version: 66.11
glider: 189
mission: 29
dive: 16
start: 1 15 114 12 37 6
data:
$ID,189
$MISSION,29
$DIVE,16
$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,-57112.109
$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
$GPS1,150114,122734,4743.079,-12224.597,33,2.0,33,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.9
$GPS2,150114,123605,4743.007,-12224.606,17,1.0,18,16.6
$SPEED_LIMITS,0.067,0.223
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.171,0.144
$KALMAN_X,-4833.6,654.4,-177.9,4534.5,-923.1
$KALMAN_Y,-2246.7,965.1,-983.1,2635.9,-789.3
$MHEAD_RNG_PITCHd_Wd,33.3,2767,-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,-146.6,137,2264,1704,1582,0.0,0.0,0,57,0.00,0.00,-38.83,0.000,16386,0.000,0.000,137,2264,2772,2781,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.57,-146.6,137,2264,2782,2763,2.2,-3.2,6,88,8.30,2.35,-13.75,0.000,18948,0.207,0.054,2390,812,3277,3321,3234,0,0,0,0,0,0,25.56,25.77,26.04
$GC,151,-0.57,-146.6,2390,812,3321,3235,9.3,-8.9,22,160,0.05,2.30,0.00,0.000,3078,0.148,0.036,2398,2266,3277,3320,3235,0,0,0,0,0,0,25.72,25.84,28.83
$GC,222,-0.57,-146.6,1456,2263,3300,3230,16.2,-9.7,35,229,0.00,0.00,0.00,0.000,4102,0.000,0.000,2398,2266,3277,3320,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,297,-0.57,-146.6,2397,2266,3320,3235,23.1,-8.9,46,298,0.00,0.00,0.00,0.000,4102,0.000,0.000,2398,2266,3277,3320,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,417,-0.57,-146.6,2398,2266,3320,3234,34.1,-9.2,58,418,0.00,0.00,0.00,0.000,4102,0.000,0.000,2398,2266,3277,3320,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,537,-0.57,-146.6,2397,2266,3320,3235,44.8,-9.2,70,538,0.00,0.00,0.00,0.000,4102,0.000,0.000,2398,2266,3278,3321,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,657,-0.57,-146.6,2397,2265,3320,3235,55.6,-8.4,82,658,0.00,0.00,0.00,0.000,4102,0.000,0.000,2398,2266,3277,3320,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,777,-0.57,-146.6,2398,2266,3320,3235,65.0,-7.9,94,787,0.00,2.33,0.00,0.000,4612,0.000,0.041,2398,799,3277,3320,3235,0,0,0,0,0,0,28.83,26.11,28.83
$GC,857,-0.57,-146.6,2398,799,3320,3234,71.4,-7.7,102,867,0.00,2.33,0.00,0.000,3078,0.000,0.036,2388,2272,3277,3320,3235,0,0,0,0,0,0,28.83,26.14,28.83
$GC,988,-0.57,-146.6,2388,2272,3320,3234,82.8,-9.7,115,997,0.00,2.22,0.00,0.000,2308,0.000,0.045,2378,3669,3277,3320,3234,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1047,-0.57,-146.6,2378,3669,3320,3235,88.4,-9.3,121,1057,0.05,2.22,0.00,0.000,3078,0.129,0.028,2397,2209,3277,3320,3235,0,0,0,0,0,0,26.08,26.20,28.83
$GC,1180,-0.57,-146.6,2396,2208,3320,3235,100.7,-9.6,134,1187,0.00,2.17,0.00,0.000,4612,0.000,0.041,2397,817,3277,3320,3235,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1228,-0.57,-146.6,2397,817,3320,3235,105.7,-10.1,139,1237,0.00,2.25,0.00,0.000,3078,0.000,0.034,2388,2264,3277,3320,3235,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1357,-0.57,-146.6,2388,2264,3320,3235,118.4,-9.6,152,1358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2388,2264,3277,3320,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1478,-0.57,-146.6,2388,2264,3320,3235,129.9,-9.6,164,1488,0.00,2.28,0.00,0.000,2564,0.000,0.040,2388,813,3277,3320,3235,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1547,-0.57,-146.6,2388,813,3320,3234,137.5,-11.2,171,1557,0.05,2.28,0.00,0.000,3078,0.142,0.035,2396,2276,3277,3320,3234,0,0,0,0,0,0,26.15,26.27,28.83
$GC,1677,-0.57,-146.6,2396,2275,3320,3235,150.0,-10.0,184,1678,0.00,0.00,0.00,0.000,4102,0.000,0.000,2396,2276,3277,3320,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,-0.57,-146.6,2396,2275,3320,3235,160.7,-8.8,196,1799,0.00,0.00,0.00,0.000,4102,0.000,0.000,2396,2275,3277,3320,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.57,-146.6,2396,2276,3320,3235,171.2,-8.3,208,1927,0.00,2.22,0.00,0.000,4356,0.000,0.044,2387,3673,3277,3320,3235,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1967,-0.57,-146.6,2387,3673,3320,3234,175.5,-9.2,213,1977,0.00,2.20,0.00,0.000,3078,0.000,0.028,2387,2217,3277,3320,3235,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,2025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2025,begin apogee
$GC,2031,-0.17,0.0,2387,2266,3320,3235,180.2,-7.8,219,2148,0.38,0.00,112.62,1.119,10246,0.112,0.000,2522,2266,2678,2762,2595,0,0,0,0,0,0,26.22,28.83,23.61
$STATE,2149,end apogee,CONTROL_FINISHED_OK
$STATE,2149,begin climb
$GC,2151,0.57,146.6,2522,2266,2763,2595,183.2,0.0,231,2279,0.70,2.45,119.47,1.106,10500,0.077,0.041,2765,3669,2078,2177,1979,0,0,0,0,0,0,24.45,24.20,23.40
$GC,2328,0.57,146.6,2765,3669,2175,1979,167.9,12.1,249,2337,0.03,2.35,0.00,0.000,5126,0.180,0.031,2767,2225,2077,2175,1979,0,0,0,0,0,0,24.76,24.84,28.83
$GC,2457,0.57,146.6,2767,2225,2172,1979,153.1,11.2,262,2458,0.00,0.00,0.00,0.000,4102,0.000,0.000,2767,2225,2075,2172,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,0.57,146.6,2767,2225,2171,1978,139.0,12.3,274,2587,0.00,2.28,0.00,0.000,4612,0.000,0.042,2776,816,2074,2170,1979,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2637,0.57,146.6,2776,816,2169,1979,131.5,12.7,280,2647,0.05,2.33,0.00,0.000,5126,0.184,0.032,2762,2270,2073,2169,1978,0,0,0,0,0,0,25.51,25.60,28.83
$GC,2767,0.57,146.6,2762,2269,2168,1978,116.2,11.5,293,2777,0.00,2.33,0.00,0.000,2564,0.000,0.041,2771,820,2073,2169,1978,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2817,0.57,146.6,2771,819,2168,1978,110.3,12.1,298,2827,0.00,2.30,0.00,0.000,5126,0.000,0.032,2771,2267,2073,2168,1978,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2948,0.57,146.6,2771,2267,2168,1978,94.6,12.1,311,2949,0.00,0.00,0.00,0.000,4102,0.000,0.000,2771,2267,2073,2168,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3067,0.57,146.6,2771,2267,2168,1978,80.6,11.6,323,3068,0.00,0.00,0.00,0.000,4102,0.000,0.000,2772,2267,2073,2168,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3187,0.57,146.6,2771,2267,2168,1978,65.7,12.4,335,3188,0.00,0.00,0.00,0.000,4102,0.000,0.000,2771,2267,2073,2168,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3307,0.57,146.6,2771,2267,2168,1978,50.1,13.0,347,3317,0.00,2.28,0.00,0.000,4612,0.000,0.041,2782,823,2072,2167,1978,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3358,0.57,146.6,2782,822,2167,1978,44.2,11.7,352,3367,0.05,2.25,0.00,0.000,5126,0.135,0.033,2764,2265,2072,2167,1978,0,0,0,0,0,0,25.94,26.05,28.83
$GC,3487,0.57,146.6,2764,2265,2166,1978,29.7,10.5,365,3488,0.00,0.00,0.00,0.000,4102,0.000,0.000,2764,2265,2072,2166,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3609,0.57,146.6,2764,2265,2166,1978,15.8,12.1,380,3615,0.00,0.00,0.00,0.000,4102,0.000,0.000,2764,2265,2072,2166,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3678,0.57,146.6,1768,2262,2114,1970,8.0,11.1,393,3685,0.00,2.25,0.00,0.000,4612,0.000,0.042,2773,812,2072,2166,1978,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,3726,end climb,SURFACE_DEPTH_REACHED
$STATE,3726,begin surface coast
$FINISH,0.6,1.022576
$STATE,3753,end surface coast,CONTROL_FINISHED_OK
$STATE,3753,begin surface
$SM_CCo,3771,38.20,0.147,0,0,1657,250.21
$SM_GC,2.27,7.00,2.30,38.20,0.047,0.035,0.147,154,2270,1657,-7.51,-0.48,250.21,0,0,0,0,0,0,26.13,26.15,25.89
$IRIDIUM_FIX,4735.69,-12302.24,150114,111102
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.26
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,140.2,49.9
$24V_AH,23.4,2.929
$10V_AH,10.2,2.746
$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,16.650,50.300,232.100,38.200,0.000,33.983,39.504,324.788,4.250,0.000,18.689,979.060,1501.977,394.022,1320.377,131.330,33.204,803.841,0.000,699.034,0.000,30.089,0.000
$DEVICE_MAMPS,206.550,139.995,1119.195,146.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.374,874.079,628.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,27108,407
$CAP_FILE_SIZE,66576,0
$CFSIZE,260165632,252968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,134118,4743.165,-12224.271,13,1.6,13,16.6