version: 66.11
glider: 189
mission: 6
dive: 5
start: 8 23 112 21 41 37
data:
$ID,189
$MISSION,6
$DIVE,5
$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,-44456.016
$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
$GPS1,230812,212231,4744.686,-12223.864,17,1.1,17,16.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.8
$GPS2,230812,214036,4744.689,-12223.816,18,1.2,18,16.6
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.038,-0.169
$KALMAN_X,142.5,134.7,100.3,-462.6,-0.3
$KALMAN_Y,203.3,170.1,69.7,1989.6,20.2
$MHEAD_RNG_PITCHd_Wd,150.7,360,-27.2,-10.000
$D_GRID,167
$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,-62.10,0.000,2,0.000,0.000,157,1999,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.55,-97.7,2.3,-4.9,11,112,10.38,2.33,-9.38,0.000,4,0.229,0.071,2793,595,3138,0,0,0,0,0,0,25.87,26.11,26.46
$GC,338,-1.55,-97.7,41.0,-19.2,49,344,0.00,2.20,0.00,0.000,6,0.000,0.038,2785,2036,3139,0,0,0,0,0,0,28.83,26.33,28.83
$GC,464,-1.55,-97.7,64.9,-17.6,62,469,0.00,2.30,0.00,0.000,4,0.000,0.057,2784,588,3140,0,0,0,0,0,0,28.83,26.34,28.83
$GC,668,-1.55,-97.7,101.6,-18.1,82,673,0.00,2.20,0.00,0.000,6,0.000,0.038,2774,2031,3140,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,781,begin apogee
$GC,784,-0.26,0.0,120.4,-17.0,93,833,1.42,0.00,42.08,1.077,6,0.158,0.000,3210,2031,2736,0,0,0,0,0,0,26.27,28.83,24.76
$STATE,836,end apogee,CONTROL_FINISHED_OK
$STATE,836,begin climb
$GC,837,1.55,97.7,123.5,0.0,98,890,1.67,0.00,43.53,1.047,6,0.075,0.000,3800,2031,2339,0,0,0,0,0,0,25.60,28.83,24.32
$GC,1010,1.55,97.7,107.9,11.3,116,1015,0.00,2.35,0.00,0.000,4,0.000,0.056,3811,586,2336,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1225,1.55,97.7,83.2,10.9,137,1232,0.00,2.22,0.00,0.000,6,0.000,0.037,3811,2028,2334,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1352,1.55,97.7,70.2,10.0,150,1357,0.00,2.17,0.00,0.000,4,0.000,0.050,3811,3430,2334,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1584,1.57,111.7,47.5,8.5,173,1595,0.00,2.17,5.05,0.679,6,0.000,0.037,3821,1996,2279,0,0,0,0,0,0,28.83,26.39,25.56
$GC,1714,1.57,111.7,34.0,11.5,186,1719,0.00,2.22,0.00,0.000,4,0.000,0.048,3821,3433,2280,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1946,1.57,111.7,8.1,13.3,219,1953,0.00,2.22,0.00,0.000,6,0.000,0.038,3831,1984,2280,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1984,end climb,SURFACE_DEPTH_REACHED
$STATE,1984,begin surface coast
$FINISH,0.2,1.019399
$STATE,2006,end surface coast,CONTROL_FINISHED_OK
$STATE,2006,begin surface
$SM_CCo,2024,108.95,0.136,0,0,1106,400.08
$SM_GC,1.13,9.93,0.00,108.95,0.057,0.000,0.136,156,1984,1106,-9.77,-0.74,400.08,0,0,0,0,0,0,26.48,28.83,26.06
$IRIDIUM_FIX,4722.92,-12214.55,230812,202059
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.95
$INTERNAL_PRESSURE,8.79205
$TCM_TEMP,18.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.3
$SC_FREEKB,7767968
$TM_FREEKB,7882176
$24V_AH,24.3,2.739
$10V_AH,10.3,3.470
$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,23.400,22.400,90.650,108.950,0.000,65.620,59.193,655.925,3.250,0.000,19.837,666.771,759.092,280.569,1463.991,58.090,33.210,564.361,0.000,496.651,0.000,20.912,0.000
$DEVICE_MAMPS,228.735,71.145,1077.120,136.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2026.000,2082.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,38.081,401.891,0.000,0.000
$MEM,322604
$DATA_FILE_SIZE,6796,230
$CAP_FILE_SIZE,70947,0
$CFSIZE,260034560,257073152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230812,221804,4744.744,-12223.677,23,1.4,23,16.6