version: 66.09
glider: 189
mission: 1
dive: 9
start: 2 29 112 2 2 41
data:
$ID,189
$MISSION,1
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,168
$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,80
$T_MISSION,90
$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,-41190.113
$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,3282
$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,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
$GPS1,290212,014836,4743.604,-12224.624,34,1.7,34,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.4
$GPS2,290212,020142,4743.673,-12224.742,17,1.5,17,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.178,0.108
$KALMAN_X,-222.9,677.5,-207.2,-439.9,-441.6
$KALMAN_Y,2981.6,2025.4,-226.5,-3967.3,-258.1
$MHEAD_RNG_PITCHd_Wd,42.2,1829,-13.9,-7.000
$D_GRID,175
$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,-0.78,-117.3,0.0,0.0,0,112,0.00,0.00,-94.80,0.000,2,0.000,0.000,137,2010,2847,0,0,0,0,0,0
$GC,114,-0.78,-117.3,2.2,-2.9,12,171,11.85,1.80,-34.60,0.000,4,0.245,0.096,3013,3071,3917,0,0,0,0,0,0
$GC,440,-0.78,-117.3,21.1,-6.5,64,449,0.00,1.73,0.00,0.000,6,0.000,0.055,3013,2001,3918,0,0,0,0,0,0
$GC,521,-0.78,-117.3,27.0,-7.2,77,530,0.00,1.77,0.00,0.000,4,0.000,0.076,3006,3068,3918,0,0,0,0,0,0
$GC,795,-0.78,-117.3,47.2,-7.8,123,801,0.00,1.67,0.00,0.000,6,0.000,0.055,3006,2004,3918,0,0,0,0,0,0
$GC,939,-0.78,-117.3,58.4,-7.2,148,948,0.00,1.75,0.00,0.000,4,0.000,0.075,2999,3063,3918,0,0,0,0,0,0
$GC,1205,-0.78,-117.3,78.9,-8.5,194,1215,0.08,1.70,0.00,0.000,6,0.155,0.056,3021,2001,3917,0,0,0,0,0,0
$GC,1357,-0.78,-117.3,88.5,-6.2,219,1364,0.00,1.73,0.00,0.000,4,0.000,0.075,3015,3069,3917,0,0,0,0,0,0
$GC,1626,-0.78,-117.3,105.4,-5.4,265,1632,0.00,1.65,0.00,0.000,6,0.000,0.054,3015,2002,3918,0,0,0,0,0,0
$GC,1771,-0.78,-117.3,114.2,-5.8,290,1779,0.00,1.75,0.00,0.000,4,0.000,0.075,3007,3067,3918,0,0,0,0,0,0
$GC,2040,-0.78,-117.3,132.2,-6.9,336,2049,0.00,1.67,0.00,0.000,6,0.000,0.056,3008,2010,3918,0,0,0,0,0,0
$GC,2190,-0.78,-117.3,143.4,-8.4,361,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2010,3918,0,0,0,0,0,0
$GC,2333,-0.78,-117.3,155.5,-8.2,386,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2010,3918,0,0,0,0,0,0
$GC,2483,-0.78,-117.3,167.4,-8.4,411,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2010,3918,0,0,0,0,0,0
$STATE,2496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2496,begin apogee
$GC,2499,-0.23,0.0,168.5,-7.9,413,2614,0.60,0.00,102.10,1.057,6,0.134,0.000,3203,2010,3438,0,0,0,0,1,0
$STATE,2615,end apogee,CONTROL_FINISHED_OK
$STATE,2615,begin climb
$GC,2616,0.78,117.3,171.6,0.0,430,2725,0.98,0.00,101.72,0.647,6,0.090,0.000,3527,2009,2950,0,0,0,0,0,0
$GC,2863,0.78,117.3,154.6,9.1,470,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2009,2945,0,0,0,0,0,0
$GC,3013,0.78,117.3,139.8,9.9,495,3019,0.00,1.77,0.00,0.000,4,0.000,0.072,3535,948,2945,0,0,0,0,0,0
$GC,3169,0.78,117.3,122.3,11.0,522,3178,0.00,1.77,0.00,0.000,6,0.000,0.061,3535,2014,2945,0,0,0,0,0,0
$GC,3319,0.78,117.3,106.3,10.4,547,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2014,2944,0,0,0,0,0,0
$GC,3464,0.78,117.3,90.8,10.0,572,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2014,2944,0,0,0,0,0,0
$GC,3612,0.78,117.3,75.8,10.0,597,3618,0.00,1.73,0.00,0.000,4,0.000,0.075,3535,3068,2944,0,0,0,0,0,0
$GC,3676,0.78,117.3,68.6,11.0,608,3684,0.00,1.70,0.00,0.000,6,0.000,0.056,3543,2009,2945,0,0,0,0,0,0
$GC,3826,0.78,117.3,53.1,10.5,633,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2009,2944,0,0,0,0,0,0
$GC,3970,0.78,117.3,40.2,8.5,658,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2009,2945,0,0,0,0,0,0
$GC,4122,0.78,117.3,26.2,10.7,683,4131,0.00,1.75,0.00,0.000,4,0.000,0.075,3543,3067,2944,0,0,0,0,0,0
$GC,4198,0.78,117.3,18.0,11.1,695,4207,0.00,1.70,0.00,0.000,6,0.000,0.057,3550,2006,2944,0,0,0,0,0,0
$GC,4279,0.78,117.3,9.1,10.6,708,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2006,2945,0,0,0,0,0,0
$STATE,4335,end climb,SURFACE_DEPTH_REACHED
$STATE,4335,begin surface coast
$FINISH,2.4,1.020527
$STATE,4372,end surface coast,CONTROL_FINISHED_OK
$STATE,4373,begin surface
$SM_CCo,4387,73.95,0.144,0,0,2086,330.17
$SM_GC,1.32,0.00,0.00,73.95,0.000,0.000,0.144,134,2005,2086,-9.84,-0.14,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4748.51,-12250.50,290212,010128
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.52
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,120.2,73.4
$24V_AH,23.8,0.714
$10V_AH,10.5,0.767
$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,23.075,27.650,203.825,73.950,0.000,82.259,96.698,384.459,3.250,0.000,18.487,1605.709,591.124,397.723,2572.867,90.380,33.232,1066.029,0.000,1992.485,0.000,13.231,0.000
$DEVICE_MAMPS,244.800,95.625,1057.230,143.820,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.350,1587.989,1476.412,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323440
$DATA_FILE_SIZE,50388,723
$CAP_FILE_SIZE,77470,0
$CFSIZE,260280320,258891776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290212,031754,4743.477,-12224.422,26,1.4,26,16.6