version: 66.09
glider: 189
mission: 1
dive: 15
start: 2 29 112 10 8 28
data:
$ID,189
$MISSION,1
$DIVE,15
$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,100
$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,-41197.664
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$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
$GPS1,290212,100019,4743.708,-12223.933,25,1.1,25,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.0
$GPS2,290212,100730,4743.830,-12223.824,27,1.0,27,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,-0.168
$KALMAN_X,-120.6,-566.8,385.1,1244.8,176.5
$KALMAN_Y,3168.9,-2194.4,340.9,-236.2,92.6
$MHEAD_RNG_PITCHd_Wd,199.7,2419,-13.9,-7.003
$D_GRID,169
$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,-117.3,0.0,0.0,0,58,0.00,0.00,-41.10,0.000,2,0.000,0.000,137,2004,3094,0,0,0,0,0,0
$GC,60,-0.78,-117.3,2.4,-5.0,5,110,11.73,1.80,-25.83,0.000,4,0.245,0.085,3013,939,3918,0,0,0,0,0,0
$GC,141,-0.78,-117.3,7.5,-8.7,16,150,0.00,1.77,0.00,0.000,6,0.000,0.057,3006,2016,3918,0,0,0,0,0,0
$GC,223,-0.78,-117.3,15.4,-9.7,29,232,0.00,1.73,0.00,0.000,4,0.000,0.073,2999,3063,3918,0,0,0,0,0,0
$GC,501,-0.78,-117.3,39.9,-8.3,75,509,0.00,1.67,0.00,0.000,6,0.000,0.054,2999,2013,3918,0,0,0,0,0,0
$GC,578,-0.78,-117.3,46.0,-7.5,88,587,0.00,1.73,0.00,0.000,4,0.000,0.072,2992,3066,3919,0,0,0,0,0,0
$GC,763,-0.78,-117.3,61.8,-8.0,119,771,0.12,1.65,0.00,0.000,6,0.165,0.054,3022,2002,3919,0,0,0,0,0,0
$GC,909,-0.78,-117.3,72.2,-6.3,144,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2001,3918,0,0,0,0,0,0
$GC,1057,-0.78,-117.3,82.4,-7.5,169,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2001,3918,0,0,0,0,0,0
$GC,1201,-0.78,-117.3,92.9,-7.2,194,1209,0.00,1.75,0.00,0.000,4,0.000,0.072,3015,3073,3918,0,0,0,0,0,0
$GC,1296,-0.78,-117.3,100.0,-7.0,210,1304,0.00,1.70,0.00,0.000,6,0.000,0.054,3015,2002,3919,0,0,0,0,0,0
$GC,1447,-0.78,-117.3,110.2,-6.8,235,1454,0.00,1.73,0.00,0.000,4,0.000,0.072,3007,3076,3918,0,0,0,0,0,0
$GC,1496,-0.78,-117.3,114.1,-7.9,243,1503,0.00,1.67,0.00,0.000,6,0.000,0.055,3008,2004,3918,0,0,0,0,0,0
$GC,1641,-0.78,-117.3,126.1,-8.1,268,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2005,3919,0,0,0,0,0,0
$GC,1789,-0.78,-117.3,137.0,-7.0,293,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2005,3919,0,0,0,0,0,0
$GC,1933,-0.78,-117.3,148.1,-7.6,318,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2005,3918,0,0,0,0,0,0
$GC,2080,-0.78,-117.3,158.7,-7.3,343,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2005,3918,0,0,0,0,0,0
$STATE,2212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2212,begin apogee
$GC,2215,-0.23,0.0,169.3,-8.8,366,2325,0.55,0.00,99.55,1.014,6,0.133,0.000,3188,2004,3437,0,0,0,0,1,0
$STATE,2326,end apogee,CONTROL_FINISHED_OK
$STATE,2326,begin climb
$GC,2327,0.78,117.3,172.2,0.0,382,2437,1.00,1.90,102.20,0.668,4,0.093,0.070,3528,945,2949,0,0,0,0,0,0
$GC,2548,0.78,117.3,155.9,11.1,417,2555,0.00,1.77,0.00,0.000,6,0.000,0.057,3528,2012,2944,0,0,0,0,0,0
$GC,2693,0.78,117.3,140.4,10.4,442,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2012,2944,0,0,0,0,0,0
$GC,2842,0.78,117.3,125.3,10.5,467,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2012,2944,0,0,0,0,0,0
$GC,2986,0.78,117.3,110.2,9.6,492,2994,0.00,1.77,0.00,0.000,4,0.000,0.068,3535,953,2944,0,0,0,0,0,0
$GC,3069,0.78,117.3,101.1,10.7,506,3078,0.00,1.73,0.00,0.000,6,0.000,0.057,3536,2003,2944,0,0,0,0,0,0
$GC,3218,0.78,117.3,85.7,10.5,531,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2004,2944,0,0,0,0,0,0
$GC,3362,0.78,117.3,70.5,10.0,556,3371,0.00,1.75,0.00,0.000,4,0.000,0.068,3543,952,2944,0,0,0,0,0,0
$GC,3619,0.78,117.3,46.6,9.0,600,3627,0.00,1.73,0.00,0.000,6,0.000,0.057,3543,2010,2944,0,0,0,0,0,0
$GC,3769,0.78,117.3,33.6,9.7,625,3777,0.00,1.73,0.00,0.000,4,0.000,0.073,3544,3063,2944,0,0,0,0,0,0
$GC,3844,0.78,117.3,26.1,9.8,637,3853,0.00,1.70,0.00,0.000,6,0.000,0.057,3551,2003,2944,0,0,0,0,0,0
$GC,3926,0.78,117.3,18.6,8.6,650,3934,0.00,1.73,0.00,0.000,4,0.000,0.070,3559,957,2944,0,0,0,0,0,0
$GC,3972,0.78,117.3,15.2,7.4,657,3981,0.10,1.70,0.00,0.000,6,0.154,0.058,3528,2004,2944,0,0,0,0,0,0
$GC,4055,0.80,135.8,9.7,6.3,670,4065,0.00,1.77,5.93,0.166,4,0.000,0.073,3526,3071,2879,0,0,0,0,0,0
$STATE,4173,end climb,SURFACE_DEPTH_REACHED
$STATE,4173,begin surface coast
$FINISH,0.9,1.021176
$STATE,4239,end surface coast,CONTROL_FINISHED_OK
$STATE,4240,begin surface
$SM_CCo,4255,69.85,0.145,0,0,2086,330.17
$SM_GC,2.02,0.00,0.00,69.85,0.000,0.000,0.145,132,2002,2086,-9.81,-0.23,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4716.56,-12236.83,290212,080810
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.52
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.30
$XPDR_PINGS,4
$24V_AH,24.0,1.157
$10V_AH,10.5,1.424
$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,22.525,38.200,207.675,69.850,0.000,26.556,29.203,277.816,1.000,0.000,29.118,1574.167,462.098,374.283,2254.549,96.412,33.216,1019.549,0.000,1926.235,0.000,0.830,0.000
$DEVICE_MAMPS,244.800,84.915,1013.625,145.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.789,1532.073,1423.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323564
$DATA_FILE_SIZE,46939,700
$CAP_FILE_SIZE,74116,0
$CFSIZE,260280320,258621440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,290212,112135,4743.641,-12224.217,36,1.0,36,16.6