version: 66.11
glider: 189
mission: 7
dive: 4
start: 9 14 112 1 2 52
data:
$ID,189
$MISSION,7
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,15
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-45657.762
$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,3080
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$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,2331
$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
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,140912,005805,2435.643,-3802.367,13,1.0,14,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.3
$GPS2,140912,010154,2435.643,-3802.370,18,1.1,19,-14.0
$SPEED_LIMITS,0.173,0.246
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,0.160
$KALMAN_X,-1727.2,-1270.8,-175.7,2732.9,-245.1
$KALMAN_Y,5.5,230.2,-246.0,2537.1,-220.6
$MHEAD_RNG_PITCHd_Wd,63.3,33707,-19.1,-10.000,-22.15
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.89,-146.6,0.0,0.0,0,74,0.00,0.00,-52.38,0.000,2,0.000,0.000,152,2005,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.89,-146.6,2.2,-3.1,5,96,10.27,0.00,-7.05,0.000,6,0.228,0.000,2786,2007,2930,0,0,0,0,0,0,26.22,28.83,26.89
$GC,393,-0.89,-146.6,46.6,-16.1,37,398,0.00,2.25,0.00,0.000,4,0.000,0.064,2786,587,2931,0,0,0,0,0,0,28.83,26.58,28.83
$GC,624,-0.89,-146.6,84.0,-15.4,49,629,0.00,2.15,0.00,0.000,6,0.000,0.034,2775,2040,2932,0,0,0,0,0,0,28.83,26.74,28.83
$GC,936,-0.89,-146.6,119.3,-10.2,65,941,0.00,2.03,0.00,0.000,4,0.000,0.029,2765,3466,2933,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1167,-0.89,-146.6,142.1,-9.8,76,1172,0.00,2.28,0.00,0.000,6,0.000,0.055,2765,2006,2933,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1479,-0.89,-146.6,177.1,-11.6,92,1484,0.00,2.10,0.00,0.000,4,0.000,0.029,2754,3479,2932,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1709,-0.89,-146.6,201.4,-10.7,103,1715,0.15,2.30,0.00,0.000,6,0.152,0.055,2794,2003,2933,0,0,0,0,0,0,26.54,26.70,28.83
$GC,2022,-0.89,-146.6,236.0,-10.8,119,2027,0.00,2.22,0.00,0.000,4,0.000,0.066,2795,594,2932,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2254,-0.89,-146.6,267.7,-14.2,130,2259,0.00,2.12,0.00,0.000,6,0.000,0.037,2785,2036,2932,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2576,-0.89,-146.6,304.9,-10.6,146,2581,0.00,2.08,0.00,0.000,4,0.000,0.030,2774,3474,2931,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2807,-0.89,-146.6,323.7,-8.6,153,2812,0.00,2.30,0.00,0.000,6,0.000,0.056,2774,2002,2929,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3119,-0.89,-146.6,351.7,-8.2,164,3124,0.00,2.10,0.00,0.000,4,0.000,0.030,2763,3462,2928,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3350,-0.89,-146.6,368.1,-8.1,171,3356,0.12,2.28,0.00,0.000,6,0.155,0.056,2796,2007,2927,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3663,-0.89,-146.6,399.1,-10.2,182,3669,0.00,2.25,0.00,0.000,4,0.000,0.066,2796,588,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3894,-0.89,-146.6,428.9,-14.5,189,3899,0.00,2.15,0.00,0.000,6,0.000,0.036,2786,2041,2924,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4206,-0.89,-146.6,467.9,-10.8,200,4211,0.00,2.30,0.00,0.000,4,0.000,0.067,2786,597,2923,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4437,-0.89,-146.6,494.5,-12.3,207,4442,0.00,2.15,0.00,0.000,6,0.000,0.037,2775,2034,2921,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4749,-0.89,-146.6,520.9,-7.4,218,4754,0.00,2.05,0.00,0.000,4,0.000,0.030,2764,3465,2920,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4961,-0.89,-146.6,536.9,-7.8,225,4968,0.12,2.28,0.00,0.000,6,0.154,0.057,2797,2007,2919,0,0,0,0,0,0,26.52,26.66,28.83
$GC,5295,-0.89,-146.6,566.5,-9.8,236,5300,0.00,2.25,0.00,0.000,4,0.000,0.067,2798,597,2917,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5526,-0.89,-146.6,596.9,-14.9,243,5531,0.00,2.15,0.00,0.000,6,0.000,0.037,2787,2033,2916,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5838,-0.89,-146.6,638.8,-11.8,254,5843,0.00,2.05,0.00,0.000,4,0.000,0.031,2777,3459,2914,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6069,-0.89,-146.6,658.9,-9.1,261,6074,0.00,2.30,0.00,0.000,6,0.000,0.058,2777,2002,2913,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6381,-0.89,-146.6,688.4,-8.4,272,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2001,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6681,-0.89,-146.6,713.6,-8.4,282,6686,0.00,2.25,0.00,0.000,4,0.000,0.069,2776,597,2911,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6912,-0.89,-146.6,739.6,-12.9,289,6917,0.00,2.15,0.00,0.000,6,0.000,0.037,2766,2036,2909,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7224,-0.89,-146.6,776.7,-11.3,300,7229,0.00,2.08,0.00,0.000,4,0.000,0.031,2754,3472,2910,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7455,-0.89,-146.6,798.8,-10.3,307,7461,0.15,2.30,0.00,0.000,6,0.145,0.058,2796,2009,2907,0,0,0,0,0,0,26.44,26.60,28.83
$GC,7769,-0.89,-146.6,829.3,-9.0,318,7774,0.00,2.28,0.00,0.000,4,0.000,0.070,2796,595,2906,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7999,-0.89,-146.6,852.9,-11.2,325,8004,0.00,2.15,0.00,0.000,6,0.000,0.037,2787,2031,2905,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8311,-0.89,-146.6,882.5,-8.6,336,8316,0.00,2.33,0.00,0.000,4,0.000,0.071,2787,594,2904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8373,-0.89,-146.6,889.1,-9.7,338,8378,0.00,2.15,0.00,0.000,6,0.000,0.037,2775,2033,2903,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8706,-0.89,-146.6,918.2,-8.5,349,8711,0.00,2.08,0.00,0.000,4,0.000,0.031,2765,3465,2902,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8937,-0.89,-146.6,935.0,-8.0,356,8942,0.00,2.33,0.00,0.000,6,0.000,0.060,2765,1999,2901,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9250,-0.89,-146.6,964.9,-9.2,367,9255,0.00,2.28,0.00,0.000,4,0.000,0.071,2760,593,2900,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,9461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9461,begin apogee
$GC,9466,-0.19,0.0,991.6,-12.9,374,9591,0.80,0.00,120.10,1.689,6,0.135,0.000,3010,2031,2329,0,0,0,0,0,0,26.25,28.83,23.77
$STATE,9593,end apogee,CONTROL_FINISHED_OK
$STATE,9593,begin climb
$GC,9594,0.89,146.6,994.9,0.0,378,9734,0.95,2.25,128.12,1.649,4,0.044,0.031,3375,3453,1733,0,0,0,0,0,0,25.07,24.88,23.77
$GC,9859,0.89,146.6,955.8,20.8,387,9865,0.00,2.38,0.00,0.000,6,0.000,0.057,3384,2009,1728,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10187,0.89,146.6,875.8,24.1,398,10192,0.00,2.30,0.00,0.000,4,0.000,0.068,3395,593,1725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10228,0.89,146.6,866.9,24.7,399,10233,0.00,2.20,0.00,0.000,6,0.000,0.037,3395,2030,1724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10550,0.89,146.6,785.0,24.0,410,10555,0.00,2.10,0.00,0.000,4,0.000,0.031,3395,3468,1723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10596,0.89,146.6,777.9,23.4,411,10602,0.15,2.35,0.00,0.000,6,0.212,0.060,3371,2001,1722,0,0,0,0,0,0,26.20,26.42,28.83
$GC,10915,0.89,146.6,703.3,22.4,422,10920,0.00,2.28,0.00,0.000,4,0.000,0.070,3381,594,1722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11081,0.89,146.6,659.3,29.5,427,11086,0.00,2.17,0.00,0.000,6,0.000,0.037,3371,2031,1720,0,0,0,0,0,0,28.83,26.61,28.83
$GC,11398,0.89,146.6,581.7,22.6,438,11403,0.00,2.08,0.00,0.000,4,0.000,0.031,3372,3464,1720,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11430,0.89,146.6,575.0,22.2,439,11436,0.00,2.33,0.00,0.000,6,0.000,0.060,3381,2003,1720,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11762,0.89,146.6,500.7,21.9,450,11768,0.00,2.28,0.00,0.000,4,0.000,0.070,3392,591,1720,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11838,0.89,146.6,485.0,23.4,452,11843,0.00,2.17,0.00,0.000,6,0.000,0.037,3392,2037,1719,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12155,0.89,146.6,412.3,21.7,463,12160,0.00,2.08,0.00,0.000,4,0.000,0.030,3392,3475,1719,0,0,0,0,0,0,28.83,26.72,28.83
$GC,12236,0.89,146.6,400.3,20.5,465,12242,0.15,2.33,0.00,0.000,6,0.197,0.059,3368,2008,1719,0,0,0,0,0,0,26.37,26.60,28.83
$GC,12549,0.89,146.6,334.5,20.6,476,12554,0.00,2.28,0.00,0.000,4,0.000,0.070,3377,593,1719,0,0,0,0,0,0,28.83,26.59,28.83
$GC,12645,0.89,146.6,310.9,24.4,479,12650,0.00,2.15,0.00,0.000,6,0.000,0.036,3376,2030,1719,0,0,0,0,0,0,28.83,26.73,28.83
$GC,12962,0.89,146.6,239.3,22.3,494,12967,0.00,2.08,0.00,0.000,4,0.000,0.028,3376,3476,1720,0,0,0,0,0,0,28.83,26.77,28.83
$GC,13024,0.89,146.6,226.5,21.1,497,13029,0.00,2.33,0.00,0.000,6,0.000,0.058,3386,2006,1719,0,0,0,0,0,0,28.83,26.63,28.83
$GC,13345,0.89,146.6,155.8,23.4,513,13351,0.00,2.28,0.00,0.000,4,0.000,0.070,3397,601,1722,0,0,0,0,0,0,28.83,26.62,28.83
$GC,13381,0.89,146.6,150.2,24.2,514,13389,0.12,2.12,0.00,0.000,6,0.213,0.035,3371,2032,1719,0,0,0,0,0,0,26.40,26.75,28.83
$GC,13687,0.89,146.6,82.4,20.2,530,13692,0.00,2.05,0.00,0.000,4,0.000,0.028,3362,3463,1719,0,0,0,0,0,0,28.83,26.77,28.83
$GC,13773,0.89,146.6,68.8,16.5,534,13778,0.00,2.30,0.00,0.000,6,0.000,0.059,3370,2009,1719,0,0,0,0,0,0,28.83,26.64,28.83
$GC,14080,0.89,146.6,21.2,14.9,559,14085,0.00,2.25,0.00,0.000,4,0.000,0.068,3382,598,1719,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,14171,end climb,SURFACE_DEPTH_REACHED
$STATE,14171,begin surface coast
$FINISH,0.2,0.999783
$STATE,14182,end surface coast,CONTROL_FINISHED_OK
$STATE,14183,begin surface
$SM_CCo,14203,56.78,0.136,0,0,1102,300.00
$SM_GC,1.58,8.52,2.20,56.78,0.052,0.036,0.136,156,2034,1102,-9.06,-0.68,300.00,0,0,0,0,0,0,26.74,26.77,26.36
$IRIDIUM_FIX,2429.95,-3748.13,140912,000037
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.71
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,7768352
$TM_FREEKB,7886528
$24V_AH,23.8,3.510
$10V_AH,10.4,2.482
$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,21.525,128.000,248.225,56.775,0.000,0.000,0.000,0.000,0.000,0.000,19.855,2454.175,9167.164,423.936,2188.925,101.324,32.234,1507.290,0.000,2086.749,0.000,0.537,0.000
$DEVICE_MAMPS,227.970,71.145,1689.120,136.170,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14154.000,3376.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.645,13.908,0.000,0.000
$MEM,344940
$DATA_FILE_SIZE,16719,569
$CAP_FILE_SIZE,180780,0
$CFSIZE,260034560,256278528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140912,050134,2435.657,-3802.008,31,0.8,31,-14.0