version: 66.09
glider: 189
mission: 1
dive: 7
start: 2 28 112 23 44 25
data:
$ID,189
$MISSION,1
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,168
$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,56
$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,-41187.5
$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
$GPS1,280212,233835,4744.247,-12224.744,29,1.3,29,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-62.4
$GPS2,280212,234330,4744.263,-12224.773,16,1.2,16,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,-0.235
$KALMAN_X,443.0,561.2,32.0,-1268.1,-18.8
$KALMAN_Y,3224.3,1588.2,176.9,-3089.0,1203.9
$MHEAD_RNG_PITCHd_Wd,160.4,674,-19.7,-10.000
$D_GRID,176
$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,-117.3,0.0,0.0,0,112,0.00,0.00,-95.28,0.000,2,0.000,0.000,133,2013,2886,0,0,0,0,0,0
$GC,114,-1.00,-117.3,2.1,-2.2,12,172,11.75,1.77,-34.60,0.000,4,0.248,0.095,2954,3061,3918,0,0,0,0,0,0
$GC,233,-1.00,-117.3,15.9,-19.7,29,242,0.00,1.70,0.00,0.000,6,0.000,0.055,2954,2010,3919,0,0,0,0,0,0
$GC,315,-1.00,-117.3,29.4,-13.1,42,324,0.00,1.77,0.00,0.000,4,0.000,0.076,2946,3069,3919,0,0,0,0,0,0
$GC,338,-1.00,-117.3,32.0,-11.3,45,346,0.00,1.73,0.00,0.000,6,0.000,0.056,2946,2005,3919,0,0,0,0,0,0
$GC,419,-1.00,-117.3,39.3,-8.3,58,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2005,3919,0,0,0,0,0,0
$GC,498,-1.00,-117.3,46.4,-9.5,71,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2005,3919,0,0,0,0,0,0
$GC,642,-1.00,-117.3,62.3,-10.8,96,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2005,3919,0,0,0,0,0,0
$GC,791,-1.00,-117.3,77.5,-8.9,121,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2005,3919,0,0,0,0,0,0
$GC,940,-1.00,-117.3,92.6,-10.5,146,949,0.00,1.75,0.00,0.000,4,0.000,0.076,2938,3062,3919,0,0,0,0,0,0
$GC,1204,-1.00,-117.3,123.8,-12.0,191,1211,0.00,1.65,0.00,0.000,6,0.000,0.056,2938,1999,3919,0,0,0,0,0,0
$GC,1349,-1.00,-117.3,139.9,-10.1,216,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1999,3919,0,0,0,0,0,0
$GC,1498,-1.00,-117.3,155.7,-11.2,241,1505,0.00,1.75,0.00,0.000,4,0.000,0.076,2930,3074,3919,0,0,0,0,0,0
$STATE,1603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1603,begin apogee
$GC,1608,-0.22,0.0,168.1,-11.4,259,1709,0.90,0.00,93.62,1.316,6,0.145,0.000,3214,2002,3437,0,0,0,0,0,0
$STATE,1710,end apogee,CONTROL_FINISHED_OK
$STATE,1711,begin climb
$GC,1712,1.00,117.3,171.1,0.0,274,1816,1.17,1.85,95.05,1.304,4,0.086,0.067,3614,952,2958,0,0,0,0,0,0
$GC,1948,1.00,117.3,149.1,12.9,312,1957,0.00,1.80,0.00,0.000,6,0.000,0.060,3614,2012,2958,0,0,0,0,0,0
$GC,2099,1.00,117.3,129.1,13.3,337,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,2012,2957,0,0,0,0,0,0
$GC,2243,1.00,117.3,109.8,13.0,362,2251,0.00,1.77,0.00,0.000,4,0.000,0.066,3622,946,2957,0,0,0,0,0,0
$GC,2265,1.00,117.3,107.5,11.8,365,2271,0.00,1.75,0.00,0.000,6,0.000,0.060,3622,2014,2957,0,0,0,0,0,0
$GC,2409,1.00,117.3,88.8,13.2,390,2418,0.00,1.75,0.00,0.000,4,0.000,0.077,3621,3063,2957,0,0,0,0,0,0
$GC,2504,1.00,117.3,74.4,15.0,406,2513,0.00,1.70,0.00,0.000,6,0.000,0.056,3630,2011,2957,0,0,0,0,0,0
$GC,2653,1.00,117.3,52.1,14.7,431,2660,0.00,1.73,0.00,0.000,4,0.000,0.073,3638,942,2957,0,0,0,0,0,0
$GC,2831,1.00,117.3,25.1,14.7,461,2840,0.00,1.75,0.00,0.000,6,0.000,0.060,3637,2009,2957,0,0,0,0,0,0
$GC,2913,1.00,117.3,14.1,13.4,474,2922,0.00,1.75,0.00,0.000,4,0.000,0.076,3638,3070,2957,0,0,0,0,0,0
$GC,2929,1.00,117.3,12.0,12.7,476,2939,0.10,1.70,0.00,0.000,6,0.168,0.057,3616,2012,2957,0,0,0,0,0,0
$GC,3013,1.05,154.0,3.3,7.9,489,3022,0.00,0.00,7.68,0.155,2,0.000,0.000,3616,2011,2865,0,0,0,0,0,0
$STATE,3023,end climb,SURFACE_DEPTH_REACHED
$STATE,3023,begin surface coast
$FINISH,3.7,1.020532
$STATE,3078,end surface coast,CONTROL_FINISHED_OK
$STATE,3078,begin surface
$SM_CCo,3080,217.73,0.140,0,0,496,720.45
$SM_GC,1.20,9.52,0.00,0.00,0.050,0.000,0.000,134,2011,489,-9.80,0.03,723.14,0,0,0,0,0,0
$IRIDIUM_FIX,4732.49,-12342.29,280212,222216
$TT8_MAMPS,0.026964,0.026964
$HUMID,28.50
$INTERNAL_PRESSURE,8.91901
$TCM_TEMP,10.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.4,7.5
$24V_AH,23.6,0.567
$10V_AH,10.4,0.566
$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,23.450,31.400,196.350,217.725,0.000,31.453,32.072,155.460,1.250,0.000,17.728,1110.505,412.719,525.084,1596.421,63.329,33.223,1049.482,0.000,1375.430,0.000,5.420,0.000
$DEVICE_MAMPS,247.860,94.860,1315.800,139.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.484,1087.866,1014.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33720,499
$CAP_FILE_SIZE,58392,0
$CFSIZE,260280320,259002368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290212,004149,4743.846,-12224.914,16,1.4,16,16.6