version: 66.11
glider: 189
mission: 29
dive: 8
start: 1 15 114 3 1 39
data:
$ID,189
$MISSION,29
$DIVE,8
$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,-57102.043
$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
$GPS1,150114,025337,4744.628,-12224.578,15,1.7,15,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.6
$GPS2,150114,030038,4744.693,-12224.565,17,0.9,19,16.6
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,-0.149
$KALMAN_X,-1546.5,-317.1,144.9,1950.8,-187.5
$KALMAN_Y,-1023.8,-492.9,276.8,4727.6,361.4
$MHEAD_RNG_PITCHd_Wd,142.8,367,-21.6,-7.500,-25.27,1249
$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,-0.82,-61.7,148,2267,1705,1581,0.0,0.0,0,50,0.00,0.00,-32.60,0.000,16386,0.000,0.000,149,2268,2590,2612,2569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.89,-119.7,148,2268,2612,2570,2.1,-2.8,5,87,8.10,2.33,-16.58,0.000,18948,0.217,0.057,2288,819,3168,3214,3122,0,0,0,0,0,0,25.55,25.78,26.05
$GC,135,-0.89,-119.7,1392,818,3189,3116,8.2,-11.3,19,143,0.05,2.25,0.00,0.000,3078,0.222,0.037,2292,2266,3168,3215,3122,0,0,0,0,0,0,25.70,25.83,28.83
$GC,206,-0.89,-119.7,2291,2266,3215,3122,17.3,-13.6,32,214,0.00,2.30,0.00,0.000,2564,0.000,0.041,2292,825,3168,3214,3122,0,0,0,0,0,0,28.83,25.87,28.83
$GC,273,-0.89,-119.7,2292,825,3215,3122,26.1,-13.4,40,282,0.00,2.28,0.00,0.000,3078,0.000,0.035,2283,2265,3168,3215,3121,0,0,0,0,0,0,28.83,25.93,28.83
$GC,403,-0.89,-119.7,2283,2265,3215,3122,43.2,-13.2,53,404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2283,2265,3168,3215,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,523,-0.89,-119.7,2283,2265,3215,3122,58.9,-12.9,65,532,0.00,2.25,0.00,0.000,2308,0.000,0.044,2272,3673,3168,3215,3121,0,0,0,0,0,0,28.83,26.02,28.83
$GC,623,-0.89,-119.7,2272,3673,3215,3121,72.6,-13.7,75,633,0.08,2.25,0.00,0.000,3078,0.184,0.031,2293,2219,3168,3215,3121,0,0,0,0,0,0,25.93,26.07,28.83
$GC,753,-0.89,-119.7,2293,2219,3215,3121,89.8,-13.6,88,754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2293,2219,3168,3215,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,873,-0.89,-119.7,2293,2219,3215,3121,104.0,-12.0,100,885,0.00,2.22,0.00,0.000,2564,0.000,0.042,2294,815,3167,3214,3121,0,0,0,0,0,0,28.83,26.13,28.83
$GC,966,-0.89,-119.7,2294,815,3215,3121,115.9,-13.5,109,973,0.00,2.25,0.00,0.000,3078,0.000,0.037,2284,2259,3167,3214,3121,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1094,-0.89,-119.7,2284,2259,3214,3121,134.6,-15.4,122,1095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2284,2259,3168,3215,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-0.89,-119.7,2284,2259,3214,3121,151.3,-13.9,134,1215,0.00,0.00,0.00,0.000,2054,0.000,0.000,2284,2259,3167,3214,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1334,-0.89,-119.7,2284,2259,3214,3121,167.1,-13.3,146,1343,0.00,2.28,0.00,0.000,2564,0.000,0.042,2284,817,3167,3214,3121,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1440,-0.17,0.0,2273,2268,3215,3121,180.9,-13.7,156,1536,0.75,0.00,92.70,1.134,10246,0.142,0.000,2518,2268,2677,2762,2593,0,0,0,0,0,0,26.10,28.83,23.62
$STATE,1537,end apogee,CONTROL_FINISHED_OK
$STATE,1537,begin climb
$GC,1539,0.89,119.7,2518,2268,2763,2595,185.7,0.0,166,1645,1.02,2.45,97.78,1.118,10500,0.081,0.043,2866,3674,2189,2282,2096,0,0,0,0,0,0,24.51,24.22,23.38
$GC,1684,0.89,119.7,2867,3675,2281,2096,169.2,16.9,181,1694,0.03,2.38,0.00,0.000,5126,0.207,0.033,2870,2224,2188,2281,2096,0,0,0,0,0,0,24.68,24.79,28.83
$GC,1814,0.89,119.7,2870,2224,2279,2096,146.1,17.8,194,1823,0.00,2.28,0.00,0.000,4612,0.000,0.043,2880,827,2187,2279,2096,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1863,0.89,119.7,2880,827,2277,2096,136.4,19.3,199,1874,0.05,2.33,0.00,0.000,5126,0.168,0.034,2866,2267,2186,2277,2095,0,0,0,0,0,0,25.30,25.43,28.83
$GC,1994,0.89,119.7,2866,2267,2277,2095,113.0,17.9,212,1995,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,2267,2186,2277,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,0.89,119.7,2866,2267,2276,2096,92.6,16.9,224,2115,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,2267,2186,2276,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2234,0.89,119.7,2866,2267,2276,2096,71.2,18.5,236,2235,0.00,0.00,0.00,0.000,4102,0.000,0.000,2866,2267,2186,2276,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,0.89,119.7,2866,2267,2276,2096,49.4,18.1,248,2363,0.00,2.25,0.00,0.000,4356,0.000,0.043,2866,3671,2185,2276,2095,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2473,0.89,119.7,2865,3671,2275,2095,28.1,18.0,260,2483,0.00,2.28,0.00,0.000,5126,0.000,0.032,2875,2216,2185,2275,2095,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2604,0.89,119.7,1856,2213,2217,2086,4.3,18.5,281,2612,0.00,2.20,0.00,0.000,4612,0.000,0.042,2886,825,2185,2275,2095,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,0.4,1.010526
$STATE,2634,end surface coast,CONTROL_FINISHED_OK
$STATE,2634,begin surface
$SM_CCo,2652,48.28,0.149,0,0,1655,250.21
$SM_GC,1.86,7.35,2.30,48.28,0.048,0.037,0.149,149,2274,1655,-7.53,-0.40,250.21,0,0,0,0,0,0,26.02,26.03,25.74
$IRIDIUM_FIX,4719.74,-12221.66,150114,020246
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.81
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.0
$ALTIM_BOTTOM_PING,145.7,49.8
$24V_AH,23.4,2.134
$10V_AH,10.2,2.219
$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,17.425,41.175,190.475,48.275,0.000,25.317,39.541,251.522,4.500,0.000,19.807,700.991,1018.183,336.152,981.725,95.369,33.225,639.956,0.000,496.363,0.000,31.623,0.000
$DEVICE_MAMPS,221.850,136.170,1134.495,149.175,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.969,614.225,441.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323332
$DATA_FILE_SIZE,20304,286
$CAP_FILE_SIZE,49886,0
$CFSIZE,260165632,253296640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150114,034734,4744.771,-12224.386,23,0.8,24,16.6