version: 66.11
glider: 189
mission: 29
dive: 11
start: 1 15 114 6 20 6
data:
$ID,189
$MISSION,29
$DIVE,11
$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,-57105.82
$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
$GPS1,150114,060529,4744.571,-12224.196,29,1.0,29,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.6
$GPS2,150114,061906,4744.611,-12224.175,29,1.1,30,16.6
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.035,-0.231
$KALMAN_X,-2065.3,-61.0,157.9,2684.4,-212.1
$KALMAN_Y,1062.4,32.6,476.1,1776.2,775.5
$MHEAD_RNG_PITCHd_Wd,154.8,3012,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.63,-146.6,151,2271,1712,1568,0.0,0.0,0,50,0.00,0.00,-32.05,0.000,16386,0.000,0.000,151,2271,2585,2607,2563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.63,-146.6,151,2271,2608,2562,2.3,-3.4,5,88,8.32,2.30,-19.55,0.000,18692,0.213,0.060,2365,3670,3278,3331,3225,0,0,0,0,0,0,25.55,25.76,26.05
$GC,151,-0.63,-146.6,2364,3670,3334,3220,8.7,-8.4,22,159,0.00,2.25,0.00,0.000,3078,0.000,0.031,2364,2220,3278,3338,3218,0,0,0,0,0,0,28.83,25.84,28.83
$GC,222,-0.63,-146.6,2365,2220,3338,3217,15.3,-9.7,35,229,0.00,2.22,0.00,0.000,2564,0.000,0.041,2365,822,3277,3338,3217,0,0,0,0,0,0,28.83,25.88,28.83
$GC,338,-0.63,-146.6,2365,822,3338,3217,28.4,-11.7,50,348,0.08,2.30,0.00,0.000,3078,0.172,0.037,2376,2268,3277,3338,3217,0,0,0,0,0,0,25.83,25.95,28.83
$GC,468,-0.63,-146.6,2376,2268,3339,3217,42.1,-10.2,63,469,0.00,0.00,0.00,0.000,2054,0.000,0.000,2377,2268,3278,3339,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,588,-0.63,-146.6,2376,2267,3339,3217,54.8,-10.2,75,589,0.00,0.00,0.00,0.000,2054,0.000,0.000,2377,2268,3278,3339,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,708,-0.63,-146.6,2376,2268,3339,3217,68.5,-11.6,87,709,0.00,0.00,0.00,0.000,2054,0.000,0.000,2375,2268,3278,3339,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,828,-0.63,-146.6,2376,2268,3339,3217,81.6,-10.6,99,829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2376,2268,3278,3339,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.63,-146.6,2376,2268,3339,3217,93.3,-9.5,111,949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2377,2268,3278,3339,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.63,-146.6,2376,2268,3339,3217,103.4,-8.3,123,1077,0.00,2.30,0.00,0.000,2564,0.000,0.041,2377,819,3277,3339,3216,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1158,-0.63,-146.6,2377,819,3339,3216,111.1,-8.5,132,1167,0.00,2.28,0.00,0.000,3078,0.000,0.037,2368,2264,3277,3339,3216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1288,-0.63,-146.6,2368,2264,3339,3216,122.2,-8.7,145,1297,0.00,2.28,0.00,0.000,2564,0.000,0.041,2368,817,3277,3339,3216,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1379,-0.63,-146.6,2368,817,3339,3216,131.3,-10.2,154,1388,0.05,2.25,0.00,0.000,3078,0.153,0.037,2374,2257,3277,3339,3216,0,0,0,0,0,0,26.12,26.24,28.83
$GC,1508,-0.63,-146.6,2375,2257,3339,3216,144.2,-9.7,167,1517,0.00,2.25,0.00,0.000,2308,0.000,0.046,2366,3670,3277,3339,3216,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1588,-0.63,-146.6,2365,3670,3339,3215,152.0,-9.9,175,1597,0.00,2.25,0.00,0.000,3078,0.000,0.031,2366,2210,3277,3339,3216,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1718,-0.63,-146.6,2366,2210,3339,3216,164.7,-9.6,188,1727,0.00,2.33,0.00,0.000,2308,0.000,0.045,2355,3669,3277,3339,3216,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1778,-0.63,-146.6,2355,3668,3339,3216,170.4,-9.4,194,1788,0.08,2.25,0.00,0.000,3078,0.158,0.031,2379,2207,3277,3338,3216,0,0,0,0,0,0,26.19,26.29,28.83
$STATE,1886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1886,begin apogee
$GC,1891,-0.17,0.0,2379,2267,3339,3215,179.3,-7.6,205,2008,0.40,0.00,113.53,1.128,10246,0.118,0.000,2522,2267,2677,2763,2591,0,0,0,0,0,0,26.20,28.83,23.54
$STATE,2009,end apogee,CONTROL_FINISHED_OK
$STATE,2009,begin climb
$GC,2012,0.63,146.6,2522,2267,2764,2592,182.1,0.0,217,2139,0.77,2.45,120.35,1.108,10500,0.079,0.041,2787,3675,2079,2178,1980,0,0,0,0,0,0,24.41,24.20,23.39
$GC,2169,0.63,146.6,2787,3675,2176,1979,166.6,14.6,233,2178,0.05,2.38,0.00,0.000,5126,0.155,0.032,2782,2228,2077,2176,1979,0,0,0,0,0,0,24.58,24.70,28.83
$GC,2298,0.63,146.6,2782,2228,2175,1979,149.5,12.7,246,2299,0.00,0.00,0.00,0.000,4102,0.000,0.000,2782,2228,2076,2174,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2418,0.63,146.6,2782,2228,2173,1979,133.8,13.4,258,2427,0.00,2.35,0.00,0.000,4356,0.000,0.041,2782,3664,2075,2172,1979,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2458,0.63,146.6,2782,3664,2172,1979,127.9,14.9,262,2470,0.00,2.30,0.00,0.000,5126,0.000,0.031,2792,2200,2075,2172,1979,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2588,0.63,146.6,2792,2200,2171,1979,109.1,14.4,275,2598,0.00,2.20,0.00,0.000,4612,0.000,0.043,2802,827,2074,2170,1979,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2718,0.63,146.6,2802,827,2169,1979,89.2,15.1,288,2728,0.05,2.28,0.00,0.000,5126,0.148,0.034,2786,2266,2074,2169,1979,0,0,0,0,0,0,25.70,25.81,28.83
$GC,2848,0.63,146.6,2785,2266,2169,1979,71.8,12.8,301,2849,0.00,0.00,0.00,0.000,4102,0.000,0.000,2786,2265,2074,2169,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2968,0.63,146.6,2785,2266,2169,1979,56.7,13.1,313,2977,0.00,2.30,0.00,0.000,4612,0.000,0.043,2795,823,2074,2169,1979,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3008,0.63,146.6,2795,822,2168,1979,51.3,13.4,317,3018,0.00,2.30,0.00,0.000,5126,0.000,0.034,2795,2275,2073,2168,1979,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3138,0.63,146.6,2794,2275,2168,1979,34.3,13.0,330,3140,0.05,0.00,0.00,0.000,4102,0.189,0.000,2780,2275,2073,2168,1979,0,0,0,0,0,0,25.99,28.83,28.83
$GC,3259,0.63,146.6,2779,2275,2168,1979,19.3,12.5,342,3266,0.00,0.00,0.00,0.000,2054,0.000,0.000,2779,2275,2073,2168,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3329,0.63,146.6,1760,2272,2113,1970,10.6,11.7,355,3336,0.00,2.30,0.00,0.000,2564,0.000,0.044,2789,811,2073,2168,1979,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,3397,end climb,SURFACE_DEPTH_REACHED
$STATE,3397,begin surface coast
$FINISH,0.4,1.020198
$STATE,3423,end surface coast,CONTROL_FINISHED_OK
$STATE,3423,begin surface
$SM_CCo,3442,38.47,0.149,0,0,1654,250.21
$SM_GC,1.46,7.05,2.30,38.47,0.047,0.037,0.149,155,2265,1654,-7.51,-0.65,250.21,0,0,0,0,0,0,26.08,26.10,25.84
$IRIDIUM_FIX,4735.69,-12208.83,150114,060646
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.30
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,146.2,42.8
$24V_AH,23.4,2.432
$10V_AH,10.1,2.406
$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,16.900,50.475,233.875,38.475,0.000,79.400,165.167,324.881,4.250,0.000,31.167,898.036,1459.363,388.684,1430.967,127.111,33.216,772.360,0.000,641.209,0.000,28.735,0.000
$DEVICE_MAMPS,212.670,107.865,1127.610,149.175,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.762,801.099,576.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,23762,373
$CAP_FILE_SIZE,63391,0
$CFSIZE,260165632,253177856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2460.01,0x235a20,1,24
$GPS,150114,071854,4744.071,-12224.098,17,1.1,18,16.6