version: 66.11
glider: 189
mission: 7
dive: 65
start: 10 1 112 9 1 34
data:
$ID,189
$MISSION,7
$DIVE,65
$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,-46956.086
$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
$GPS1,011012,085345,2430.665,-3801.550,21,0.8,21,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.8
$GPS2,011012,090034,2430.673,-3801.530,37,0.8,37,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.001,0.106
$KALMAN_X,9626.8,96.7,199.2,-9306.4,-783.6
$KALMAN_Y,67013.6,-552.8,-87.9,-75511.4,3873.1
$MHEAD_RNG_PITCHd_Wd,13.4,4382,-26.9,-6.111,-30.00
$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,-1.58,-34.0,0.0,0.0,0,55,0.00,0.00,-32.40,0.000,2,0.000,0.000,162,1831,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.63,-73.8,2.0,-1.3,3,95,9.07,2.55,-16.88,0.000,4,0.223,0.050,2459,3452,2622,0,0,0,0,0,0,25.92,26.34,26.71
$GC,325,-1.49,-73.8,41.1,-15.6,30,335,0.22,2.47,0.00,0.000,6,0.184,0.024,2512,1820,2624,0,0,0,0,0,0,26.02,26.48,28.83
$GC,635,-1.42,-73.8,73.4,-9.5,61,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1820,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-1.36,-81.3,91.2,-5.2,73,938,0.17,0.00,-0.22,0.000,6,0.187,0.000,2559,1820,2660,0,0,0,0,0,0,26.24,28.83,26.58
$GC,1235,-1.34,-81.3,115.0,-9.5,83,1243,0.00,2.30,0.00,0.000,4,0.000,0.041,2560,348,2661,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1464,-1.29,-81.3,138.7,-11.0,90,1469,0.12,2.30,0.00,0.000,6,0.187,0.024,2578,1896,2662,0,0,0,0,0,0,26.34,26.68,28.83
$GC,1764,-1.29,-81.3,165.4,-8.3,97,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1896,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2064,-1.29,-81.3,187.2,-7.1,102,2069,0.00,2.42,0.00,0.000,4,0.000,0.041,2579,345,2663,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2299,-1.29,-81.3,204.2,-7.4,106,2304,0.00,2.22,0.00,0.000,6,0.000,0.024,2569,1893,2662,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2656,-1.30,-86.7,223.6,-5.5,112,2663,0.00,2.40,0.00,0.000,4,0.000,0.038,2557,3453,2663,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2896,-1.30,-86.7,243.7,-8.4,116,2904,0.00,2.45,0.00,0.000,6,0.000,0.024,2557,1819,2663,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3255,-1.30,-86.7,276.9,-9.3,122,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1819,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3556,-1.30,-86.7,302.3,-8.4,127,3560,0.00,2.30,0.00,0.000,4,0.000,0.042,2557,342,2662,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3787,-1.30,-86.7,323.1,-9.1,131,3795,0.12,2.30,0.00,0.000,6,0.184,0.024,2574,1887,2662,0,0,0,0,0,0,26.38,26.73,28.83
$GC,4147,-1.34,-86.7,349.6,-7.3,137,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1888,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4447,-1.39,-86.7,370.9,-7.1,142,4455,0.00,2.42,0.00,0.000,4,0.000,0.040,2567,3456,2660,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4688,-1.42,-86.7,391.4,-8.5,146,4695,0.00,2.45,0.00,0.000,6,0.000,0.024,2567,1826,2659,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5047,-1.46,-86.7,424.6,-9.4,152,5055,0.12,2.30,0.00,0.000,4,0.095,0.043,2515,352,2658,0,0,0,0,0,0,26.77,26.62,28.83
$GC,5196,-1.46,-86.7,438.5,-10.4,154,5200,0.00,2.30,0.00,0.000,6,0.000,0.024,2503,1890,2657,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5517,-1.46,-86.7,475.6,-10.6,160,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1890,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5876,-1.46,-86.7,515.1,-11.1,165,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1890,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-1.46,-86.7,557.6,-11.8,168,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1890,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,-1.46,-86.7,598.6,-11.4,171,6601,0.00,2.42,0.00,0.000,4,0.000,0.043,2502,349,2653,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6797,-1.46,-86.7,611.5,-11.4,172,6802,0.15,2.33,0.00,0.000,6,0.183,0.025,2528,1901,2651,0,0,0,0,0,0,26.29,26.72,28.83
$GC,7179,-1.46,-86.7,656.4,-9.4,176,7183,0.00,2.45,0.00,0.000,4,0.000,0.044,2528,345,2650,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7399,-1.46,-86.7,667.5,-9.4,177,7403,0.00,2.33,0.00,0.000,6,0.000,0.024,2518,1895,2649,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7760,-1.46,-86.7,715.4,-10.1,180,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1896,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8120,-1.49,-86.7,757.6,-11.5,183,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1896,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8480,-1.51,-86.7,799.1,-11.6,186,8488,0.00,2.45,0.00,0.000,4,0.000,0.045,2518,352,2646,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8720,-1.51,-86.7,830.3,-12.3,188,8724,0.00,2.33,0.00,0.000,6,0.000,0.025,2507,1890,2645,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9070,-1.51,-86.7,869.3,-11.6,191,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1890,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9431,-1.53,-86.7,902.8,-9.5,194,9439,0.00,2.45,0.00,0.000,4,0.000,0.046,2507,348,2642,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9579,-1.53,-86.7,914.7,-9.4,195,9584,0.00,2.33,0.00,0.000,6,0.000,0.025,2495,1887,2641,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9901,-1.53,-86.7,947.3,-9.4,198,9908,0.00,2.45,0.00,0.000,4,0.000,0.045,2495,345,2640,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10141,-1.53,-86.7,975.4,-10.6,200,10145,0.00,2.33,0.00,0.000,6,0.000,0.025,2484,1886,2640,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,10370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10371,begin apogee
$GC,10375,-0.29,0.0,1003.7,-12.0,202,10451,1.38,0.00,68.12,1.733,6,0.156,0.000,2900,1834,2320,0,0,0,0,0,0,26.00,28.83,24.03
$STATE,10452,end apogee,CONTROL_FINISHED_OK
$STATE,10452,begin climb
$GC,10454,1.64,86.7,1003.7,0.0,202,10538,1.80,0.00,79.47,1.698,6,0.070,0.000,3530,1831,1966,0,0,0,0,0,0,25.24,28.83,23.87
$GC,10852,1.53,86.7,961.0,13.2,206,10854,0.15,0.00,0.00,0.000,6,0.199,0.000,3496,1833,1959,0,0,0,0,0,0,25.85,28.83,28.83
$GC,11212,1.44,86.7,913.5,13.1,209,11214,0.12,0.00,0.00,0.000,6,0.205,0.000,3467,1834,1956,0,0,0,0,0,0,26.11,28.83,28.83
$GC,11572,1.38,86.7,867.9,12.9,212,11573,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1834,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11932,1.34,86.7,824.5,12.2,215,11941,0.15,2.58,0.00,0.000,4,0.189,0.040,3423,3462,1952,0,0,0,0,0,0,26.23,26.48,28.83
$GC,12173,1.29,86.7,798.9,11.2,217,12181,0.00,2.53,0.00,0.000,6,0.000,0.028,3434,1813,1951,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12532,1.27,86.7,761.8,10.2,220,12533,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1813,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12892,1.27,86.7,721.0,11.3,223,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1813,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13252,1.27,86.7,678.2,11.8,226,13259,0.00,2.60,0.00,0.000,4,0.000,0.040,3434,3458,1949,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13481,1.27,86.7,662.4,12.2,227,13486,0.15,2.50,0.00,0.000,6,0.181,0.027,3409,1828,1949,0,0,0,0,0,0,26.24,26.60,28.83
$GC,13842,1.27,86.7,608.1,11.9,230,13843,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1828,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14202,1.30,86.7,568.7,11.0,233,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1828,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14562,1.32,86.7,531.7,10.3,236,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1828,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14922,1.35,86.7,494.6,10.3,239,14923,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1828,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15222,1.39,86.7,458.3,12.3,244,15231,0.12,2.55,0.00,0.000,4,0.091,0.039,3464,3451,1949,0,0,0,0,0,0,26.72,26.56,28.83
$GC,15462,1.36,86.7,422.1,15.1,248,15471,0.15,2.47,0.00,0.000,6,0.180,0.027,3439,1828,1949,0,0,0,0,0,0,26.23,26.63,28.83
$GC,15822,1.36,86.7,373.1,13.5,254,15829,0.00,2.35,0.00,0.000,4,0.000,0.046,3449,353,1949,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16010,1.36,86.7,348.6,13.6,257,16015,0.00,2.33,0.00,0.000,6,0.000,0.025,3443,1894,1949,0,0,0,0,0,0,28.83,26.67,28.83
$GC,16352,1.36,86.7,303.9,12.9,263,16353,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1894,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16651,1.36,86.7,266.0,12.6,268,16653,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1894,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16952,1.38,86.7,226.3,13.3,273,16954,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1894,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17252,1.41,86.7,189.6,12.0,278,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1894,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17552,1.44,86.7,155.5,11.4,283,17560,0.00,2.42,0.00,0.000,4,0.000,0.038,3439,3452,1950,0,0,0,0,0,0,28.83,26.56,28.83
$GC,17792,1.44,86.7,126.1,12.9,290,17800,0.00,2.47,0.00,0.000,6,0.000,0.026,3450,1824,1950,0,0,0,0,0,0,28.83,26.64,28.83
$GC,18122,1.47,86.7,88.3,10.8,301,18124,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1824,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18422,1.52,86.7,54.4,9.6,323,18432,0.12,2.55,0.00,0.000,4,0.086,0.037,3507,3463,1952,0,0,0,0,0,0,26.77,26.57,28.83
$GC,18662,1.49,86.7,28.1,9.6,347,18672,0.15,2.47,0.00,0.000,6,0.177,0.024,3483,1824,1952,0,0,0,0,0,0,26.24,26.65,28.83
$STATE,18960,end climb,SURFACE_DEPTH_REACHED
$STATE,18961,begin surface coast
$FINISH,0.8,1.024390
$STATE,18991,end surface coast,CONTROL_FINISHED_OK
$STATE,18992,begin surface
$SM_CCo,19009,79.55,0.138,0,0,1093,300.00
$SM_GC,1.76,8.55,0.00,79.55,0.034,0.000,0.138,162,1823,1093,-8.82,-0.76,300.00,0,0,0,0,0,0,26.65,28.83,26.19
$IRIDIUM_FIX,2420.48,-3741.91,011012,040415
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.72
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,24.10
$XPDR_PINGS,1
$SC_FREEKB,7744928
$TM_FREEKB,7321728
$24V_AH,23.9,13.540
$10V_AH,10.4,12.571
$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,22.850,87.000,147.600,79.550,0.000,31.257,45.934,143.363,0.250,0.000,38.201,1537.145,15901.851,437.516,1479.411,145.615,33.252,1047.757,0.000,1127.170,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,134.640,1732.725,138.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18963.000,4114.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.463,13.527,0.000,0.000
$MEM,344404
$DATA_FILE_SIZE,10108,380
$CAP_FILE_SIZE,126006,0
$CFSIZE,260034560,247664640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011012,142058,2433.188,-3801.993,42,0.9,42,-14.0