version: 66.11
glider: 189
mission: 6
dive: 4
start: 8 23 112 20 46 30
data:
$ID,189
$MISSION,6
$DIVE,4
$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,100
$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,400
$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,-44454.758
$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,3300
$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,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,2738
$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
$GPS1,230812,204113,4744.390,-12223.762,18,1.6,18,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-63.5
$GPS2,230812,204530,4744.374,-12223.728,38,1.8,38,16.6
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,0.164
$KALMAN_X,135.7,117.5,101.0,-328.6,44.0
$KALMAN_Y,90.6,106.2,83.0,1570.6,16.4
$MHEAD_RNG_PITCHd_Wd,325.1,235,-27.2,-10.000
$D_GRID,166
$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,-1.51,-63.1,0.0,0.0,0,84,0.00,0.00,-62.35,0.000,2,0.000,0.000,157,2027,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.55,-97.7,2.2,-4.5,11,117,10.25,2.28,-10.07,0.000,4,0.229,0.066,2783,3440,3140,0,0,0,0,0,0,26.07,26.33,26.66
$GC,249,-1.55,-97.7,23.5,-16.5,40,254,0.00,2.20,0.00,0.000,6,0.000,0.038,2784,1989,3139,0,0,0,0,0,0,28.83,26.41,28.83
$GC,381,-1.55,-97.7,48.0,-18.3,53,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1990,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,501,-1.55,-97.7,70.0,-18.1,65,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1993,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,621,-1.55,-97.7,93.5,-18.5,77,626,0.00,2.25,0.00,0.000,4,0.000,0.052,2774,3438,3139,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,774,begin apogee
$GC,779,-0.26,0.0,121.7,-18.3,92,827,1.42,0.00,42.10,1.112,6,0.161,0.000,3209,1989,2738,0,0,0,0,0,0,26.33,28.83,24.79
$STATE,831,end apogee,CONTROL_FINISHED_OK
$STATE,831,begin climb
$GC,832,1.55,97.7,125.5,0.0,97,886,1.65,2.33,43.85,1.077,4,0.076,0.056,3804,597,2339,0,0,0,0,0,0,25.66,25.14,24.34
$GC,928,1.56,105.3,118.8,9.2,107,939,0.00,2.28,3.30,0.747,6,0.000,0.035,3804,2034,2307,0,0,0,0,0,0,28.83,25.60,24.70
$GC,1058,1.56,105.3,105.2,11.0,120,1063,0.00,2.20,0.00,0.000,4,0.000,0.049,3804,3435,2307,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1084,1.56,105.3,102.6,11.4,122,1090,0.00,2.22,0.00,0.000,6,0.000,0.037,3814,1997,2307,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1210,1.56,105.3,87.5,11.9,135,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3814,1997,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,1.56,105.3,73.9,10.7,147,1335,0.00,2.25,0.00,0.000,4,0.000,0.057,3825,584,2307,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1371,1.57,110.6,69.8,9.4,151,1382,0.00,2.20,2.00,0.321,6,0.000,0.036,3824,2031,2285,0,0,0,0,0,0,28.83,26.31,25.60
$GC,1502,1.58,118.8,57.4,9.1,164,1513,0.00,2.22,3.05,0.565,4,0.000,0.048,3825,3437,2254,0,0,0,0,0,0,28.83,26.30,25.47
$GC,1739,1.59,127.2,32.7,9.1,187,1750,0.00,2.17,3.47,0.552,6,0.000,0.037,3834,2000,2217,0,0,0,0,0,0,28.83,26.44,25.58
$GC,1872,1.59,127.2,17.5,13.1,202,1878,0.00,2.22,0.00,0.000,4,0.000,0.048,3834,3440,2217,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,1974,end climb,SURFACE_DEPTH_REACHED
$STATE,1974,begin surface coast
$FINISH,0.6,1.021718
$STATE,1989,end surface coast,CONTROL_FINISHED_OK
$STATE,1989,begin surface
$SM_CCo,2010,103.15,0.136,0,0,1103,400.08
$SM_GC,1.14,9.85,2.28,103.15,0.051,0.041,0.136,157,1999,1103,-9.76,0.48,400.08,0,0,0,0,0,0,26.48,26.46,26.08
$IRIDIUM_FIX,4719.74,-12234.14,230812,202049
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.50
$INTERNAL_PRESSURE,8.80182
$TCM_TEMP,18.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.5
$SC_FREEKB,7768352
$TM_FREEKB,7888128
$24V_AH,24.3,2.662
$10V_AH,10.4,3.187
$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,23.175,31.350,97.775,103.150,0.000,0.000,0.000,0.000,3.000,0.000,39.754,607.703,780.403,291.471,508.308,23.312,32.214,559.828,0.000,440.795,0.000,18.031,0.000
$DEVICE_MAMPS,228.735,65.790,1112.310,136.170,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1970.000,1968.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.203,402.723,0.000,0.000
$MEM,322672
$DATA_FILE_SIZE,3459,225
$CAP_FILE_SIZE,80000,0
$CFSIZE,260034560,257175552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230812,212231,4744.686,-12223.864,17,1.1,17,16.6