version: 66.09
glider: 189
mission: 1
dive: 4
start: 2 28 112 21 47 0
data:
$ID,189
$MISSION,1
$DIVE,4
$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,0
$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,-41183.723
$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
$GPS1,280212,213949,4744.265,-12224.583,13,1.5,13,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.5
$GPS2,280212,214606,4744.314,-12224.510,13,1.2,13,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.084,-0.220
$KALMAN_X,351.9,338.0,288.2,-880.8,111.8
$KALMAN_Y,1076.7,958.2,643.4,-696.0,394.4
$MHEAD_RNG_PITCHd_Wd,184.3,848,-19.7,-10.000
$D_GRID,180
$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,-117.3,0.0,0.0,0,57,0.00,0.00,-40.72,0.000,2,0.000,0.000,137,2010,2879,0,0,0,0,0,0
$GC,59,-1.00,-117.3,2.2,-4.0,5,109,11.57,1.83,-33.03,0.000,4,0.243,0.098,2954,3067,3917,0,0,0,0,0,0
$GC,377,-1.00,-117.3,34.5,-11.5,56,385,0.00,1.70,0.00,0.000,6,0.000,0.055,2953,2011,3918,0,0,0,0,0,0
$GC,458,-1.00,-117.3,43.4,-11.3,69,464,0.00,1.75,0.00,0.000,4,0.000,0.079,2945,3072,3918,0,0,0,0,0,0
$GC,724,-1.00,-117.3,75.7,-13.2,115,731,0.00,1.70,0.00,0.000,6,0.000,0.056,2945,1998,3918,0,0,0,0,0,0
$STATE,849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,849,begin apogee
$GC,852,-0.22,0.0,90.6,-10.7,136,902,0.85,0.00,45.83,0.367,6,0.149,0.000,3209,1997,3435,0,0,0,0,0,0
$STATE,903,end apogee,CONTROL_FINISHED_OK
$STATE,903,begin climb
$GC,904,1.00,117.3,92.9,0.0,143,959,1.15,0.00,45.72,0.360,6,0.095,0.000,3605,1997,2956,0,0,0,0,0,0
$GC,1099,1.00,117.3,74.4,10.7,175,1105,0.00,1.73,0.00,0.000,4,0.000,0.071,3613,951,2955,0,0,0,0,0,0
$GC,1228,1.00,117.3,60.3,10.8,197,1234,0.00,1.73,0.00,0.000,6,0.000,0.063,3613,2013,2955,0,0,0,0,0,0
$GC,1372,1.00,117.3,43.2,12.1,222,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2013,2955,0,0,0,0,0,0
$GC,1523,1.00,117.3,24.2,12.8,247,1532,0.00,1.75,0.00,0.000,4,0.000,0.078,3613,3066,2955,0,0,0,0,0,0
$GC,1640,1.02,131.6,12.2,9.2,266,1650,0.00,1.70,4.88,0.177,6,0.000,0.057,3621,2012,2896,0,0,0,0,0,0
$GC,1723,1.06,168.9,5.0,7.9,279,1740,0.00,0.00,12.98,0.155,6,0.000,0.000,3621,2010,2744,0,0,0,0,0,0
$STATE,1746,end climb,SURFACE_DEPTH_REACHED
$STATE,1747,begin surface coast
$FINISH,0.4,1.012748
$STATE,1790,end surface coast,CONTROL_FINISHED_OK
$STATE,1790,begin surface
$SM_CCo,1805,75.62,0.142,0,0,1881,380.21
$SM_GC,1.85,0.00,0.00,75.62,0.000,0.000,0.142,135,2010,1881,-9.86,0.00,380.21,0,0,0,0,0,0
$IRIDIUM_FIX,4732.49,-12241.80,280212,202039
$TT8_MAMPS,0.026964,0.026964
$HUMID,28.93
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,10.20
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,90.6,7.4
$24V_AH,25.2,0.417
$10V_AH,10.4,0.380
$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,23.175,13.875,109.400,75.625,0.000,24.796,39.441,233.119,3.000,0.000,14.902,672.581,136.360,239.274,1171.530,43.093,32.223,537.716,0.000,870.181,0.000,5.419,0.000
$DEVICE_MAMPS,242.505,97.920,367.200,141.525,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.933,739.615,687.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323464
$DATA_FILE_SIZE,20478,289
$CAP_FILE_SIZE,38142,0
$CFSIZE,260280320,259125248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280212,221901,4744.318,-12224.642,14,1.2,14,16.6