version: 66.11
glider: 189
mission: 29
dive: 18
start: 1 15 114 15 12 14
data:
$ID,189
$MISSION,29
$DIVE,18
$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,-57114.629
$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
$GPS1,150114,145950,4743.550,-12223.967,18,0.7,19,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.5
$GPS2,150114,151113,4743.346,-12223.659,24,0.7,26,16.6
$SPEED_LIMITS,0.067,0.223
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.150,0.004
$KALMAN_X,-4600.4,56.6,-85.4,5982.0,-229.9
$KALMAN_Y,-3407.5,-97.0,67.8,4435.0,-660.1
$MHEAD_RNG_PITCHd_Wd,254.8,1228,-19.9,-6.667,-23.95,1341
$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,-0.76,-59.0,153,2266,1703,1583,0.0,0.0,0,57,0.00,0.00,-38.72,0.000,16386,0.000,0.000,153,2267,2784,2794,2774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.80,-90.9,153,2266,2795,2774,2.4,-4.2,6,82,8.10,2.35,-7.22,0.000,18948,0.213,0.054,2320,818,3050,3110,2991,0,0,0,0,0,0,25.56,25.77,26.03
$GC,134,-0.80,-90.9,1412,818,3078,2984,8.5,-9.8,19,142,0.05,2.25,0.00,0.000,3078,0.210,0.034,2323,2268,3050,3111,2990,0,0,0,0,0,0,25.71,25.83,28.83
$GC,205,-0.80,-90.9,1408,2265,3080,2983,14.8,-8.9,32,212,0.00,2.25,0.00,0.000,2308,0.000,0.044,2314,3664,3051,3112,2990,0,0,0,0,0,0,28.83,25.86,28.83
$GC,270,-0.80,-90.9,2314,3664,3112,2989,21.3,-10.2,43,280,0.00,2.25,0.00,0.000,3078,0.000,0.028,2314,2212,3050,3112,2989,0,0,0,0,0,0,28.83,25.93,28.83
$GC,401,-0.80,-90.9,2314,2212,3113,2990,34.8,-9.8,56,402,0.00,0.00,0.00,0.000,2054,0.000,0.000,2314,2212,3051,3113,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,521,-0.80,-90.9,2314,2212,3113,2989,47.4,-11.0,68,530,0.00,2.33,0.00,0.000,2308,0.000,0.043,2304,3662,3051,3113,2989,0,0,0,0,0,0,28.83,26.01,28.83
$GC,590,-0.80,-90.9,2304,3663,3113,2989,55.1,-11.4,75,601,0.08,2.25,0.00,0.000,3078,0.172,0.030,2326,2205,3051,3113,2989,0,0,0,0,0,0,25.94,26.06,28.83
$GC,721,-0.80,-90.9,2325,2204,3114,2989,68.7,-10.5,88,730,0.00,2.20,0.00,0.000,4612,0.000,0.041,2326,814,3051,3113,2989,0,0,0,0,0,0,28.83,26.10,28.83
$GC,970,-0.80,-90.9,2326,814,3113,2989,92.7,-8.9,113,980,0.00,2.30,0.00,0.000,3078,0.000,0.035,2316,2277,3051,3113,2989,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1101,-0.80,-90.9,2316,2277,3113,2989,101.7,-6.8,126,1110,0.00,2.28,0.00,0.000,2564,0.000,0.040,2316,825,3051,3114,2989,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1170,-0.80,-90.9,2316,825,3114,2989,106.8,-7.4,133,1181,0.08,2.28,0.00,0.000,3078,0.182,0.034,2328,2277,3051,3114,2989,0,0,0,0,0,0,26.08,26.21,28.83
$GC,1301,-0.80,-90.9,2328,2276,3113,2989,115.9,-7.2,146,1310,0.00,2.22,0.00,0.000,4356,0.000,0.044,2318,3674,3051,3114,2989,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1430,-0.80,-90.9,2319,3674,3114,2989,127.3,-9.7,159,1440,0.00,2.25,0.00,0.000,3078,0.000,0.029,2318,2205,3051,3113,2989,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1561,-0.80,-90.9,2319,2205,3114,2989,140.0,-9.7,172,1570,0.00,2.33,0.00,0.000,2308,0.000,0.043,2308,3672,3050,3113,2988,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1620,-0.80,-90.9,2308,3672,3114,2989,145.9,-9.6,178,1631,0.05,2.22,0.00,0.000,3078,0.187,0.028,2323,2212,3051,3114,2988,0,0,0,0,0,0,26.17,26.28,28.83
$GC,1751,-0.80,-90.9,2322,2212,3114,2989,157.4,-8.6,191,1752,0.00,0.00,0.00,0.000,2054,0.000,0.000,2323,2212,3051,3114,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.80,-90.9,2323,2211,3114,2989,168.2,-9.3,203,1880,0.00,2.17,0.00,0.000,2564,0.000,0.040,2324,813,3051,3114,2989,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1920,-0.80,-90.9,2323,813,3114,2989,173.0,-9.9,208,1930,0.00,2.28,0.00,0.000,3078,0.000,0.034,2314,2274,3051,3114,2988,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,1939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1939,begin apogee
$GC,1944,-0.17,0.0,2314,2274,3114,2988,174.8,-9.5,210,2021,0.62,0.00,70.00,1.127,10246,0.135,0.000,2522,2274,2678,2763,2594,0,0,0,0,0,0,26.17,28.83,24.02
$STATE,2022,end apogee,CONTROL_FINISHED_OK
$STATE,2022,begin climb
$GC,2024,0.80,90.9,2521,2274,2763,2595,177.2,0.0,218,2101,0.90,0.00,72.55,1.108,10502,0.080,0.000,2835,2274,2306,2391,2222,0,0,0,0,0,0,24.84,28.83,23.49
$GC,2221,0.80,90.9,2835,2274,2389,2223,154.1,15.2,238,2222,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,2274,2306,2389,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,0.80,90.9,2835,2274,2388,2222,135.9,15.5,250,2342,0.00,0.00,0.00,0.000,4102,0.000,0.000,2835,2274,2305,2388,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,0.80,90.9,2835,2274,2387,2222,116.8,15.8,262,2470,0.00,2.28,0.00,0.000,4356,0.000,0.041,2835,3671,2304,2386,2222,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2541,0.80,90.9,2835,3671,2387,2222,102.9,17.6,270,2550,0.00,2.30,0.00,0.000,5126,0.000,0.031,2846,2211,2304,2387,2222,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2671,0.80,90.9,2846,2210,2387,2222,83.7,14.5,283,2672,0.00,0.00,0.00,0.000,4102,0.000,0.000,2846,2210,2304,2386,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,0.80,90.9,2845,2211,2386,2222,65.5,15.9,295,2800,0.00,2.22,0.00,0.000,4612,0.000,0.041,2856,820,2304,2386,2222,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2960,0.80,90.9,2856,820,2386,2222,37.3,17.1,312,2971,0.08,2.30,0.00,0.000,5126,0.182,0.033,2835,2277,2303,2385,2222,0,0,0,0,0,0,25.85,25.99,28.83
$GC,3093,0.80,90.9,2835,2277,2386,2222,17.2,14.7,326,3100,0.00,2.22,0.00,0.000,4356,0.000,0.041,2835,3675,2303,2385,2222,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3164,0.80,90.9,1808,3674,2328,2213,7.3,14.3,339,3171,0.00,2.22,0.00,0.000,5126,0.000,0.030,2844,2221,2303,2385,2222,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,3191,end climb,SURFACE_DEPTH_REACHED
$STATE,3191,begin surface coast
$FINISH,0.3,1.022289
$STATE,3214,end surface coast,CONTROL_FINISHED_OK
$STATE,3214,begin surface
$SM_CCo,3230,59.95,0.143,0,0,1654,250.21
$SM_GC,1.94,7.25,0.00,59.95,0.050,0.000,0.143,146,2221,1654,-7.54,-0.74,250.21,0,0,0,0,0,0,26.05,28.83,25.77
$IRIDIUM_FIX,4719.74,-12214.55,150114,151524
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.30
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.1
$ALTIM_BOTTOM_PING,135.2,48.9
$24V_AH,23.5,3.102
$10V_AH,10.1,2.876
$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,17.200,49.750,142.550,59.950,0.000,52.973,90.195,356.595,3.750,0.000,27.076,855.871,1359.663,342.588,1289.951,130.997,33.200,690.705,0.000,598.451,0.000,26.909,0.000
$DEVICE_MAMPS,212.670,54.315,1126.845,143.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.323,747.385,537.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323420
$DATA_FILE_SIZE,23641,348
$CAP_FILE_SIZE,59774,0
$CFSIZE,260165632,252899328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150114,160804,4743.515,-12224.326,31,0.9,31,16.6