version: 66.11
glider: 189
mission: 7
dive: 52
start: 9 28 112 6 45 28
data:
$ID,189
$MISSION,7
$DIVE,52
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$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,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,-46939.273
$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,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$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,2320
$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,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280912,063627,2428.409,-3806.833,41,1.3,45,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-63.1
$GPS2,280912,064429,2428.408,-3806.863,20,1.3,20,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.137,0.150
$KALMAN_X,8006.3,-357.8,153.4,-16162.2,852.5
$KALMAN_Y,56880.9,-263.3,35.5,-70003.7,1824.9
$MHEAD_RNG_PITCHd_Wd,56.5,13204,-11.8,-6.111,-16.77
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-31.90,0.000,2,0.000,0.000,162,1829,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.2,-3.1,3,98,9.85,0.00,-26.42,0.000,6,0.217,0.000,2716,1830,2919,0,0,0,0,0,0,25.99,28.83,26.67
$GC,395,-0.68,-146.6,37.4,-10.6,37,397,0.22,0.00,0.00,0.000,6,0.146,0.000,2781,1830,2921,0,0,0,0,0,0,26.29,28.83,28.83
$GC,695,-0.61,-146.6,61.5,-7.1,67,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1830,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-0.53,-146.6,85.7,-8.8,89,1003,0.15,2.50,0.00,0.000,4,0.142,0.037,2816,3453,2923,0,0,0,0,0,0,26.50,26.60,28.83
$GC,1164,-0.51,-146.6,97.0,-7.5,94,1169,0.00,2.45,0.00,0.000,6,0.000,0.023,2816,1821,2924,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1465,-0.48,-146.6,118.7,-7.0,104,1472,0.00,2.30,0.00,0.000,4,0.000,0.043,2816,345,2923,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1705,-0.44,-146.6,137.5,-8.0,112,1713,0.17,2.30,0.00,0.000,6,0.128,0.024,2859,1886,2923,0,0,0,0,0,0,26.53,26.72,28.83
$GC,2036,-0.48,-146.6,156.2,-5.2,121,2043,0.00,2.40,0.00,0.000,4,0.000,0.043,2860,341,2923,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2255,-0.51,-146.6,164.2,-4.5,124,2259,0.00,2.30,0.00,0.000,6,0.000,0.024,2851,1884,2923,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2567,-0.55,-146.6,174.5,-2.8,130,2574,0.00,2.40,0.00,0.000,4,0.000,0.038,2839,3451,2921,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2796,-0.60,-146.6,182.7,-4.3,133,2806,0.10,2.42,0.00,0.000,6,0.094,0.023,2776,1825,2923,0,0,0,0,0,0,26.70,26.74,28.83
$GC,3106,-0.56,-146.6,209.4,-7.8,139,3115,0.15,2.50,0.00,0.000,4,0.132,0.037,2810,3451,2922,0,0,0,0,0,0,26.62,26.70,28.83
$GC,3175,-0.53,-146.6,213.9,-7.8,140,3179,0.00,2.42,0.00,0.000,6,0.000,0.023,2810,1825,2922,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3516,-0.53,-146.6,239.4,-7.1,146,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1825,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.53,-146.6,255.4,-5.2,151,3824,0.00,2.53,0.00,0.000,4,0.000,0.038,2798,3462,2918,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3936,-0.53,-146.6,261.2,-4.8,153,3945,0.12,2.45,0.00,0.000,6,0.133,0.024,2835,1826,2920,0,0,0,0,0,0,26.59,26.76,28.83
$GC,4297,-0.57,-146.6,272.7,-2.9,159,4304,0.00,2.30,0.00,0.000,4,0.000,0.044,2836,351,2919,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4386,-0.61,-146.6,274.7,-2.9,160,4390,0.00,2.30,0.00,0.000,6,0.000,0.024,2826,1889,2918,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4707,-0.65,-146.6,285.2,-3.0,166,4709,0.10,0.00,0.00,0.000,6,0.093,0.000,2764,1889,2918,0,0,0,0,0,0,26.84,28.83,28.83
$GC,5007,-0.61,-146.6,301.8,-5.7,171,5015,0.12,2.40,0.00,0.000,4,0.138,0.043,2799,352,2918,0,0,0,0,0,0,26.66,26.69,28.83
$GC,5127,-0.59,-146.6,309.3,-6.0,173,5134,0.00,2.30,0.00,0.000,6,0.000,0.024,2790,1887,2916,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5486,-0.59,-146.6,332.3,-6.6,179,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1887,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-0.59,-146.6,352.2,-6.6,184,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1887,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6087,-0.59,-146.6,368.2,-5.1,189,6095,0.00,2.40,0.00,0.000,4,0.000,0.043,2790,352,2913,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6186,-0.59,-146.6,370.8,-4.8,190,6191,0.12,2.30,0.00,0.000,6,0.140,0.025,2816,1886,2913,0,0,0,0,0,0,26.57,26.77,28.83
$GC,6498,-0.63,-146.6,381.7,-2.9,196,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1886,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6799,-0.66,-146.6,395.5,-4.8,201,6806,0.00,2.42,0.00,0.000,4,0.000,0.044,2816,342,2912,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6918,-0.69,-146.6,403.2,-5.9,203,6926,0.00,2.33,0.00,0.000,6,0.000,0.025,2806,1892,2912,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7278,-0.72,-146.6,429.1,-7.4,209,7286,0.12,2.42,0.00,0.000,4,0.080,0.044,2737,345,2910,0,0,0,0,0,0,26.85,26.67,28.83
$GC,7376,-0.72,-146.6,435.0,-8.0,210,7381,0.15,2.33,0.00,0.000,6,0.142,0.025,2767,1893,2910,0,0,0,0,0,0,26.51,26.76,28.83
$GC,7689,-0.72,-146.6,468.8,-9.3,216,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1893,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,-0.72,-146.6,493.5,-8.1,221,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1893,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8348,-0.72,-146.6,515.8,-6.2,225,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1893,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8709,-0.72,-146.6,533.7,-5.1,228,8716,0.00,2.42,0.00,0.000,4,0.000,0.044,2768,352,2907,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8857,-0.72,-146.6,540.5,-5.1,229,8862,0.00,2.30,0.00,0.000,6,0.000,0.026,2758,1882,2907,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9179,-0.72,-146.6,561.4,-5.9,232,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1882,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-0.72,-146.6,585.4,-6.6,235,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1882,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9899,-0.72,-146.6,608.7,-6.6,238,9906,0.00,2.42,0.00,0.000,4,0.000,0.045,2759,347,2904,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10018,-0.72,-146.6,617.2,-6.6,239,10022,0.00,2.33,0.00,0.000,6,0.000,0.027,2747,1885,2903,0,0,0,0,0,0,28.83,26.76,28.83
$GC,10369,-0.72,-146.6,642.5,-7.1,242,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1884,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10729,-0.72,-146.6,669.7,-7.6,245,10730,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1885,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11089,-0.72,-146.6,694.1,-6.9,248,11093,0.00,2.42,0.00,0.000,4,0.000,0.046,2748,354,2901,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11200,-0.72,-146.6,701.8,-6.8,249,11204,0.00,2.33,0.00,0.000,6,0.000,0.027,2737,1889,2901,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11552,-0.70,-146.6,724.0,-6.5,252,11553,0.12,0.00,0.00,0.000,6,0.148,0.000,2771,1889,2899,0,0,0,0,0,0,26.60,28.83,28.83
$GC,11912,-0.70,-146.6,743.8,-5.6,255,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1889,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12272,-0.73,-146.6,765.3,-5.9,258,12280,0.00,2.45,0.00,0.000,4,0.000,0.046,2772,348,2898,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12351,-0.76,-146.6,765.3,-5.9,258,12355,0.00,2.33,0.00,0.000,6,0.000,0.027,2763,1882,2898,0,0,0,0,0,0,28.83,26.71,28.83
$GC,12743,-0.78,-146.6,795.0,-6.3,262,12744,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13103,-0.80,-146.6,815.4,-5.7,265,13110,0.00,2.40,0.00,0.000,4,0.000,0.047,2763,359,2896,0,0,0,0,0,0,28.83,26.57,28.83
$GC,13202,-0.82,-146.6,815.4,-5.7,265,13206,0.00,2.33,0.00,0.000,6,0.000,0.028,2752,1886,2895,0,0,0,0,0,0,28.83,26.70,28.83
$GC,13573,-0.82,-146.6,842.4,-5.7,269,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1886,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13933,-0.82,-146.6,862.9,-5.6,272,13941,0.00,2.45,0.00,0.000,4,0.000,0.047,2752,351,2893,0,0,0,0,0,0,28.83,26.56,28.83
$GC,14032,-0.82,-146.6,862.9,-5.6,272,14036,0.00,2.33,0.00,0.000,6,0.000,0.027,2741,1882,2893,0,0,0,0,0,0,28.83,26.70,28.83
$GC,14403,-0.82,-146.6,890.5,-5.9,276,14404,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1882,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14763,-0.82,-146.6,907.9,-5.0,279,14764,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1882,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15123,-0.82,-146.6,924.8,-4.6,282,15124,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1882,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15483,-0.82,-146.6,945.5,-5.6,285,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1882,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15843,-0.82,-146.6,970.3,-6.7,288,15847,0.00,2.45,0.00,0.000,4,0.000,0.048,2741,353,2889,0,0,0,0,0,0,28.83,26.52,28.83
$GC,15935,-0.82,-146.6,970.3,-6.7,288,15942,0.00,2.33,0.00,0.000,6,0.000,0.028,2730,1879,2888,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,16193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16193,begin apogee
$GC,16197,-0.29,0.0,998.1,-7.8,291,16323,0.52,0.00,120.72,1.744,6,0.110,0.000,2903,1838,2319,0,0,0,0,0,0,26.27,28.83,23.86
$STATE,16325,end apogee,CONTROL_FINISHED_OK
$STATE,16325,begin climb
$GC,16327,0.86,146.6,1001.7,0.0,292,16461,1.08,0.00,129.98,1.710,6,0.073,0.000,3273,1838,1721,0,0,0,0,0,0,24.99,28.83,23.65
$GC,16795,0.73,146.6,961.3,10.7,296,16797,0.15,0.00,0.00,0.000,6,0.157,0.000,3235,1838,1713,0,0,0,0,0,0,25.89,28.83,28.83
$GC,17154,0.62,146.6,926.6,9.9,299,17156,0.12,0.00,0.00,0.000,6,0.156,0.000,3199,1838,1710,0,0,0,0,0,0,26.19,28.83,28.83
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$STATE,28697,end climb,SURFACE_DEPTH_REACHED
$STATE,28697,begin surface coast
$FINISH,0.9,0.996794
$STATE,28728,end surface coast,CONTROL_FINISHED_OK
$STATE,28728,begin surface
$SM_CCo,28808,0.00,0.000,0,0,865,356.91
$SM_GC,1.69,8.10,2.30,0.00,0.036,0.025,0.000,160,1882,865,-8.83,-0.57,356.91,0,0,0,0,0,0,26.66,26.66,28.83
$IRIDIUM_FIX,2422.84,-3807.04,270912,222256
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.71
$INTERNAL_PRESSURE,9.11433
$TCM_TEMP,24.70
$XPDR_PINGS,5
$SC_FREEKB,7749920
$TM_FREEKB,7409248
$24V_AH,23.7,11.926
$10V_AH,10.4,11.176
$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,22.850,133.675,400.100,0.000,0.000,26.394,39.362,215.336,1.250,0.000,21.625,1940.317,24750.707,672.617,1738.131,181.678,33.289,1432.493,0.000,1314.515,0.000,0.537,0.000
$DEVICE_MAMPS,217.260,141.525,1744.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28634.000,5300.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.828,13.529,0.000,0.000
$MEM,344688
$DATA_FILE_SIZE,13400,538
$CAP_FILE_SIZE,180829,0
$CFSIZE,260034560,248627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280912,144634,2431.817,-3803.795,26,0.8,26,-14.0