version: 66.09
glider: 189
mission: 1
dive: 11
start: 2 29 112 4 43 29
data:
$ID,189
$MISSION,1
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,168
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,100
$T_BOOST,2
$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,80
$T_MISSION,90
$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,330
$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,-41192.633
$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,3282
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,105
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,290212,043555,4743.270,-12224.395,13,1.3,13,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.5
$GPS2,290212,044231,4743.289,-12224.435,15,1.3,15,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,0.187
$KALMAN_X,-954.3,389.3,-246.2,997.7,-457.8
$KALMAN_Y,1771.3,1462.7,-469.9,-2667.4,-926.8
$MHEAD_RNG_PITCHd_Wd,9.4,2051,-13.9,-7.000
$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,-0.78,-117.3,0.0,0.0,0,50,0.00,0.00,-32.95,0.000,2,0.000,0.000,139,2020,2905,0,0,0,0,0,0
$GC,52,-0.78,-117.3,2.4,-6.8,4,102,11.70,1.80,-31.62,0.000,4,0.239,0.094,3018,3075,3917,0,0,0,0,0,0
$GC,371,-0.78,-117.3,29.8,-12.9,55,379,0.00,1.73,0.00,0.000,6,0.000,0.056,3018,2003,3919,0,0,0,0,0,0
$GC,452,-0.78,-117.3,37.5,-9.2,68,461,0.00,1.75,0.00,0.000,4,0.000,0.073,3011,3062,3919,0,0,0,0,0,0
$GC,720,-0.78,-117.3,61.3,-8.2,114,729,0.00,1.70,0.00,0.000,6,0.000,0.055,3011,2000,3919,0,0,0,0,0,0
$GC,870,-0.78,-117.3,71.6,-6.7,139,877,0.00,1.75,0.00,0.000,4,0.000,0.074,3003,3076,3919,0,0,0,0,0,0
$GC,1137,-0.78,-117.3,90.0,-7.1,185,1144,0.00,1.67,0.00,0.000,6,0.000,0.055,3003,2005,3918,0,0,0,0,0,0
$GC,1282,-0.78,-117.3,100.7,-7.9,210,1291,0.00,1.75,0.00,0.000,4,0.000,0.074,2995,3071,3919,0,0,0,0,0,0
$GC,1552,-0.78,-117.3,123.3,-8.6,256,1562,0.10,1.70,0.00,0.000,6,0.144,0.054,3028,2001,3919,0,0,0,0,0,0
$GC,1704,-0.78,-117.3,134.0,-6.9,281,1711,0.00,1.70,0.00,0.000,4,0.000,0.073,3021,3070,3918,0,0,0,0,0,0
$GC,1971,-0.78,-117.3,154.6,-8.0,327,1978,0.00,1.67,0.00,0.000,6,0.000,0.055,3021,2000,3919,0,0,0,0,0,0
$GC,2116,-0.78,-117.3,165.3,-7.2,352,2125,0.00,1.75,0.00,0.000,4,0.000,0.074,3014,3071,3919,0,0,0,0,0,0
$STATE,2162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2162,begin apogee
$GC,2166,-0.23,0.0,168.2,-6.8,359,2275,0.57,0.00,97.25,1.191,6,0.132,0.000,3203,1998,3438,0,0,0,0,1,0
$STATE,2277,end apogee,CONTROL_FINISHED_OK
$STATE,2277,begin climb
$GC,2278,0.78,117.3,171.0,0.0,375,2388,0.98,1.83,96.20,1.168,4,0.090,0.068,3534,954,2961,0,0,0,0,1,0
$GC,2495,0.78,117.3,156.6,9.5,409,2501,0.00,1.75,0.00,0.000,6,0.000,0.057,3535,2013,2967,0,0,0,0,0,0
$GC,2640,0.78,117.3,142.4,9.9,434,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2013,2967,0,0,0,0,0,0
$GC,2787,0.78,117.3,128.6,9.5,459,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2013,2967,0,0,0,0,0,0
$GC,2931,0.78,117.3,116.0,8.5,484,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2013,2967,0,0,0,0,0,0
$GC,3080,0.78,117.3,101.4,9.4,509,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2013,2967,0,0,0,0,0,0
$GC,3224,0.78,117.3,87.7,9.0,534,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2013,2967,0,0,0,0,0,0
$GC,3373,0.78,117.3,74.6,8.9,559,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2013,2966,0,0,0,0,0,0
$GC,3516,0.78,117.3,61.1,9.2,584,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2013,2967,0,0,0,0,0,0
$GC,3664,0.78,117.3,47.3,9.4,609,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2013,2967,0,0,0,0,0,0
$GC,3812,0.78,117.3,34.0,9.3,634,3820,0.00,1.75,0.00,0.000,4,0.000,0.067,3542,946,2966,0,0,0,0,0,0
$GC,4088,0.78,117.3,6.1,9.4,680,4097,0.00,1.73,0.00,0.000,6,0.000,0.060,3542,2006,2966,0,0,0,0,0,0
$GC,4170,1.02,311.6,3.5,-0.9,693,4204,0.20,0.00,31.10,0.151,2,0.082,0.000,3622,2006,2602,0,0,0,0,0,0
$STATE,4205,end climb,SURFACE_DEPTH_REACHED
$STATE,4205,begin surface coast
$FINISH,0.3,1.011431
$STATE,4431,end surface coast,NO_VERTICAL_VELOCITY
$STATE,4432,begin surface
$SM_CCo,4446,44.60,0.143,0,0,2087,330.17
$SM_GC,1.53,0.00,0.00,44.60,0.000,0.000,0.143,137,2007,2087,-9.83,-0.08,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4729.30,-12014.46,290212,030340
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.95
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.60
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,130.2,61.0
$24V_AH,23.7,0.879
$10V_AH,10.5,0.984
$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,23.000,27.750,224.550,44.600,0.000,32.872,33.782,245.374,5.750,0.000,17.151,1644.327,476.764,333.967,2346.788,91.609,33.195,982.167,0.000,2036.253,0.000,19.240,0.000
$DEVICE_MAMPS,239.445,94.095,1191.105,143.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.035,1632.729,1516.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50383,735
$CAP_FILE_SIZE,70665,0
$CFSIZE,260280320,258809856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,290212,055925,4743.271,-12224.307,39,1.2,39,16.6