version: 66.09
glider: 189
mission: 1
dive: 12
start: 2 29 112 6 11 4
data:
$ID,189
$MISSION,1
$DIVE,12
$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,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$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,-41193.891
$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,15
$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
$GPS1,290212,055925,4743.271,-12224.307,39,1.2,39,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.7
$GPS2,290212,061007,4743.325,-12224.266,14,1.3,14,16.6
$SPEED_LIMITS,0.121,0.183
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.048,0.177
$KALMAN_X,-931.9,62.7,-168.2,1431.7,-275.9
$KALMAN_Y,1793.8,654.0,-519.1,-1771.2,-1037.5
$MHEAD_RNG_PITCHd_Wd,358.5,1880,-16.6,-7.003
$D_GRID,208
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.86,-88.0,0.0,0.0,0,50,0.00,0.00,-32.67,0.000,2,0.000,0.000,137,2007,2872,0,0,0,0,0,0
$GC,52,-0.86,-88.0,2.1,-4.6,4,102,11.70,1.77,-29.60,0.000,4,0.246,0.090,2978,3067,3795,0,0,0,0,0,0
$GC,122,-0.86,-88.0,5.2,-5.7,13,130,0.00,1.73,0.00,0.000,6,0.000,0.056,2978,2002,3797,0,0,0,0,0,0
$GC,203,-0.86,-88.0,8.8,-6.4,26,212,0.00,1.77,0.00,0.000,4,0.000,0.073,2971,3068,3797,0,0,0,0,0,0
$GC,482,-0.86,-88.0,28.3,-6.5,72,490,0.00,1.70,0.00,0.000,6,0.000,0.055,2971,2006,3797,0,0,0,0,0,0
$GC,563,-0.86,-88.0,34.4,-7.8,85,572,0.00,1.75,0.00,0.000,4,0.000,0.074,2963,3066,3797,0,0,0,0,0,0
$GC,834,-0.86,-88.0,61.7,-10.0,131,841,0.12,1.67,0.00,0.000,6,0.177,0.056,2991,2002,3797,0,0,0,0,0,0
$GC,980,-0.86,-88.0,73.9,-8.2,156,989,0.00,1.75,0.00,0.000,4,0.000,0.073,2985,3069,3797,0,0,0,0,0,0
$GC,1246,-0.86,-88.0,97.3,-9.2,202,1255,0.00,1.70,0.00,0.000,6,0.000,0.055,2986,2003,3797,0,0,0,0,0,0
$GC,1396,-0.86,-88.0,109.0,-8.0,227,1403,0.00,1.73,0.00,0.000,4,0.000,0.073,2978,3074,3797,0,0,0,0,0,0
$GC,1669,-0.86,-88.0,131.3,-9.1,273,1675,0.00,1.67,0.00,0.000,6,0.000,0.054,2978,2002,3797,0,0,0,0,0,0
$GC,1813,-0.86,-88.0,143.8,-7.6,298,1822,0.00,1.73,0.00,0.000,4,0.000,0.073,2970,3061,3797,0,0,0,0,0,0
$GC,2081,-0.86,-88.0,164.9,-7.9,344,2090,0.00,1.67,0.00,0.000,6,0.000,0.055,2970,2003,3797,0,0,0,0,0,0
$STATE,2175,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2175,begin apogee
$GC,2178,-0.23,0.0,172.5,-7.8,360,2268,0.70,0.00,76.20,1.088,6,0.143,0.000,3192,2003,3439,0,0,0,0,1,0
$STATE,2269,end apogee,CONTROL_FINISHED_OK
$STATE,2269,begin climb
$GC,2270,0.86,88.0,173.8,0.0,373,2359,1.05,1.88,77.60,0.666,4,0.093,0.070,3552,950,3069,0,0,0,0,0,0
$GC,2621,0.86,88.0,144.0,9.6,431,2627,0.00,1.75,0.00,0.000,6,0.000,0.058,3552,2014,3067,0,0,0,0,0,0
$GC,2765,0.86,88.0,129.9,9.7,456,2774,0.00,1.77,0.00,0.000,4,0.000,0.067,3559,955,3066,0,0,0,0,0,0
$GC,2915,0.86,88.0,115.5,10.0,481,2922,0.00,1.70,0.00,0.000,6,0.000,0.057,3559,2014,3065,0,0,0,0,0,0
$GC,3060,0.86,88.0,101.2,8.4,506,3068,0.00,1.77,0.00,0.000,4,0.000,0.067,3568,948,3066,0,0,0,0,0,0
$GC,3085,0.86,88.0,98.6,9.7,510,3094,0.00,1.75,0.00,0.000,6,0.000,0.058,3567,2013,3066,0,0,0,0,0,0
$GC,3235,0.86,88.0,84.6,9.3,535,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2013,3066,0,0,0,0,0,0
$GC,3378,0.86,88.0,70.9,9.7,560,3387,0.00,1.75,0.00,0.000,4,0.000,0.068,3575,956,3066,0,0,0,0,0,0
$GC,3644,0.86,88.0,45.8,9.1,606,3653,0.00,1.73,0.00,0.000,6,0.000,0.057,3576,2014,3066,0,0,0,0,0,0
$GC,3794,0.86,88.0,33.4,8.8,631,3803,0.00,1.75,0.00,0.000,4,0.000,0.067,3583,951,3065,0,0,0,0,0,0
$GC,3864,0.86,88.0,27.4,8.2,642,3874,0.10,1.73,0.00,0.000,6,0.162,0.058,3552,2011,3066,0,0,0,0,0,0
$GC,3947,0.86,88.0,20.7,8.3,655,3955,0.00,1.73,0.00,0.000,4,0.000,0.075,3550,3061,3065,0,0,0,0,0,0
$GC,3963,0.86,88.0,19.3,8.1,657,3972,0.00,1.70,0.00,0.000,6,0.000,0.058,3557,2002,3066,0,0,0,0,0,0
$GC,4046,0.86,88.0,11.6,9.4,670,4054,0.00,1.73,0.00,0.000,4,0.000,0.070,3566,956,3066,0,0,0,0,0,0
$GC,4062,0.86,88.0,10.0,9.5,672,4071,0.00,1.73,0.00,0.000,6,0.000,0.059,3565,2013,3065,0,0,0,0,0,0
$GC,4143,0.94,148.8,4.8,3.7,685,4169,0.00,1.77,21.27,0.151,4,0.000,0.074,3565,3074,2825,0,0,0,0,0,0
$STATE,4253,end climb,SURFACE_DEPTH_REACHED
$STATE,4253,begin surface coast
$FINISH,1.5,1.021121
$STATE,4331,end surface coast,CONTROL_FINISHED_OK
$STATE,4331,begin surface
$SM_CCo,4348,63.92,0.138,0,0,2088,330.17
$SM_GC,1.99,0.00,0.00,63.92,0.000,0.000,0.138,133,2004,2088,-9.81,-0.17,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4732.49,-12155.56,290212,060636
$TT8_MAMPS,0.026964,0.026964
$HUMID,28.97
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,120.0,67.4
$24V_AH,24.2,0.949
$10V_AH,10.5,1.099
$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,23.400,48.600,175.075,63.925,0.000,53.948,68.353,362.190,2.250,0.000,15.327,1621.225,520.456,339.372,2479.559,96.552,33.208,983.541,0.000,1996.102,0.000,10.848,0.000
$DEVICE_MAMPS,245.565,90.270,1087.830,138.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.200,1611.738,1496.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323472
$DATA_FILE_SIZE,50441,715
$CAP_FILE_SIZE,77846,0
$CFSIZE,260280320,258752512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,290212,072519,4743.411,-12223.964,17,1.5,17,16.6