version: 66.13
glider: 189
mission: 32
dive: 4
start: 2 13 117 19 51 43
data:
$ID,189
$MISSION,32
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$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,65
$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,53221
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2290
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,125
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,5
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.42656
$PRESSURE_SLOPE,0.00010724171
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,130217,194741,4743.7085,-12224.7148,13,0.8,15,16.6,0.2,294.3,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.2
$GPS2,130217,195123,4743.7334,-12224.7217,21,0.8,22,16.6,0.0,0.0,10,9.3
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,195.9,554,-17.5,-10.000,-21.08,2221
$D_GRID,175
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.80,-146.6,88,2392,533,473,0.0,0.0,0,167,0.00,0.00,-144.50,0.000,16386,0.000,0.000,87,2393,3486,3596,3377,0,0,0,0,0,0,14.92,28.83,14.94
$GC,169,-0.80,-146.6,87,2393,3598,3378,2.2,-1.9,25,193,10.00,3.67,-4.62,0.000,18724,0.474,2.451,2025,3809,3648,3774,3522,0,0,0,0,0,0,14.50,13.85,14.76
$GC,419,-0.66,-146.6,2025,3809,3775,3523,57.5,-21.3,73,428,0.20,3.17,0.00,0.000,3206,0.336,0.286,2074,2401,3648,3775,3522,0,0,0,0,0,0,14.56,14.57,14.76
$GC,609,-0.57,-146.6,2075,2400,3779,3520,94.1,-15.9,110,618,0.08,3.35,0.00,0.000,2436,0.375,0.319,2098,3815,3649,3778,3520,0,0,0,0,0,0,14.58,14.55,14.72
$GC,715,-0.54,-146.6,2099,3816,3779,3520,109.6,-14.0,130,724,0.00,3.17,0.00,0.000,1158,0.000,0.287,2098,2400,3649,3778,3520,0,0,0,0,0,0,14.77,14.59,14.81
$GC,905,-0.48,-146.6,2099,2400,3778,3520,136.9,-13.7,167,915,0.10,3.38,0.00,0.000,2436,0.324,0.325,2128,3818,3647,3776,3519,0,0,0,0,0,0,14.62,14.57,14.74
$GC,941,-0.48,-146.6,2129,3815,3781,3520,141.3,-11.7,173,950,0.00,3.28,0.00,0.000,1030,0.000,0.301,2129,2391,3648,3778,3519,0,0,0,0,0,0,14.78,14.56,14.81
$STATE,1029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1029,begin apogee
$GC,1033,-0.17,0.0,2130,2500,3779,3519,150.4,-10.0,190,1194,0.35,0.00,154.88,1.112,10246,0.262,0.000,2229,2499,3050,3157,2943,0,0,0,0,0,0,14.62,14.23,13.81
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1201,0.80,146.6,2230,2499,3143,2935,156.3,0.0,216,1383,1.10,3.62,156.57,1.022,10756,0.223,0.324,2546,1085,2435,2525,2345,0,0,0,0,0,0,14.17,14.00,13.77
$GC,1423,0.71,146.6,2547,1084,2512,2339,128.7,17.0,250,1433,0.00,3.47,0.00,0.000,1158,0.000,0.315,2546,2500,2425,2511,2340,0,0,0,0,0,0,14.38,14.17,14.40
$GC,1613,0.58,146.6,2546,2501,2511,2337,94.8,19.1,287,1623,0.25,0.00,0.00,0.000,4230,0.342,0.000,2482,2500,2423,2510,2336,0,0,0,0,0,0,14.40,14.58,14.54
$GC,1803,0.52,146.6,2482,2501,2510,2335,70.3,13.3,324,1812,0.00,0.00,0.00,0.000,134,0.000,0.000,2485,2500,2422,2510,2335,0,0,0,0,0,0,14.81,14.83,14.83
$GC,1993,0.47,146.6,2482,2501,2510,2334,44.4,13.3,361,2002,0.12,3.40,0.00,0.000,4740,0.323,0.326,2447,1084,2422,2510,2334,0,0,0,0,0,0,14.56,14.52,14.69
$GC,2094,0.59,204.0,2447,1084,2510,2333,35.7,7.4,380,2152,0.00,3.33,48.05,0.213,9382,0.000,0.310,2447,2503,2217,2316,2118,0,0,0,0,0,0,14.73,14.53,14.53
$GC,2332,0.61,221.7,2447,2504,2328,2125,10.6,9.2,425,2355,0.10,3.33,12.52,0.187,10788,0.166,0.312,2498,1087,2144,2249,2039,0,0,0,0,0,0,14.68,14.52,14.59
$STATE,2399,end climb,SURFACE_DEPTH_REACHED
$STATE,2399,begin surface coast
$FINISH,0.3,1.004672
$STATE,2424,end surface coast,CONTROL_FINISHED_OK
$STATE,2424,begin surface
$SM_CCo,2454,142.75,0.160,0,0,1213,450.13
$SM_GC,1.19,7.38,3.15,142.75,0.132,0.311,0.160,86,2407,1213,-6.85,0.03,450.13,0,0,0,0,0,0,14.67,14.55,14.58
$IRIDIUM_FIX,4726.11,-12224.09,130217,194414
$TT8_MAMPS,0.038948,0.333305
$HUMID,38.73
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.50
$XPDR_PINGS,0
$SC_FREEKB,3908928
$TM_FREEKB,7818976
$PM_FREEKB,62282368
$24V_AH,13.77,2.173
$10V_AH,13.83,0.000
$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,19.675,40.625,372.025,142.750,0.000,0.000,0.000,0.000,0.000,0.000,22.765,0.000,783.197,583.662,1265.789,51.028,0.000,1061.887,0.000,931.959,0.000,0.532,0.000
$DEVICE_MAMPS,473.535,2451.060,1111.545,159.885,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,10.270,29.000,34.990,0.000,10.700,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2404.000,2416.000,2402.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.450,18.013,4.064,0.000
$MEM,193416
$DATA_FILE_SIZE,13478,442
$CAP_FILE_SIZE,61606,0
$CFSIZE,260165632,256733184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.171,41.95,1
$GPS,130217,203619,4743.751,-12224.840,33,0.8,39,16.6,0.0,0.0,10,5.4