version: 66.09
glider: 189
mission: 1
dive: 6
start: 2 28 112 23 2 2
data:
$ID,189
$MISSION,1
$DIVE,6
$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,-41186.238
$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
$GPS1,280212,225619,4744.271,-12224.676,27,1.0,27,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.8
$GPS2,280212,230108,4744.270,-12224.613,17,1.0,18,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.001,-0.235
$KALMAN_X,628.2,467.3,156.1,-1288.2,147.7
$KALMAN_Y,2505.8,1345.0,333.5,-2275.0,1267.7
$MHEAD_RNG_PITCHd_Wd,163.7,724,-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,15,-1.00,-117.3,0.0,0.0,0,58,0.00,0.00,-40.95,0.000,2,0.000,0.000,139,2017,2872,0,0,0,0,0,0
$GC,60,-1.00,-117.3,2.2,-3.8,5,117,11.60,1.80,-33.97,0.000,4,0.243,0.094,2953,3080,3917,0,0,0,0,0,0
$GC,232,-1.00,-117.3,18.1,-14.0,31,240,0.00,1.75,0.00,0.000,6,0.000,0.056,2953,2002,3918,0,0,0,0,0,0
$GC,313,-1.00,-117.3,29.6,-13.5,44,322,0.00,1.77,0.00,0.000,4,0.000,0.077,2946,3063,3918,0,0,0,0,0,0
$GC,514,-1.00,-117.3,51.7,-10.0,78,523,0.00,1.70,0.00,0.000,6,0.000,0.054,2945,2003,3918,0,0,0,0,0,0
$GC,664,-1.00,-117.3,65.2,-9.1,103,671,0.00,1.73,0.00,0.000,4,0.000,0.076,2938,3071,3918,0,0,0,0,0,0
$GC,714,-1.00,-117.3,70.1,-9.6,111,721,0.12,1.67,0.00,0.000,6,0.176,0.056,2966,2000,3918,0,0,0,0,0,0
$GC,859,-1.00,-117.3,82.3,-7.5,136,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1999,3918,0,0,0,0,0,0
$STATE,956,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,956,begin apogee
$GC,959,-0.22,0.0,90.3,-9.2,152,1009,0.77,0.00,45.35,0.360,6,0.145,0.000,3212,2000,3435,0,0,0,0,0,0
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1011,1.00,117.3,91.9,0.0,159,1066,1.15,0.00,45.97,0.363,6,0.091,0.000,3610,1999,2955,0,0,0,0,0,0
$GC,1206,1.00,117.3,69.9,14.5,191,1213,0.00,1.73,0.00,0.000,4,0.000,0.070,3618,952,2955,0,0,0,0,0,0
$GC,1362,1.00,117.3,47.5,13.8,218,1371,0.00,1.75,0.00,0.000,6,0.000,0.061,3618,2007,2955,0,0,0,0,0,0
$GC,1513,1.00,117.3,26.8,12.5,243,1522,0.00,1.75,0.00,0.000,4,0.000,0.076,3618,3060,2955,0,0,0,0,0,0
$GC,1606,1.00,117.3,15.2,11.3,258,1615,0.00,1.70,0.00,0.000,6,0.000,0.057,3626,2009,2954,0,0,0,0,0,0
$GC,1688,1.00,119.6,6.8,9.9,271,1697,0.00,1.75,0.00,0.000,4,0.000,0.073,3634,955,2955,0,0,0,0,0,0
$STATE,1751,end climb,SURFACE_DEPTH_REACHED
$STATE,1751,begin surface coast
$FINISH,2.9,1.020597
$STATE,1800,end surface coast,CONTROL_FINISHED_OK
$STATE,1800,begin surface
$SM_CCo,1802,227.65,0.138,0,0,496,720.45
$SM_GC,1.14,9.65,0.00,0.00,0.052,0.000,0.000,134,2013,489,-9.80,0.08,722.90,0,0,0,0,0,0
$IRIDIUM_FIX,4738.89,-12214.97,280212,222205
$TT8_MAMPS,0.026964,0.026964
$HUMID,28.85
$INTERNAL_PRESSURE,8.91901
$TCM_TEMP,10.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,90.3,7.5
$24V_AH,25.2,0.475
$10V_AH,10.5,0.485
$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,23.300,20.900,91.325,227.650,0.000,26.533,28.948,156.137,3.000,0.000,19.530,677.244,229.626,399.850,1087.755,42.056,33.222,710.835,0.000,867.711,0.000,5.419,0.000
$DEVICE_MAMPS,243.270,94.095,362.610,138.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.711,733.628,680.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323468
$DATA_FILE_SIZE,20318,289
$CAP_FILE_SIZE,39218,0
$CFSIZE,260280320,259067904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280212,233835,4744.247,-12224.744,29,1.3,29,16.6