version: 66.11
glider: 189
mission: 29
dive: 15
start: 1 15 114 11 18 46
data:
$ID,189
$MISSION,29
$DIVE,15
$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,90
$T_MISSION,110
$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,-57110.852
$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
$GPS1,150114,110928,4743.187,-12224.745,26,0.9,26,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.3
$GPS2,150114,111745,4743.082,-12224.779,18,1.6,18,16.6
$SPEED_LIMITS,0.067,0.223
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.165,0.150
$KALMAN_X,-4321.2,735.9,-105.8,3657.4,-907.5
$KALMAN_Y,-1622.1,1270.7,-957.8,1822.2,-923.3
$MHEAD_RNG_PITCHd_Wd,31.1,2650,-11.4,-6.667,-16.61,3287
$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,15,-0.57,-146.6,151,2223,1706,1580,0.0,0.0,0,50,0.00,0.00,-32.62,0.000,16386,0.000,0.000,151,2224,2587,2612,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.57,-146.6,151,2223,2612,2562,2.0,-2.7,5,94,8.43,2.25,-21.70,0.000,18948,0.216,0.055,2391,813,3278,3338,3218,0,0,0,0,0,0,25.57,25.79,26.06
$GC,173,-0.57,-146.6,2390,813,3339,3217,8.1,-8.5,26,181,0.05,2.25,0.00,0.000,3078,0.195,0.036,2396,2265,3278,3339,3217,0,0,0,0,0,0,25.76,25.88,28.83
$GC,244,-0.57,-146.6,1456,2261,3320,3212,13.9,-8.4,39,251,0.00,0.00,0.00,0.000,4102,0.000,0.000,2396,2265,3278,3339,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,313,-0.57,-146.6,1456,2262,3320,3212,19.2,-7.2,52,320,0.00,0.00,0.00,0.000,4102,0.000,0.000,2396,2265,3278,3340,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,388,-0.57,-146.6,2396,2265,3340,3217,24.8,-7.4,60,398,0.00,2.30,0.00,0.000,4612,0.000,0.041,2396,813,3278,3340,3216,0,0,0,0,0,0,28.83,25.98,28.83
$GC,448,-0.57,-146.6,2396,813,3340,3216,29.7,-8.4,66,458,0.00,2.30,0.00,0.000,3078,0.000,0.034,2387,2270,3277,3339,3216,0,0,0,0,0,0,28.83,26.01,28.83
$GC,578,-0.57,-146.6,2387,2269,3340,3216,40.9,-8.5,79,588,0.00,2.22,0.00,0.000,2308,0.000,0.044,2377,3667,3278,3340,3216,0,0,0,0,0,0,28.83,26.04,28.83
$GC,658,-0.57,-146.6,2377,3667,3340,3216,47.4,-7.9,87,668,0.08,2.25,0.00,0.000,3078,0.156,0.029,2402,2206,3278,3340,3216,0,0,0,0,0,0,25.98,26.09,28.83
$GC,789,-0.57,-146.6,2402,2205,3341,3216,56.0,-5.9,100,798,0.00,2.17,0.00,0.000,4612,0.000,0.041,2402,820,3277,3340,3215,0,0,0,0,0,0,28.83,26.12,28.83
$GC,859,-0.57,-146.6,2402,820,3341,3215,60.1,-6.3,107,868,0.00,2.25,0.00,0.000,3078,0.000,0.035,2393,2262,3278,3341,3216,0,0,0,0,0,0,28.83,26.15,28.83
$GC,989,-0.57,-146.6,2393,2261,3341,3216,68.2,-6.2,120,990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2261,3278,3341,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1108,-0.57,-146.6,2393,2261,3341,3215,77.6,-8.4,132,1109,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2261,3278,3341,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1228,-0.57,-146.6,2393,2261,3341,3216,88.3,-9.3,144,1229,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2261,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1348,-0.57,-146.6,2393,2261,3341,3215,99.3,-8.9,156,1349,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2261,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-0.57,-146.6,2393,2262,3341,3215,109.0,-7.4,168,1478,0.00,2.28,0.00,0.000,2564,0.000,0.040,2393,813,3278,3341,3215,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1588,-0.57,-146.6,2393,813,3341,3215,118.1,-7.6,180,1598,0.05,2.28,0.00,0.000,3078,0.189,0.034,2400,2266,3278,3341,3215,0,0,0,0,0,0,26.17,26.27,28.83
$GC,1718,-0.57,-146.6,2399,2267,3341,3215,126.7,-7.0,193,1728,0.00,2.25,0.00,0.000,4356,0.000,0.044,2391,3675,3278,3341,3215,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1778,-0.57,-146.6,2390,3675,3341,3215,131.5,-8.2,199,1788,0.00,2.22,0.00,0.000,3078,0.000,0.028,2391,2214,3278,3341,3215,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1908,-0.57,-146.6,2390,2214,3341,3215,142.0,-8.0,212,1918,0.00,2.20,0.00,0.000,2564,0.000,0.040,2391,812,3278,3341,3215,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1988,-0.57,-146.6,2390,812,3341,3215,149.1,-8.9,220,1998,0.05,2.28,0.00,0.000,3078,0.187,0.034,2398,2270,3278,3341,3215,0,0,0,0,0,0,26.22,26.32,28.83
$GC,2118,-0.57,-146.6,2397,2270,3341,3216,159.4,-7.5,233,2120,0.00,0.00,0.00,0.000,4102,0.000,0.000,2397,2270,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,-0.57,-146.6,2397,2270,3341,3215,169.0,-8.2,245,2239,0.00,0.00,0.00,0.000,4102,0.000,0.000,2397,2270,3278,3341,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.57,-146.6,2398,2270,3341,3215,178.4,-7.5,257,2368,0.00,2.28,0.00,0.000,4612,0.000,0.040,2398,817,3278,3341,3215,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,2378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2378,begin apogee
$GC,2386,-0.17,0.0,2389,2267,3341,3215,180.0,-7.8,259,2508,0.38,0.00,113.10,1.125,10246,0.119,0.000,2522,2267,2678,2764,2593,0,0,0,0,0,0,26.25,28.83,23.61
$STATE,2509,end apogee,CONTROL_FINISHED_OK
$STATE,2509,begin climb
$GC,2511,0.57,146.6,2522,2267,2765,2593,182.8,0.0,272,2638,0.70,0.00,119.88,1.108,10502,0.080,0.000,2764,2267,2078,2177,1980,0,0,0,0,0,0,24.51,28.83,23.42
$GC,2760,0.57,146.6,2764,2267,2174,1979,159.0,13.0,297,2768,0.00,2.38,0.00,0.000,4612,0.000,0.041,2775,826,2076,2173,1980,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2818,0.57,146.6,2775,827,2171,1979,151.1,13.2,303,2828,0.00,2.33,0.00,0.000,5126,0.000,0.033,2775,2266,2075,2171,1979,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2949,0.57,146.6,2775,2266,2171,1979,134.3,13.1,316,2958,0.00,2.28,0.00,0.000,4356,0.000,0.042,2775,3668,2074,2170,1979,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2988,0.57,146.6,2775,3668,2170,1979,128.5,14.3,320,2998,0.05,2.28,0.00,0.000,5126,0.149,0.031,2768,2226,2074,2170,1979,0,0,0,0,0,0,25.48,25.60,28.83
$GC,3118,0.57,146.6,2768,2226,2169,1979,111.2,13.7,333,3128,0.00,2.25,0.00,0.000,4612,0.000,0.042,2777,820,2074,2169,1979,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3238,0.57,146.6,2778,820,2168,1979,94.3,13.7,345,3248,0.05,2.30,0.00,0.000,5126,0.181,0.032,2762,2271,2073,2168,1979,0,0,0,0,0,0,25.72,25.82,28.83
$GC,3368,0.57,146.6,2762,2271,2168,1979,78.2,11.5,358,3370,0.00,0.00,0.00,0.000,2054,0.000,0.000,2762,2271,2073,2168,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3488,0.57,146.6,2762,2271,2168,1979,63.3,12.4,370,3498,0.00,2.25,0.00,0.000,2308,0.000,0.041,2762,3672,2073,2168,1979,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3508,0.57,146.6,2762,3673,2168,1979,60.6,12.5,372,3518,0.00,2.28,0.00,0.000,5126,0.000,0.029,2771,2204,2073,2167,1979,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3638,0.57,146.6,2771,2203,2167,1979,43.5,12.7,385,3648,0.00,2.20,0.00,0.000,4612,0.000,0.041,2782,820,2073,2167,1979,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3698,0.57,146.6,2782,820,2166,1979,35.8,12.7,391,3709,0.08,2.28,0.00,0.000,5126,0.157,0.032,2758,2269,2072,2166,1979,0,0,0,0,0,0,25.94,26.05,28.83
$GC,3829,0.57,146.6,2758,2269,2166,1979,21.3,11.1,404,3838,0.00,2.22,0.00,0.000,2308,0.000,0.041,2758,3674,2072,2166,1979,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3864,0.57,146.6,2758,3675,2166,1979,17.3,11.6,409,3871,0.00,2.22,0.00,0.000,5126,0.000,0.030,2767,2218,2072,2166,1979,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3934,0.57,146.6,1744,2215,2112,1971,8.8,12.7,422,3942,0.00,2.17,0.00,0.000,4612,0.000,0.042,2777,823,2072,2166,1979,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,3977,end climb,SURFACE_DEPTH_REACHED
$STATE,3977,begin surface coast
$FINISH,0.4,1.022481
$STATE,4009,end surface coast,CONTROL_FINISHED_OK
$STATE,4009,begin surface
$SM_CCo,4028,38.22,0.145,0,0,1656,250.21
$SM_GC,1.76,7.00,2.28,38.22,0.044,0.035,0.145,138,2264,1656,-7.53,-0.62,250.21,0,0,0,0,0,0,26.14,26.11,25.86
$IRIDIUM_FIX,4729.30,-12231.22,150114,090908
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.91
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,140.6,53.8
$24V_AH,23.4,2.831
$10V_AH,10.2,2.680
$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,16.900,67.725,232.975,38.225,0.000,27.031,43.747,313.250,4.000,0.000,19.743,1042.423,1575.261,449.260,1370.493,131.950,33.206,896.325,0.000,747.118,0.000,27.228,0.000
$DEVICE_MAMPS,215.730,55.080,1124.550,145.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.482,936.476,673.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323292
$DATA_FILE_SIZE,26909,436
$CAP_FILE_SIZE,71316,0
$CFSIZE,260165632,253005824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,122734,4743.079,-12224.597,33,2.0,33,16.6