.2,257,5646,0.00,2.33,0.00,0.000,6,0.000,0.060,3522,2010,1723,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,5917,end climb,SURFACE_DEPTH_REACHED
$STATE,5917,begin surface coast
$FINISH,0.2,1.024637
$STATE,5928,end surface coast,CONTROL_FINISHED_OK
$STATE,5928,begin surface
$SM_CCo,5945,55.85,0.133,0,0,1105,300.00
$SM_GC,1.04,8.90,0.00,55.85,0.052,0.000,0.133,152,2010,1105,-9.31,0.00,300.00,0,0,0,0,0,0,26.75,28.83,26.39
$IRIDIUM_FIX,2427.58,-3721.11,130912,222205
$TT8_MAMPS,0.026215,0.026215
$HUMID,65.12
$INTERNAL_PRESSURE,9.17292
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7768736
$TM_FREEKB,7892032
$24V_AH,24.3,3.349
$10V_AH,10.3,2.341
$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,21.650,48.425,238.125,55.850,0.000,0.000,0.000,0.000,0.000,0.000,21.430,1183.006,3377.848,349.203,1110.185,58.031,31.315,919.454,0.000,1049.010,0.000,0.539,0.000
$DEVICE_MAMPS,227.970,121.635,1284.435,133.110,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5899.000,2896.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.797,13.918,0.000,0.000
$MEM,344940
$DATA_FILE_SIZE,6785,280
$CAP_FILE_SIZE,155994,0
$CFSIZE,260034560,256425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140912,003124,2435.583,-3802.344,36,0.9,36,-14.0