version: 66.11
glider: 189
mission: 29
dive: 9
start: 1 15 114 3 56 9
data:
$ID,189
$MISSION,29
$DIVE,9
$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,-57103.305
$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
$GPS1,150114,034734,4744.771,-12224.386,23,0.8,24,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.6
$GPS2,150114,035508,4744.780,-12224.395,22,0.8,24,16.6
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.044,-0.230
$KALMAN_X,-1731.7,-262.2,226.7,2209.6,-281.0
$KALMAN_Y,-271.4,-453.2,395.1,3977.2,819.9
$MHEAD_RNG_PITCHd_Wd,152.7,535,-13.1,-7.500,-17.78,2937
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.63,-146.6,149,2274,1704,1580,0.0,0.0,0,57,0.00,0.00,-38.20,0.000,16386,0.000,0.000,149,2274,2772,2782,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.63,-146.6,149,2274,2782,2762,2.5,-4.3,6,88,8.40,2.30,-13.80,0.000,18692,0.216,0.060,2362,3671,3277,3319,3235,0,0,0,0,0,0,25.56,25.76,26.05
$GC,168,-0.63,-146.6,2362,3671,3333,3224,10.2,-9.1,25,176,0.05,2.25,0.00,0.000,3078,0.185,0.032,2377,2198,3277,3334,3221,0,0,0,0,0,0,25.75,25.85,28.83
$GC,238,-0.63,-146.6,1444,2196,3319,3214,17.0,-9.2,38,246,0.00,2.20,0.00,0.000,2564,0.000,0.043,2377,820,3278,3338,3219,0,0,0,0,0,0,28.83,25.89,28.83
$GC,329,-0.63,-146.6,2377,820,3338,3219,26.9,-11.2,49,338,0.00,2.30,0.00,0.000,3078,0.000,0.036,2368,2267,3278,3338,3218,0,0,0,0,0,0,28.83,25.95,28.83
$GC,459,-0.63,-146.6,2368,2267,3338,3218,40.3,-10.2,62,460,0.00,0.00,0.00,0.000,2054,0.000,0.000,2368,2267,3278,3338,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,579,-0.63,-146.6,2368,2267,3338,3218,52.6,-10.3,74,588,0.00,2.25,0.00,0.000,2308,0.000,0.046,2358,3670,3278,3338,3218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,659,-0.63,-146.6,2358,3670,3338,3218,61.8,-12.1,82,669,0.05,2.25,0.00,0.000,3078,0.139,0.031,2375,2219,3278,3338,3219,0,0,0,0,0,0,25.98,26.08,28.83
$GC,790,-0.63,-146.6,2374,2218,3338,3218,75.3,-10.3,95,791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2375,2218,3278,3338,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.63,-146.6,2375,2218,3339,3218,87.6,-10.1,107,918,0.00,2.33,0.00,0.000,2308,0.000,0.046,2365,3671,3278,3338,3218,0,0,0,0,0,0,28.83,26.13,28.83
$GC,969,-0.63,-146.6,2365,3672,3338,3218,93.9,-10.4,113,978,0.00,2.22,0.00,0.000,3078,0.000,0.031,2366,2219,3278,3339,3218,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1099,-0.63,-146.6,2366,2219,3339,3218,107.5,-10.3,126,1108,0.00,2.20,0.00,0.000,2564,0.000,0.043,2366,819,3278,3339,3218,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1199,-0.63,-146.6,2365,819,3337,3217,118.5,-11.4,136,1209,0.08,2.28,0.00,0.000,3078,0.173,0.037,2385,2265,3278,3339,3218,0,0,0,0,0,0,26.08,26.20,28.83
$GC,1330,-0.63,-146.6,2385,2264,3339,3217,131.5,-9.8,149,1337,0.00,0.00,0.00,0.000,4102,0.000,0.000,2386,2265,3278,3339,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1459,-0.63,-146.6,2385,2265,3339,3218,144.0,-9.7,162,1468,0.00,2.28,0.00,0.000,4612,0.000,0.042,2386,819,3278,3339,3218,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1619,-0.63,-146.6,2385,819,3339,3218,159.9,-9.5,178,1628,0.00,2.28,0.00,0.000,5126,0.000,0.037,2376,2268,3278,3339,3217,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1749,-0.63,-146.6,2376,2268,3339,3217,172.9,-10.6,191,1750,0.00,0.00,0.00,0.000,2054,0.000,0.000,2376,2268,3278,3339,3217,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1827,begin apogee
$GC,1832,-0.17,0.0,2376,2268,3339,3217,180.7,-9.2,199,1949,0.43,0.00,113.57,1.135,10246,0.120,0.000,2525,2268,2678,2764,2592,0,0,0,0,0,0,26.18,28.83,23.53
$STATE,1950,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1953,0.63,146.6,2525,2267,2765,2593,184.4,0.0,211,2079,0.75,0.00,120.22,1.113,10758,0.079,0.000,2783,2268,2079,2182,1977,0,0,0,0,0,0,24.41,28.83,23.37
$GC,2200,0.63,146.6,2783,2268,2177,1977,161.3,12.0,236,2208,0.00,2.33,0.00,0.000,4356,0.000,0.042,2784,3671,2076,2176,1977,0,0,0,0,0,0,28.83,25.14,28.83
$GC,2249,0.63,146.6,2783,3671,2176,1977,154.2,14.4,241,2259,0.03,2.33,0.00,0.000,5126,0.184,0.034,2786,2223,2076,2175,1977,0,0,0,0,0,0,25.20,25.29,28.83
$GC,2379,0.63,146.6,2786,2223,2175,1977,136.8,13.4,254,2388,0.00,2.28,0.00,0.000,4612,0.000,0.045,2795,823,2076,2175,1977,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2469,0.63,146.6,2795,823,2174,1977,124.7,13.2,263,2479,0.05,2.33,0.00,0.000,5126,0.183,0.034,2780,2273,2075,2174,1977,0,0,0,0,0,0,25.56,25.65,28.83
$GC,2599,0.63,146.6,2780,2273,2174,1977,107.9,13.1,276,2600,0.00,0.00,0.00,0.000,2054,0.000,0.000,2780,2273,2075,2174,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,0.63,146.6,2780,2273,2173,1977,90.8,14.1,288,2720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2780,2273,2075,2173,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,0.63,146.6,2780,2273,2173,1977,74.4,13.0,300,2848,0.00,2.33,0.00,0.000,2564,0.000,0.044,2789,824,2075,2173,1977,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2879,0.63,146.6,2789,824,2172,1977,69.0,13.5,304,2888,0.00,2.28,0.00,0.000,5126,0.000,0.034,2789,2270,2074,2172,1977,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3009,0.63,146.6,2789,2269,2172,1977,52.7,11.9,317,3019,0.00,2.25,0.00,0.000,4356,0.000,0.042,2789,3675,2074,2171,1977,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3099,0.63,146.6,2789,3675,2171,1977,39.8,14.3,326,3109,0.08,2.28,0.00,0.000,5126,0.171,0.033,2777,2217,2074,2172,1977,0,0,0,0,0,0,25.91,26.03,28.83
$GC,3229,0.63,146.6,2776,2217,2171,1977,24.7,11.1,339,3238,0.00,2.22,0.00,0.000,2564,0.000,0.044,2786,817,2074,2171,1977,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3295,0.63,146.6,1792,817,2116,1968,16.5,12.4,348,3302,0.00,2.25,0.00,0.000,5126,0.000,0.035,2786,2284,2074,2171,1977,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3365,0.63,146.6,2786,2284,2171,1977,7.4,14.4,361,3373,0.00,2.33,0.00,0.000,4612,0.000,0.044,2797,826,2074,2171,1977,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,3399,end climb,SURFACE_DEPTH_REACHED
$STATE,3399,begin surface coast
$FINISH,0.4,1.022473
$STATE,3420,end surface coast,CONTROL_FINISHED_OK
$STATE,3420,begin surface
$SM_CCo,3439,38.20,0.149,0,0,1657,250.21
$SM_GC,1.62,7.05,2.28,38.20,0.045,0.037,0.149,152,2264,1657,-7.52,-0.68,250.21,0,0,0,0,0,0,26.10,26.12,25.85
$IRIDIUM_FIX,4729.30,-12203.72,150114,020201
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.17
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,146.0,50.0
$24V_AH,23.4,2.229
$10V_AH,10.2,2.279
$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,16.950,54.575,233.800,38.200,0.000,28.841,44.572,270.506,4.250,0.000,24.892,887.268,1336.417,402.535,1191.895,123.513,33.215,786.490,0.000,638.053,0.000,28.756,0.000
$DEVICE_MAMPS,216.495,59.670,1135.260,149.175,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.935,796.789,572.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23795,371
$CAP_FILE_SIZE,60007,0
$CFSIZE,260165632,253255680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150114,045504,4744.774,-12224.346,29,0.7,29,16.6