version: 66.11
glider: 189
mission: 29
dive: 14
start: 1 15 114 10 3 12
data:
$ID,189
$MISSION,29
$DIVE,14
$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,-57109.594
$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
$GPS1,150114,095334,4743.215,-12224.629,40,0.8,40,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.5
$GPS2,150114,100211,4743.157,-12224.688,18,0.9,19,16.6
$SPEED_LIMITS,0.067,0.223
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.114,0.192
$KALMAN_X,-3440.7,583.4,-88.2,3028.2,-590.3
$KALMAN_Y,-662.8,1202.9,-634.3,751.7,-736.6
$MHEAD_RNG_PITCHd_Wd,14.2,2497,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-146.6,151,2267,1705,1580,0.0,0.0,0,57,0.00,0.00,-38.15,0.000,16386,0.000,0.000,151,2267,2748,2759,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.57,-146.6,151,2267,2759,2738,2.1,-3.1,6,94,8.38,2.28,-15.23,0.000,18692,0.213,0.061,2379,3665,3277,3320,3234,0,0,0,0,0,0,25.56,25.77,26.05
$GC,328,-0.57,-146.6,2379,3665,3321,3234,25.7,-10.7,52,338,0.05,2.25,0.00,0.000,3078,0.181,0.030,2396,2216,3278,3321,3235,0,0,0,0,0,0,25.86,25.96,28.83
$GC,458,-0.57,-146.6,2395,2216,3321,3235,40.3,-11.2,65,468,0.00,2.22,0.00,0.000,2564,0.000,0.041,2396,819,3277,3320,3235,0,0,0,0,0,0,28.83,26.01,28.83
$GC,528,-0.57,-146.6,2395,819,3320,3235,48.8,-12.5,72,538,0.00,2.30,0.00,0.000,3078,0.000,0.036,2387,2271,3277,3320,3235,0,0,0,0,0,0,28.83,26.03,28.83
$GC,658,-0.57,-146.6,2387,2271,3320,3235,62.9,-9.7,85,659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2387,2271,3277,3320,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-0.57,-146.6,2387,2271,3320,3235,72.0,-6.9,97,788,0.00,2.28,0.00,0.000,2564,0.000,0.040,2387,825,3277,3320,3234,0,0,0,0,0,0,28.83,26.12,28.83
$GC,858,-0.57,-146.6,2386,824,3320,3234,79.6,-10.5,105,869,0.08,2.28,0.00,0.000,3078,0.161,0.037,2401,2266,3277,3320,3235,0,0,0,0,0,0,26.03,26.13,28.83
$GC,988,-0.57,-146.6,2400,2266,3320,3234,91.2,-8.4,118,990,0.00,0.00,0.00,0.000,4102,0.000,0.000,2401,2266,3277,3321,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1108,-0.57,-146.6,2400,2266,3320,3234,100.7,-7.6,130,1118,0.00,2.28,0.00,0.000,4612,0.000,0.041,2401,821,3277,3320,3234,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1169,-0.57,-146.6,2401,820,3320,3234,105.6,-7.9,136,1178,0.00,2.25,0.00,0.000,3078,0.000,0.037,2393,2263,3277,3320,3235,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1299,-0.57,-146.6,2392,2263,3320,3234,114.3,-6.6,149,1300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2263,3277,3320,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-0.57,-146.6,2393,2263,3320,3235,123.1,-7.7,161,1419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2263,3277,3319,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1539,-0.57,-146.6,2392,2263,3320,3235,133.5,-8.6,173,1548,0.00,2.28,0.00,0.000,2564,0.000,0.041,2393,817,3277,3320,3235,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1608,-0.57,-146.6,2393,817,3320,3235,139.7,-8.9,180,1622,0.03,2.28,0.00,0.000,3078,0.167,0.035,2392,2270,3277,3319,3235,0,0,0,0,0,0,26.20,26.27,28.83
$GC,1740,-0.57,-146.6,2392,2270,3320,3235,149.0,-6.6,193,1750,0.00,2.20,0.00,0.000,2308,0.000,0.044,2383,3663,3277,3320,3235,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1800,-0.57,-146.6,2383,3663,3320,3235,153.2,-7.1,199,1810,0.05,2.22,0.00,0.000,3078,0.179,0.030,2400,2207,3277,3320,3235,0,0,0,0,0,0,26.21,26.30,28.83
$GC,1930,-0.57,-146.6,2400,2207,3320,3235,161.1,-6.1,212,1939,0.00,2.17,0.00,0.000,4612,0.000,0.041,2401,813,3277,3320,3234,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2000,-0.57,-146.6,2401,813,3320,3235,166.2,-7.7,219,2009,0.00,2.28,0.00,0.000,3078,0.000,0.035,2393,2269,3277,3320,3235,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2130,-0.57,-146.6,2393,2268,3319,3235,175.2,-6.6,232,2131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2269,3277,3320,3235,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2208,begin apogee
$GC,2213,-0.17,0.0,2393,2269,3320,3235,180.7,-6.9,240,2330,0.38,0.00,113.45,1.129,10246,0.115,0.000,2527,2268,2678,2762,2594,0,0,0,0,0,0,26.26,28.83,23.58
$STATE,2331,end apogee,CONTROL_FINISHED_OK
$STATE,2331,begin climb
$GC,2333,0.57,146.6,2527,2269,2763,2596,183.4,0.0,252,2460,0.70,0.00,120.47,1.120,10246,0.080,0.000,2768,2268,2078,2178,1979,0,0,0,0,0,0,24.43,28.83,23.39
$GC,2581,0.57,146.6,2767,2268,2175,1979,159.4,11.6,277,2588,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,2269,2076,2174,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,0.57,146.6,2767,2268,2174,1979,144.0,12.5,290,2711,0.00,0.00,0.00,0.000,4102,0.000,0.000,2767,2268,2076,2173,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,0.57,146.6,2767,2268,2172,1979,126.1,15.8,302,2839,0.00,2.35,0.00,0.000,4612,0.000,0.043,2779,824,2075,2172,1978,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2900,0.57,146.6,2779,823,2171,1979,114.7,16.3,309,2910,0.03,2.30,0.00,0.000,5126,0.164,0.033,2769,2266,2075,2171,1979,0,0,0,0,0,0,25.60,25.70,28.83
$GC,3030,0.57,146.6,2769,2266,2171,1978,94.9,15.2,322,3031,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,2267,2074,2171,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,0.57,146.6,2769,2266,2171,1978,78.5,13.1,334,3151,0.00,0.00,0.00,0.000,4102,0.000,0.000,2769,2266,2074,2171,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3270,0.57,146.6,2769,2266,2170,1978,64.4,11.9,346,3279,0.00,2.33,0.00,0.000,4612,0.000,0.043,2778,817,2074,2170,1978,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3310,0.57,146.6,2778,818,2169,1978,58.9,13.7,350,3320,0.05,2.30,0.00,0.000,5126,0.184,0.034,2758,2268,2073,2169,1978,0,0,0,0,0,0,25.86,25.96,28.83
$GC,3440,0.57,146.6,2758,2268,2169,1978,45.1,8.2,363,3449,0.00,2.22,0.00,0.000,2308,0.000,0.042,2757,3664,2073,2169,1978,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3500,0.57,146.6,2757,3664,2169,1978,39.5,10.0,369,3509,0.00,2.25,0.00,0.000,5126,0.000,0.031,2767,2221,2073,2169,1978,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3630,0.57,146.6,2766,2220,2168,1978,26.2,10.7,382,3639,0.00,2.22,0.00,0.000,4612,0.000,0.044,2777,816,2073,2169,1978,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3722,0.57,146.6,2777,816,2169,1978,15.6,11.5,394,3730,0.05,2.25,0.00,0.000,5126,0.178,0.035,2761,2284,2073,2168,1978,0,0,0,0,0,0,26.01,26.10,28.83
$GC,3792,0.57,146.6,1736,2281,2113,1970,8.1,11.1,407,3799,0.00,0.00,0.00,0.000,2054,0.000,0.000,2762,2284,2073,2168,1978,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3840,end climb,SURFACE_DEPTH_REACHED
$STATE,3840,begin surface coast
$FINISH,0.4,1.009257
$STATE,3866,end surface coast,CONTROL_FINISHED_OK
$STATE,3866,begin surface
$SM_CCo,3882,38.22,0.147,0,0,1656,250.21
$SM_GC,1.75,6.95,0.08,38.22,0.046,0.107,0.147,152,2223,1656,-7.51,0.62,250.21,0,0,0,0,0,0,26.11,26.20,25.87
$IRIDIUM_FIX,4729.30,-12236.62,150114,080843
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.18
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,140.4,53.7
$24V_AH,23.4,2.734
$10V_AH,10.2,2.610
$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,16.725,49.900,233.925,38.225,0.000,27.873,41.942,334.144,4.000,0.000,19.616,1004.007,1545.297,410.855,1355.288,128.442,33.212,834.467,0.000,721.879,0.000,27.205,0.000
$DEVICE_MAMPS,213.435,138.465,1129.140,146.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.763,904.285,650.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26957,421
$CAP_FILE_SIZE,66373,0
$CFSIZE,260165632,253050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,110928,4743.187,-12224.745,26,0.9,26,16.6