version: 66.11
glider: 189
mission: 7
dive: 53
start: 9 28 112 14 55 11
data:
$ID,189
$MISSION,7
$DIVE,53
$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,-46940.527
$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
$GPS1,280912,144634,2431.817,-3803.795,26,0.8,26,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-62.2
$GPS2,280912,145412,2431.836,-3803.836,18,1.0,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.081,0.088
$KALMAN_X,8417.8,313.7,-261.3,-11731.6,464.2
$KALMAN_Y,58056.3,378.1,-289.6,-65146.0,1169.3
$MHEAD_RNG_PITCHd_Wd,56.8,5062,-23.7,-6.111,-27.12
$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,-1.41,-43.3,0.0,0.0,0,55,0.00,0.00,-32.45,0.000,2,0.000,0.000,160,1836,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.46,-87.6,2.0,-1.9,3,106,8.98,2.38,-28.67,0.000,4,0.210,0.054,2530,338,2678,0,0,0,0,0,0,26.00,26.34,26.69
$GC,335,-1.29,-87.6,33.6,-15.7,31,344,0.22,2.33,0.00,0.000,6,0.181,0.024,2578,1886,2680,0,0,0,0,0,0,26.10,26.51,28.83
$GC,645,-1.21,-87.6,67.9,-10.6,62,655,0.12,2.42,0.00,0.000,4,0.192,0.037,2597,3463,2680,0,0,0,0,0,0,26.34,26.53,28.83
$GC,796,-1.15,-87.6,80.2,-8.2,73,804,0.08,2.47,0.00,0.000,6,0.155,0.023,2621,1807,2680,0,0,0,0,0,0,26.36,26.60,28.83
$GC,1126,-1.16,-118.1,95.2,-3.2,84,1134,0.00,2.55,-0.85,0.000,4,0.000,0.050,2610,3453,2809,0,0,0,0,0,0,28.83,26.60,26.86
$GC,1365,-1.14,-118.1,114.1,-8.8,92,1373,0.00,2.45,0.00,0.000,6,0.000,0.023,2610,1818,2810,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1695,-1.14,-118.1,147.2,-11.2,103,1702,0.00,2.53,0.00,0.000,4,0.000,0.037,2598,3452,2811,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1883,-1.14,-118.1,169.4,-12.3,107,1888,0.12,2.45,0.00,0.000,6,0.166,0.023,2628,1813,2811,0,0,0,0,0,0,26.44,26.71,28.83
$GC,2226,-1.14,-118.1,207.2,-10.6,113,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1813,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2526,-1.17,-118.1,236.8,-9.6,118,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1813,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,-1.19,-118.1,267.2,-10.3,123,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1813,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3126,-1.23,-118.1,299.4,-10.7,128,3133,0.00,2.28,0.00,0.000,4,0.000,0.043,2629,351,2809,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3344,-1.23,-118.1,319.3,-10.9,131,3348,0.00,2.30,0.00,0.000,6,0.000,0.025,2619,1887,2809,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3656,-1.26,-118.1,355.8,-10.5,137,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1887,2812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3956,-1.30,-118.1,389.8,-11.3,142,3958,0.10,0.00,0.00,0.000,6,0.100,0.000,2572,1887,2807,0,0,0,0,0,0,26.82,28.83,28.83
$GC,4255,-1.30,-118.1,427.0,-12.3,147,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1887,2806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4555,-1.30,-118.1,457.9,-10.1,152,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1888,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4856,-1.30,-118.1,489.1,-10.4,157,4863,0.00,2.42,0.00,0.000,4,0.000,0.043,2572,341,2802,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4964,-1.30,-118.1,496.4,-11.0,158,4968,0.00,2.33,0.00,0.000,6,0.000,0.025,2560,1887,2802,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5265,-1.30,-118.1,542.1,-13.0,161,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1888,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5625,-1.30,-118.1,588.1,-12.9,164,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1888,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5985,-1.30,-118.1,629.2,-11.6,167,5989,0.00,2.42,0.00,0.000,4,0.000,0.044,2560,347,2797,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6055,-1.30,-118.1,629.2,-11.6,167,6060,0.12,2.33,0.00,0.000,6,0.182,0.026,2578,1889,2796,0,0,0,0,0,0,26.42,26.74,28.83
$GC,6447,-1.32,-118.1,687.7,-12.6,171,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1889,2795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6807,-1.35,-118.1,732.5,-12.6,174,6815,0.00,2.42,0.00,0.000,4,0.000,0.045,2578,354,2793,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6996,-1.38,-118.1,747.5,-12.4,175,7000,0.00,2.33,0.00,0.000,6,0.000,0.027,2569,1889,2792,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7398,-1.40,-118.1,799.1,-10.9,179,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1889,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7757,-1.43,-118.1,838.4,-10.8,182,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1889,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8117,-1.47,-118.1,882.6,-12.1,185,8126,0.12,2.45,0.00,0.000,4,0.093,0.047,2515,345,2787,0,0,0,0,0,0,26.77,26.60,28.83
$GC,8358,-1.47,-118.1,920.8,-14.2,187,8365,0.00,2.33,0.00,0.000,6,0.000,0.027,2504,1881,2786,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8717,-1.43,-118.1,974.8,-15.2,190,8719,0.12,0.00,0.00,0.000,6,0.190,0.000,2538,1881,2785,0,0,0,0,0,0,26.48,28.83,28.83
$STATE,8836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8836,begin apogee
$GC,8840,-0.29,0.0,991.1,-14.7,191,8946,1.17,0.00,98.03,1.717,6,0.149,0.000,2898,1841,2319,0,0,0,0,0,0,26.20,28.83,24.01
$STATE,8947,end apogee,CONTROL_FINISHED_OK
$STATE,8948,begin climb
$GC,8949,1.50,118.1,991.1,0.0,191,9059,1.70,0.00,105.32,1.698,6,0.071,0.000,3484,1841,1838,0,0,0,0,0,0,25.15,28.83,23.86
$GC,9317,1.39,118.1,946.5,16.0,195,9326,0.15,2.60,0.00,0.000,4,0.191,0.041,3446,3450,1831,0,0,0,0,0,0,25.84,26.03,28.83
$GC,9438,1.28,118.1,926.3,16.3,196,9446,0.17,2.53,0.00,0.000,6,0.190,0.029,3415,1834,1830,0,0,0,0,0,0,25.94,26.19,28.83
$GC,9797,1.21,118.1,873.9,15.1,199,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1834,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10157,1.16,118.1,823.7,13.9,202,10166,0.15,2.38,0.00,0.000,4,0.182,0.049,3387,356,1824,0,0,0,0,0,0,26.28,26.44,28.83
$GC,10278,1.12,118.1,806.9,14.0,203,10285,0.00,2.33,0.00,0.000,6,0.000,0.027,3377,1881,1823,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10637,1.12,118.1,761.2,13.0,206,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1881,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10997,1.12,118.1,716.2,12.5,209,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1881,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11357,1.12,118.1,673.2,12.1,212,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1881,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11717,1.12,118.1,630.5,11.8,215,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1881,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12077,1.12,118.1,588.6,11.9,218,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1881,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12437,1.12,118.1,553.4,10.0,221,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1881,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12797,1.12,118.1,516.6,10.1,224,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1881,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13097,1.12,118.1,480.7,11.7,227,13101,0.00,2.47,0.00,0.000,4,0.000,0.041,3372,3462,1820,0,0,0,0,0,0,28.83,26.63,28.83
$GC,13189,1.12,118.1,473.9,12.1,228,13196,0.00,2.50,0.00,0.000,6,0.000,0.027,3382,1824,1820,0,0,0,0,0,0,28.83,26.67,28.83
$GC,13508,1.12,118.1,426.3,12.9,234,13516,0.00,2.55,0.00,0.000,4,0.000,0.039,3382,3450,1820,0,0,0,0,0,0,28.83,26.63,28.83
$GC,13688,1.12,118.1,401.8,13.6,237,13696,0.12,2.47,0.00,0.000,6,0.169,0.027,3364,1826,1820,0,0,0,0,0,0,26.41,26.67,28.83
$GC,14049,1.16,118.1,357.6,12.2,243,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1826,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14349,1.21,118.1,322.2,11.7,248,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1826,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14649,1.26,118.1,290.7,10.5,253,14650,0.12,0.00,0.00,0.000,6,0.088,0.000,3419,1826,1820,0,0,0,0,0,0,26.76,28.83,28.83
$GC,14949,1.26,118.1,257.8,11.0,258,14950,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1826,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15248,1.26,118.1,223.3,11.7,263,15249,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1827,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15548,1.26,118.1,185.6,12.6,268,15549,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1826,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15849,1.26,118.1,145.3,13.5,273,15850,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1827,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16148,1.26,118.1,105.1,12.7,283,16152,0.00,2.55,0.00,0.000,4,0.000,0.037,3414,3463,1822,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16379,1.26,118.1,77.0,12.0,291,16387,0.00,2.47,0.00,0.000,6,0.000,0.025,3430,1828,1822,0,0,0,0,0,0,28.83,26.70,28.83
$GC,16690,1.29,118.1,47.0,8.7,320,16699,0.00,2.53,0.00,0.000,4,0.000,0.037,3430,3455,1823,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16929,1.29,118.1,22.9,10.7,344,16933,0.00,2.45,0.00,0.000,6,0.000,0.024,3442,1826,1823,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,17129,end climb,SURFACE_DEPTH_REACHED
$STATE,17129,begin surface coast
$FINISH,0.8,1.024290
$STATE,17150,end surface coast,CONTROL_FINISHED_OK
$STATE,17150,begin surface
$SM_CCo,17169,67.55,0.137,0,0,1092,300.00
$SM_GC,1.81,8.57,0.00,67.55,0.043,0.000,0.137,160,1826,1092,-8.83,-0.68,300.00,0,0,0,0,0,0,26.71,28.83,26.25
$IRIDIUM_FIX,2413.38,-3821.12,280912,060625
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.46
$INTERNAL_PRESSURE,9.11433
$TCM_TEMP,24.30
$XPDR_PINGS,5
$SC_FREEKB,7749536
$TM_FREEKB,7403136
$24V_AH,23.9,12.041
$10V_AH,10.5,11.269
$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,22.175,73.100,203.350,67.550,0.000,25.157,38.208,200.440,1.250,0.000,18.836,1303.548,14499.908,473.237,1282.485,131.214,33.248,981.513,0.000,896.042,0.000,0.538,0.000
$DEVICE_MAMPS,209.610,142.290,1717.425,136.935,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17154.000,3860.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.454,13.545,0.000,0.000
$MEM,344672
$DATA_FILE_SIZE,10102,366
$CAP_FILE_SIZE,115031,0
$CFSIZE,260034560,248606720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280912,194335,2433.539,-3802.523,34,1.0,34,-14.0