version: 66.11
glider: 189
mission: 29
dive: 5
start: 1 15 114 0 5 54
data:
$ID,189
$MISSION,29
$DIVE,5
$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,-57098.168
$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
$GPS1,140114,234919,4742.799,-12224.975,17,1.0,18,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-64.0
$GPS2,150114,000452,4742.906,-12225.002,38,0.9,39,16.6
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,0.236
$KALMAN_X,-1002.5,-338.7,-146.5,1174.6,-258.0
$KALMAN_Y,-1222.2,-502.1,-231.8,2140.6,-232.5
$MHEAD_RNG_PITCHd_Wd,8.0,3017,-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,-146.6,146,2271,610,446,0.0,0.0,0,94,0.00,0.00,-76.15,0.000,16386,0.000,0.000,146,2272,2809,2818,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.78,-146.6,146,2272,2819,2801,2.4,-4.0,12,125,8.25,0.00,-11.98,0.000,18950,0.214,0.000,2342,2272,3277,3315,3239,0,0,0,0,0,0,25.56,28.83,26.07
$GC,187,-0.78,-146.6,1424,2269,3295,3235,12.7,-14.4,28,194,0.00,0.00,0.00,0.000,2054,0.000,0.000,2342,2272,3277,3315,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,262,-0.78,-146.6,2342,2272,3315,3239,23.2,-14.4,40,263,0.00,0.00,0.00,0.000,2054,0.000,0.000,2342,2272,3277,3315,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,382,-0.78,-146.6,2342,2272,3315,3239,38.8,-12.6,52,392,0.00,2.33,0.00,0.000,2564,0.000,0.042,2343,820,3277,3315,3239,0,0,0,0,0,0,28.83,25.96,28.83
$GC,532,-0.78,-146.6,2342,820,3315,3239,57.8,-11.7,67,543,0.05,2.30,0.00,0.000,3078,0.198,0.037,2347,2267,3277,3315,3239,0,0,0,0,0,0,25.91,26.03,28.83
$GC,663,-0.78,-146.6,2347,2267,3315,3239,71.9,-11.2,80,672,0.00,2.25,0.00,0.000,2308,0.000,0.046,2338,3675,3277,3315,3239,0,0,0,0,0,0,28.83,26.06,28.83
$GC,712,-0.78,-146.6,2338,3675,3315,3239,77.8,-11.9,85,722,0.00,2.28,0.00,0.000,3078,0.000,0.032,2338,2197,3277,3315,3239,0,0,0,0,0,0,28.83,26.10,28.83
$GC,842,-0.78,-146.6,2338,2196,3315,3239,93.1,-11.7,98,852,0.00,2.20,0.00,0.000,2564,0.000,0.043,2339,812,3277,3315,3239,0,0,0,0,0,0,28.83,26.11,28.83
$GC,892,-0.78,-146.6,2338,812,3315,3239,99.4,-12.9,103,906,0.08,2.30,0.00,0.000,3078,0.173,0.037,2350,2269,3277,3315,3239,0,0,0,0,0,0,26.01,26.14,28.83
$GC,1024,-0.78,-146.6,2351,2269,3315,3239,114.2,-11.1,116,1025,0.00,0.00,0.00,0.000,4102,0.000,0.000,2351,2269,3277,3315,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1144,-0.78,-146.6,2350,2269,3315,3239,127.2,-9.6,128,1145,0.00,0.00,0.00,0.000,4102,0.000,0.000,2351,2269,3277,3315,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-0.78,-146.6,2351,2268,3315,3239,140.0,-10.1,140,1278,0.00,2.28,0.00,0.000,4612,0.000,0.043,2351,825,3277,3315,3239,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1356,-0.78,-146.6,2351,824,3314,3239,150.3,-11.4,149,1366,0.00,2.28,0.00,0.000,3078,0.000,0.037,2342,2267,3276,3314,3239,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1487,-0.78,-146.6,2342,2267,3314,3239,164.2,-10.5,162,1488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2342,2267,3277,3315,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1607,-0.78,-146.6,2342,2267,3314,3239,176.6,-10.4,174,1608,0.00,0.00,0.00,0.000,2054,0.000,0.000,2342,2267,3276,3314,3239,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1645,begin apogee
$GC,1649,-0.17,0.0,2342,2267,3314,3239,180.8,-10.5,178,1767,0.57,0.00,113.05,1.147,10246,0.122,0.000,2539,2267,2679,2763,2595,0,0,0,0,0,0,26.14,28.83,23.49
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1770,0.78,146.6,2539,2267,2763,2596,183.3,0.0,190,1898,0.90,2.45,120.05,1.121,10500,0.070,0.043,2855,3672,2079,2182,1977,0,0,0,0,0,0,24.44,24.22,23.37
$GC,1958,0.78,146.6,2855,3672,2177,1977,157.9,20.6,209,1967,0.05,2.35,0.00,0.000,5126,0.170,0.033,2852,2231,2077,2177,1977,0,0,0,0,0,0,24.81,24.94,28.83
$GC,2087,0.78,146.6,2852,2231,2176,1978,132.6,18.5,222,2096,0.00,2.30,0.00,0.000,4612,0.000,0.042,2861,818,2075,2174,1977,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2197,0.78,146.6,2861,817,2174,1977,111.7,18.6,233,2206,0.00,2.35,0.00,0.000,5126,0.000,0.035,2861,2274,2075,2174,1977,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2327,0.78,146.6,2861,2274,2174,1977,86.8,19.6,246,2336,0.00,2.25,0.00,0.000,4356,0.000,0.041,2861,3668,2075,2173,1977,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2397,0.78,146.6,2861,3668,2172,1977,72.8,19.9,253,2407,0.08,2.30,0.00,0.000,5126,0.185,0.033,2851,2213,2074,2172,1977,0,0,0,0,0,0,25.64,25.77,28.83
$GC,2527,0.78,146.6,2850,2213,2173,1977,48.6,18.6,266,2528,0.00,0.00,0.00,0.000,4102,0.000,0.000,2851,2213,2074,2172,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,0.78,146.6,2851,2213,2172,1977,27.1,17.0,278,2648,0.00,0.00,0.00,0.000,4102,0.000,0.000,2851,2213,2074,2172,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,0.78,146.6,1824,2210,2115,1969,6.4,17.3,297,2776,0.00,2.20,0.00,0.000,4612,0.000,0.043,2860,826,2074,2171,1977,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2783,0.78,146.6,2860,826,2171,1977,3.7,17.4,299,2791,0.00,2.25,0.00,0.000,5126,0.000,0.035,2860,2266,2074,2171,1977,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2797,begin surface coast
$FINISH,0.4,0.999832
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2814,begin surface
$SM_CCo,2829,141.88,0.142,0,0,534,525.43
$SM_GC,1.20,7.25,0.00,141.88,0.046,0.000,0.142,155,2266,534,-7.57,0.54,525.43,0,0,0,0,0,0,25.98,28.83,25.52
$IRIDIUM_FIX,4719.74,-12227.05,140114,232331
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.71
$INTERNAL_PRESSURE,8.37536
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,17.3
$ALTIM_BOTTOM_PING,140.9,55.8
$24V_AH,23.4,1.853
$10V_AH,10.1,2.066
$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,17.225,36.650,233.100,141.875,0.000,87.002,142.300,413.355,4.000,0.000,39.530,720.093,1184.932,498.154,1396.373,115.214,33.221,838.711,0.000,525.762,0.000,27.211,0.000
$DEVICE_MAMPS,214.200,45.900,1147.500,142.290,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.168,652.887,469.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,20302,304
$CAP_FILE_SIZE,58195,0
$CFSIZE,260165632,253382656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150114,005612,4743.329,-12224.788,18,1.5,18,16.6