version: 66.11
glider: 189
mission: 7
dive: 61
start: 9 30 112 13 59 30
data:
$ID,189
$MISSION,7
$DIVE,61
$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,-46950.773
$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
$GPS1,300912,135134,2432.849,-3804.466,31,0.7,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.7
$GPS2,300912,135830,2432.863,-3804.523,20,0.8,20,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.081,-0.071
$KALMAN_X,11069.8,-123.5,-147.0,-15212.7,1606.9
$KALMAN_Y,64599.2,-477.7,215.7,-69432.0,2551.4
$MHEAD_RNG_PITCHd_Wd,145.2,4258,-26.3,-6.111,-29.50
$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,-1.55,-35.4,0.0,0.0,0,55,0.00,0.00,-32.28,0.000,2,0.000,0.000,159,1884,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.58,-60.4,2.3,-3.2,3,88,9.12,2.45,-15.05,0.000,4,0.223,0.054,2496,350,2568,0,0,0,0,0,0,25.93,26.29,26.65
$GC,315,-1.41,-60.4,30.8,-12.7,29,325,0.22,2.33,0.00,0.000,6,0.184,0.024,2542,1896,2571,0,0,0,0,0,0,25.94,26.45,28.83
$GC,625,-1.35,-60.4,58.3,-8.0,60,635,0.00,2.42,0.00,0.000,4,0.000,0.040,2549,347,2572,0,0,0,0,0,0,28.83,26.44,28.83
$GC,865,-1.25,-60.4,74.4,-7.0,84,875,0.22,2.30,0.00,0.000,6,0.177,0.023,2597,1893,2573,0,0,0,0,0,0,26.08,26.60,28.83
$GC,1186,-1.26,-67.7,91.9,-5.3,96,1195,0.00,2.45,-0.20,0.000,4,0.000,0.053,2598,338,2606,0,0,0,0,0,0,28.83,26.54,26.48
$GC,1426,-1.22,-67.7,106.8,-6.9,104,1433,0.00,2.33,0.00,0.000,6,0.000,0.023,2587,1906,2606,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1755,-1.23,-76.9,125.0,-5.0,115,1764,0.00,2.45,-0.17,0.000,4,0.000,0.053,2587,345,2640,0,0,0,0,0,0,28.83,26.59,26.46
$GC,1996,-1.21,-93.1,134.8,-4.2,123,2005,0.12,2.30,-0.40,0.000,6,0.184,0.023,2605,1897,2710,0,0,0,0,0,0,26.34,26.70,26.79
$GC,2326,-1.24,-93.1,155.8,-8.2,133,2334,0.00,2.40,0.00,0.000,4,0.000,0.038,2595,3453,2711,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2566,-1.26,-93.1,180.1,-10.1,137,2574,0.00,2.45,0.00,0.000,6,0.000,0.023,2595,1816,2711,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2925,-1.29,-93.1,214.2,-9.1,143,2933,0.00,2.53,0.00,0.000,4,0.000,0.037,2583,3453,2711,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3166,-1.31,-93.1,232.9,-7.8,147,3174,0.00,2.45,0.00,0.000,6,0.000,0.023,2583,1819,2711,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3525,-1.34,-93.1,264.6,-9.1,153,3533,0.00,2.53,0.00,0.000,4,0.000,0.037,2571,3452,2711,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3766,-1.34,-93.1,289.9,-10.6,157,3774,0.00,2.45,0.00,0.000,6,0.000,0.024,2571,1821,2711,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4126,-1.36,-93.1,327.4,-10.1,163,4133,0.00,2.53,0.00,0.000,4,0.000,0.038,2559,3452,2709,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4366,-1.36,-93.1,349.8,-9.3,167,4373,0.00,2.45,0.00,0.000,6,0.000,0.024,2559,1825,2709,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4725,-1.36,-93.1,382.1,-9.0,173,4733,0.00,2.53,0.00,0.000,4,0.000,0.039,2547,3451,2707,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4914,-1.36,-93.1,401.7,-10.5,176,4918,0.00,2.45,0.00,0.000,6,0.000,0.024,2547,1824,2707,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5255,-1.36,-93.1,441.8,-11.6,182,5259,0.00,2.30,0.00,0.000,4,0.000,0.043,2547,352,2706,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5435,-1.36,-93.1,461.4,-11.3,185,5439,0.00,2.30,0.00,0.000,6,0.000,0.024,2536,1887,2705,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5776,-1.36,-93.1,498.2,-10.4,191,5784,0.00,2.42,0.00,0.000,4,0.000,0.040,2524,3450,2703,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5905,-1.36,-93.1,512.4,-11.5,193,5910,0.15,2.45,0.00,0.000,6,0.170,0.024,2561,1828,2703,0,0,0,0,0,0,26.32,26.70,28.83
$GC,6248,-1.38,-93.1,549.9,-10.8,196,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1825,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6608,-1.42,-93.1,588.1,-10.6,199,6615,0.00,2.33,0.00,0.000,4,0.000,0.044,2562,348,2700,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6728,-1.46,-93.1,602.1,-10.8,200,6735,0.00,2.33,0.00,0.000,6,0.000,0.025,2552,1894,2699,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7087,-1.49,-93.1,643.3,-11.5,203,7095,0.00,2.45,0.00,0.000,4,0.000,0.044,2552,341,2698,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7267,-1.51,-93.1,659.0,-11.8,204,7271,0.00,2.33,0.00,0.000,6,0.000,0.025,2541,1885,2698,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7678,-1.54,-93.1,713.5,-11.5,208,7680,0.12,0.00,0.00,0.000,6,0.093,0.000,2489,1886,2696,0,0,0,0,0,0,26.77,28.83,28.83
$GC,8038,-1.54,-93.1,753.1,-11.0,211,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1885,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8397,-1.54,-93.1,793.9,-11.1,214,8402,0.00,2.42,0.00,0.000,4,0.000,0.045,2489,354,2693,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8618,-1.52,-93.1,809.0,-11.8,215,8623,0.12,2.33,0.00,0.000,6,0.197,0.025,2506,1886,2692,0,0,0,0,0,0,26.27,26.69,28.83
$GC,8979,-1.52,-93.1,870.0,-13.1,218,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1886,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9338,-1.52,-93.1,916.0,-12.8,221,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1886,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9698,-1.52,-93.1,961.3,-12.6,224,9703,0.00,2.45,0.00,0.000,4,0.000,0.047,2509,351,2688,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9819,-1.52,-93.1,975.8,-12.6,225,9823,0.00,2.33,0.00,0.000,6,0.000,0.026,2499,1885,2687,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9919,begin apogee
$GC,9923,-0.29,0.0,990.3,-12.8,226,10005,1.30,0.00,77.90,1.720,6,0.151,0.000,2897,1832,2320,0,0,0,0,0,0,26.03,28.83,23.99
$STATE,10006,end apogee,CONTROL_FINISHED_OK
$STATE,10007,begin climb
$GC,10008,1.62,93.1,990.3,0.0,226,10098,1.77,0.00,85.18,1.701,6,0.071,0.000,3516,1832,1939,0,0,0,0,0,0,25.15,28.83,23.83
$GC,10391,1.52,93.1,946.8,14.6,230,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,1832,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10750,1.42,93.1,895.2,14.4,233,10752,0.22,0.00,0.00,0.000,6,0.189,0.000,3459,1829,1926,0,0,0,0,0,0,25.98,28.83,28.83
$GC,11110,1.35,93.1,844.4,14.1,236,11118,0.00,2.58,0.00,0.000,4,0.000,0.041,3459,3453,1924,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11309,1.28,93.1,826.9,14.2,237,11315,0.20,2.50,0.00,0.000,6,0.186,0.028,3419,1831,1924,0,0,0,0,0,0,26.09,26.49,28.83
$GC,11702,1.26,93.1,771.5,11.6,241,11710,0.00,2.38,0.00,0.000,4,0.000,0.047,3429,351,1921,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11801,1.24,93.1,771.5,11.6,241,11805,0.00,2.35,0.00,0.000,6,0.000,0.025,3419,1897,1921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12172,1.24,93.1,720.1,10.9,245,12176,0.00,2.45,0.00,0.000,4,0.000,0.041,3419,3458,1920,0,0,0,0,0,0,28.83,26.52,28.83
$GC,12353,1.24,93.1,707.4,10.9,246,12358,0.12,2.50,0.00,0.000,6,0.182,0.027,3401,1828,1921,0,0,0,0,0,0,26.27,26.58,28.83
$GC,12755,1.24,93.1,651.9,11.7,250,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1826,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13114,1.24,93.1,605.7,12.7,253,13119,0.00,2.55,0.00,0.000,4,0.000,0.040,3400,3450,1919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13195,1.24,93.1,605.7,12.7,253,13199,0.00,2.47,0.00,0.000,6,0.000,0.027,3407,1828,1919,0,0,0,0,0,0,28.83,26.61,28.83
$GC,13576,1.24,93.1,544.4,13.3,257,13577,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1828,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13936,1.24,93.1,500.6,12.3,260,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1828,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14236,1.27,93.1,462.6,12.6,264,14244,0.00,2.55,0.00,0.000,4,0.000,0.040,3411,3450,1919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14455,1.27,93.1,439.9,12.7,267,14459,0.00,2.47,0.00,0.000,6,0.000,0.027,3423,1828,1919,0,0,0,0,0,0,28.83,26.63,28.83
$GC,14766,1.27,93.1,401.8,10.5,273,14770,0.00,2.35,0.00,0.000,4,0.000,0.046,3435,354,1919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14896,1.27,93.1,389.2,10.7,275,14900,0.00,2.33,0.00,0.000,6,0.000,0.025,3435,1894,1919,0,0,0,0,0,0,28.83,26.67,28.83
$GC,15227,1.27,93.1,347.5,12.0,281,15231,0.00,2.45,0.00,0.000,4,0.000,0.039,3435,3462,1919,0,0,0,0,0,0,28.83,26.56,28.83
$GC,15377,1.27,93.1,332.4,12.8,283,15382,0.15,2.50,0.00,0.000,6,0.174,0.026,3409,1821,1919,0,0,0,0,0,0,26.25,26.63,28.83
$GC,15690,1.31,93.1,287.6,12.5,289,15691,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1821,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15990,1.36,93.1,250.6,12.3,294,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1820,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16289,1.42,93.1,213.9,12.0,299,16291,0.12,0.00,0.00,0.000,6,0.087,0.000,3468,1821,1919,0,0,0,0,0,0,26.75,28.83,28.83
$GC,16589,1.42,93.1,174.4,13.4,304,16597,0.00,2.55,0.00,0.000,4,0.000,0.038,3468,3451,1920,0,0,0,0,0,0,28.83,26.56,28.83
$GC,16831,1.39,93.1,134.4,16.9,309,16838,0.00,2.45,0.00,0.000,6,0.000,0.025,3481,1824,1919,0,0,0,0,0,0,28.83,26.64,28.83
$GC,17159,1.39,93.1,88.4,13.0,320,17168,0.12,2.55,0.00,0.000,4,0.181,0.037,3449,3462,1921,0,0,0,0,0,0,26.46,26.58,28.83
$GC,17359,1.39,93.1,62.9,11.7,332,17363,0.00,2.47,0.00,0.000,6,0.000,0.025,3460,1826,1921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,17660,1.43,93.1,35.1,8.1,362,17670,0.00,2.33,0.00,0.000,4,0.000,0.044,3471,354,1922,0,0,0,0,0,0,28.83,26.54,28.83
$GC,17900,1.43,93.1,16.1,9.4,386,17904,0.00,2.30,0.00,0.000,6,0.000,0.023,3470,1893,1923,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,18040,end climb,SURFACE_DEPTH_REACHED
$STATE,18040,begin surface coast
$FINISH,0.7,1.013489
$STATE,18071,end surface coast,CONTROL_FINISHED_OK
$STATE,18071,begin surface
$SM_CCo,18089,76.93,0.137,0,0,1092,300.00
$SM_GC,1.85,8.65,0.08,76.93,0.042,0.110,0.137,163,1835,1092,-8.82,0.79,300.00,0,0,0,0,0,0,26.67,26.82,26.22
$IRIDIUM_FIX,2415.74,-3810.76,300912,080831
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.78
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.20
$XPDR_PINGS,9
$SC_FREEKB,7746464
$TM_FREEKB,7345696
$24V_AH,23.8,13.079
$10V_AH,10.5,12.191
$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,22.775,121.475,163.075,76.925,0.000,25.528,40.093,164.604,2.250,0.000,21.930,1651.708,14714.511,491.345,1574.664,151.572,33.252,1145.018,0.000,1214.502,0.000,0.537,0.000
$DEVICE_MAMPS,222.615,139.230,1719.720,136.935,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18060.000,4492.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.595,13.537,0.000,0.000
$MEM,344480
$DATA_FILE_SIZE,10096,403
$CAP_FILE_SIZE,135113,0
$CFSIZE,260034560,247947264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300912,190330,2432.178,-3803.323,40,0.9,40,-14.0