version: 66.13
glider: 189
mission: 32
dive: 2
start: 2 13 117 17 50 9
data:
$ID,189
$MISSION,32
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$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,50
$T_MISSION,65
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53221
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,627.77997
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,125
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,5
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.42656
$PRESSURE_SLOPE,0.00010724171
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,130217,174605,4743.3452,-12224.4424,13,0.8,15,16.6,0.4,323.9,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.1
$GPS2,130217,174950,4743.3560,-12224.4463,18,0.8,22,16.6,0.0,334.9,11,9.6
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,245.2,739,-17.5,-10.000,-21.08,2221
$D_GRID,176
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,83,2701,574,499,0.0,0.0,0,164,0.00,0.00,-141.95,0.000,16386,0.000,0.000,82,2701,3471,3576,3367,0,0,0,0,0,0,15.00,28.83,15.02
$GC,167,-1.22,-146.6,84,2701,3577,3372,2.0,-1.5,24,196,9.57,2.90,-6.78,0.000,18724,0.476,2.429,1922,3817,3699,3820,3578,0,0,1,0,0,0,14.51,13.75,14.81
$GC,341,-0.09,-146.6,1922,3819,3821,3579,47.6,-28.2,57,351,1.60,2.45,0.00,0.000,3206,0.387,0.268,2292,2703,3699,3820,3578,0,0,0,0,0,0,14.54,14.59,14.78
$GC,532,-0.87,-146.6,2286,2703,3826,3575,57.1,-5.1,94,542,0.73,2.55,0.00,0.000,4516,0.144,0.304,2041,3810,3696,3819,3574,0,0,0,0,0,0,14.70,14.60,14.78
$GC,547,-1.39,-146.6,2041,3810,3826,3578,58.1,-5.8,96,557,0.50,2.47,0.00,0.000,5286,0.125,0.281,1867,2700,3698,3822,3574,0,0,0,0,0,0,14.74,14.62,14.83
$GC,737,-0.15,-146.6,1867,2700,3825,3574,108.7,-30.7,133,747,1.73,3.20,0.00,0.000,2692,0.393,0.288,2267,1286,3699,3825,3574,0,0,0,0,0,0,14.56,14.60,14.82
$GC,808,-1.15,-146.6,2267,1286,3826,3574,114.5,-2.9,146,818,1.00,3.28,0.00,0.000,5286,0.159,0.309,1944,2700,3699,3825,3573,0,0,0,0,0,0,14.70,14.61,14.83
$STATE,966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,966,begin apogee
$GC,971,-0.29,0.0,1945,2193,3826,3574,151.2,-27.2,177,1130,1.15,0.00,148.20,1.131,10246,0.360,0.000,2223,2192,3091,3201,2982,0,0,0,0,0,0,14.58,14.24,13.90
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1137,1.22,146.6,2224,2193,3195,2979,161.5,0.0,203,1309,1.67,3.45,149.50,1.053,10756,0.216,0.317,2721,786,2489,2573,2405,0,0,0,0,0,0,14.30,14.10,13.88
$GC,1319,0.06,146.6,2722,785,2560,2402,134.0,27.9,229,1329,1.70,3.50,0.00,0.000,5254,0.374,0.317,2341,2202,2483,2564,2403,0,0,0,0,0,0,14.18,14.19,14.40
$GC,1510,0.78,312.4,2341,2202,2563,2386,123.4,2.4,266,1755,0.62,3.42,231.62,0.925,10660,0.098,0.317,2572,3607,1815,1905,1725,0,0,0,0,0,0,14.61,14.14,13.93
$GC,1891,0.45,312.4,2571,3607,1886,1720,39.4,22.0,333,1901,0.45,3.33,0.00,0.000,5254,0.301,0.311,2466,2204,1802,1885,1720,0,0,0,0,0,0,14.43,14.40,14.62
$GC,2081,0.55,312.4,2466,2202,1886,1715,14.6,11.9,370,2091,0.00,3.42,0.00,0.000,644,0.000,0.328,2465,782,1799,1885,1714,0,0,0,0,0,0,14.86,14.49,14.88
$GC,2106,0.73,312.4,2466,781,1885,1715,11.9,11.6,374,2116,0.28,3.42,0.00,0.000,3206,0.114,0.327,2570,2199,1799,1884,1714,0,0,0,0,0,0,14.68,14.52,14.76
$STATE,2159,end climb,SURFACE_DEPTH_REACHED
$STATE,2159,begin surface coast
$FINISH,0.3,1.015377
$STATE,2170,end surface coast,CONTROL_FINISHED_OK
$STATE,2170,begin surface
$SM_CCo,2200,193.57,0.158,0,0,538,627.97
$SM_GC,1.00,7.53,1.20,193.57,0.125,0.311,0.158,82,2703,538,-6.95,-0.11,627.97,0,0,0,0,0,0,14.69,14.57,14.61
$IRIDIUM_FIX,4722.92,-12225.08,130217,174236
$TT8_MAMPS,0.039697,0.477862
$HUMID,39.05
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,15.60
$XPDR_PINGS,0
$SC_FREEKB,3909696
$TM_FREEKB,7835552
$PM_FREEKB,62318208
$24V_AH,13.75,1.796
$10V_AH,13.87,0.000
$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,28.525,39.725,529.325,193.575,0.000,0.000,0.000,0.000,0.000,0.000,22.810,0.000,587.287,743.421,1098.878,48.901,0.000,1217.046,0.000,794.961,0.000,0.532,0.000
$DEVICE_MAMPS,475.830,2428.875,1131.435,158.355,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,10.270,29.000,34.990,0.000,10.700,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2149.000,2164.000,2149.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.426,18.129,4.108,0.000
$MEM,193428
$DATA_FILE_SIZE,13463,386
$CAP_FILE_SIZE,59264,0
$CFSIZE,260165632,256892928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$CURRENT,0.204,30.28,1
$GPS,130217,183122,4743.500,-12224.632,38,0.9,40,16.6,0.4,336.7,11,8.0