version: 66.09
glider: 189
mission: 1
dive: 2
start: 2 28 112 19 19 18
data:
$ID,189
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,10
$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,50
$T_MISSION,70
$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,120
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$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,-41087.797
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3928
$C_PITCH,3290
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,315
$ROLL_MAX,3864
$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,3437
$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,-77.099648
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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
$GPS1,280212,190642,4743.629,-12224.425,21,1.0,21,16.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.1
$GPS2,280212,191801,4743.808,-12224.297,22,0.8,22,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,-0.170
$KALMAN_X,98.4,98.4,98.4,53.0,274.2
$KALMAN_Y,206.4,206.4,206.4,413.0,575.0
$MHEAD_RNG_PITCHd_Wd,207.2,649,-19.7,-10.000
$D_GRID,173
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.00,-117.3,0.0,0.0,0,119,0.00,0.00,-102.32,0.000,2,0.000,0.000,140,2007,2988,0,0,0,0,0,0
$GC,121,-1.00,-117.3,2.2,-3.5,13,171,11.40,1.80,-32.15,0.000,4,0.240,0.086,2958,943,3918,0,0,0,0,0,0
$GC,197,-1.00,-117.3,5.7,-8.7,23,206,0.00,1.77,0.00,0.000,6,0.000,0.067,2952,2007,3919,0,0,0,0,0,0
$GC,278,-1.00,-117.3,13.6,-10.7,36,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2007,3919,0,0,0,0,0,0
$GC,360,-1.00,-117.3,21.9,-8.2,49,368,0.00,1.80,0.00,0.000,4,0.000,0.086,2944,3069,3919,0,0,0,0,0,0
$GC,394,-1.00,-117.3,24.5,-7.3,54,403,0.00,1.73,0.00,0.000,6,0.000,0.057,2944,2002,3919,0,0,0,0,0,0
$GC,476,-1.00,-117.3,31.3,-8.7,67,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2002,3919,0,0,0,0,0,0
$GC,557,-1.00,-117.3,37.8,-8.0,80,566,0.00,1.80,0.00,0.000,4,0.000,0.084,2936,3069,3918,0,0,0,0,0,0
$GC,641,-1.00,-117.3,45.6,-10.0,94,650,0.08,1.70,0.00,0.000,6,0.168,0.057,2958,2007,3918,0,0,0,0,0,0
$GC,792,-1.00,-117.3,58.8,-8.7,119,798,0.00,1.75,0.00,0.000,4,0.000,0.083,2952,3067,3918,0,0,0,0,0,0
$GC,925,-1.00,-117.3,72.2,-9.6,142,934,0.00,1.70,0.00,0.000,6,0.000,0.056,2951,2006,3919,0,0,0,0,0,0
$GC,1075,-1.00,-117.3,86.7,-10.6,167,1081,0.00,1.75,0.00,0.000,4,0.000,0.083,2944,3067,3918,0,0,0,0,0,0
$GC,1141,-1.00,-117.3,94.6,-11.3,178,1154,0.00,1.70,0.00,0.000,6,0.000,0.057,2944,2005,3918,0,0,0,0,0,0
$GC,1294,-1.00,-117.3,110.6,-10.2,203,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2006,3918,0,0,0,0,0,0
$GC,1437,-1.00,-117.3,125.9,-10.3,228,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2006,3918,0,0,0,0,0,0
$GC,1585,-1.00,-117.3,141.6,-10.6,253,1592,0.00,1.75,0.00,0.000,4,0.000,0.082,2936,3071,3919,0,0,0,0,0,0
$STATE,1660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1660,begin apogee
$GC,1665,-0.22,0.0,150.1,-11.4,266,1769,0.88,0.00,93.32,1.316,6,0.149,0.000,3209,2001,3437,0,0,0,0,0,0
$STATE,1769,end apogee,CONTROL_FINISHED_OK
$STATE,1770,begin climb
$GC,1771,1.00,117.3,152.8,0.0,281,1873,1.20,1.92,95.07,1.300,4,0.092,0.072,3613,949,2957,0,0,0,0,0,0
$GC,1950,1.00,117.3,137.5,13.5,309,1957,0.00,1.80,0.00,0.000,6,0.000,0.065,3614,2009,2958,0,0,0,0,0,0
$GC,2095,1.00,117.3,118.0,14.6,334,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2009,2958,0,0,0,0,0,0
$GC,2245,1.00,117.3,98.8,13.6,359,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2009,2957,0,0,0,0,0,0
$GC,2388,1.00,117.3,78.9,13.9,384,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2009,2958,0,0,0,0,0,0
$GC,2536,1.00,117.3,60.5,12.7,409,2543,0.00,1.75,0.00,0.000,4,0.000,0.070,3621,940,2958,0,0,0,0,0,0
$GC,2597,1.00,117.3,52.7,13.3,419,2604,0.00,1.73,0.00,0.000,6,0.000,0.064,3621,2009,2957,0,0,0,0,0,0
$GC,2746,1.00,117.3,32.8,12.9,444,2754,0.00,1.77,0.00,0.000,4,0.000,0.083,3621,3070,2957,0,0,0,0,0,0
$GC,2828,1.00,117.3,21.4,13.9,457,2836,0.00,1.73,0.00,0.000,6,0.000,0.058,3629,2002,2957,0,0,0,0,0,0
$GC,2909,1.00,117.3,11.2,10.6,470,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2003,2957,0,0,0,0,0,0
$GC,2991,1.11,206.9,5.4,4.9,483,3032,0.00,1.80,31.92,0.152,4,0.000,0.080,3629,3066,2588,0,0,0,0,0,0
$STATE,3121,end climb,SURFACE_DEPTH_REACHED
$STATE,3121,begin surface coast
$FINISH,2.9,1.020396
$STATE,3129,end surface coast,CONTROL_FINISHED_OK
$STATE,3129,begin surface
$SM_CCo,3146,50.53,0.146,0,0,2006,350.04
$SM_GC,2.06,0.00,0.00,50.53,0.000,0.000,0.146,142,2004,2006,-9.84,-0.17,350.04,0,0,0,0,0,0
$IRIDIUM_FIX,4748.51,-12245.08,280212,191910
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.52
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,6.1
$24V_AH,23.5,0.269
$10V_AH,10.4,0.230
$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,23.575,35.200,220.325,50.525,0.000,0.000,0.000,0.000,1.500,0.000,23.205,1114.301,284.706,384.595,1429.260,77.928,30.075,926.908,0.000,1428.780,0.000,14.010,0.000
$DEVICE_MAMPS,240.210,86.445,1315.800,146.115,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.475,1168.152,1086.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323784
$DATA_FILE_SIZE,33763,504
$CAP_FILE_SIZE,73435,0
$CFSIZE,260280320,259158016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280212,201323,4743.902,-12224.605,24,1.1,24,16.6