version: 66.11
glider: 189
mission: 6
dive: 3
start: 8 23 112 19 45 0
data:
$ID,189
$MISSION,6
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,15
$T_BOOST,0
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,720
$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,200
$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,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,-44405.188
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$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,3146
$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,-80.363632
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,230812,194000,4743.914,-12223.628,14,1.1,15,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.5
$GPS2,230812,194400,4743.924,-12223.613,14,1.1,15,16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.284
$KALMAN_X,109.2,96.1,89.7,-129.0,82.6
$KALMAN_Y,44.1,50.1,52.3,876.9,35.9
$MHEAD_RNG_PITCHd_Wd,327.3,1080,-14.9,-10.000
$D_GRID,164
$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,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.02,-195.4,0.0,0.0,0,90,0.00,0.00,-67.62,0.000,2,0.000,0.000,157,2023,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-1.02,-195.4,2.4,-5.7,12,134,10.85,2.28,-25.17,0.000,4,0.226,0.067,2953,3431,3944,0,0,0,0,0,0,26.09,26.36,26.72
$GC,185,-1.02,-195.4,13.1,-13.9,29,191,0.00,2.17,0.00,0.000,6,0.000,0.037,2953,1995,3945,0,0,0,0,0,0,28.83,26.41,28.83
$GC,253,-1.02,-195.4,23.2,-14.7,40,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1995,3946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,373,-1.02,-195.4,42.6,-16.3,52,378,0.00,2.25,0.00,0.000,4,0.000,0.054,2942,3438,3946,0,0,0,0,0,0,28.83,26.44,28.83
$GC,394,-1.02,-195.4,46.1,-16.2,54,399,0.00,2.20,0.00,0.000,6,0.000,0.037,2942,1989,3946,0,0,0,0,0,0,28.83,26.47,28.83
$GC,526,-1.02,-195.4,65.1,-14.3,67,531,0.00,2.20,0.00,0.000,4,0.000,0.060,2942,596,3946,0,0,0,0,0,0,28.83,26.46,28.83
$GC,588,-1.02,-195.4,74.8,-16.4,73,594,0.15,2.17,0.00,0.000,6,0.151,0.040,2972,2031,3946,0,0,0,0,0,0,26.38,26.53,28.83
$GC,720,-1.02,-195.4,94.2,-14.9,86,726,0.00,2.17,0.00,0.000,4,0.000,0.054,2963,3427,3946,0,0,0,0,0,0,28.83,26.51,28.83
$GC,795,-1.02,-195.4,104.5,-13.9,93,803,0.00,2.17,0.00,0.000,6,0.000,0.037,2964,1992,3946,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,916,begin apogee
$GC,919,-0.26,0.0,121.3,-14.1,105,1008,0.73,0.00,83.55,1.090,6,0.116,0.000,3206,1992,3147,0,0,0,0,0,0,26.43,28.83,24.37
$STATE,1011,end apogee,CONTROL_FINISHED_OK
$STATE,1011,begin climb
$GC,1013,1.02,195.4,125.6,0.0,114,1105,1.20,0.00,88.22,1.074,6,0.070,0.000,3630,1992,2348,0,0,0,0,0,0,25.29,28.83,24.20
$GC,1222,1.17,314.7,121.3,5.9,136,1284,0.12,2.35,53.62,1.046,4,0.093,0.057,3692,591,1861,0,0,0,0,0,0,25.86,25.13,24.38
$GC,1360,1.17,314.7,104.8,15.1,149,1366,0.00,2.25,0.00,0.000,6,0.000,0.037,3689,2027,1857,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1486,1.17,314.7,87.6,12.4,162,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,3689,2028,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,1.17,314.7,73.0,12.2,174,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,3689,2028,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1726,1.17,314.7,58.4,12.2,186,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,3689,2028,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,1.17,314.7,42.5,13.9,198,1851,0.00,2.30,0.00,0.000,4,0.000,0.059,3699,588,1855,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1991,1.17,314.7,24.7,11.9,212,1998,0.00,2.20,0.00,0.000,6,0.000,0.037,3698,2030,1854,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2117,1.17,314.7,8.0,13.5,234,2124,0.00,2.30,0.00,0.000,4,0.000,0.060,3708,585,1854,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2151,1.17,314.7,3.6,13.4,240,2158,0.12,2.20,0.00,0.000,6,0.163,0.037,3678,2025,1854,0,0,0,0,0,0,26.34,26.50,28.83
$STATE,2163,end climb,SURFACE_DEPTH_REACHED
$STATE,2163,begin surface coast
$FINISH,0.3,1.002159
$STATE,2185,end surface coast,CONTROL_FINISHED_OK
$STATE,2185,begin surface
$SM_CCo,2202,70.07,0.137,0,0,1105,500.17
$SM_GC,1.01,9.35,0.00,70.07,0.048,0.000,0.137,157,2027,1105,-9.77,0.48,500.17,0,0,0,0,0,0,26.50,28.83,26.16
$IRIDIUM_FIX,4713.38,-12246.60,230812,191927
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.09
$INTERNAL_PRESSURE,8.81158
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,121.3,52.3
$SC_FREEKB,7768736
$TM_FREEKB,7894048
$24V_AH,24.2,2.585
$10V_AH,10.4,2.909
$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,22.525,31.225,225.400,70.075,0.000,0.000,0.000,0.000,3.000,0.000,15.801,609.907,836.424,376.051,498.295,26.011,31.303,672.575,0.000,455.101,0.000,21.042,0.000
$DEVICE_MAMPS,226.440,67.320,1090.125,136.935,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2166.000,2164.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.368,393.827,0.000,0.000
$MEM,322656
$DATA_FILE_SIZE,6766,246
$CAP_FILE_SIZE,89877,0
$CFSIZE,260034560,257253376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230812,202341,4744.312,-12223.716,18,1.0,18,16.6