version: 66.11
glider: 189
mission: 7
dive: 64
start: 10 1 112 4 47 58
data:
$ID,189
$MISSION,7
$DIVE,64
$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,-46954.828
$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
$GPS1,011012,043636,2432.530,-3801.214,39,0.9,39,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-60.0
$GPS2,011012,044659,2432.559,-3801.209,18,0.9,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.025,-0.117
$KALMAN_X,9371.8,208.2,-38.5,-8379.7,-509.5
$KALMAN_Y,67309.5,-311.9,-370.9,-72281.7,4597.4
$MHEAD_RNG_PITCHd_Wd,206.3,1562,-23.7,-6.111,-27.04
$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,20,begin dive
$GC,22,-1.41,-43.6,0.0,0.0,0,45,0.00,0.00,-21.83,0.000,2,0.000,0.000,163,1824,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.48,-107.7,2.1,0.0,2,99,9.07,2.35,-36.28,0.000,4,0.214,0.054,2520,351,2760,0,0,0,0,0,0,25.91,26.26,26.64
$GC,326,-1.31,-107.7,39.8,-18.8,30,336,0.25,2.33,0.00,0.000,6,0.175,0.024,2574,1888,2762,0,0,0,0,0,0,25.97,26.44,28.83
$GC,646,-1.24,-107.7,81.0,-10.1,58,654,0.00,2.42,0.00,0.000,4,0.000,0.038,2564,3455,2764,0,0,0,0,0,0,28.83,26.46,28.83
$GC,835,-1.17,-107.7,100.9,-11.9,64,840,0.22,2.45,0.00,0.000,6,0.158,0.024,2625,1821,2766,0,0,0,0,0,0,26.16,26.57,28.83
$GC,1148,-1.20,-131.9,127.1,-3.8,75,1157,0.00,2.30,-0.55,0.000,4,0.000,0.055,2625,354,2865,0,0,0,0,0,0,28.83,26.54,26.79
$GC,1387,-1.17,-131.9,146.9,-9.4,83,1392,0.00,2.30,0.00,0.000,6,0.000,0.024,2615,1890,2866,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1738,-1.17,-131.9,195.0,-14.3,90,1742,0.00,2.42,0.00,0.000,4,0.000,0.041,2615,340,2866,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1798,-1.17,-131.9,201.5,-14.0,91,1803,0.00,2.33,0.00,0.000,6,0.000,0.024,2604,1900,2866,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2140,-1.17,-131.9,233.7,-8.8,97,2147,0.00,2.40,0.00,0.000,4,0.000,0.039,2592,3458,2866,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2380,-1.17,-131.9,258.8,-10.4,101,2388,0.12,2.45,0.00,0.000,6,0.163,0.024,2623,1823,2866,0,0,0,0,0,0,26.39,26.68,28.83
$GC,2740,-1.20,-131.9,306.6,-13.9,107,2747,0.00,2.53,0.00,0.000,4,0.000,0.039,2612,3453,2865,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2889,-1.23,-131.9,322.4,-13.7,109,2893,0.00,2.45,0.00,0.000,6,0.000,0.024,2612,1824,2865,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3210,-1.26,-131.9,357.7,-9.4,115,3218,0.00,2.30,0.00,0.000,4,0.000,0.043,2612,351,2865,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3359,-1.26,-131.9,370.8,-10.0,117,3363,0.00,2.30,0.00,0.000,6,0.000,0.024,2601,1887,2864,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3680,-1.28,-131.9,408.5,-10.8,123,3688,0.00,2.42,0.00,0.000,4,0.000,0.043,2601,342,2862,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3779,-1.28,-131.9,415.7,-11.1,124,3783,0.00,2.33,0.00,0.000,6,0.000,0.024,2592,1890,2862,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4090,-1.28,-131.9,457.8,-12.0,130,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1891,2861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4390,-1.30,-131.9,495.1,-12.5,135,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1891,2860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-1.33,-131.9,529.4,-11.6,138,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1891,2859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5051,-1.35,-131.9,568.6,-10.9,141,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1890,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-1.39,-131.9,606.4,-10.6,144,5412,0.10,0.00,0.00,0.000,6,0.103,0.000,2547,1892,2855,0,0,0,0,0,0,26.80,28.83,28.83
$GC,5770,-1.39,-131.9,647.5,-11.2,147,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1890,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,-1.39,-131.9,696.8,-13.2,150,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1892,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-1.39,-131.9,751.2,-15.1,153,6498,0.00,2.45,0.00,0.000,4,0.000,0.044,2547,345,2851,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6619,-1.39,-131.9,770.4,-15.3,154,6623,0.00,2.33,0.00,0.000,6,0.000,0.026,2535,1883,2850,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6960,-1.39,-131.9,819.2,-14.4,157,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1883,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7320,-1.39,-131.9,863.5,-12.6,160,7324,0.00,2.45,0.00,0.000,4,0.000,0.047,2535,344,2847,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7510,-1.39,-131.9,877.5,-12.3,161,7515,0.12,2.35,0.00,0.000,6,0.182,0.027,2553,1890,2846,0,0,0,0,0,0,26.31,26.66,28.83
$GC,7902,-1.39,-131.9,933.3,-11.7,165,7910,0.00,2.45,0.00,0.000,4,0.000,0.047,2553,352,2845,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7971,-1.39,-131.9,933.3,-11.7,165,7975,0.00,2.33,0.00,0.000,6,0.000,0.026,2544,1884,2844,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,8371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8371,begin apogee
$GC,8375,-0.29,0.0,995.3,-13.2,169,8493,1.15,0.00,110.38,1.724,6,0.141,0.000,2902,1833,2319,0,0,0,0,0,0,26.08,28.83,23.91
$STATE,8494,end apogee,CONTROL_FINISHED_OK
$STATE,8494,begin climb
$GC,8496,1.51,131.9,999.4,0.0,170,8622,1.67,2.70,117.70,1.717,4,0.068,0.041,3489,3448,1780,0,0,0,0,0,0,25.10,24.76,23.77
$GC,8741,1.45,196.0,970.4,0.0,172,8804,0.15,2.58,56.00,1.655,6,0.195,0.029,3467,1841,1519,0,0,0,0,0,0,25.53,25.73,23.93
$GC,9203,1.36,196.0,877.9,19.7,176,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1836,1511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9562,1.29,196.0,808.6,19.4,179,9564,0.20,0.00,0.00,0.000,6,0.174,0.000,3413,1836,1509,0,0,0,0,0,0,26.13,28.83,28.83
$GC,9922,1.25,196.0,748.5,17.2,182,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1836,1507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10282,1.25,196.0,691.9,15.8,185,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1836,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10642,1.25,196.0,632.8,16.2,188,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,1836,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11002,1.25,196.0,572.0,16.9,191,11006,0.00,2.55,0.00,0.000,4,0.000,0.040,3408,3450,1505,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11092,1.25,196.0,572.0,16.9,191,11096,0.00,2.50,0.00,0.000,6,0.000,0.028,3419,1822,1505,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11463,1.25,196.0,497.7,16.1,195,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1822,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11763,1.25,196.0,454.2,14.5,200,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1822,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12063,1.25,196.0,407.1,15.8,205,12071,0.00,2.58,0.00,0.000,4,0.000,0.039,3419,3460,1504,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12152,1.25,196.0,396.7,16.2,206,12158,0.12,2.50,0.00,0.000,6,0.172,0.028,3401,1826,1505,0,0,0,0,0,0,26.35,26.63,28.83
$GC,12475,1.27,196.0,338.5,16.5,212,12482,0.00,2.35,0.00,0.000,4,0.000,0.047,3411,353,1504,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12604,1.27,196.0,317.9,17.0,214,12608,0.00,2.33,0.00,0.000,6,0.000,0.025,3410,1889,1504,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12945,1.27,196.0,262.5,15.4,220,12952,0.00,2.42,0.00,0.000,4,0.000,0.039,3411,3450,1504,0,0,0,0,0,0,28.83,26.60,28.83
$GC,13053,1.27,196.0,252.2,15.8,221,13058,0.00,2.47,0.00,0.000,6,0.000,0.027,3423,1827,1504,0,0,0,0,0,0,28.83,26.64,28.83
$GC,13359,1.27,196.0,194.4,15.9,226,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1826,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13654,1.27,196.0,146.8,16.5,231,13659,0.00,2.55,0.00,0.000,4,0.000,0.038,3423,3459,1504,0,0,0,0,0,0,28.83,26.60,28.83
$GC,13744,1.27,196.0,131.9,18.4,234,13749,0.00,2.47,0.00,0.000,6,0.000,0.026,3435,1829,1504,0,0,0,0,0,0,28.83,26.65,28.83
$GC,14056,1.27,196.0,75.3,16.9,245,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1829,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14356,1.30,196.0,31.8,10.7,273,14366,0.00,2.53,0.00,0.000,4,0.000,0.037,3435,3450,1504,0,0,0,0,0,0,28.83,26.60,28.83
$GC,14596,1.32,196.0,3.6,13.7,297,14605,0.00,2.47,0.00,0.000,6,0.000,0.027,3447,1821,1504,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,14614,end climb,SURFACE_DEPTH_REACHED
$STATE,14615,begin surface coast
$FINISH,0.6,1.010499
$STATE,14635,end surface coast,CONTROL_FINISHED_OK
$STATE,14636,begin surface
$SM_CCo,14653,38.97,0.139,0,0,1094,300.00
$SM_GC,2.20,8.50,0.05,38.97,0.036,0.138,0.139,162,1879,1094,-8.83,-0.68,300.00,0,0,0,0,0,0,26.69,26.84,26.26
$IRIDIUM_FIX,2415.74,-3904.71,011012,040434
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.67
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,23.70
$XPDR_PINGS,11
$SC_FREEKB,7745312
$TM_FREEKB,7328288
$24V_AH,23.8,13.453
$10V_AH,10.4,12.467
$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,21.700,87.550,284.075,38.975,0.000,64.835,81.654,224.392,2.750,0.000,19.652,1140.363,12261.443,493.414,1301.307,121.573,33.258,972.211,0.000,810.464,0.000,0.537,0.000
$DEVICE_MAMPS,214.200,138.465,1723.545,139.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14528.000,3093.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.374,13.545,0.000,0.000
$MEM,344460
$DATA_FILE_SIZE,6798,301
$CAP_FILE_SIZE,106240,0
$CFSIZE,260034560,247758848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011012,085345,2430.665,-3801.550,21,0.8,21,-14.0