version: 66.11
glider: 189
mission: 29
dive: 7
start: 1 15 114 2 7 49
data:
$ID,189
$MISSION,29
$DIVE,7
$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,80
$T_MISSION,100
$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,250
$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,-57100.781
$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,2580
$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
$GPS1,150114,015918,4743.950,-12224.578,13,1.0,13,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-63.9
$GPS2,150114,020648,4743.996,-12224.575,18,1.6,18,16.6
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.027,0.167
$KALMAN_X,-1249.4,-368.1,11.5,1823.0,-32.1
$KALMAN_Y,-1284.0,-509.8,62.9,3926.6,137.6
$MHEAD_RNG_PITCHd_Wd,352.4,938,-20.1,-7.500,-23.91,1425
$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,16,-0.78,-70.5,148,2275,609,448,0.0,0.0,0,88,0.00,0.00,-69.60,0.000,16386,0.000,0.000,148,2275,2610,2629,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.86,-136.5,148,2275,2629,2592,2.0,-2.8,11,125,8.15,2.33,-17.88,0.000,18948,0.217,0.054,2299,812,3235,3276,3195,0,0,0,0,0,0,25.52,25.75,26.03
$GC,148,-0.86,-136.5,1408,811,3253,3190,5.6,-8.9,20,156,0.05,2.28,0.00,0.000,3078,0.216,0.037,2302,2267,3236,3276,3196,0,0,0,0,0,0,25.66,25.79,28.83
$GC,219,-0.86,-136.5,2301,2267,3276,3196,14.6,-13.8,33,227,0.00,2.28,0.00,0.000,2308,0.000,0.045,2293,3671,3235,3276,3195,0,0,0,0,0,0,28.83,25.82,28.83
$GC,321,-0.86,-136.5,2293,3671,3276,3196,29.2,-14.8,46,330,0.00,2.25,0.00,0.000,3078,0.000,0.031,2293,2219,3235,3276,3195,0,0,0,0,0,0,28.83,25.91,28.83
$GC,451,-0.86,-136.5,2293,2220,3276,3195,47.7,-14.5,59,460,0.00,2.25,0.00,0.000,2564,0.000,0.041,2293,803,3236,3276,3196,0,0,0,0,0,0,28.83,25.96,28.83
$GC,692,-0.86,-136.5,2293,803,3276,3195,86.3,-15.7,83,701,0.05,2.30,0.00,0.000,3078,0.163,0.036,2299,2267,3235,3276,3195,0,0,0,0,0,0,25.94,26.08,28.83
$GC,821,-0.86,-136.5,2298,2267,3276,3196,104.7,-13.8,96,822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2298,2267,3235,3276,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.86,-136.5,2298,2267,3276,3195,119.2,-12.2,108,942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2298,2267,3235,3276,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-0.86,-136.5,2298,2267,3276,3195,134.2,-13.2,120,1073,0.00,2.30,0.00,0.000,2564,0.000,0.041,2299,815,3236,3276,3196,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1101,-0.86,-136.5,2299,815,3276,3196,139.8,-13.5,124,1115,0.05,2.30,0.00,0.000,3078,0.203,0.035,2307,2276,3235,3276,3195,0,0,0,0,0,0,26.04,26.17,28.83
$GC,1234,-0.86,-136.5,2306,2276,3276,3195,157.0,-12.7,137,1241,0.00,0.00,0.00,0.000,4102,0.000,0.000,2307,2276,3235,3276,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.86,-136.5,2306,2276,3276,3196,172.1,-11.6,150,1372,0.00,2.30,0.00,0.000,4612,0.000,0.042,2307,817,3235,3276,3195,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1403,-0.86,-136.5,2307,817,3276,3195,176.9,-11.9,154,1412,0.00,2.25,0.00,0.000,3078,0.000,0.035,2298,2265,3235,3275,3195,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,1431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1431,begin apogee
$GC,1436,-0.17,0.0,2298,2265,3275,3195,180.5,-12.1,157,1545,0.68,0.00,105.90,1.130,10246,0.135,0.000,2521,2265,2678,2763,2593,0,0,0,0,0,0,26.09,28.83,23.52
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1549,0.86,136.5,2521,2265,2764,2594,183.6,0.0,168,1665,1.00,0.00,111.80,1.109,11014,0.088,0.000,2860,2265,2120,2223,2018,0,0,0,0,0,0,24.41,28.83,23.37
$GC,1783,0.86,136.5,2860,2265,2220,2018,148.9,17.3,192,1784,0.00,0.00,0.00,0.000,4102,0.000,0.000,2860,2265,2119,2220,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,0.86,136.5,2860,2265,2218,2018,126.0,19.1,204,1904,0.00,0.00,0.00,0.000,4102,0.000,0.000,2860,2265,2118,2218,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2023,0.86,136.5,2860,2265,2218,2018,102.8,17.7,216,2024,0.00,0.00,0.00,0.000,4102,0.000,0.000,2860,2265,2117,2217,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2143,0.86,136.5,2860,2265,2216,2018,81.0,17.1,228,2152,0.00,2.28,0.00,0.000,4356,0.000,0.042,2860,3668,2117,2216,2018,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2203,0.86,136.5,2860,3668,2216,2018,70.1,18.4,234,2213,0.05,2.30,0.00,0.000,5126,0.214,0.034,2858,2217,2117,2216,2019,0,0,0,0,0,0,25.67,25.79,28.83
$GC,2333,0.86,136.5,2858,2218,2216,2018,48.8,15.9,247,2342,0.00,2.22,0.00,0.000,4612,0.000,0.044,2867,822,2117,2215,2019,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2403,0.86,136.5,2867,822,2214,2018,36.9,17.3,254,2412,0.00,2.30,0.00,0.000,5126,0.000,0.034,2867,2274,2116,2214,2018,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2533,0.86,136.5,1840,2271,2158,2009,14.9,15.3,270,2540,0.00,0.00,0.00,0.000,4102,0.000,0.000,2867,2274,2116,2214,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,0.86,136.5,1864,2271,2160,2009,5.4,11.6,283,2610,0.00,2.22,0.00,0.000,4356,0.000,0.041,2866,3671,2116,2214,2018,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,2621,end climb,SURFACE_DEPTH_REACHED
$STATE,2622,begin surface coast
$FINISH,0.3,1.010558
$STATE,2643,end surface coast,CONTROL_FINISHED_OK
$STATE,2643,begin surface
$SM_CCo,2662,41.55,0.148,0,0,1655,250.21
$SM_GC,1.73,7.30,2.28,41.55,0.048,0.034,0.148,149,2217,1655,-7.52,0.51,250.21,0,0,0,0,0,0,26.01,26.02,25.75
$IRIDIUM_FIX,4722.92,-12210.14,150114,000044
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.22
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,145.3,46.3
$24V_AH,23.4,2.052
$10V_AH,10.2,2.171
$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,17.325,36.425,217.700,41.550,0.000,27.031,41.850,273.532,4.750,0.000,19.849,688.840,978.599,377.222,1018.282,100.471,33.228,702.941,0.000,501.898,0.000,32.832,0.000
$DEVICE_MAMPS,217.260,53.550,1129.905,148.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.576,622.817,447.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323324
$DATA_FILE_SIZE,20373,290
$CAP_FILE_SIZE,49932,0
$CFSIZE,260165632,253325312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150114,025337,4744.628,-12224.578,15,1.7,15,16.6