version: 66.11
glider: 189
mission: 29
dive: 17
start: 1 15 114 13 50 36
data:
$ID,189
$MISSION,29
$DIVE,17
$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,-57113.367
$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
$GPS1,150114,134118,4743.165,-12224.271,13,1.6,13,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.3
$GPS2,150114,134935,4743.103,-12224.197,21,1.0,22,16.6
$SPEED_LIMITS,0.067,0.223
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.115,0.192
$KALMAN_X,-4961.8,419.0,-193.5,5420.8,-687.7
$KALMAN_Y,-2667.5,434.7,-621.2,3400.2,-574.0
$MHEAD_RNG_PITCHd_Wd,14.4,2614,-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,-146.6,154,2270,1699,1588,0.0,0.0,0,50,0.00,0.00,-32.62,0.000,16386,0.000,0.000,154,2271,2597,2621,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.57,-146.6,154,2271,2621,2575,2.2,-3.0,5,88,8.30,2.35,-20.23,0.000,18948,0.211,0.054,2387,819,3277,3337,3218,0,0,0,0,0,0,25.58,25.79,26.06
$GC,222,-0.57,-146.6,1444,818,3320,3213,14.5,-9.8,36,230,0.08,2.25,0.00,0.000,3078,0.166,0.036,2401,2267,3278,3339,3217,0,0,0,0,0,0,25.79,25.90,28.83
$GC,298,-0.57,-146.6,2401,2267,3340,3216,21.1,-8.1,49,299,0.00,0.00,0.00,0.000,4102,0.000,0.000,2401,2267,3278,3340,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,418,-0.57,-146.6,2401,2267,3340,3217,29.8,-6.9,61,427,0.00,2.30,0.00,0.000,4612,0.000,0.040,2402,818,3278,3340,3216,0,0,0,0,0,0,28.83,26.00,28.83
$GC,458,-0.57,-146.6,2402,817,3340,3216,33.0,-8.1,65,467,0.00,2.30,0.00,0.000,3078,0.000,0.034,2393,2270,3278,3340,3216,0,0,0,0,0,0,28.83,26.02,28.83
$GC,588,-0.57,-146.6,2392,2270,3340,3216,43.7,-8.1,78,597,0.00,2.28,0.00,0.000,2308,0.000,0.044,2382,3679,3278,3340,3216,0,0,0,0,0,0,28.83,26.04,28.83
$GC,678,-0.57,-146.6,2382,3679,3341,3216,51.6,-8.6,87,688,0.03,2.25,0.00,0.000,3078,0.156,0.029,2392,2205,3278,3341,3215,0,0,0,0,0,0,26.01,26.10,28.83
$GC,808,-0.57,-146.6,2392,2204,3341,3215,61.9,-7.7,100,818,0.00,2.20,0.00,0.000,2564,0.000,0.041,2392,814,3278,3341,3215,0,0,0,0,0,0,28.83,26.13,28.83
$GC,918,-0.57,-146.6,2392,814,3341,3215,71.4,-8.8,111,927,0.00,2.28,0.00,0.000,3078,0.000,0.034,2384,2266,3278,3341,3215,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1048,-0.57,-146.6,2384,2266,3342,3215,83.0,-9.3,124,1057,0.00,2.25,0.00,0.000,2308,0.000,0.044,2373,3675,3278,3341,3215,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1098,-0.57,-146.6,2373,3674,3341,3215,87.9,-9.8,129,1108,0.08,2.25,0.00,0.000,3078,0.155,0.029,2398,2209,3278,3342,3215,0,0,0,0,0,0,26.10,26.20,28.83
$GC,1228,-0.57,-146.6,2398,2208,3342,3215,98.8,-8.2,142,1237,0.00,2.20,0.00,0.000,4612,0.000,0.041,2399,804,3278,3342,3215,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1328,-0.57,-146.6,2398,804,3342,3215,107.0,-7.6,152,1338,0.00,2.30,0.00,0.000,3078,0.000,0.034,2390,2272,3278,3342,3215,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1458,-0.57,-146.6,2389,2272,3342,3215,117.5,-8.3,165,1459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,2272,3278,3342,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1578,-0.57,-146.6,2389,2271,3342,3215,126.4,-6.8,177,1587,0.00,2.28,0.00,0.000,2564,0.000,0.039,2390,816,3278,3342,3215,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1638,-0.57,-146.6,2390,816,3342,3215,131.1,-7.9,183,1648,0.05,2.28,0.00,0.000,3078,0.186,0.034,2397,2270,3278,3342,3215,0,0,0,0,0,0,26.18,26.28,28.83
$GC,1769,-0.57,-146.6,2396,2270,3342,3215,139.6,-6.2,196,1770,0.00,0.00,0.00,0.000,4102,0.000,0.000,2397,2271,3278,3342,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1888,-0.57,-146.6,2397,2270,3342,3215,149.3,-8.9,208,1898,0.00,2.28,0.00,0.000,4612,0.000,0.041,2397,820,3278,3341,3215,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1988,-0.57,-146.6,2397,820,3342,3215,157.4,-8.1,218,1998,0.00,2.28,0.00,0.000,3078,0.000,0.034,2389,2277,3278,3342,3215,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2119,-0.57,-146.6,2389,2277,3342,3215,167.5,-7.7,231,2128,0.00,2.28,0.00,0.000,2564,0.000,0.041,2389,820,3278,3342,3215,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2198,-0.57,-146.6,2389,819,3342,3215,173.8,-8.1,239,2208,0.05,2.25,0.00,0.000,3078,0.135,0.034,2398,2269,3278,3342,3214,0,0,0,0,0,0,26.24,26.34,28.83
$STATE,2218,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2218,begin apogee
$GC,2223,-0.17,0.0,2398,2269,3342,3215,175.3,-7.8,241,2339,0.35,0.00,112.12,1.121,10246,0.114,0.000,2525,2269,2677,2763,2592,0,0,0,0,0,0,26.24,28.83,23.62
$STATE,2340,end apogee,CONTROL_FINISHED_OK
$STATE,2340,begin climb
$GC,2342,0.57,146.6,2525,2269,2764,2593,178.2,0.0,253,2469,0.70,2.38,119.00,1.105,11012,0.079,0.041,2766,3667,2079,2176,1983,0,0,0,0,0,0,24.46,24.20,23.41
$GC,2498,0.57,146.6,2766,3667,2175,1982,165.6,11.9,269,2508,0.03,2.38,0.00,0.000,5126,0.177,0.030,2769,2219,2078,2175,1982,0,0,0,0,0,0,24.60,24.70,28.83
$GC,2628,0.57,146.6,2769,2219,2172,1982,149.9,11.8,282,2638,0.00,2.28,0.00,0.000,4612,0.000,0.042,2778,826,2076,2171,1982,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2718,0.57,146.6,2777,826,2170,1982,139.2,11.8,291,2729,0.03,2.33,0.00,0.000,5126,0.164,0.032,2768,2269,2075,2170,1981,0,0,0,0,0,0,25.37,25.46,28.83
$GC,2848,0.57,146.6,2768,2268,2169,1982,125.0,10.5,304,2849,0.00,0.00,0.00,0.000,4102,0.000,0.000,2768,2268,2075,2169,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2968,0.57,146.6,2768,2268,2169,1982,111.0,11.9,316,2978,0.00,2.33,0.00,0.000,4612,0.000,0.041,2778,822,2075,2168,1982,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3068,0.57,146.6,2777,821,2168,1982,98.7,12.4,326,3079,0.05,2.30,0.00,0.000,5126,0.182,0.033,2757,2269,2074,2167,1982,0,0,0,0,0,0,25.72,25.82,28.83
$GC,3199,0.57,146.6,2757,2269,2167,1982,84.7,10.3,339,3200,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,2269,2074,2167,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,0.57,146.6,2756,2269,2167,1982,72.1,10.7,351,3328,0.00,2.30,0.00,0.000,2564,0.000,0.042,2766,827,2074,2167,1982,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3368,0.57,146.6,2766,827,2167,1982,66.7,10.8,356,3378,0.00,2.28,0.00,0.000,5126,0.000,0.034,2766,2268,2074,2167,1982,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3499,0.57,146.6,2765,2268,2167,1982,52.5,10.9,369,3500,0.00,0.00,0.00,0.000,4102,0.000,0.000,2766,2268,2074,2166,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3619,0.57,146.6,2766,2268,2166,1982,40.8,9.1,381,3628,0.00,2.25,0.00,0.000,4356,0.000,0.042,2766,3673,2073,2166,1981,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3668,0.57,146.6,2765,3673,2167,1982,36.0,9.5,386,3679,0.05,2.25,0.00,0.000,5126,0.189,0.031,2761,2221,2074,2166,1982,0,0,0,0,0,0,25.98,26.08,28.83
$GC,3798,0.57,146.6,2761,2221,2166,1982,25.0,9.1,399,3808,0.00,2.20,0.00,0.000,2564,0.000,0.042,2770,825,2074,2166,1982,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3870,0.57,146.6,1768,824,2113,1974,18.0,10.2,407,3877,0.00,2.22,0.00,0.000,5126,0.000,0.034,2770,2259,2074,2166,1982,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3940,0.57,146.6,1744,2256,2111,1973,10.4,11.3,420,3947,0.00,0.00,0.00,0.000,4102,0.000,0.000,2770,2259,2074,2166,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4009,0.57,146.6,1744,2257,2111,1973,3.0,10.6,433,4017,0.00,2.28,0.00,0.000,4612,0.000,0.042,2781,821,2074,2166,1982,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,4022,end climb,SURFACE_DEPTH_REACHED
$STATE,4022,begin surface coast
$FINISH,0.4,1.010466
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4067,38.58,0.147,0,0,1655,250.21
$SM_GC,1.74,7.00,2.28,38.58,0.047,0.036,0.147,154,2266,1655,-7.51,-0.65,250.21,0,0,0,0,0,0,26.15,26.17,25.90
$IRIDIUM_FIX,4729.30,-12219.67,150114,121215
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.18
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,18.4
$ALTIM_BOTTOM_PING,130.2,53.9
$24V_AH,23.4,3.026
$10V_AH,10.2,2.817
$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,16.775,72.850,231.125,38.575,0.000,25.821,50.236,305.694,3.750,0.000,22.825,1054.511,1588.051,445.644,1375.490,146.121,33.212,895.861,0.000,752.613,0.000,24.144,0.000
$DEVICE_MAMPS,211.140,53.550,1120.725,146.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.386,944.983,679.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30319,440
$CAP_FILE_SIZE,71890,0
$CFSIZE,260165632,252919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,145950,4743.550,-12223.967,18,0.7,19,16.6