version: 66.11
glider: 189
mission: 4
dive: 2
start: 8 22 112 19 3 45
data:
$ID,189
$MISSION,4
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,120
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,720
$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,1.0233001
$MASS,54634
$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,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224
$TGT_AUTO_DEFAULT,0
$SM_CC,640
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,10
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42626.863
$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,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,30
$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,3146
$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,-80.363632
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,220812,185853,4743.746,-12223.311,11,1.9,11,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.4
$GPS2,220812,190247,4743.749,-12223.284,17,0.9,17,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.209
$KALMAN_X,78.6,78.6,78.6,36.2,161.7
$KALMAN_Y,2.5,2.5,2.5,232.6,5.1
$MHEAD_RNG_PITCHd_Wd,307.0,1507,-17.5,-10.000
$D_GRID,153
$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,19,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-83.88,0.000,2,0.000,0.000,163,2021,2858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.10,-146.6,2.3,-4.3,15,150,11.10,1.77,-24.48,0.000,4,0.223,0.077,3043,946,3746,0,0,0,0,0,0,26.09,26.36,26.77
$GC,181,-1.10,-146.6,7.5,-9.2,28,188,0.00,1.65,0.00,0.000,6,0.000,0.045,3038,2030,3746,0,0,0,0,0,0,28.83,26.42,28.83
$GC,250,-1.10,-146.6,13.6,-8.8,41,256,0.00,1.73,0.00,0.000,4,0.000,0.057,3038,945,3747,0,0,0,0,0,0,28.83,26.40,28.83
$GC,283,-1.10,-146.6,16.8,-10.4,47,289,0.00,1.65,0.00,0.000,6,0.000,0.045,3030,2030,3747,0,0,0,0,0,0,28.83,26.45,28.83
$GC,351,-1.10,-146.6,23.0,-8.7,57,352,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2029,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,471,-1.10,-146.6,36.2,-11.7,69,476,0.00,1.60,0.00,0.000,4,0.000,0.056,3022,3073,3747,0,0,0,0,0,0,28.83,26.43,28.83
$GC,532,-1.10,-146.6,43.7,-12.5,75,537,0.00,1.62,0.00,0.000,6,0.000,0.043,3023,1994,3745,0,0,0,0,0,0,28.83,26.48,28.83
$GC,664,-1.10,-146.6,59.0,-10.8,88,669,0.00,1.65,0.00,0.000,4,0.000,0.059,3022,936,3747,0,0,0,0,0,0,28.83,26.48,28.83
$GC,721,-1.10,-146.6,64.5,-10.6,93,728,0.12,1.65,0.00,0.000,6,0.149,0.044,3049,2023,3747,0,0,0,0,0,0,26.37,26.56,28.83
$GC,847,-1.10,-146.6,76.1,-8.0,106,852,0.00,1.60,0.00,0.000,4,0.000,0.054,3043,3072,3747,0,0,0,0,0,0,28.83,26.48,28.83
$GC,899,-1.10,-146.6,80.4,-8.2,111,904,0.00,1.60,0.00,0.000,6,0.000,0.041,3043,2001,3747,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1032,-1.10,-146.6,92.8,-9.5,124,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2002,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1151,-1.10,-146.6,104.3,-9.2,136,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2002,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-1.10,-146.6,113.8,-7.7,148,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2001,3747,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1340,begin apogee
$GC,1343,-0.26,0.0,120.1,-8.9,155,1412,0.77,0.00,62.65,1.108,6,0.102,0.000,3313,2001,3146,0,0,0,0,0,0,26.46,28.83,24.49
$STATE,1416,end apogee,CONTROL_FINISHED_OK
$STATE,1416,begin climb
$GC,1418,1.10,146.6,122.1,0.0,162,1492,1.17,1.75,66.07,1.083,4,0.042,0.050,3766,3074,2548,0,0,0,0,0,0,25.54,25.04,24.18
$GC,1719,1.36,357.5,130.6,0.3,192,1827,0.17,1.65,96.60,1.100,6,0.081,0.042,3839,1996,1688,0,0,0,0,0,0,26.10,26.12,24.20
$GC,1945,1.36,357.5,92.9,24.3,215,1950,0.00,1.70,0.00,0.000,4,0.000,0.050,3835,3080,1683,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2176,1.36,357.5,38.9,23.4,238,2181,0.00,1.67,0.00,0.000,6,0.000,0.042,3842,2004,1682,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2303,1.36,357.5,14.8,19.0,253,2309,0.00,1.67,0.00,0.000,4,0.000,0.051,3842,3076,1680,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,2355,end climb,SURFACE_DEPTH_REACHED
$STATE,2355,begin surface coast
$FINISH,0.4,1.021789
$STATE,2366,end surface coast,CONTROL_FINISHED_OK
$STATE,2366,begin surface
$SM_CCo,2386,108.47,0.141,0,0,535,640.23
$SM_GC,1.09,9.90,1.73,108.47,0.052,0.047,0.141,162,1998,535,-10.06,0.45,640.23,0,0,0,0,0,0,26.38,26.34,25.96
$IRIDIUM_FIX,4719.74,-12219.95,220812,181822
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.11
$INTERNAL_PRESSURE,8.77252
$TCM_TEMP,18.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.4,999.0
$SC_FREEKB,7769120
$24V_AH,24.2,1.888
$10V_AH,10.0,1.962
$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,23.250,26.700,225.325,108.475,0.000,0.000,0.000,0.000,4.000,0.000,19.149,679.491,863.054,416.309,584.276,33.638,30.074,756.536,0.000,531.179,0.000,18.004,0.000
$DEVICE_MAMPS,223.380,77.265,1107.720,140.760,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2346.000,2350.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.521,393.481,0.000,0.000
$MEM,322512
$DATA_FILE_SIZE,6800,265
$CAP_FILE_SIZE,111195,0
$CFSIZE,260034560,257314816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220812,194611,4743.980,-12223.647,16,1.2,16,16.6