version: 66.11
glider: 189
mission: 29
dive: 2
start: 1 14 114 20 51 16
data:
$ID,189
$MISSION,29
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,120
$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,40
$T_MISSION,60
$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,525
$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,-56997.078
$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,2645
$PITCH_DBAND,0
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$PITCH_GAIN,20
$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
$GPS1,140114,204605,4742.606,-12224.907,15,0.9,15,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.9
$GPS2,140114,205018,4742.587,-12224.925,19,0.9,19,16.6
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,0.237
$KALMAN_X,-73.9,-73.9,-73.9,12.4,-130.0
$KALMAN_Y,-152.2,-152.2,-152.2,64.7,-267.7
$MHEAD_RNG_PITCHd_Wd,7.5,3832,-17.5,-10.000,-21.09,2221
$D_GRID,120
$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,15,-1.06,-146.6,162,2270,613,445,0.0,0.0,0,101,0.00,0.00,-82.53,0.000,16386,0.000,0.000,162,2270,2969,2973,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-1.06,-146.6,162,2270,2974,2965,2.4,-4.6,13,126,8.10,2.35,-8.32,0.000,18948,0.218,0.056,2304,814,3277,3314,3241,0,0,0,0,0,0,25.61,25.95,26.27
$GC,420,-1.06,-146.6,2304,814,3314,3242,43.7,-14.9,58,430,0.00,2.30,0.00,0.000,3078,0.000,0.037,2295,2270,3278,3314,3242,0,0,0,0,0,0,28.83,26.10,28.83
$GC,550,-1.06,-146.6,2295,2270,3314,3242,63.0,-14.4,71,552,0.00,0.00,0.00,0.000,2054,0.000,0.000,2295,2270,3278,3314,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,670,-1.06,-146.6,2295,2270,3314,3242,78.4,-12.1,83,680,0.00,2.30,0.00,0.000,2564,0.000,0.041,2295,815,3278,3314,3242,0,0,0,0,0,0,28.83,26.15,28.83
$GC,730,-1.06,-146.6,2295,814,3314,3242,86.3,-13.2,89,741,0.08,2.30,0.00,0.000,3078,0.188,0.037,2306,2276,3278,3314,3242,0,0,0,0,0,0,25.97,26.17,28.83
$GC,861,-1.06,-146.6,2305,2276,3314,3242,101.6,-12.3,102,862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2306,2276,3278,3314,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-1.06,-146.6,2305,2276,3314,3242,116.9,-12.4,114,990,0.00,2.30,0.00,0.000,2564,0.000,0.042,2306,817,3278,3314,3242,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1017,-0.25,0.0,2297,2267,3314,3242,120.9,-13.5,117,1074,0.82,0.00,52.70,1.141,10246,0.141,0.000,2563,2267,2677,2761,2593,0,0,0,0,0,0,25.96,28.83,23.99
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1077,1.06,146.6,2563,2267,2762,2593,123.9,0.0,123,1142,1.20,2.35,55.83,1.112,10500,0.071,0.040,2991,3678,2079,2174,1984,0,0,0,0,0,0,24.99,24.49,23.56
$GC,1210,1.06,146.6,2991,3679,2164,1984,94.4,29.8,137,1220,0.05,2.38,0.00,0.000,5126,0.192,0.034,2988,2216,2074,2164,1984,0,0,0,0,0,0,25.02,25.17,28.83
$GC,1340,1.06,146.6,2988,2216,2162,1984,53.9,31.2,150,1350,0.00,2.38,0.00,0.000,4356,0.000,0.041,2988,3674,2072,2161,1984,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1410,1.06,146.6,2988,3674,2160,1984,33.0,30.2,157,1421,0.05,2.33,0.00,0.000,5126,0.229,0.035,2986,2218,2072,2160,1984,0,0,0,0,0,0,25.49,25.64,28.83
$STATE,1514,end climb,SURFACE_DEPTH_REACHED
$STATE,1514,begin surface coast
$FINISH,0.3,0.999900
$STATE,1526,end surface coast,CONTROL_FINISHED_OK
$STATE,1526,begin surface
$SM_CCo,1543,139.52,0.142,0,0,535,525.19
$SM_GC,1.09,7.68,0.05,139.52,0.047,0.143,0.142,148,2261,535,-7.74,-0.74,525.19,0,0,0,0,0,0,25.77,25.89,25.34
$IRIDIUM_FIX,4722.92,-12155.92,140114,202014
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.30
$INTERNAL_PRESSURE,8.38513
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.1,16.7
$24V_AH,23.6,1.492
$10V_AH,10.2,1.888
$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,17.975,23.300,108.525,139.525,0.000,0.000,0.000,0.000,3.000,0.000,20.987,427.124,522.943,350.627,410.147,44.470,30.072,550.491,0.000,308.897,0.000,18.018,0.000
$DEVICE_MAMPS,228.735,143.055,1140.615,142.290,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,118.282,375.847,270.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323400
$DATA_FILE_SIZE,10342,175
$CAP_FILE_SIZE,68698,0
$CFSIZE,260165632,253480960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140114,212017,4742.644,-12225.104,30,0.8,30,16.6