version: 66.11
glider: 189
mission: 7
dive: 75
start: 10 4 112 14 19 58
data:
$ID,189
$MISSION,7
$DIVE,75
$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,300
$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,-47009.082
$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
$GPS1,041012,141506,2437.433,-3748.700,17,0.9,17,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-56.6
$GPS2,041012,141859,2437.465,-3748.683,16,1.0,16,-13.9
$SPEED_LIMITS,0.191,0.254
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.253
$KALMAN_X,12251.6,-133.8,-64.2,10207.8,64.7
$KALMAN_Y,74327.6,-18.6,54.5,-70938.0,515.4
$MHEAD_RNG_PITCHd_Wd,190.6,31523,-20.7,-11.000,-23.44
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.36,-146.6,0.0,0.0,0,57,0.00,0.00,-32.50,0.000,2,0.000,0.000,160,1838,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-1.36,-146.6,2.2,-2.7,3,101,9.40,2.55,-25.88,0.000,4,0.222,0.050,2544,3467,2919,0,0,0,0,0,0,25.90,26.36,26.72
$GC,328,-1.19,-146.6,45.1,-20.1,30,338,0.25,2.47,0.00,0.000,6,0.164,0.024,2611,1822,2920,0,0,0,0,0,0,26.10,26.49,28.83
$GC,639,-1.11,-146.6,84.1,-9.6,55,641,0.12,0.00,0.00,0.000,6,0.178,0.000,2642,1831,2920,0,0,0,0,0,0,26.36,28.83,28.83
$GC,939,-1.07,-146.6,115.0,-10.9,65,947,0.00,2.53,0.00,0.000,4,0.000,0.037,2631,3455,2922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1179,-1.03,-146.6,142.2,-11.5,73,1187,0.10,2.42,0.00,0.000,6,0.143,0.023,2663,1821,2922,0,0,0,0,0,0,26.36,26.65,28.83
$GC,1509,-1.03,-146.6,177.9,-10.8,80,1516,0.00,2.53,0.00,0.000,4,0.000,0.037,2653,3456,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1730,-1.03,-146.6,196.9,-10.5,83,1737,0.00,2.42,0.00,0.000,6,0.000,0.023,2652,1833,2920,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2049,-1.03,-146.6,234.3,-10.3,89,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1827,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2348,-1.03,-146.6,261.8,-9.1,94,2356,0.00,2.53,0.00,0.000,4,0.000,0.038,2641,3459,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2488,-1.03,-146.6,275.2,-10.3,96,2492,0.00,2.45,0.00,0.000,6,0.000,0.023,2641,1825,2920,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2819,-1.03,-146.6,314.9,-11.3,102,2826,0.00,2.30,0.00,0.000,4,0.000,0.042,2641,350,2919,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2908,-1.03,-146.6,321.6,-11.3,103,2913,0.15,2.30,0.00,0.000,6,0.163,0.024,2669,1887,2919,0,0,0,0,0,0,26.39,26.71,28.83
$GC,3231,-1.06,-146.6,354.2,-8.9,109,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1888,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-1.10,-146.6,383.6,-9.9,114,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1888,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-1.14,-146.6,410.9,-9.0,119,3832,0.12,0.00,0.00,0.000,6,0.087,0.000,2612,1888,2915,0,0,0,0,0,0,26.78,28.83,28.83
$GC,4130,-1.14,-146.6,442.6,-10.7,124,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1888,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4430,-1.14,-146.6,478.5,-12.3,129,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1887,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4730,-1.14,-146.6,515.4,-12.3,133,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1887,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5090,-1.14,-146.6,552.5,-10.6,136,5098,0.00,2.45,0.00,0.000,4,0.000,0.041,2600,3459,2908,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5179,-1.14,-146.6,552.5,-10.6,136,5184,0.12,2.47,0.00,0.000,6,0.161,0.024,2632,1822,2908,0,0,0,0,0,0,26.40,26.69,28.83
$GC,5561,-1.14,-146.6,606.7,-11.5,140,5565,0.00,2.33,0.00,0.000,4,0.000,0.044,2632,342,2906,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5661,-1.14,-146.6,606.7,-11.5,140,5665,0.00,2.33,0.00,0.000,6,0.000,0.025,2622,1884,2905,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6022,-1.14,-146.6,658.6,-11.5,143,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1885,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6382,-1.14,-146.6,696.0,-10.2,146,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1885,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6742,-1.16,-146.6,740.0,-12.0,149,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1885,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7102,-1.19,-146.6,782.8,-12.0,152,7110,0.00,2.42,0.00,0.000,4,0.000,0.044,2622,352,2898,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7213,-1.22,-146.6,782.8,-12.0,152,7221,0.00,2.33,0.00,0.000,6,0.000,0.026,2611,1889,2898,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7582,-1.24,-146.6,835.1,-10.9,156,7590,0.00,2.45,0.00,0.000,4,0.000,0.045,2611,344,2896,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7702,-1.24,-146.6,849.8,-11.0,157,7710,0.00,2.33,0.00,0.000,6,0.000,0.026,2599,1883,2896,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8062,-1.24,-146.6,891.6,-11.7,160,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1883,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8422,-1.24,-146.6,936.2,-12.2,163,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1883,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8782,-1.27,-146.6,981.5,-12.6,166,8790,0.00,2.45,0.00,0.000,4,0.000,0.047,2599,347,2891,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8893,-1.29,-146.6,981.5,-12.6,166,8901,0.00,2.35,0.00,0.000,6,0.000,0.027,2588,1889,2890,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,9020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9020,begin apogee
$GC,9025,-0.29,0.0,1011.3,-12.5,168,9151,0.98,0.00,120.85,1.717,6,0.134,0.000,2900,1835,2319,0,0,0,0,0,0,26.10,28.83,23.90
$STATE,9153,end apogee,CONTROL_FINISHED_OK
$STATE,9153,begin climb
$GC,9155,1.36,146.6,1014.6,0.0,169,9289,1.52,0.00,129.55,1.693,6,0.069,0.000,3434,1835,1721,0,0,0,0,0,0,25.06,28.83,23.72
$GC,9623,1.24,146.6,952.1,15.7,173,9625,0.15,0.00,0.00,0.000,6,0.181,0.000,3399,1835,1715,0,0,0,0,0,0,25.86,28.83,28.83
$GC,9982,1.14,146.6,902.5,14.1,176,9984,0.12,0.00,0.00,0.000,6,0.185,0.000,3368,1835,1710,0,0,0,0,0,0,26.15,28.83,28.83
$GC,10342,1.07,146.6,856.0,13.1,179,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1835,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10702,1.02,146.6,811.1,12.5,182,10704,0.15,0.00,0.00,0.000,6,0.169,0.000,3328,1835,1707,0,0,0,0,0,0,26.28,28.83,28.83
$GC,11062,0.99,146.6,770.0,11.7,185,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1835,1706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11422,0.99,146.6,727.5,11.7,188,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1835,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11782,0.99,146.6,683.8,12.1,191,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1835,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12142,0.99,146.6,640.1,12.1,194,12146,0.00,2.55,0.00,0.000,4,0.000,0.041,3326,3448,1704,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12243,0.99,146.6,640.1,12.1,194,12247,0.00,2.50,0.00,0.000,6,0.000,0.028,3336,1820,1704,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12603,0.99,146.6,581.8,12.6,197,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1819,1703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12963,0.99,147.2,543.8,11.0,200,12970,0.00,2.35,0.00,0.000,4,0.000,0.047,3348,352,1703,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13084,1.00,156.9,531.0,10.5,201,13095,0.00,2.33,6.43,1.234,6,0.000,0.026,3348,1883,1679,0,0,0,0,0,0,28.83,26.64,25.42
$GC,13433,1.02,169.7,494.8,10.4,204,13452,0.00,2.45,12.48,1.325,4,0.000,0.041,3348,3461,1625,0,0,0,0,0,0,28.83,26.25,25.30
$GC,13572,1.02,169.7,479.5,11.1,206,13577,0.12,2.53,0.00,0.000,6,0.162,0.027,3329,1828,1627,0,0,0,0,0,0,26.13,26.34,28.83
$GC,13904,1.04,169.7,436.0,12.3,212,13912,0.00,2.55,0.00,0.000,4,0.000,0.039,3329,3448,1627,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13964,1.04,169.7,428.2,12.6,213,13968,0.00,2.50,0.00,0.000,6,0.000,0.027,3339,1825,1627,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14315,1.04,169.7,387.1,11.5,219,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1825,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14615,1.04,169.7,350.7,12.2,224,14616,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1825,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14915,1.04,169.7,315.3,11.7,229,14916,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1825,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15216,1.06,169.7,281.9,11.3,234,15223,0.00,2.35,0.00,0.000,4,0.000,0.047,3351,349,1627,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15294,1.06,169.7,274.6,11.6,235,15298,0.00,2.33,0.00,0.000,6,0.000,0.025,3351,1884,1627,0,0,0,0,0,0,28.83,26.63,28.83
$GC,15626,1.06,169.7,233.6,11.5,241,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1885,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15926,1.08,181.1,202.4,10.4,246,15939,0.00,0.00,11.27,1.112,6,0.000,0.000,3351,1884,1580,0,0,0,0,0,0,28.83,28.83,25.55
$GC,16226,1.10,181.1,164.4,12.9,251,16233,0.00,2.45,0.00,0.000,4,0.000,0.038,3351,3452,1580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,16304,1.10,181.1,155.8,13.2,252,16308,0.00,2.50,0.00,0.000,6,0.000,0.026,3363,1819,1580,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16605,1.10,181.1,114.1,12.0,262,16607,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1818,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16906,1.12,181.1,80.4,11.0,272,16913,0.00,2.55,0.00,0.000,4,0.000,0.038,3363,3451,1580,0,0,0,0,0,0,28.83,26.53,28.83
$GC,17035,1.12,181.1,65.0,11.9,281,17044,0.00,2.47,0.00,0.000,6,0.000,0.025,3375,1823,1580,0,0,0,0,0,0,28.83,26.60,28.83
$GC,17347,1.18,186.9,31.4,10.7,312,17356,0.00,2.28,2.53,0.229,4,0.000,0.044,3386,346,1555,0,0,0,0,0,0,28.83,26.54,26.15
$GC,17426,1.20,186.9,22.7,11.2,320,17435,0.00,2.33,0.00,0.000,6,0.000,0.024,3386,1897,1555,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,17614,end climb,SURFACE_DEPTH_REACHED
$STATE,17614,begin surface coast
$FINISH,0.6,1.024455
$STATE,17636,end surface coast,CONTROL_FINISHED_OK
$STATE,17636,begin surface
$SM_CCo,17654,42.95,0.138,0,0,1095,300.00
$SM_GC,2.03,8.40,0.10,42.95,0.040,0.087,0.138,160,1821,1095,-8.82,0.42,300.00,0,0,0,0,0,0,26.63,26.74,26.23
$IRIDIUM_FIX,2420.48,-3733.39,041012,141437
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.92
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.20
$XPDR_PINGS,1
$SC_FREEKB,7741088
$TM_FREEKB,7237984
$24V_AH,23.7,15.353
$10V_AH,10.4,13.985
$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,21.725,87.575,283.100,42.950,0.000,0.000,0.000,0.000,0.250,0.000,17.279,1226.113,15022.968,518.682,899.575,103.534,33.259,1019.913,0.000,840.036,0.000,0.538,0.000
$DEVICE_MAMPS,221.850,107.865,1716.660,138.465,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17518.000,3387.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.381,13.608,0.000,0.000
$MEM,344492
$DATA_FILE_SIZE,10127,341
$CAP_FILE_SIZE,127148,0
$CFSIZE,260034560,246685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041012,191604,2435.317,-3748.538,36,0.9,36,-13.9