version: 66.09
glider: 189
mission: 1
dive: 13
start: 2 29 112 7 32 58
data:
$ID,189
$MISSION,1
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,208
$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,99
$T_MISSION,95
$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,90
$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,-41195.148
$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,3272
$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,15
$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
$GPS1,290212,072519,4743.411,-12223.964,17,1.5,17,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.2
$GPS2,290212,073201,4743.526,-12223.958,15,1.5,15,16.6
$SPEED_LIMITS,0.121,0.183
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,0.175
$KALMAN_X,-716.5,-299.4,79.0,1713.5,-70.3
$KALMAN_Y,2141.7,-567.7,-324.6,-721.7,-486.9
$MHEAD_RNG_PITCHd_Wd,0.7,1372,-16.6,-7.003
$D_GRID,208
$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,-0.86,-88.0,0.0,0.0,0,58,0.00,0.00,-41.50,0.000,2,0.000,0.000,132,2003,3101,0,0,0,0,0,0
$GC,60,-0.86,-88.0,2.4,-4.9,5,101,11.62,1.75,-21.70,0.000,4,0.243,0.088,2985,3071,3796,0,0,0,0,0,0
$GC,370,-0.86,-88.0,23.8,-8.8,55,379,0.00,1.73,0.00,0.000,6,0.000,0.055,2986,2000,3797,0,0,0,0,0,0
$GC,451,-0.86,-88.0,30.6,-8.6,68,460,0.00,1.75,0.00,0.000,4,0.000,0.073,2978,3059,3797,0,0,0,0,0,0
$GC,722,-0.86,-88.0,53.5,-8.3,114,731,0.00,1.70,0.00,0.000,6,0.000,0.056,2978,2000,3797,0,0,0,0,0,0
$GC,873,-0.86,-88.0,67.3,-10.4,139,879,0.00,1.73,0.00,0.000,4,0.000,0.073,2970,3069,3797,0,0,0,0,0,0
$GC,1141,-0.86,-88.0,94.8,-8.7,185,1147,0.00,1.67,0.00,0.000,6,0.000,0.055,2970,2002,3797,0,0,0,0,0,0
$GC,1288,-0.86,-88.0,107.4,-8.8,210,1297,0.00,1.75,0.00,0.000,4,0.000,0.073,2963,3071,3797,0,0,0,0,0,0
$GC,1559,-0.86,-88.0,130.2,-7.7,256,1568,0.08,1.70,0.00,0.000,6,0.159,0.055,2985,2002,3797,0,0,0,0,0,0
$GC,1711,-0.86,-88.0,140.2,-5.8,281,1718,0.00,1.73,0.00,0.000,4,0.000,0.073,2979,3075,3797,0,0,0,0,0,0
$GC,1978,-0.86,-88.0,162.4,-8.4,327,1985,0.00,1.67,0.00,0.000,6,0.000,0.056,2979,2003,3797,0,0,0,0,0,0
$STATE,2016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2016,begin apogee
$GC,2019,-0.23,0.0,165.8,-9.1,333,2101,0.68,0.00,76.97,0.679,6,0.143,0.000,3193,2003,3432,0,0,0,0,0,0
$STATE,2102,end apogee,CONTROL_FINISHED_OK
$STATE,2102,begin climb
$GC,2103,0.86,88.0,168.4,0.0,345,2186,1.02,1.80,73.20,0.685,4,0.092,0.067,3551,948,3070,0,0,0,0,0,0
$GC,2444,0.86,88.0,137.3,10.7,402,2453,0.00,1.77,0.00,0.000,6,0.000,0.057,3551,2012,3066,0,0,0,0,0,0
$GC,2595,0.86,88.0,122.4,9.6,427,2602,0.00,1.77,0.00,0.000,4,0.000,0.068,3559,941,3066,0,0,0,0,0,0
$GC,2828,0.86,88.0,98.8,10.1,467,2834,0.00,1.73,0.00,0.000,6,0.000,0.057,3558,2019,3066,0,0,0,0,0,0
$GC,2973,0.86,88.0,83.9,10.2,492,2982,0.00,1.73,0.00,0.000,4,0.000,0.073,3559,3064,3066,0,0,0,0,0,0
$GC,3030,0.86,88.0,78.4,9.9,501,3036,0.00,1.67,0.00,0.000,6,0.000,0.057,3566,2007,3066,0,0,0,0,0,0
$GC,3175,0.86,88.0,64.2,9.2,526,3183,0.00,1.75,0.00,0.000,4,0.000,0.070,3575,953,3066,0,0,0,0,0,0
$GC,3266,0.86,88.0,56.3,8.1,541,3273,0.00,1.70,0.00,0.000,6,0.000,0.057,3575,2011,3066,0,0,0,0,0,0
$GC,3411,0.86,88.0,43.7,8.9,566,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2011,3066,0,0,0,0,0,0
$GC,3563,0.86,88.0,31.3,8.5,591,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2011,3066,0,0,0,0,0,0
$GC,3644,0.86,88.0,24.5,8.1,604,3652,0.00,1.75,0.00,0.000,4,0.000,0.067,3582,950,3066,0,0,0,0,0,0
$GC,3837,0.91,124.6,6.3,5.0,636,3855,0.00,1.73,12.55,0.154,6,0.000,0.057,3582,2012,2923,0,0,0,0,0,0
$GC,3929,1.06,249.7,5.1,0.3,650,3977,0.00,0.00,45.20,0.148,6,0.000,0.000,3582,2011,2413,0,0,0,0,0,0
$STATE,4007,end climb,SURFACE_DEPTH_REACHED
$STATE,4007,begin surface coast
$FINISH,0.3,1.010594
$STATE,4104,end surface coast,CONTROL_FINISHED_OK
$STATE,4104,begin surface
$SM_CCo,4119,28.55,0.143,0,0,2085,330.17
$SM_GC,2.55,0.00,0.00,28.55,0.000,0.000,0.143,137,2011,2085,-9.80,0.03,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4738.89,-12229.26,290212,060612
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.16
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,110.2,70.4
$24V_AH,24.4,1.001
$10V_AH,10.5,1.207
$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,22.825,34.575,207.925,28.550,0.000,25.226,29.476,260.030,1.250,0.000,17.121,1526.270,428.595,293.165,2206.625,98.339,33.210,897.124,0.000,1907.732,0.000,7.171,0.000
$DEVICE_MAMPS,242.505,87.975,685.440,143.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.025,1549.771,1433.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47104,677
$CAP_FILE_SIZE,67681,0
$CFSIZE,260280320,258727936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290212,084304,4743.596,-12223.587,18,1.6,32,16.6