version: 66.11
glider: 189
mission: 7
dive: 7
start: 9 14 112 13 6 4
data:
$ID,189
$MISSION,7
$DIVE,7
$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,-45717.422
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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
$GPS1,140912,125422,2436.388,-3801.688,38,1.2,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.9
$GPS2,140912,130505,2436.351,-3801.658,14,1.1,15,-14.0
$SPEED_LIMITS,0.173,0.246
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.238,-0.061
$KALMAN_X,-14540.5,313.2,375.4,14589.3,-7920.9
$KALMAN_Y,-5692.8,-625.7,-27.5,10167.5,-1505.4
$MHEAD_RNG_PITCHd_Wd,118.4,31947,-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,-0.86,-146.6,0.0,0.0,0,64,0.00,0.00,-42.42,0.000,2,0.000,0.000,155,2000,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.86,-146.6,2.3,-2.9,4,98,10.15,2.35,-15.68,0.000,4,0.227,0.075,2733,586,2930,0,0,0,0,0,0,25.92,26.20,26.58
$GC,300,-0.86,-146.6,50.3,-24.6,27,305,0.00,2.17,0.00,0.000,6,0.000,0.032,2724,2044,2931,0,0,0,0,0,0,28.83,26.46,28.83
$GC,612,-0.86,-146.6,101.3,-13.5,43,617,0.00,2.03,0.00,0.000,4,0.000,0.026,2713,3468,2935,0,0,0,0,0,0,28.83,26.58,28.83
$GC,843,-0.86,-146.6,127.9,-12.2,54,848,0.00,2.30,0.00,0.000,6,0.000,0.052,2713,2001,2935,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1154,-0.86,-146.6,179.8,-17.1,70,1156,0.12,0.00,0.00,0.000,6,0.174,0.000,2743,2001,2935,0,0,0,0,0,0,26.48,28.83,28.83
$GC,1455,-0.86,-146.6,223.2,-13.0,85,1460,0.00,2.22,0.00,0.000,4,0.000,0.064,2743,596,2936,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1686,-0.86,-146.6,261.8,-18.1,96,1691,0.00,2.12,0.00,0.000,6,0.000,0.032,2733,2045,2937,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2018,-0.86,-146.6,308.3,-12.6,112,2023,0.00,2.03,0.00,0.000,4,0.000,0.026,2722,3470,2936,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2249,-0.86,-146.6,331.6,-10.7,119,2254,0.00,2.28,0.00,0.000,6,0.000,0.054,2722,2007,2936,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2560,-0.86,-146.6,372.2,-12.2,130,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2007,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.86,-146.6,410.3,-12.8,140,2866,0.00,2.25,0.00,0.000,4,0.000,0.065,2722,586,2933,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3091,-0.86,-146.6,449.8,-19.2,147,3097,0.12,2.15,0.00,0.000,6,0.189,0.034,2740,2047,2932,0,0,0,0,0,0,26.53,26.81,28.83
$GC,3404,-0.86,-146.6,495.8,-13.4,158,3410,0.00,2.03,0.00,0.000,4,0.000,0.027,2731,3469,2931,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3635,-0.86,-146.6,520.6,-11.3,165,3640,0.00,2.30,0.00,0.000,6,0.000,0.055,2731,1997,2930,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3947,-0.86,-146.6,559.9,-11.7,176,3952,0.00,2.22,0.00,0.000,4,0.000,0.067,2731,594,2929,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4178,-0.86,-146.6,592.0,-15.1,183,4183,0.00,2.15,0.00,0.000,6,0.000,0.034,2720,2046,2927,0,0,0,0,0,0,28.83,26.83,28.83
$GC,4491,-0.86,-146.6,626.6,-9.9,194,4496,0.00,2.33,0.00,0.000,4,0.000,0.067,2720,587,2926,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4526,-0.86,-146.6,630.6,-10.3,195,4532,0.12,2.15,0.00,0.000,6,0.190,0.034,2738,2045,2926,0,0,0,0,0,0,26.54,26.83,28.83
$GC,4855,-0.86,-146.6,662.5,-9.7,206,4860,0.00,2.05,0.00,0.000,4,0.000,0.028,2728,3477,2924,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5085,-0.86,-146.6,683.5,-10.2,213,5091,0.00,2.30,0.00,0.000,6,0.000,0.057,2728,2009,2923,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5398,-0.86,-146.6,725.5,-13.1,224,5403,0.00,2.25,0.00,0.000,4,0.000,0.068,2728,597,2922,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5629,-0.86,-146.6,762.9,-18.0,231,5634,0.00,2.15,0.00,0.000,6,0.000,0.035,2719,2047,2920,0,0,0,0,0,0,28.83,26.83,28.83
$GC,5940,-0.86,-146.6,809.2,-13.2,242,5946,0.00,2.05,0.00,0.000,4,0.000,0.029,2706,3475,2919,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6171,-0.86,-146.6,834.1,-11.5,249,6177,0.12,2.33,0.00,0.000,6,0.157,0.057,2738,1999,2918,0,0,0,0,0,0,26.58,26.70,28.83
$GC,6484,-0.86,-146.6,870.4,-10.8,260,6489,0.00,2.12,0.00,0.000,4,0.000,0.029,2729,3471,2917,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6715,-0.86,-146.6,891.8,-10.0,267,6721,0.00,2.30,0.00,0.000,6,0.000,0.058,2729,2003,2916,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7028,-0.86,-146.6,929.4,-11.5,278,7033,0.00,2.25,0.00,0.000,4,0.000,0.070,2728,597,2914,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7258,-0.86,-146.6,961.2,-15.4,285,7264,0.00,2.15,0.00,0.000,6,0.000,0.036,2717,2043,2913,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,7479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7479,begin apogee
$GC,7483,-0.18,0.0,990.1,-11.3,293,7610,0.73,0.00,121.82,1.691,6,0.132,0.000,2953,2017,2331,0,0,0,0,0,0,26.53,28.83,23.80
$STATE,7612,end apogee,CONTROL_FINISHED_OK
$STATE,7612,begin climb
$GC,7613,0.86,146.6,993.5,0.0,297,7752,0.98,2.50,128.93,1.651,4,0.069,0.069,3306,597,1733,0,0,0,0,0,0,24.94,24.69,23.71
$GC,7773,0.86,146.6,981.8,11.4,302,7778,0.00,2.28,0.00,0.000,6,0.000,0.034,3307,2031,1730,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8085,0.86,146.6,917.1,19.1,313,8090,0.00,2.12,0.00,0.000,4,0.000,0.028,3306,3466,1726,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8130,0.86,146.6,911.5,18.7,314,8136,0.00,2.38,0.00,0.000,6,0.000,0.057,3318,2003,1725,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8447,0.86,146.6,847.9,19.6,325,8453,0.00,2.33,0.00,0.000,4,0.000,0.070,3329,587,1724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8528,0.86,146.6,833.1,21.6,327,8534,0.12,2.20,0.00,0.000,6,0.218,0.035,3303,2034,1722,0,0,0,0,0,0,26.17,26.44,28.83
$GC,8842,0.86,146.6,767.8,18.8,338,8847,0.00,2.08,0.00,0.000,4,0.000,0.028,3303,3462,1722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8907,0.86,146.6,757.0,18.0,340,8913,0.00,2.33,0.00,0.000,6,0.000,0.058,3313,2007,1721,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9234,0.86,146.6,695.5,18.5,351,9240,0.00,2.28,0.00,0.000,4,0.000,0.070,3324,597,1720,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9270,0.86,146.6,688.9,18.8,352,9275,0.00,2.17,0.00,0.000,6,0.000,0.035,3324,2038,1718,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9597,0.86,146.6,627.2,17.7,363,9602,0.00,2.08,0.00,0.000,4,0.000,0.029,3324,3476,1719,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9612,0.86,146.6,627.2,17.7,363,9618,0.15,2.33,0.00,0.000,6,0.189,0.057,3299,2010,1718,0,0,0,0,0,0,26.39,26.55,28.83
$GC,9930,0.86,146.6,574.7,16.0,374,9935,0.00,2.28,0.00,0.000,4,0.000,0.070,3309,598,1718,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10161,0.86,146.6,528.8,22.5,381,10166,0.00,2.15,0.00,0.000,6,0.000,0.034,3309,2035,1717,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10473,0.86,146.6,466.1,18.6,392,10478,0.00,2.33,0.00,0.000,4,0.000,0.070,3320,595,1717,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10703,0.86,146.6,414.5,24.8,399,10709,0.00,2.17,0.00,0.000,6,0.000,0.034,3320,2043,1717,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11016,0.86,146.6,351.1,18.4,410,11021,0.00,2.05,0.00,0.000,4,0.000,0.028,3320,3473,1717,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11139,0.86,146.6,331.6,16.0,414,11145,0.12,2.33,0.00,0.000,6,0.186,0.057,3301,2001,1717,0,0,0,0,0,0,26.49,26.64,28.83
$GC,11452,0.86,146.6,278.2,17.7,426,11457,0.00,2.25,0.00,0.000,4,0.000,0.070,3311,599,1717,0,0,0,0,0,0,28.83,26.64,28.83
$GC,11518,0.86,146.6,264.9,20.5,429,11523,0.00,2.12,0.00,0.000,6,0.000,0.034,3310,2034,1719,0,0,0,0,0,0,28.83,26.76,28.83
$GC,11834,0.86,146.6,202.8,19.0,445,11839,0.00,2.05,0.00,0.000,4,0.000,0.027,3311,3469,1717,0,0,0,0,0,0,28.83,26.77,28.83
$GC,11856,0.86,146.6,198.7,18.7,446,11861,0.00,2.30,0.00,0.000,6,0.000,0.057,3322,2009,1717,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12178,0.86,146.6,139.9,17.8,462,12183,0.00,2.28,0.00,0.000,4,0.000,0.070,3334,590,1717,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12244,0.86,146.6,127.5,19.3,465,12250,0.15,2.15,0.00,0.000,6,0.192,0.032,3298,2045,1717,0,0,0,0,0,0,26.48,26.78,28.83
$GC,12561,0.86,146.6,76.8,14.9,481,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2045,1717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12861,0.86,146.6,38.6,10.9,501,12867,0.00,2.35,0.00,0.000,4,0.000,0.070,3307,588,1717,0,0,0,0,0,0,28.83,26.66,28.83
$GC,13047,0.86,146.6,10.0,17.0,519,13054,0.00,2.12,0.00,0.000,6,0.000,0.032,3307,2037,1717,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,13092,end climb,SURFACE_DEPTH_REACHED
$STATE,13092,begin surface coast
$FINISH,0.3,1.020338
$STATE,13113,end surface coast,CONTROL_FINISHED_OK
$STATE,13114,begin surface
$SM_CCo,13130,56.17,0.133,0,0,1107,300.00
$SM_GC,1.75,8.18,0.00,56.17,0.041,0.000,0.133,151,2037,1107,-8.90,0.76,300.00,0,0,0,0,0,0,26.77,28.83,26.41
$IRIDIUM_FIX,2418.11,-3803.71,140912,090940
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.23
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.30
$XPDR_PINGS,2
$SC_FREEKB,7767200
$TM_FREEKB,7871104
$24V_AH,23.7,3.956
$10V_AH,10.3,2.851
$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,21.075,115.050,250.750,56.175,0.000,24.687,35.777,343.630,0.500,0.000,16.487,2183.510,8660.381,409.944,2455.448,119.220,33.240,1385.567,0.000,1835.380,0.000,0.537,0.000
$DEVICE_MAMPS,227.205,169.065,1691.415,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13124.000,3211.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.651,13.665,0.000,0.000
$MEM,344884
$DATA_FILE_SIZE,13391,526
$CAP_FILE_SIZE,153919,0
$CFSIZE,260034560,255909888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140912,164658,2436.317,-3801.542,36,0.8,36,-14.0