version: 66.11
glider: 189
mission: 29
dive: 6
start: 1 15 114 1 7 32
data:
$ID,189
$MISSION,29
$DIVE,6
$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,-57099.52
$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
$GPS1,150114,005612,4743.329,-12224.788,18,1.5,18,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.5
$GPS2,150114,010630,4743.353,-12224.787,37,1.0,37,16.6
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,0.250
$KALMAN_X,-1152.9,-371.0,-96.5,1572.9,-98.9
$KALMAN_Y,-1357.8,-521.9,-117.2,3004.3,-51.8
$MHEAD_RNG_PITCHd_Wd,358.5,2154,-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,-146.6,155,2266,608,448,0.0,0.0,0,88,0.00,0.00,-69.80,0.000,16386,0.000,0.000,155,2266,2605,2627,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.78,-146.6,155,2266,2627,2584,2.0,-2.8,11,126,8.38,2.35,-19.33,0.000,18948,0.220,0.056,2347,818,3279,3331,3227,0,0,0,0,0,0,25.52,25.75,26.03
$GC,173,-0.78,-146.6,1448,817,3314,3220,8.1,-11.5,25,181,0.00,2.28,0.00,0.000,3078,0.000,0.037,2338,2275,3278,3333,3224,0,0,0,0,0,0,28.83,25.81,28.83
$GC,243,-0.78,-146.6,1416,2272,3314,3220,17.0,-14.2,38,251,0.00,2.25,0.00,0.000,2308,0.000,0.045,2327,3668,3278,3334,3223,0,0,0,0,0,0,28.83,25.84,28.83
$GC,304,-0.78,-146.6,2327,3668,3334,3223,25.5,-13.7,45,315,0.08,2.28,0.00,0.000,3078,0.171,0.031,2354,2207,3278,3334,3223,0,0,0,0,0,0,25.77,25.90,28.83
$GC,434,-0.78,-146.6,2354,2206,3335,3223,40.8,-12.3,58,444,0.00,2.22,0.00,0.000,4612,0.000,0.041,2355,812,3279,3335,3223,0,0,0,0,0,0,28.83,25.96,28.83
$GC,534,-0.78,-146.6,2354,812,3335,3222,53.4,-12.2,68,544,0.00,2.30,0.00,0.000,3078,0.000,0.036,2346,2266,3278,3335,3222,0,0,0,0,0,0,28.83,26.01,28.83
$GC,664,-0.78,-146.6,2345,2265,3335,3222,69.0,-12.0,81,666,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2266,3278,3335,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,784,-0.78,-146.6,2345,2266,3335,3222,82.8,-11.1,93,785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2266,3278,3335,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,906,-0.78,-146.6,2345,2266,3335,3221,96.0,-10.6,105,913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2266,3279,3336,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.78,-146.6,2345,2266,3335,3222,109.7,-10.5,118,1045,0.00,2.28,0.00,0.000,2564,0.000,0.041,2345,826,3278,3336,3221,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1096,-0.78,-146.6,2345,826,3336,3221,116.1,-10.9,124,1104,0.00,2.25,0.00,0.000,3078,0.000,0.037,2335,2264,3278,3335,3221,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1225,-0.78,-146.6,2335,2264,3336,3221,129.3,-9.5,137,1235,0.05,2.25,0.00,0.000,2564,0.203,0.040,2350,824,3278,3336,3221,0,0,0,0,0,0,26.17,26.20,28.83
$GC,1274,-0.78,-146.6,2350,824,3336,3221,133.5,-8.4,142,1284,0.00,2.25,0.00,0.000,3078,0.000,0.037,2341,2267,3278,3336,3221,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1404,-0.78,-146.6,2341,2267,3336,3221,146.3,-11.3,155,1406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2341,2267,3278,3336,3221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1524,-0.78,-146.6,2341,2267,3336,3220,159.7,-10.8,167,1534,0.00,2.28,0.00,0.000,2564,0.000,0.042,2341,822,3278,3336,3220,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1584,-0.78,-146.6,2341,822,3336,3220,166.2,-10.7,173,1595,0.05,2.28,0.00,0.000,3078,0.197,0.036,2352,2272,3278,3336,3220,0,0,0,0,0,0,26.13,26.26,28.83
$GC,1715,-0.78,-146.6,2351,2271,3336,3220,179.0,-9.9,186,1724,0.00,2.22,0.00,0.000,4356,0.000,0.044,2342,3670,3278,3336,3220,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,1732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1732,begin apogee
$GC,1739,-0.17,0.0,2342,2219,3336,3220,181.0,-10.2,188,1856,0.57,0.00,113.45,1.134,10246,0.120,0.000,2540,2219,2678,2764,2592,0,0,0,0,0,0,26.15,28.83,23.51
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1860,0.78,146.6,2540,2219,2765,2593,183.5,0.0,200,1987,0.90,2.53,119.85,1.112,10500,0.076,0.041,2851,3668,2079,2183,1976,0,0,0,0,0,0,24.42,24.22,23.37
$GC,2046,0.78,146.6,2851,3668,2179,1976,157.3,21.0,219,2054,0.00,2.35,0.00,0.000,5126,0.000,0.034,2862,2233,2077,2179,1976,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2175,0.78,146.6,2862,2233,2176,1976,131.4,20.0,232,2176,0.00,0.00,0.00,0.000,4102,0.000,0.000,2862,2233,2076,2176,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2295,0.78,146.6,2861,2233,2175,1976,106.5,21.1,244,2304,0.00,2.28,0.00,0.000,4612,0.000,0.044,2873,823,2075,2175,1976,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2385,0.78,146.6,2872,823,2174,1976,88.8,18.8,253,2395,0.08,2.33,0.00,0.000,5126,0.179,0.034,2852,2276,2075,2174,1976,0,0,0,0,0,0,25.55,25.68,28.83
$GC,2515,0.78,146.6,2853,2275,2174,1976,65.4,17.7,266,2516,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,2275,2075,2175,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,0.78,146.6,2852,2275,2174,1976,44.2,17.5,278,2636,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,2275,2075,2174,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,0.78,146.6,2852,2275,2173,1976,24.1,16.8,290,2756,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,2275,2074,2173,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,0.78,146.6,2852,2275,2174,1976,3.2,18.1,311,2883,0.00,0.00,0.00,0.000,4102,0.000,0.000,2852,2275,2074,2172,1976,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2889,end climb,SURFACE_DEPTH_REACHED
$STATE,2889,begin surface coast
$FINISH,0.4,1.006866
$STATE,2905,end surface coast,CONTROL_FINISHED_OK
$STATE,2905,begin surface
$SM_CCo,2921,142.45,0.146,0,0,534,525.19
$SM_GC,1.23,7.25,0.00,142.45,0.047,0.000,0.146,149,2275,534,-7.60,0.79,525.19,0,0,0,0,0,0,25.98,28.83,25.51
$IRIDIUM_FIX,4722.92,-12233.17,150114,000055
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.11
$INTERNAL_PRESSURE,8.37536
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,18.0
$ALTIM_BOTTOM_PING,140.6,51.3
$24V_AH,23.4,1.962
$10V_AH,10.2,2.122
$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,17.350,41.175,233.300,142.450,0.000,27.805,47.908,414.763,4.250,0.000,38.576,748.557,1103.623,496.975,1212.230,132.227,33.230,844.449,0.000,544.464,0.000,27.193,0.000
$DEVICE_MAMPS,220.320,55.845,1134.495,146.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.324,678.657,487.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323376
$DATA_FILE_SIZE,20433,316
$CAP_FILE_SIZE,56008,0
$CFSIZE,260165632,253353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150114,015918,4743.950,-12224.578,13,1.0,13,16.6