version: 66.11
glider: 189
mission: 29
dive: 12
start: 1 15 114 7 31 0
data:
$ID,189
$MISSION,29
$DIVE,12
$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,90
$T_MISSION,110
$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,-57107.078
$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
$GPS1,150114,071854,4744.071,-12224.098,17,1.1,18,16.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.1
$GPS2,150114,072959,4744.037,-12224.090,18,1.2,19,16.6
$SPEED_LIMITS,0.067,0.223
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.009,-0.223
$KALMAN_X,-2175.9,100.9,46.7,2850.2,-218.6
$KALMAN_Y,835.3,422.6,358.0,671.1,201.6
$MHEAD_RNG_PITCHd_Wd,165.6,1987,-11.4,-6.667,-16.61,3287
$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,-0.57,-146.6,155,2265,1709,1571,0.0,0.0,0,50,0.00,0.00,-32.42,0.000,16386,0.000,0.000,155,2265,2593,2613,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.57,-146.6,155,2265,2613,2572,2.2,-3.1,5,88,8.43,2.33,-19.25,0.000,19204,0.216,0.060,2380,3675,3276,3334,3218,0,0,0,0,0,0,25.54,25.75,26.03
$GC,136,-0.57,-146.6,1472,3674,3320,3213,7.2,-8.4,19,143,0.05,2.25,0.00,0.000,3078,0.188,0.031,2395,2207,3277,3338,3216,0,0,0,0,0,0,25.72,25.82,28.83
$GC,206,-0.57,-146.6,1456,2204,3321,3210,13.3,-8.9,32,214,0.00,2.22,0.00,0.000,2564,0.000,0.043,2395,817,3278,3341,3215,0,0,0,0,0,0,28.83,25.86,28.83
$GC,342,-0.57,-146.6,2395,817,3340,3215,26.0,-9.7,52,352,0.00,2.30,0.00,0.000,3078,0.000,0.036,2386,2264,3278,3341,3215,0,0,0,0,0,0,28.83,25.94,28.83
$GC,472,-0.57,-146.6,2386,2264,3340,3215,38.0,-9.2,65,473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2265,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,592,-0.57,-146.6,2386,2264,3341,3215,48.4,-8.9,77,593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2264,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,712,-0.57,-146.6,2386,2264,3341,3215,60.2,-10.1,89,714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2264,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-0.57,-146.6,2386,2264,3341,3215,71.5,-9.6,101,842,0.00,2.30,0.00,0.000,2564,0.000,0.042,2386,816,3278,3341,3215,0,0,0,0,0,0,28.83,26.13,28.83
$GC,892,-0.57,-146.6,2386,815,3341,3215,77.6,-10.2,107,902,0.05,2.28,0.00,0.000,3078,0.145,0.037,2394,2264,3278,3341,3215,0,0,0,0,0,0,26.03,26.15,28.83
$GC,1023,-0.57,-146.6,2393,2264,3341,3214,89.1,-8.5,120,1024,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,2264,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.57,-146.6,2394,2264,3341,3215,98.2,-7.3,132,1143,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,2264,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.57,-146.6,2394,2264,3342,3215,107.6,-7.7,144,1272,0.00,2.28,0.00,0.000,2564,0.000,0.042,2394,824,3277,3341,3214,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1372,-0.57,-146.6,2394,824,3340,3214,117.1,-8.5,155,1382,0.00,2.28,0.00,0.000,3078,0.000,0.036,2386,2273,3277,3341,3214,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1502,-0.57,-146.6,2385,2272,3341,3214,128.1,-8.9,168,1503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2272,3277,3341,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-0.57,-146.6,2385,2272,3340,3214,137.5,-7.3,180,1632,0.00,2.28,0.00,0.000,2564,0.000,0.041,2386,824,3277,3341,3214,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1682,-0.57,-146.6,2385,824,3341,3214,142.5,-8.5,186,1692,0.08,2.28,0.00,0.000,3078,0.163,0.035,2401,2276,3277,3341,3214,0,0,0,0,0,0,26.17,26.28,28.83
$GC,1813,-0.57,-146.6,2400,2276,3341,3214,151.4,-6.5,199,1822,0.00,2.20,0.00,0.000,4356,0.000,0.045,2392,3666,3277,3340,3214,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1862,-0.57,-146.6,2392,3667,3341,3213,154.7,-6.9,204,1872,0.00,2.22,0.00,0.000,3078,0.000,0.029,2392,2212,3277,3341,3214,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1993,-0.57,-146.6,2391,2212,3341,3214,164.2,-7.3,217,2002,0.00,2.17,0.00,0.000,2564,0.000,0.043,2392,818,3277,3341,3213,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2082,-0.57,-146.6,2391,818,3341,3213,171.8,-8.4,226,2092,0.03,2.25,0.00,0.000,3078,0.168,0.036,2392,2267,3277,3341,3213,0,0,0,0,0,0,26.22,26.32,28.83
$STATE,2121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2121,begin apogee
$GC,2126,-0.17,0.0,2392,2266,3341,3213,174.9,-7.5,230,2243,0.35,0.00,113.03,1.128,10246,0.117,0.000,2520,2266,2678,2764,2593,0,0,0,0,0,0,26.22,28.83,23.57
$STATE,2244,end apogee,CONTROL_FINISHED_OK
$STATE,2244,begin climb
$GC,2246,0.57,146.6,2520,2266,2765,2593,177.4,0.0,242,2373,0.70,0.00,119.90,1.106,10758,0.080,0.000,2764,2266,2079,2179,1980,0,0,0,0,0,0,24.43,28.83,23.38
$GC,2494,0.57,146.6,2764,2266,2175,1979,153.0,12.4,267,2502,0.00,2.40,0.00,0.000,4612,0.000,0.044,2775,820,2077,2175,1979,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2542,0.57,146.6,2775,820,2175,1979,146.6,13.1,272,2552,0.03,2.35,0.00,0.000,5126,0.164,0.034,2767,2269,2076,2174,1979,0,0,0,0,0,0,25.20,25.29,28.83
$GC,2672,0.57,146.6,2766,2269,2173,1979,130.3,12.4,285,2682,0.00,2.30,0.00,0.000,4356,0.000,0.042,2766,3674,2076,2173,1979,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2702,0.57,146.6,2766,3674,2172,1979,126.4,13.0,288,2712,0.00,2.33,0.00,0.000,5126,0.000,0.033,2776,2216,2075,2172,1979,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2832,0.57,146.6,2776,2216,2172,1979,109.3,13.2,301,2842,0.00,2.25,0.00,0.000,4612,0.000,0.044,2787,822,2075,2171,1979,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2942,0.57,146.6,2786,822,2170,1979,93.4,14.9,312,2953,0.08,2.30,0.00,0.000,5126,0.161,0.034,2758,2266,2074,2170,1979,0,0,0,0,0,0,25.70,25.80,28.83
$GC,3072,0.57,146.6,2758,2266,2170,1979,76.1,13.1,325,3074,0.00,0.00,0.00,0.000,2054,0.000,0.000,2758,2265,2074,2170,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,0.57,146.6,2758,2266,2171,1979,61.6,11.3,337,3193,0.00,0.00,0.00,0.000,2054,0.000,0.000,2758,2266,2074,2170,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3312,0.57,146.6,2758,2265,2170,1979,48.1,11.2,349,3314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2758,2265,2074,2170,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,0.57,146.6,2758,2266,2170,1979,34.6,11.6,361,3433,0.00,0.00,0.00,0.000,2054,0.000,0.000,2758,2266,2074,2170,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,0.57,146.6,2758,2265,2170,1979,21.0,11.3,373,3562,0.00,2.30,0.00,0.000,2564,0.000,0.044,2767,819,2074,2170,1979,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3639,0.57,146.6,1744,818,2113,1971,11.3,10.8,388,3646,0.00,2.25,0.00,0.000,5126,0.000,0.036,2767,2283,2074,2169,1979,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3709,0.57,146.6,1744,2280,2114,1971,3.8,10.5,401,3716,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,2283,2074,2169,1979,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3721,end climb,SURFACE_DEPTH_REACHED
$STATE,3721,begin surface coast
$FINISH,0.4,1.019365
$STATE,3748,end surface coast,CONTROL_FINISHED_OK
$STATE,3748,begin surface
$SM_CCo,3764,38.33,0.150,0,0,1654,250.21
$SM_GC,1.86,7.00,0.08,38.33,0.047,0.106,0.150,149,2221,1654,-7.54,0.57,250.21,0,0,0,0,0,0,26.10,26.20,25.86
$IRIDIUM_FIX,4729.30,-12210.84,150114,070724
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.05
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.1
$ALTIM_BOTTOM_PING,135.4,48.8
$24V_AH,23.4,2.535
$10V_AH,10.1,2.473
$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,16.775,50.175,232.925,38.325,0.000,54.296,91.881,344.194,4.000,0.000,20.203,982.390,1548.706,399.655,1423.070,121.861,33.231,810.236,0.000,699.950,0.000,28.556,0.000
$DEVICE_MAMPS,215.730,106.335,1127.610,149.940,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,279.013,876.246,630.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26996,408
$CAP_FILE_SIZE,66615,0
$CFSIZE,260165632,253132800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,083511,4743.226,-12224.290,19,0.8,19,16.6