version: 66.11
glider: 189
mission: 29
dive: 3
start: 1 14 114 21 57 32
data:
$ID,189
$MISSION,29
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,100
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,57433
$MASS_COMP,4067.7
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$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,-57095.559
$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,2600
$PITCH_DBAND,0
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$PITCH_GAIN,29
$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,2247
$C_ROLL_CLIMB,2247
$HEAD_ERRBAND,15
$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,2678
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.9000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.87886
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043091727
$SEABIRD_T_H,0.00062247959
$SEABIRD_T_I,2.1807595e-05
$SEABIRD_T_J,2.0889163e-06
$SEABIRD_C_G,-10.02883
$SEABIRD_C_H,1.1489301
$SEABIRD_C_I,-0.0012180988
$SEABIRD_C_J,0.00017992272
$GPS1,140114,214936,4742.488,-12225.202,17,0.9,18,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.9
$GPS2,140114,215633,4742.468,-12225.227,17,0.9,18,16.6
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.225
$KALMAN_X,-378.3,-215.8,-192.0,203.9,-252.1
$KALMAN_Y,-547.8,-334.2,-300.9,566.8,-372.6
$MHEAD_RNG_PITCHd_Wd,13.3,4188,-17.5,-10.000,-21.09,2221
$D_GRID,180
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-146.6,165,2261,614,444,0.0,0.0,0,94,0.00,0.00,-76.22,0.000,16386,0.000,0.000,165,2261,2776,2785,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.78,-146.6,163,2261,2786,2768,2.2,-3.3,12,126,8.25,2.30,-13.55,0.000,18692,0.219,0.060,2336,3672,3278,3316,3240,0,0,0,0,0,0,25.64,25.91,26.24
$GC,179,-0.78,-146.6,2336,3673,3317,3240,8.6,-11.0,26,187,0.05,2.25,0.00,0.000,3078,0.188,0.034,2351,2196,3278,3317,3239,0,0,0,0,0,0,25.85,25.96,28.83
$GC,250,-0.78,-146.6,1424,2193,3296,3235,15.9,-10.0,39,257,0.00,2.17,0.00,0.000,4612,0.000,0.044,2351,822,3278,3317,3240,0,0,0,0,0,0,28.83,25.99,28.83
$GC,311,-0.78,-146.6,2351,822,3317,3240,22.7,-11.4,48,320,0.00,2.28,0.00,0.000,3078,0.000,0.037,2342,2270,3279,3318,3240,0,0,0,0,0,0,28.83,26.03,28.83
$GC,441,-0.78,-146.6,2341,2270,3317,3240,36.6,-10.7,61,442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2342,2270,3279,3318,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,561,-0.78,-146.6,2341,2270,3317,3240,50.7,-11.9,73,570,0.00,2.30,0.00,0.000,2564,0.000,0.043,2342,817,3278,3317,3240,0,0,0,0,0,0,28.83,26.10,28.83
$GC,661,-0.78,-146.6,2341,817,3317,3240,63.9,-13.3,83,671,0.08,2.30,0.00,0.000,3078,0.180,0.038,2359,2271,3278,3316,3240,0,0,0,0,0,0,25.96,26.14,28.83
$GC,791,-0.78,-146.6,2358,2271,3317,3240,78.1,-9.9,96,800,0.00,2.30,0.00,0.000,4612,0.000,0.043,2359,819,3278,3317,3240,0,0,0,0,0,0,28.83,26.15,28.83
$GC,861,-0.78,-146.6,2359,818,3316,3240,85.5,-11.0,103,870,0.00,2.25,0.00,0.000,5126,0.000,0.037,2350,2258,3278,3316,3240,0,0,0,0,0,0,28.83,26.18,28.83
$GC,991,-0.78,-146.6,2350,2258,3317,3239,98.1,-10.0,116,992,0.00,0.00,0.00,0.000,4102,0.000,0.000,2350,2258,3278,3316,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1111,-0.78,-146.6,2350,2258,3317,3240,109.9,-9.0,128,1121,0.00,2.28,0.00,0.000,4612,0.000,0.043,2350,819,3278,3317,3240,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1181,-0.78,-146.6,2349,819,3317,3240,116.7,-10.1,135,1190,0.00,2.28,0.00,0.000,3078,0.000,0.037,2339,2267,3278,3316,3240,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1313,-0.78,-146.6,2339,2267,3316,3240,130.0,-10.6,148,1319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2339,2267,3278,3316,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1441,-0.78,-146.6,2339,2267,3316,3240,144.5,-9.3,161,1451,0.00,2.28,0.00,0.000,2564,0.000,0.043,2339,822,3277,3316,3239,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1461,-0.78,-146.6,2339,822,3316,3240,146.8,-10.3,163,1471,0.05,2.25,0.00,0.000,3078,0.149,0.037,2346,2267,3278,3316,3240,0,0,0,0,0,0,26.12,26.29,28.83
$GC,1591,-0.78,-146.6,2346,2267,3316,3240,157.9,-8.3,176,1592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2267,3278,3316,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1711,-0.78,-146.6,2346,2267,3316,3240,168.9,-10.1,188,1720,0.00,2.28,0.00,0.000,2564,0.000,0.043,2347,816,3278,3316,3240,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1775,-0.78,-146.6,2347,816,3316,3240,175.3,-10.0,194,1782,0.00,2.25,0.00,0.000,3078,0.000,0.038,2337,2260,3278,3316,3240,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,1828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1829,begin apogee
$GC,1833,-0.17,0.0,2337,2260,3316,3240,180.9,-9.5,200,1951,0.60,0.00,113.47,1.224,10246,0.123,0.000,2542,2260,2678,2762,2595,0,0,0,0,0,0,26.14,28.83,23.39
$STATE,1952,end apogee,CONTROL_FINISHED_OK
$STATE,1952,begin climb
$GC,1954,0.78,146.6,2542,2260,2762,2596,182.8,0.0,212,2081,0.90,0.00,120.68,1.222,10758,0.070,0.000,2858,2260,2079,2180,1979,0,0,0,0,0,0,24.44,28.83,23.29
$GC,2202,0.78,146.6,2857,2260,2175,1978,142.8,20.1,237,2208,0.00,0.00,0.00,0.000,4102,0.000,0.000,2857,2261,2077,2176,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2331,0.78,146.6,2857,2260,2174,1978,115.9,20.2,250,2340,0.00,2.30,0.00,0.000,4356,0.000,0.041,2858,3674,2076,2175,1978,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2371,0.78,146.6,2858,3674,2173,1978,106.8,22.6,254,2381,0.05,2.30,0.00,0.000,5126,0.173,0.034,2854,2226,2075,2173,1978,0,0,0,0,0,0,25.44,25.57,28.83
$GC,2501,0.78,146.6,2854,2225,2173,1978,81.2,19.0,267,2510,0.00,2.28,0.00,0.000,4612,0.000,0.044,2863,813,2075,2172,1978,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2522,0.78,146.6,2863,813,2171,1978,77.3,19.0,269,2531,0.03,2.30,0.00,0.000,5126,0.188,0.036,2855,2264,2075,2172,1978,0,0,0,0,0,0,25.65,25.76,28.83
$GC,2651,0.78,146.6,2855,2264,2171,1978,52.1,18.7,282,2652,0.00,0.00,0.00,0.000,4102,0.000,0.000,2855,2264,2074,2171,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,0.78,146.6,2855,2264,2171,1978,30.2,19.2,294,2780,0.00,2.30,0.00,0.000,4612,0.000,0.044,2864,827,2073,2169,1978,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2811,0.78,146.6,2864,827,2170,1978,22.1,20.4,298,2821,0.03,2.28,0.00,0.000,5126,0.184,0.035,2856,2271,2074,2170,1978,0,0,0,0,0,0,25.84,25.96,28.83
$STATE,2915,end climb,SURFACE_DEPTH_REACHED
$STATE,2915,begin surface coast
$FINISH,0.4,1.010197
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2952,139.90,0.143,0,0,535,525.19
$SM_GC,1.20,7.25,0.00,139.90,0.046,0.000,0.143,147,2271,535,-7.60,0.68,525.19,0,0,0,0,0,0,25.98,28.83,25.50
$IRIDIUM_FIX,4719.74,-12235.86,140114,212117
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.95
$INTERNAL_PRESSURE,8.38513
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.0,16.9
$ALTIM_BOTTOM_PING,175.3,28.6
$24V_AH,23.3,1.634
$10V_AH,10.2,1.956
$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,17.275,45.500,234.150,139.900,0.000,0.000,0.000,0.000,5.750,0.000,20.185,756.632,1084.057,514.996,736.603,72.137,31.310,867.022,0.000,552.619,0.000,37.933,0.000
$DEVICE_MAMPS,218.790,60.435,1224.000,143.055,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.503,689.404,495.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323376
$DATA_FILE_SIZE,20362,321
$CAP_FILE_SIZE,73879,0
$CFSIZE,260165632,253427712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140114,224949,4742.620,-12225.169,16,1.6,16,16.6