version: 66.09
glider: 189
mission: 1
dive: 16
start: 2 29 112 11 29 29
data:
$ID,189
$MISSION,1
$DIVE,16
$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,-41198.922
$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
$GPS1,290212,112135,4743.641,-12224.217,36,1.0,36,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.4
$GPS2,290212,112831,4743.772,-12224.117,18,1.5,18,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.044,-0.203
$KALMAN_X,54.8,-546.7,421.7,651.2,122.3
$KALMAN_Y,4229.9,-2731.3,518.9,-1038.3,779.7
$MHEAD_RNG_PITCHd_Wd,175.7,2160,-13.9,-7.003
$D_GRID,173
$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,14,begin dive
$GC,15,-0.78,-117.3,0.0,0.0,0,58,0.00,0.00,-40.85,0.000,2,0.000,0.000,132,2002,3077,0,0,0,0,0,0
$GC,60,-0.78,-117.3,2.3,-4.4,5,110,11.80,1.80,-26.17,0.000,4,0.246,0.090,3007,3072,3917,0,0,0,0,0,0
$GC,130,-0.78,-117.3,6.3,-7.6,14,138,0.00,1.73,0.00,0.000,6,0.000,0.054,3006,2005,3918,0,0,0,0,0,0
$GC,211,-0.78,-117.3,12.7,-9.4,27,220,0.00,1.75,0.00,0.000,4,0.000,0.072,2999,3062,3918,0,0,0,0,0,0
$GC,490,-0.78,-117.3,41.5,-10.1,73,497,0.00,1.67,0.00,0.000,6,0.000,0.054,2999,2000,3918,0,0,0,0,0,0
$GC,634,-0.78,-117.3,54.6,-8.7,98,643,0.00,1.75,0.00,0.000,4,0.000,0.071,2992,3066,3918,0,0,0,0,0,0
$GC,902,-0.78,-117.3,76.4,-8.1,144,911,0.00,1.70,0.00,0.000,6,0.000,0.055,2992,2002,3918,0,0,0,0,0,0
$GC,1052,-0.78,-117.3,88.9,-9.3,169,1059,0.12,0.00,0.00,0.000,6,0.171,0.000,3022,2002,3918,0,0,0,0,0,0
$GC,1198,-0.78,-117.3,101.0,-7.8,194,1206,0.00,1.75,0.00,0.000,4,0.000,0.072,3016,3072,3918,0,0,0,0,0,0
$GC,1335,-0.78,-117.3,112.1,-8.6,217,1342,0.00,1.67,0.00,0.000,6,0.000,0.055,3016,2003,3918,0,0,0,0,0,0
$GC,1480,-0.78,-117.3,123.7,-7.6,242,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2003,3918,0,0,0,0,0,0
$GC,1630,-0.78,-117.3,134.0,-6.9,267,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2003,3918,0,0,0,0,0,0
$GC,1775,-0.78,-117.3,143.6,-6.5,292,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2003,3918,0,0,0,0,0,0
$GC,1925,-0.78,-117.3,153.2,-6.9,317,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2003,3918,0,0,0,0,0,0
$GC,2068,-0.78,-117.3,163.9,-7.6,342,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2003,3918,0,0,0,0,0,0
$STATE,2196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2196,begin apogee
$GC,2199,-0.23,0.0,173.0,-7.3,364,2308,0.52,0.00,96.47,1.198,6,0.129,0.000,3189,2003,3439,0,0,0,0,1,0
$STATE,2310,end apogee,CONTROL_FINISHED_OK
$STATE,2310,begin climb
$GC,2311,0.78,117.3,175.4,0.0,380,2421,0.98,1.85,96.20,1.187,4,0.093,0.068,3519,947,2960,0,0,0,0,1,0
$GC,2536,0.78,117.3,159.8,10.4,416,2545,0.00,1.80,0.00,0.000,6,0.000,0.057,3519,2011,2965,0,0,0,0,0,0
$GC,2687,0.78,117.3,145.2,10.4,441,2693,0.00,1.75,0.00,0.000,4,0.000,0.067,3528,943,2965,0,0,0,0,0,0
$GC,2793,0.78,117.3,133.7,11.4,459,2800,0.00,1.75,0.00,0.000,6,0.000,0.057,3527,2015,2964,0,0,0,0,0,0
$GC,2939,0.78,117.3,118.3,10.1,484,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2015,2964,0,0,0,0,0,0
$GC,3088,0.78,117.3,103.3,10.6,509,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2014,2964,0,0,0,0,0,0
$GC,3232,0.78,117.3,88.3,11.0,534,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2015,2964,0,0,0,0,0,0
$GC,3379,0.78,117.3,72.0,11.1,559,3386,0.00,1.70,0.00,0.000,4,0.000,0.073,3527,3068,2963,0,0,0,0,0,0
$GC,3499,0.78,117.3,59.2,10.5,579,3505,0.00,1.67,0.00,0.000,6,0.000,0.057,3535,2007,2964,0,0,0,0,0,0
$GC,3643,0.78,117.3,44.5,9.8,604,3652,0.00,1.75,0.00,0.000,4,0.000,0.070,3544,943,2964,0,0,0,0,0,0
$GC,3919,0.78,117.3,19.2,8.5,650,3928,0.00,1.73,0.00,0.000,6,0.000,0.057,3544,2006,2964,0,0,0,0,0,0
$GC,4001,0.78,118.4,13.7,7.0,663,4010,0.00,1.75,1.00,0.241,4,0.000,0.073,3544,3071,2952,0,0,0,0,0,0
$STATE,4213,end climb,SURFACE_DEPTH_REACHED
$STATE,4213,begin surface coast
$FINISH,1.2,1.021005
$STATE,4504,end surface coast,CONTROL_FINISHED_OK
$STATE,4504,begin surface
$SM_CCo,4521,74.28,0.141,0,0,2089,330.17
$SM_GC,1.85,0.00,0.00,74.28,0.000,0.000,0.141,139,1998,2089,-9.79,-0.34,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4719.74,-12154.23,290212,101027
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.32
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,10.60
$XPDR_PINGS,5
$24V_AH,23.7,1.245
$10V_AH,10.5,1.543
$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,23.025,31.300,193.675,74.275,0.000,25.688,28.550,273.506,1.250,0.000,19.752,1679.559,467.260,362.491,2399.162,106.950,33.225,1018.183,0.000,2095.411,0.000,0.830,0.000
$DEVICE_MAMPS,245.565,89.505,1197.990,140.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.245,1698.339,1572.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50411,747
$CAP_FILE_SIZE,72941,0
$CFSIZE,260280320,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,290212,124648,4743.411,-12224.308,19,1.0,19,16.6