version: 66.11
glider: 189
mission: 29
dive: 4
start: 1 14 114 22 58 36
data:
$ID,189
$MISSION,29
$DIVE,4
$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,60
$T_MISSION,80
$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,-57096.91
$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,2600
$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
$GPS1,140114,224949,4742.620,-12225.169,16,1.6,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.3
$GPS2,140114,225735,4742.688,-12225.201,16,1.7,16,16.6
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.146,0.215
$KALMAN_X,-719.6,-299.1,-190.0,651.0,-274.7
$KALMAN_Y,-871.8,-426.0,-294.3,1372.5,-309.6
$MHEAD_RNG_PITCHd_Wd,17.5,3811,-17.5,-10.000,-21.09,2221
$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,-0.78,-146.6,146,2271,610,446,0.0,0.0,0,88,0.00,0.00,-69.75,0.000,16386,0.000,0.000,146,2271,2610,2629,2591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.78,-146.6,146,2271,2629,2591,2.0,-2.7,11,124,8.30,0.00,-18.70,0.000,18438,0.215,0.000,2345,2271,3276,3314,3238,0,0,0,0,0,0,25.51,28.83,26.05
$GC,187,-0.78,-146.6,1424,2268,3294,3233,10.9,-13.4,28,195,0.00,2.28,0.00,0.000,2308,0.000,0.046,2336,3673,3275,3314,3237,0,0,0,0,0,0,28.83,25.81,28.83
$GC,303,-0.78,-146.6,2336,3673,3315,3237,25.7,-12.7,46,313,0.00,2.25,0.00,0.000,3078,0.000,0.032,2336,2228,3276,3314,3238,0,0,0,0,0,0,28.83,25.91,28.83
$GC,433,-0.78,-146.6,2336,2227,3315,3238,42.0,-12.8,59,443,0.05,2.20,0.00,0.000,2564,0.194,0.041,2351,823,3276,3314,3238,0,0,0,0,0,0,25.96,25.97,28.83
$GC,543,-0.78,-146.6,2351,823,3314,3238,56.3,-13.0,70,552,0.00,2.30,0.00,0.000,3078,0.000,0.037,2342,2273,3276,3314,3238,0,0,0,0,0,0,28.83,26.03,28.83
$GC,673,-0.78,-146.6,2341,2273,3314,3237,70.8,-9.9,83,682,0.00,2.30,0.00,0.000,2564,0.000,0.041,2342,818,3276,3314,3238,0,0,0,0,0,0,28.83,26.06,28.83
$GC,753,-0.78,-146.6,2342,818,3314,3237,79.8,-11.4,91,764,0.08,2.30,0.00,0.000,3078,0.179,0.037,2353,2273,3276,3314,3238,0,0,0,0,0,0,25.96,26.10,28.83
$GC,883,-0.78,-146.6,2353,2273,3315,3237,93.6,-10.4,104,884,0.00,0.00,0.00,0.000,4102,0.000,0.000,2353,2273,3276,3314,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.78,-146.6,2353,2273,3314,3238,106.2,-10.2,116,1013,0.00,2.30,0.00,0.000,4612,0.000,0.042,2353,816,3275,3314,3237,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1073,-0.78,-146.6,2353,816,3314,3238,114.6,-12.5,123,1083,0.00,2.30,0.00,0.000,3078,0.000,0.037,2344,2274,3276,3314,3238,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1203,-0.78,-146.6,2344,2274,3314,3237,129.9,-11.7,136,1213,0.00,2.22,0.00,0.000,2308,0.000,0.045,2334,3671,3275,3314,3237,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1294,-0.78,-146.6,2333,3671,3314,3237,140.5,-11.4,145,1303,0.05,2.22,0.00,0.000,3078,0.141,0.031,2351,2217,3276,3314,3238,0,0,0,0,0,0,26.10,26.22,28.83
$GC,1423,-0.78,-146.6,2350,2217,3314,3237,154.3,-10.8,158,1432,0.00,2.17,0.00,0.000,4612,0.000,0.042,2351,823,3275,3314,3237,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1573,-0.78,-146.6,2351,823,3314,3237,170.9,-11.1,173,1583,0.00,2.28,0.00,0.000,3078,0.000,0.037,2342,2273,3275,3313,3238,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,1661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1661,begin apogee
$GC,1666,-0.17,0.0,2342,2273,3314,3238,180.3,-10.7,182,1784,0.57,0.00,113.88,1.205,10246,0.123,0.000,2539,2272,2677,2761,2594,0,0,0,0,0,0,26.13,28.83,23.43
$STATE,1785,end apogee,CONTROL_FINISHED_OK
$STATE,1785,begin climb
$GC,1787,0.78,146.6,2539,2272,2762,2595,182.8,0.0,194,1914,0.90,2.42,120.32,1.143,10500,0.072,0.041,2857,3668,2079,2180,1978,0,0,0,0,0,0,24.40,24.22,23.34
$GC,1954,0.78,146.6,2856,3668,2176,1978,162.0,19.7,211,1963,0.05,2.38,0.00,0.000,5126,0.174,0.035,2854,2224,2076,2176,1977,0,0,0,0,0,0,24.68,24.81,28.83
$GC,2083,0.78,146.6,2854,2224,2175,1978,137.5,18.4,224,2092,0.00,2.30,0.00,0.000,4612,0.000,0.043,2863,817,2076,2175,1977,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2143,0.78,146.6,2863,817,2173,1977,126.6,18.3,230,2153,0.05,2.35,0.00,0.000,5126,0.197,0.034,2850,2271,2075,2173,1977,0,0,0,0,0,0,25.34,25.47,28.83
$GC,2273,0.78,146.6,2850,2271,2172,1977,102.2,18.2,243,2282,0.00,2.25,0.00,0.000,4356,0.000,0.041,2850,3667,2075,2172,1978,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2363,0.78,146.6,2849,3667,2171,1978,84.4,19.8,252,2372,0.00,2.28,0.00,0.000,5126,0.000,0.034,2859,2226,2074,2171,1978,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2493,0.78,146.6,2858,2226,2171,1977,60.4,17.8,265,2503,0.00,2.33,0.00,0.000,4356,0.000,0.041,2859,3674,2074,2171,1978,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2523,0.78,146.6,2858,3674,2170,1977,54.3,20.0,268,2533,0.05,2.28,0.00,0.000,5126,0.171,0.033,2854,2224,2073,2170,1977,0,0,0,0,0,0,25.72,25.86,28.83
$GC,2653,0.78,146.6,2854,2224,2170,1977,31.4,17.6,281,2662,0.00,2.22,0.00,0.000,4612,0.000,0.044,2863,826,2073,2170,1977,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2703,0.78,146.6,2863,826,2169,1978,22.2,18.3,286,2713,0.03,2.28,0.00,0.000,5126,0.182,0.035,2855,2272,2073,2169,1977,0,0,0,0,0,0,25.86,25.96,28.83
$STATE,2822,end climb,SURFACE_DEPTH_REACHED
$STATE,2822,begin surface coast
$FINISH,0.4,1.010125
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2854,140.32,0.142,0,0,532,525.19
$SM_GC,1.18,7.22,0.00,140.32,0.044,0.000,0.142,146,2272,532,-7.59,0.71,525.19,0,0,0,0,0,0,26.01,28.83,25.53
$IRIDIUM_FIX,4719.74,-12219.95,140114,212101
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.83
$INTERNAL_PRESSURE,8.37536
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,17.7
$ALTIM_BOTTOM_PING,145.7,55.1
$24V_AH,23.3,1.738
$10V_AH,10.2,2.009
$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,17.350,50.200,234.200,140.325,0.000,25.662,43.227,289.480,4.500,0.000,18.319,723.635,1045.501,522.498,1078.848,100.880,32.229,872.873,0.000,537.533,0.000,28.739,0.000
$DEVICE_MAMPS,214.965,45.900,1204.875,141.525,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.448,667.922,479.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323336
$DATA_FILE_SIZE,20371,311
$CAP_FILE_SIZE,53653,0
$CFSIZE,260165632,253415424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140114,234919,4742.799,-12224.975,17,1.0,18,16.6