version: 66.09
glider: 189
mission: 1
dive: 18
start: 2 29 112 14 14 33
data:
$ID,189
$MISSION,1
$DIVE,18
$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,-41201.441
$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
$GPS1,290212,140628,4742.810,-12224.272,29,0.8,30,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.2
$GPS2,290212,141335,4742.946,-12224.578,37,0.9,37,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,-0.134
$KALMAN_X,-195.5,-113.3,25.1,295.8,-139.5
$KALMAN_Y,3910.5,-2014.5,581.8,-3012.0,222.5
$MHEAD_RNG_PITCHd_Wd,175.0,532,-23.4,-7.003
$D_GRID,179
$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,-1.12,-47.3,0.0,0.0,0,58,0.00,0.00,-40.85,0.000,2,0.000,0.000,130,2003,3076,0,0,0,0,0,0
$GC,60,-1.16,-77.3,2.2,-4.0,5,101,11.38,1.75,-21.25,0.000,4,0.248,0.083,2888,952,3749,0,0,0,0,0,0
$GC,240,-1.16,-77.3,20.5,-12.1,33,248,0.00,1.75,0.00,0.000,6,0.000,0.059,2881,2013,3751,0,0,0,0,0,0
$GC,322,-1.16,-77.3,31.0,-11.0,46,330,0.00,1.73,0.00,0.000,4,0.000,0.072,2873,3064,3750,0,0,0,0,0,0
$GC,338,-1.16,-77.3,32.8,-11.1,48,347,0.00,1.70,0.00,0.000,6,0.000,0.055,2873,2006,3751,0,0,0,0,0,0
$GC,419,-1.16,-77.3,41.7,-11.4,61,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2006,3751,0,0,0,0,0,0
$GC,562,-1.16,-77.3,56.2,-10.4,86,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2006,3751,0,0,0,0,0,0
$GC,710,-1.16,-77.3,71.9,-10.9,111,717,0.00,1.70,0.00,0.000,4,0.000,0.071,2865,3073,3751,0,0,0,0,0,0
$GC,978,-1.16,-77.3,101.8,-11.0,157,985,0.12,1.67,0.00,0.000,6,0.189,0.054,2893,2004,3750,0,0,0,0,0,0
$GC,1124,-1.16,-77.3,115.7,-9.4,182,1133,0.00,1.73,0.00,0.000,4,0.000,0.070,2887,3064,3751,0,0,0,0,0,0
$GC,1158,-1.16,-77.3,118.7,-9.6,187,1164,0.00,1.65,0.00,0.000,6,0.000,0.054,2887,1999,3751,0,0,0,0,0,0
$GC,1303,-1.16,-77.3,133.7,-10.4,212,1311,0.00,1.75,0.00,0.000,4,0.000,0.071,2878,3073,3751,0,0,0,0,0,0
$GC,1451,-1.16,-77.3,148.6,-9.7,237,1458,0.00,1.65,0.00,0.000,6,0.000,0.054,2878,2003,3750,0,0,0,0,0,0
$GC,1596,-1.16,-77.3,162.6,-9.7,262,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2003,3751,0,0,0,0,0,0
$GC,1745,-1.16,-77.3,178.1,-10.5,287,1751,0.00,1.70,0.00,0.000,4,0.000,0.070,2871,3069,3750,0,0,0,0,0,0
$STATE,1758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1758,begin apogee
$GC,1763,-0.23,0.0,179.6,-10.5,289,1837,1.05,0.00,64.32,1.151,6,0.161,0.000,3192,2003,3436,0,0,0,0,1,0
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1839,1.16,77.3,181.5,0.0,300,1917,1.33,1.90,64.47,1.135,4,0.090,0.067,3646,950,3123,0,0,0,0,1,0
$GC,2015,1.16,77.3,165.4,13.2,328,2023,0.00,1.80,0.00,0.000,6,0.000,0.056,3646,2013,3129,0,0,0,0,0,0
$GC,2163,1.16,77.3,146.9,13.4,353,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2013,3129,0,0,0,0,0,0
$GC,2307,1.16,77.3,128.3,12.0,378,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2013,3129,0,0,0,0,0,0
$GC,2455,1.16,77.3,110.2,11.9,403,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2013,3129,0,0,0,0,0,0
$GC,2600,1.16,77.3,92.4,12.5,428,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2013,3129,0,0,0,0,0,0
$GC,2749,1.16,77.3,75.1,11.0,453,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,2013,3129,0,0,0,0,0,0
$GC,2893,1.16,77.3,58.7,12.0,478,2902,0.00,1.73,0.00,0.000,4,0.000,0.070,3646,3073,3129,0,0,0,0,0,0
$GC,3142,1.16,77.3,29.1,11.4,520,3151,0.00,1.70,0.00,0.000,6,0.000,0.057,3654,2012,3129,0,0,0,0,0,0
$GC,3224,1.16,77.3,21.0,9.9,533,3233,0.00,1.75,0.00,0.000,4,0.000,0.070,3662,945,3129,0,0,0,0,0,0
$GC,3241,1.16,77.3,19.5,9.0,535,3250,0.00,1.73,0.90,0.217,6,0.000,0.058,3662,2005,3118,0,0,0,0,0,0
$GC,3324,1.16,77.3,14.2,7.1,548,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,3662,2005,3123,0,0,0,0,0,0
$GC,3405,1.16,78.9,9.2,6.8,561,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,3662,2004,3123,0,0,0,0,0,0
$GC,3486,1.27,163.8,6.9,-1.4,574,3527,0.00,1.75,30.75,0.155,4,0.000,0.067,3670,953,2766,0,0,0,0,0,0
$STATE,3616,end climb,SURFACE_DEPTH_REACHED
$STATE,3616,begin surface coast
$FINISH,0.4,1.009351
$STATE,3694,end surface coast,CONTROL_FINISHED_OK
$STATE,3694,begin surface
$SM_CCo,3712,58.75,0.142,0,0,2089,330.17
$SM_GC,1.92,0.00,0.00,58.75,0.000,0.000,0.142,132,2024,2089,-9.81,0.40,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4713.38,-12056.19,290212,121258
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.44
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.60
$XPDR_PINGS,3
$24V_AH,23.8,1.372
$10V_AH,10.5,1.748
$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,23.400,34.575,160.450,58.750,0.000,26.504,29.307,263.497,0.750,0.000,38.343,1376.770,387.465,326.549,2019.157,91.419,33.199,897.844,0.000,1698.915,0.000,0.829,0.000
$DEVICE_MAMPS,247.860,82.620,1150.560,141.525,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.954,1368.343,1268.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40248,607
$CAP_FILE_SIZE,67268,0
$CFSIZE,260280320,258502656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,290212,151800,4742.490,-12224.991,11,1.3,11,16.6