version: 66.11
glider: 189
mission: 29
dive: 10
start: 1 15 114 5 4 6
data:
$ID,189
$MISSION,29
$DIVE,10
$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,80
$T_MISSION,100
$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,-57104.562
$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
$GPS1,150114,045504,4744.774,-12224.346,29,0.7,29,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.8
$GPS2,150114,050306,4744.832,-12224.308,14,0.7,15,16.6
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.060,-0.226
$KALMAN_X,-1892.2,-189.1,229.6,2402.0,-260.2
$KALMAN_Y,812.9,-316.9,412.0,2838.3,1158.7
$MHEAD_RNG_PITCHd_Wd,148.5,660,-13.1,-7.500,-17.78,2937
$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,-0.63,-146.6,151,2264,1707,1577,0.0,0.0,0,50,0.00,0.00,-32.35,0.000,16386,0.000,0.000,151,2265,2585,2608,2563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.63,-146.6,151,2265,2608,2563,2.1,-2.7,5,88,8.35,2.30,-20.38,0.000,19204,0.215,0.060,2363,3671,3277,3332,3223,0,0,0,0,0,0,25.57,25.77,26.06
$GC,131,-0.63,-146.6,1440,3670,3315,3217,6.3,-8.0,18,139,0.05,2.25,0.00,0.000,3078,0.187,0.030,2377,2193,3278,3337,3219,0,0,0,0,0,0,25.74,25.84,28.83
$GC,202,-0.63,-146.6,1472,2190,3321,3212,12.3,-9.5,31,209,0.00,2.17,0.00,0.000,4612,0.000,0.041,2377,824,3278,3339,3217,0,0,0,0,0,0,28.83,25.88,28.83
$GC,292,-0.63,-146.6,2377,824,3339,3217,22.4,-11.0,46,302,0.00,2.30,0.00,0.000,3078,0.000,0.036,2368,2270,3278,3339,3217,0,0,0,0,0,0,28.83,25.94,28.83
$GC,423,-0.63,-146.6,2368,2270,3339,3217,36.7,-11.1,59,432,0.00,2.30,0.00,0.000,2564,0.000,0.041,2368,823,3278,3339,3217,0,0,0,0,0,0,28.83,25.99,28.83
$GC,482,-0.63,-146.6,2368,823,3340,3217,43.9,-12.0,65,493,0.08,2.30,0.00,0.000,3078,0.170,0.036,2380,2274,3278,3339,3217,0,0,0,0,0,0,25.91,26.03,28.83
$GC,612,-0.63,-146.6,2380,2274,3339,3217,57.7,-10.4,78,622,0.00,2.22,0.00,0.000,4356,0.000,0.045,2372,3664,3278,3339,3217,0,0,0,0,0,0,28.83,26.06,28.83
$GC,702,-0.63,-146.6,2372,3664,3339,3217,67.2,-10.5,87,712,0.00,2.22,0.00,0.000,3078,0.000,0.031,2372,2219,3277,3339,3216,0,0,0,0,0,0,28.83,26.10,28.83
$GC,832,-0.63,-146.6,2372,2219,3339,3217,79.5,-9.3,100,843,0.00,2.22,0.00,0.000,2564,0.000,0.041,2372,816,3277,3339,3216,0,0,0,0,0,0,28.83,26.13,28.83
$GC,894,-0.63,-146.6,2372,816,3339,3216,85.4,-9.9,106,902,0.03,2.28,0.00,0.000,3078,0.120,0.037,2384,2266,3277,3339,3216,0,0,0,0,0,0,26.03,26.15,28.83
$GC,1025,-0.63,-146.6,2383,2266,3339,3216,95.3,-7.3,119,1032,0.00,2.28,0.00,0.000,4612,0.000,0.042,2384,806,3277,3339,3216,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1085,-0.63,-146.6,2384,806,3339,3216,100.1,-8.2,125,1092,0.00,2.28,0.00,0.000,5126,0.000,0.037,2377,2260,3277,3339,3216,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1213,-0.63,-146.6,2377,2260,3339,3216,109.5,-7.2,138,1214,0.00,0.00,0.00,0.000,4102,0.000,0.000,2377,2260,3277,3339,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-0.63,-146.6,2377,2260,3339,3216,118.5,-7.1,150,1342,0.00,2.28,0.00,0.000,4612,0.000,0.041,2377,816,3278,3339,3217,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1423,-0.63,-146.6,2377,815,3339,3216,125.2,-6.4,159,1432,0.00,2.25,0.00,0.000,3078,0.000,0.037,2368,2261,3277,3339,3216,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1552,-0.63,-146.6,2368,2261,3340,3216,135.8,-8.6,172,1562,0.00,2.28,0.00,0.000,2564,0.000,0.042,2368,817,3277,3339,3216,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1622,-0.63,-146.6,2368,817,3339,3216,143.0,-10.0,179,1632,0.08,2.28,0.00,0.000,3078,0.172,0.037,2386,2267,3277,3339,3216,0,0,0,0,0,0,26.15,26.27,28.83
$GC,1752,-0.63,-146.6,2386,2267,3339,3216,155.1,-9.2,192,1762,0.00,2.22,0.00,0.000,4356,0.000,0.044,2377,3671,3277,3339,3216,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1882,-0.63,-146.6,2377,3671,3339,3216,167.2,-9.1,205,1892,0.00,2.22,0.00,0.000,5126,0.000,0.031,2377,2219,3277,3339,3216,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,2011,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2011,begin apogee
$GC,2016,-0.17,0.0,2376,2263,3339,3216,178.9,-9.1,218,2133,0.43,0.00,113.50,1.127,10246,0.116,0.000,2527,2264,2678,2764,2592,0,0,0,0,0,0,26.21,28.83,23.56
$STATE,2134,end apogee,CONTROL_FINISHED_OK
$STATE,2134,begin climb
$GC,2136,0.63,146.6,2527,2263,2765,2592,182.5,0.0,230,2263,0.75,0.00,120.12,1.107,10502,0.077,0.000,2783,2263,2079,2180,1978,0,0,0,0,0,0,24.41,28.83,23.38
$GC,2384,0.63,146.6,2784,2263,2175,1978,157.3,13.5,255,2392,0.00,2.33,0.00,0.000,4356,0.000,0.042,2784,3662,2076,2175,1978,0,0,0,0,0,0,28.83,25.14,28.83
$GC,2442,0.63,146.6,2785,3663,2175,1978,149.0,13.9,261,2453,0.05,2.33,0.00,0.000,5126,0.194,0.033,2781,2223,2076,2174,1978,0,0,0,0,0,0,25.22,25.32,28.83
$GC,2573,0.63,146.6,2781,2223,2174,1978,132.9,13.0,274,2574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2781,2223,2076,2174,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,0.63,146.6,2781,2223,2173,1978,116.1,14.1,286,2702,0.00,2.25,0.00,0.000,2564,0.000,0.044,2790,828,2075,2172,1978,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2802,0.63,146.6,2790,828,2171,1978,100.5,13.8,297,2812,0.00,2.30,0.00,0.000,5126,0.000,0.034,2790,2269,2074,2171,1978,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2933,0.63,146.6,2790,2269,2171,1978,81.8,13.7,310,2934,0.00,0.00,0.00,0.000,4102,0.000,0.000,2790,2269,2074,2170,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,0.63,146.6,2790,2269,2171,1978,65.9,12.9,322,3062,0.00,2.25,0.00,0.000,4356,0.000,0.042,2790,3671,2074,2171,1978,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3103,0.63,146.6,2790,3671,2170,1978,58.8,14.2,327,3112,0.05,2.25,0.00,0.000,5126,0.155,0.034,2784,2233,2074,2170,1978,0,0,0,0,0,0,25.84,25.96,28.83
$GC,3232,0.63,146.6,2784,2233,2170,1978,42.1,12.7,340,3234,0.00,0.00,0.00,0.000,4102,0.000,0.000,2784,2233,2073,2170,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3352,0.63,146.6,2784,2233,2170,1978,26.6,13.0,352,3354,0.00,0.00,0.00,0.000,4102,0.000,0.000,2782,2233,2074,2170,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,0.63,146.6,1760,2230,2115,1970,11.6,12.2,370,3480,0.00,2.25,0.00,0.000,4612,0.000,0.046,2793,822,2074,2170,1978,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,3541,end climb,SURFACE_DEPTH_REACHED
$STATE,3541,begin surface coast
$FINISH,0.3,1.010396
$STATE,3567,end surface coast,CONTROL_FINISHED_OK
$STATE,3567,begin surface
$SM_CCo,3586,38.42,0.150,0,0,1654,250.21
$SM_GC,1.40,7.05,2.30,38.42,0.046,0.037,0.150,151,2271,1654,-7.53,-0.45,250.21,0,0,0,0,0,0,26.09,26.12,25.85
$IRIDIUM_FIX,4732.49,-12216.97,150114,030305
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.29
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,140.9,47.6
$24V_AH,23.4,2.327
$10V_AH,10.2,2.342
$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,16.900,58.950,233.625,38.425,0.000,25.140,41.514,306.824,4.250,0.000,16.160,930.577,1401.590,405.846,1255.354,119.816,33.210,805.131,0.000,666.654,0.000,30.084,0.000
$DEVICE_MAMPS,214.965,140.760,1126.845,149.940,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.760,833.275,599.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323304
$DATA_FILE_SIZE,26964,388
$CAP_FILE_SIZE,63759,0
$CFSIZE,260165632,253210624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,060529,4744.571,-12224.196,29,1.0,29,16.6