version: 66.09
glider: 189
mission: 1
dive: 3
start: 2 28 112 20 43 15
data:
$ID,189
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,100
$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,60
$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,380
$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,-41182.371
$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,10
$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
$GPS1,280212,203854,4744.177,-12224.228,36,1.2,36,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.7
$GPS2,280212,204157,4744.206,-12224.198,17,1.8,17,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,-0.197
$KALMAN_X,313.0,301.2,271.2,-411.5,267.7
$KALMAN_Y,644.2,620.3,559.1,-48.5,550.2
$MHEAD_RNG_PITCHd_Wd,196.6,939,-19.7,-10.000
$D_GRID,174
$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,-117.3,0.0,0.0,0,58,0.00,0.00,-41.30,0.000,2,0.000,0.000,142,2005,2883,0,0,0,0,0,0
$GC,60,-1.00,-117.3,2.1,-3.6,5,110,11.50,1.77,-32.05,0.000,4,0.244,0.084,2960,949,3917,0,0,0,0,0,0
$GC,130,-1.00,-117.3,6.9,-10.6,14,138,0.00,1.75,0.00,0.000,6,0.000,0.064,2955,2003,3917,0,0,0,0,0,0
$GC,211,-1.00,-117.3,16.3,-14.0,27,220,0.00,1.80,0.00,0.000,4,0.000,0.083,2946,3070,3918,0,0,0,0,0,0
$GC,488,-1.00,-117.3,45.0,-11.0,73,495,0.00,1.67,0.00,0.000,6,0.000,0.056,2946,1999,3918,0,0,0,0,0,0
$GC,633,-1.00,-117.3,61.3,-12.3,98,641,0.00,1.77,0.00,0.000,4,0.000,0.081,2938,3059,3918,0,0,0,0,0,0
$GC,667,-1.00,-117.3,65.2,-12.8,103,673,0.00,1.67,0.00,0.000,6,0.000,0.057,2939,2002,3918,0,0,0,0,0,0
$GC,811,-1.00,-117.3,82.5,-11.6,128,820,0.00,1.77,0.00,0.000,4,0.000,0.080,2931,3065,3918,0,0,0,0,0,0
$GC,837,-1.00,-117.3,85.7,-11.9,132,846,0.10,1.70,0.00,0.000,6,0.161,0.056,2961,2004,3918,0,0,0,0,0,0
$GC,989,-1.00,-117.3,102.1,-11.5,157,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2003,3918,0,0,0,0,0,0
$GC,1136,-1.00,-117.3,118.3,-10.2,182,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2004,3918,0,0,0,0,0,0
$GC,1290,-1.00,-117.3,134.1,-10.3,207,1297,0.00,1.75,0.00,0.000,4,0.000,0.080,2955,3071,3918,0,0,0,0,0,0
$GC,1501,-1.00,-117.3,156.8,-11.5,243,1508,0.00,1.67,0.00,0.000,6,0.000,0.056,2954,2002,3918,0,0,0,0,0,0
$GC,1646,-1.00,-117.3,172.6,-10.7,268,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2003,3918,0,0,0,0,0,0
$STATE,1659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1659,begin apogee
$GC,1662,-0.22,0.0,174.0,-10.4,270,1765,0.82,0.00,94.20,1.362,6,0.143,0.000,3215,2002,3437,0,0,0,0,0,0
$STATE,1766,end apogee,CONTROL_FINISHED_OK
$STATE,1766,begin climb
$GC,1767,1.00,117.3,176.5,0.0,285,1870,1.17,1.92,95.00,1.314,4,0.086,0.071,3615,949,2957,0,0,0,0,0,0
$GC,2006,1.00,117.3,154.7,13.1,323,2012,0.00,1.77,0.00,0.000,6,0.000,0.063,3615,2009,2957,0,0,0,0,0,0
$GC,2150,1.00,117.3,135.3,12.9,348,2159,0.00,1.80,0.00,0.000,4,0.000,0.080,3614,3069,2957,0,0,0,0,0,0
$GC,2279,1.00,117.3,117.6,13.0,370,2288,0.00,1.73,0.00,0.000,6,0.000,0.057,3622,2012,2957,0,0,0,0,0,0
$GC,2429,1.00,117.3,98.7,12.4,395,2436,0.00,1.75,0.00,0.000,4,0.000,0.072,3631,946,2957,0,0,0,0,0,0
$GC,2594,1.00,117.3,75.8,13.4,423,2601,0.00,1.75,0.00,0.000,6,0.000,0.063,3630,2016,2957,0,0,0,0,0,0
$GC,2739,1.00,117.3,55.2,14.3,448,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,2016,2957,0,0,0,0,0,0
$GC,2887,1.00,117.3,34.6,14.9,473,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,2016,2957,0,0,0,0,0,0
$GC,2968,1.00,117.3,22.6,15.9,486,2977,0.00,1.75,0.00,0.000,4,0.000,0.080,3631,3072,2957,0,0,0,0,0,0
$GC,3038,1.00,117.3,13.8,10.4,497,3047,0.08,1.70,0.00,0.000,6,0.171,0.057,3616,2010,2957,0,0,0,0,0,0
$GC,3121,1.04,152.3,7.3,8.0,510,3138,0.00,0.00,12.38,0.162,6,0.000,0.000,3616,2010,2811,0,0,0,0,0,0
$STATE,3192,end climb,SURFACE_DEPTH_REACHED
$STATE,3192,begin surface coast
$FINISH,2.1,1.020417
$STATE,3260,end surface coast,CONTROL_FINISHED_OK
$STATE,3260,begin surface
$SM_CCo,3275,80.88,0.147,0,0,1884,380.21
$SM_GC,1.63,0.00,0.00,80.88,0.000,0.000,0.147,137,2010,1884,-9.86,0.00,380.21,0,0,0,0,0,0
$IRIDIUM_FIX,4738.89,-12334.28,280212,202049
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.32
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,10.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,125.1,62.4
$24V_AH,23.6,0.385
$10V_AH,10.4,0.326
$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,23.550,31.525,201.575,80.875,0.000,0.000,0.000,0.000,4.750,0.000,18.799,1205.949,326.045,357.578,1474.402,82.083,31.303,873.817,0.000,1473.222,0.000,24.845,0.000
$DEVICE_MAMPS,244.035,84.150,1362.465,146.880,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.398,1175.471,1093.328,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,37144,532
$CAP_FILE_SIZE,80020,0
$CFSIZE,260280320,259104768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280212,213949,4744.265,-12224.583,13,1.5,13,16.6