version: 66.11
glider: 189
mission: 29
dive: 13
start: 1 15 114 8 44 49
data:
$ID,189
$MISSION,29
$DIVE,13
$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,-57108.336
$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
$GPS1,150114,083511,4743.226,-12224.290,19,0.8,19,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.0
$GPS2,150114,084348,4743.125,-12224.325,21,1.4,22,16.6
$SPEED_LIMITS,0.067,0.223
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.036,0.221
$KALMAN_X,-2510.2,291.9,-55.9,2805.0,-270.8
$KALMAN_Y,391.2,826.8,-118.7,-504.0,-298.3
$MHEAD_RNG_PITCHd_Wd,352.7,2556,-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,-146.6,149,2220,1702,1585,0.0,0.0,0,50,0.00,0.00,-32.38,0.000,16386,0.000,0.000,149,2221,2591,2612,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.57,-146.6,149,2221,2613,2571,2.1,-3.1,5,94,8.43,2.28,-21.02,0.000,18948,0.215,0.056,2388,803,3277,3338,3217,0,0,0,0,0,0,25.56,25.78,26.06
$GC,334,-0.57,-146.6,2388,803,3339,3217,25.6,-10.4,53,344,0.05,2.33,0.00,0.000,3078,0.197,0.036,2394,2265,3278,3340,3216,0,0,0,0,0,0,25.85,25.96,28.83
$GC,464,-0.57,-146.6,2394,2264,3340,3216,36.8,-8.6,66,465,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,2264,3278,3341,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,584,-0.57,-146.6,2394,2264,3341,3216,46.9,-8.3,78,593,0.00,2.30,0.00,0.000,2564,0.000,0.042,2395,818,3277,3340,3215,0,0,0,0,0,0,28.83,26.06,28.83
$GC,644,-0.57,-146.6,2395,818,3341,3216,52.3,-9.0,84,653,0.00,2.30,0.00,0.000,3078,0.000,0.036,2386,2272,3278,3340,3216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,774,-0.57,-146.6,2385,2271,3341,3215,62.8,-7.8,97,783,0.00,2.22,0.00,0.000,2308,0.000,0.045,2375,3666,3278,3341,3215,0,0,0,0,0,0,28.83,26.10,28.83
$GC,833,-0.57,-146.6,2375,3666,3341,3215,67.5,-8.0,103,844,0.08,2.25,0.00,0.000,3078,0.156,0.030,2400,2208,3278,3341,3215,0,0,0,0,0,0,26.03,26.14,28.83
$GC,965,-0.57,-146.6,2400,2206,3341,3215,75.4,-6.0,116,973,0.00,2.17,0.00,0.000,4612,0.000,0.041,2401,823,3277,3341,3214,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1004,-0.57,-146.6,2400,823,3341,3215,78.0,-6.7,120,1013,0.00,2.28,0.00,0.000,3078,0.000,0.036,2392,2269,3278,3342,3215,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1134,-0.57,-146.6,2392,2269,3341,3215,87.0,-7.3,133,1135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2269,3278,3342,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1254,-0.57,-146.6,2391,2269,3342,3215,96.5,-8.1,145,1255,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2269,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.57,-146.6,2391,2269,3341,3215,106.5,-8.4,157,1375,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2269,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1494,-0.57,-146.6,2392,2269,3341,3215,116.4,-8.0,169,1495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2269,3278,3342,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,-0.57,-146.6,2391,2269,3342,3215,125.9,-8.2,181,1615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,2269,3278,3342,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-0.57,-146.6,2391,2270,3341,3215,135.4,-8.1,193,1745,0.00,2.28,0.00,0.000,2564,0.000,0.043,2392,799,3278,3341,3215,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1794,-0.57,-146.6,2391,798,3341,3215,140.2,-8.3,199,1804,0.05,2.30,0.00,0.000,3078,0.189,0.036,2398,2268,3277,3341,3214,0,0,0,0,0,0,26.20,26.29,28.83
$GC,1924,-0.57,-146.6,2398,2268,3341,3215,149.0,-6.3,212,1925,0.00,0.00,0.00,0.000,4102,0.000,0.000,2398,2268,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2044,-0.57,-146.6,2398,2268,3341,3214,156.1,-5.7,224,2053,0.00,2.28,0.00,0.000,4612,0.000,0.042,2399,814,3278,3342,3214,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2084,-0.57,-146.6,2398,814,3341,3215,158.5,-6.1,228,2093,0.00,2.25,0.00,0.000,3078,0.000,0.036,2390,2266,3278,3341,3215,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2214,-0.57,-146.6,2390,2266,3341,3214,167.0,-6.7,241,2215,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,2266,3277,3341,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2334,-0.57,-146.6,2390,2265,3341,3214,175.0,-6.8,253,2343,0.00,2.25,0.00,0.000,2564,0.000,0.041,2390,823,3278,3342,3214,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,2382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2382,begin apogee
$GC,2389,-0.17,0.0,2380,2267,3341,3214,178.5,-7.3,258,2506,0.40,0.00,113.22,1.126,10246,0.119,0.000,2522,2267,2678,2763,2593,0,0,0,0,0,0,26.25,28.83,23.58
$STATE,2507,end apogee,CONTROL_FINISHED_OK
$STATE,2507,begin climb
$GC,2509,0.57,146.6,2522,2267,2765,2593,180.7,0.0,270,2634,0.70,0.00,120.38,1.102,10758,0.081,0.000,2763,2266,2079,2178,1980,0,0,0,0,0,0,24.43,28.83,23.40
$GC,2755,0.57,146.6,2763,2267,2175,1980,155.5,13.7,295,2763,0.00,2.38,0.00,0.000,4612,0.000,0.043,2774,830,2077,2175,1980,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2834,0.57,146.6,2774,829,2173,1979,144.9,12.9,303,2843,0.00,2.33,0.00,0.000,5126,0.000,0.034,2774,2265,2076,2172,1980,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2964,0.57,146.6,2774,2265,2172,1979,128.5,12.2,316,2973,0.00,2.28,0.00,0.000,4356,0.000,0.042,2774,3668,2075,2172,1979,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3023,0.57,146.6,2774,3668,2171,1979,120.4,14.1,322,3034,0.08,2.30,0.00,0.000,5126,0.166,0.033,2762,2221,2075,2171,1979,0,0,0,0,0,0,25.53,25.63,28.83
$GC,3154,0.57,146.6,2762,2222,2171,1980,103.7,11.6,335,3155,0.00,0.00,0.00,0.000,2054,0.000,0.000,2763,2221,2075,2171,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,0.57,146.6,2762,2221,2170,1979,90.4,10.0,347,3283,0.00,2.25,0.00,0.000,2564,0.000,0.045,2772,818,2074,2170,1979,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3314,0.57,146.6,2771,817,2169,1979,85.9,11.2,351,3323,0.00,2.28,0.00,0.000,5126,0.000,0.034,2772,2263,2074,2169,1979,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3444,0.57,146.6,2772,2263,2169,1979,68.6,13.7,364,3453,0.00,2.22,0.00,0.000,4356,0.000,0.043,2772,3664,2074,2169,1979,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3503,0.57,146.6,2771,3664,2169,1979,59.3,15.3,370,3514,0.08,2.25,0.00,0.000,5126,0.164,0.031,2759,2220,2074,2169,1979,0,0,0,0,0,0,25.86,25.96,28.83
$GC,3634,0.57,146.6,2758,2220,2169,1979,43.8,11.3,383,3643,0.00,2.25,0.00,0.000,2564,0.000,0.043,2768,812,2074,2169,1979,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3704,0.57,146.6,2768,812,2168,1979,35.4,11.8,390,3713,0.00,2.30,0.00,0.000,5126,0.000,0.034,2768,2273,2073,2167,1979,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3834,0.57,146.6,2767,2273,2168,1979,19.5,12.0,403,3842,0.00,2.28,0.00,0.000,4612,0.000,0.044,2778,819,2073,2168,1979,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3879,0.57,146.6,2778,819,2167,1979,14.0,11.8,411,3888,0.05,2.25,0.00,0.000,5126,0.135,0.034,2761,2265,2073,2168,1979,0,0,0,0,0,0,25.99,26.10,28.83
$GC,3951,0.57,146.6,1736,2262,2113,1971,6.2,10.5,424,3958,0.00,2.22,0.00,0.000,2308,0.000,0.044,2761,3666,2073,2167,1979,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,3979,end climb,SURFACE_DEPTH_REACHED
$STATE,3979,begin surface coast
$FINISH,0.4,1.022860
$STATE,4000,end surface coast,CONTROL_FINISHED_OK
$STATE,4000,begin surface
$SM_CCo,4017,38.53,0.147,0,0,1655,250.21
$SM_GC,1.84,6.95,2.25,38.53,0.045,0.032,0.147,151,2225,1655,-7.52,0.54,250.21,0,0,0,0,0,0,26.10,26.13,25.85
$IRIDIUM_FIX,4735.69,-12234.67,150114,070744
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.50
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$ALTIM_BOTTOM_PING,135.4,52.5
$24V_AH,23.4,2.634
$10V_AH,10.2,2.542
$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,16.850,63.550,233.600,38.525,0.000,26.086,39.632,337.857,3.750,0.000,22.535,1035.347,1607.064,420.438,1386.629,130.943,33.211,856.387,0.000,741.244,0.000,25.682,0.000
$DEVICE_MAMPS,214.965,55.845,1126.080,146.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.070,929.969,668.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,26878,433
$CAP_FILE_SIZE,69911,0
$CFSIZE,260165632,253087744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,095334,4743.215,-12224.629,40,0.8,40,16.6