version: 66.09
glider: 189
mission: 1
dive: 17
start: 2 29 112 12 54 54
data:
$ID,189
$MISSION,1
$DIVE,17
$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,-41200.184
$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
$GPS1,290212,124648,4743.411,-12224.308,19,1.0,19,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.7
$GPS2,290212,125356,4743.506,-12224.185,13,0.9,14,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.032,-0.206
$KALMAN_X,209.7,-416.7,272.7,432.1,59.8
$KALMAN_Y,4561.9,-2692.2,665.9,-2038.6,828.2
$MHEAD_RNG_PITCHd_Wd,172.1,1678,-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,13,begin dive
$GC,15,-0.78,-117.3,0.0,0.0,0,58,0.00,0.00,-40.88,0.000,2,0.000,0.000,139,1998,3080,0,0,0,0,0,0
$GC,60,-0.78,-117.3,2.3,-3.7,5,110,11.80,1.80,-28.90,0.000,4,0.247,0.090,3007,3070,3915,0,0,0,0,0,0
$GC,248,-0.78,-117.3,15.8,-9.4,34,257,0.00,1.73,0.00,0.000,6,0.000,0.055,3008,2002,3916,0,0,0,0,0,0
$GC,330,-0.78,-117.3,24.5,-10.5,47,339,0.00,1.75,0.00,0.000,4,0.000,0.071,3000,3063,3916,0,0,0,0,0,0
$GC,388,-0.78,-117.3,29.7,-8.5,56,397,0.00,1.70,0.00,0.000,6,0.000,0.054,3000,2004,3916,0,0,0,0,0,0
$GC,470,-0.78,-117.3,36.6,-8.9,69,479,0.00,1.75,0.00,0.000,4,0.000,0.071,2993,3067,3916,0,0,0,0,0,0
$GC,556,-0.78,-117.3,43.6,-7.9,83,563,0.00,1.65,0.00,0.000,6,0.000,0.054,2993,2005,3917,0,0,0,0,0,0
$GC,701,-0.78,-117.3,55.9,-8.8,108,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2005,3916,0,0,0,0,0,0
$GC,849,-0.78,-117.3,68.9,-8.7,133,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2004,3916,0,0,0,0,0,0
$GC,992,-0.78,-117.3,82.3,-9.9,158,1001,0.00,1.73,0.00,0.000,4,0.000,0.071,2985,3061,3916,0,0,0,0,0,0
$GC,1118,-0.78,-117.3,94.9,-10.5,179,1125,0.12,1.67,0.00,0.000,6,0.169,0.055,3015,1996,3916,0,0,0,0,0,0
$GC,1264,-0.78,-117.3,108.9,-9.2,204,1272,0.00,1.73,0.00,0.000,4,0.000,0.071,3009,3056,3916,0,0,0,0,0,0
$GC,1324,-0.78,-117.3,113.9,-8.2,214,1333,0.00,1.67,0.00,0.000,6,0.000,0.055,3009,2003,3916,0,0,0,0,0,0
$GC,1475,-0.78,-117.3,125.8,-8.1,239,1481,0.00,1.70,0.00,0.000,4,0.000,0.070,3001,3069,3917,0,0,0,0,0,0
$GC,1516,-0.78,-117.3,129.5,-7.8,246,1525,0.00,1.67,0.00,0.000,6,0.000,0.055,3001,2010,3916,0,0,0,0,0,0
$GC,1665,-0.78,-117.3,141.4,-8.2,271,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2010,3916,0,0,0,0,0,0
$GC,1809,-0.78,-117.3,153.5,-7.9,296,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2010,3916,0,0,0,0,0,0
$GC,1958,-0.78,-117.3,165.4,-8.3,321,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2010,3916,0,0,0,0,0,0
$STATE,2054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2055,begin apogee
$GC,2058,-0.23,0.0,173.4,-7.5,338,2161,0.57,0.00,99.80,0.703,6,0.134,0.000,3190,2010,3436,0,0,0,0,0,0
$STATE,2162,end apogee,CONTROL_FINISHED_OK
$STATE,2162,begin climb
$GC,2164,0.78,117.3,176.3,0.0,353,2273,0.98,1.85,98.40,0.684,4,0.094,0.067,3525,956,2946,0,0,0,0,0,0
$GC,2325,0.78,117.3,167.7,8.4,378,2333,0.00,1.77,0.00,0.000,6,0.000,0.056,3525,2002,2941,0,0,0,0,0,0
$GC,2475,0.78,117.3,153.7,9.3,403,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2002,2941,0,0,0,0,0,0
$GC,2619,0.78,117.3,139.6,9.6,428,2627,0.00,1.77,0.00,0.000,4,0.000,0.068,3533,949,2941,0,0,0,0,0,0
$GC,2768,0.78,117.3,124.9,10.0,453,2775,0.00,1.73,0.00,0.000,6,0.000,0.057,3533,2011,2941,0,0,0,0,0,0
$GC,2912,0.78,117.3,110.8,9.4,478,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2011,2941,0,0,0,0,0,0
$GC,3061,0.78,117.3,97.2,8.9,503,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2011,2941,0,0,0,0,0,0
$GC,3204,0.78,117.3,85.4,7.7,528,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2011,2940,0,0,0,0,0,0
$GC,3353,0.78,117.3,72.4,9.9,553,3360,0.00,1.73,0.00,0.000,4,0.000,0.073,3533,3074,2941,0,0,0,0,0,0
$GC,3495,0.78,117.3,57.1,11.1,577,3501,0.00,1.70,0.00,0.000,6,0.000,0.057,3541,2002,2941,0,0,0,0,0,0
$GC,3639,0.78,117.3,41.3,9.9,602,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2002,2940,0,0,0,0,0,0
$GC,3792,0.78,117.3,28.3,8.7,627,3801,0.00,1.73,0.00,0.000,4,0.000,0.070,3549,956,2941,0,0,0,0,0,0
$GC,3897,0.80,136.2,19.5,6.2,644,3914,0.00,1.70,6.18,0.169,6,0.000,0.057,3549,2005,2881,0,0,0,0,0,0
$GC,3987,0.80,136.2,13.7,7.0,658,3996,0.00,1.73,0.00,0.000,4,0.000,0.072,3549,3067,2889,0,0,0,0,0,0
$STATE,4114,end climb,SURFACE_DEPTH_REACHED
$STATE,4115,begin surface coast
$FINISH,0.3,1.009463
$STATE,4152,end surface coast,CONTROL_FINISHED_OK
$STATE,4152,begin surface
$SM_CCo,4169,69.40,0.142,0,0,2088,330.17
$SM_GC,1.93,0.00,0.00,69.40,0.000,0.000,0.142,131,2003,2088,-9.82,-0.20,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4713.38,-12228.03,290212,111142
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.52
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,24.3,1.307
$10V_AH,10.5,1.650
$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,22.725,37.975,204.375,69.400,0.000,28.600,33.784,281.346,0.000,0.000,16.200,1540.613,446.787,377.143,2210.991,94.744,33.214,1015.108,0.000,1882.875,0.000,0.829,0.000
$DEVICE_MAMPS,247.095,89.505,703.035,142.290,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.237,1496.577,1390.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46951,685
$CAP_FILE_SIZE,73641,0
$CFSIZE,260280320,258535424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290212,140628,4742.810,-12224.272,29,0.8,30,16.6