version: 66.11
glider: 189
mission: 7
dive: 25
start: 9 19 112 5 52 20
data:
$ID,189
$MISSION,7
$DIVE,25
$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,5
$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,120
$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,250
$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,-46203.414
$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,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$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,2433
$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,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,190912,052933,2423.294,-3747.431,40,1.1,43,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.8
$GPS2,190912,055123,2423.267,-3747.478,18,1.0,18,-14.0
$SPEED_LIMITS,0.106,0.185
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.185
$KALMAN_X,1233.0,-81.0,116.1,23014.5,8.3
$KALMAN_Y,16368.5,309.1,-124.3,-39426.2,1392.8
$MHEAD_RNG_PITCHd_Wd,189.5,5152,-13.6,-6.111,-18.24
$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,-0.92,-117.3,0.0,0.0,0,56,0.00,0.00,-32.92,0.000,2,0.000,0.000,162,1835,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.92,-117.3,2.6,-6.5,3,89,9.68,2.20,-14.20,0.000,4,0.217,0.051,2683,3279,2912,0,0,0,0,0,0,26.01,26.26,26.56
$GC,315,-0.74,-117.3,31.4,-13.8,28,322,0.25,2.12,0.00,0.000,6,0.148,0.026,2754,1828,2915,0,0,0,0,0,0,26.27,26.45,28.83
$GC,631,-0.66,-117.3,67.5,-9.6,52,637,0.12,2.15,0.00,0.000,4,0.155,0.043,2795,417,2915,0,0,0,0,0,0,26.45,26.53,28.83
$GC,863,-0.60,-117.3,84.6,-7.0,63,868,0.00,2.12,0.00,0.000,6,0.000,0.026,2785,1884,2916,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1175,-0.56,-117.3,106.9,-6.6,79,1181,0.12,2.22,0.00,0.000,4,0.149,0.042,2827,418,2919,0,0,0,0,0,0,26.58,26.64,28.83
$GC,1342,-0.56,-117.3,116.1,-5.3,87,1347,0.00,2.12,0.00,0.000,6,0.000,0.026,2817,1885,2916,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1659,-0.56,-117.3,133.7,-6.3,103,1664,0.00,2.08,0.00,0.000,4,0.000,0.039,2807,3284,2916,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1855,-0.56,-117.3,146.4,-6.8,112,1861,0.00,2.12,0.00,0.000,6,0.000,0.025,2807,1820,2916,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2161,-0.45,-117.3,165.8,-9.1,128,2167,0.12,2.12,0.00,0.000,4,0.146,0.043,2849,425,2916,0,0,0,0,0,0,26.66,26.72,28.83
$GC,2394,-0.52,-117.3,174.1,-3.6,139,2399,0.00,2.12,0.00,0.000,6,0.000,0.026,2840,1896,2915,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2706,-0.60,-117.3,187.8,-4.7,155,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1896,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3007,-0.67,-117.3,201.5,-4.7,170,3012,0.12,2.22,0.00,0.000,4,0.083,0.042,2763,427,2914,0,0,0,0,0,0,26.85,26.75,28.83
$GC,3078,-0.67,-117.3,205.9,-6.5,173,3083,0.00,2.12,0.00,0.000,6,0.000,0.028,2756,1888,2914,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3390,-0.67,-117.3,228.8,-7.2,189,3396,0.10,2.08,0.00,0.000,4,0.158,0.038,2773,3286,2913,0,0,0,0,0,0,26.74,26.77,28.83
$GC,3622,-0.67,-117.3,241.3,-5.3,200,3627,0.00,2.15,0.00,0.000,6,0.000,0.026,2773,1823,2913,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3934,-0.67,-117.3,257.1,-4.8,216,3939,0.00,2.17,0.00,0.000,4,0.000,0.039,2763,3280,2912,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4165,-0.67,-117.3,269.5,-5.9,227,4170,0.00,2.12,0.00,0.000,6,0.000,0.027,2762,1820,2911,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4477,-0.67,-117.3,291.8,-7.5,243,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1820,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4787,-0.67,-117.3,320.0,-9.5,255,4792,0.00,2.17,0.00,0.000,4,0.000,0.040,2752,3276,2908,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4868,-0.67,-117.3,326.0,-9.6,257,4874,0.12,2.10,0.00,0.000,6,0.142,0.026,2786,1831,2908,0,0,0,0,0,0,26.67,26.81,28.83
$GC,5182,-0.70,-117.3,348.7,-5.6,268,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1830,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5481,-0.73,-117.3,362.9,-4.7,278,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1831,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,-0.77,-117.3,378.4,-5.3,288,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1831,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6081,-0.81,-117.3,397.6,-6.9,298,6083,0.15,0.00,0.00,0.000,6,0.075,0.000,2715,1836,2906,0,0,0,0,0,0,26.85,28.83,28.83
$GC,6381,-0.77,-117.3,423.5,-8.6,308,6387,0.12,2.17,0.00,0.000,4,0.145,0.039,2746,3275,2903,0,0,0,0,0,0,26.70,26.78,28.83
$GC,6433,-0.75,-117.3,425.9,-8.2,309,6438,0.00,2.10,0.00,0.000,6,0.000,0.027,2746,1831,2903,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6745,-0.75,-117.3,448.6,-6.7,320,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1827,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7045,-0.75,-117.3,471.6,-8.3,330,7050,0.00,2.15,0.00,0.000,4,0.000,0.047,2746,418,2901,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7251,-0.72,-117.3,489.9,-10.2,336,7259,0.12,2.12,0.00,0.000,6,0.148,0.028,2770,1881,2901,0,0,0,0,0,0,26.66,26.82,28.83
$GC,7558,-0.75,-117.3,516.2,-7.0,347,7563,0.00,2.10,0.00,0.000,4,0.000,0.042,2761,3284,2900,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7670,-0.78,-117.3,522.1,-6.4,350,7675,0.00,2.12,0.00,0.000,6,0.000,0.028,2761,1831,2899,0,0,0,0,0,0,28.83,26.80,28.83
$GC,7983,-0.81,-117.3,539.9,-5.3,361,7988,0.00,2.15,0.00,0.000,4,0.000,0.047,2761,419,2899,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8049,-0.81,-117.3,543.8,-5.9,363,8054,0.00,2.12,0.00,0.000,6,0.000,0.028,2751,1882,2898,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8376,-0.81,-117.3,566.5,-7.4,374,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-0.81,-117.3,589.1,-7.3,384,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1881,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8976,-0.83,-117.3,608.7,-6.2,394,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1882,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9277,-0.85,-117.3,625.9,-5.7,404,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1882,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9577,-0.88,-117.3,642.8,-5.7,414,9582,0.00,2.25,0.00,0.000,4,0.000,0.048,2751,419,2894,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9643,-0.88,-117.3,647.1,-6.1,416,9648,0.00,2.15,0.00,0.000,6,0.000,0.028,2740,1888,2893,0,0,0,0,0,0,28.83,26.81,28.83
$GC,9971,-0.88,-117.3,668.3,-6.2,427,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1888,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10270,-0.88,-117.3,686.5,-6.0,437,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1888,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10570,-0.88,-117.3,703.2,-5.2,447,10575,0.00,2.10,0.00,0.000,4,0.000,0.044,2730,3283,2891,0,0,0,0,0,0,28.83,26.75,28.83
$GC,10656,-0.88,-117.3,706.4,-5.2,449,10663,0.00,2.15,0.00,0.000,6,0.000,0.029,2730,1824,2890,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10962,-0.88,-117.3,726.7,-6.7,460,10967,0.00,2.15,0.00,0.000,4,0.000,0.050,2730,424,2889,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11028,-0.88,-117.3,731.2,-7.1,462,11033,0.00,2.15,0.00,0.000,6,0.000,0.028,2716,1890,2889,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11355,-0.88,-117.3,758.1,-8.7,473,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1891,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11655,-0.88,-117.3,785.9,-9.4,483,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1891,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11955,-0.88,-117.3,813.0,-8.7,493,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1892,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12255,-0.88,-117.3,836.9,-7.8,503,12260,0.00,2.28,0.00,0.000,4,0.000,0.050,2720,421,2886,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12311,-0.88,-117.3,839.5,-7.7,504,12317,0.00,2.15,0.00,0.000,6,0.000,0.029,2709,1883,2886,0,0,0,0,0,0,28.83,26.79,28.83
$GC,12616,-0.88,-117.3,864.7,-7.5,515,12622,0.00,2.25,0.00,0.000,4,0.000,0.050,2709,431,2885,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12687,-0.88,-117.3,869.5,-7.6,517,12692,0.00,2.12,0.00,0.000,6,0.000,0.029,2698,1879,2885,0,0,0,0,0,0,28.83,26.78,28.83
$GC,13010,-0.88,-117.3,892.8,-7.1,528,13015,0.00,2.25,0.00,0.000,4,0.000,0.050,2699,425,2883,0,0,0,0,0,0,28.83,26.69,28.83
$GC,13086,-0.88,-117.3,897.4,-7.2,530,13091,0.00,2.15,0.00,0.000,6,0.000,0.030,2688,1885,2883,0,0,0,0,0,0,28.83,26.77,28.83
$GC,13403,-0.88,-117.3,921.2,-7.2,541,13408,0.00,2.10,0.00,0.000,4,0.000,0.044,2678,3276,2883,0,0,0,0,0,0,28.83,26.72,28.83
$GC,13484,-0.88,-117.3,926.0,-7.5,543,13490,0.15,2.12,0.00,0.000,6,0.145,0.030,2719,1834,2883,0,0,0,0,0,0,26.55,26.75,28.83
$GC,13797,-0.90,-117.3,950.3,-7.4,554,13803,0.00,2.17,0.00,0.000,4,0.000,0.050,2720,425,2882,0,0,0,0,0,0,28.83,26.70,28.83
$GC,13859,-0.90,-117.3,955.7,-8.0,556,13864,0.00,2.15,0.00,0.000,6,0.000,0.028,2710,1883,2881,0,0,0,0,0,0,28.83,26.77,28.83
$GC,14192,-0.90,-117.3,982.5,-7.8,567,14193,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1883,2880,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14310,begin apogee
$GC,14314,-0.29,0.0,991.4,-7.4,571,14411,0.57,0.00,93.10,1.698,6,0.117,0.000,2903,1839,2432,0,0,0,0,0,0,26.53,28.83,23.98
$STATE,14413,end apogee,CONTROL_FINISHED_OK
$STATE,14413,begin climb
$GC,14415,0.92,117.3,993.5,0.0,574,14524,1.12,0.00,105.10,1.677,6,0.073,0.000,3294,1839,1953,0,0,0,0,0,0,25.06,28.83,23.82
$GC,14816,0.79,117.3,965.3,8.4,588,14818,0.15,0.00,0.00,0.000,6,0.161,0.000,3256,1839,1945,0,0,0,0,0,0,25.96,28.83,28.83
$GC,15117,0.70,117.3,944.4,6.8,598,15122,0.12,2.22,0.00,0.000,4,0.165,0.050,3226,433,1943,0,0,0,0,0,0,26.21,26.28,28.83
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$STATE,27626,end climb,SURFACE_DEPTH_REACHED
$STATE,27626,begin surface coast
$FINISH,0.6,0.997588
$STATE,27657,end surface coast,CONTROL_FINISHED_OK
$STATE,27657,begin surface
$SM_CCo,27675,4.35,0.158,0,0,1411,250.21
$SM_GC,2.97,8.12,0.00,4.35,0.038,0.000,0.158,161,1826,1411,-8.84,-0.68,250.21,0,0,0,0,0,0,26.73,28.83,26.50
$IRIDIUM_FIX,2411.01,-3742.33,190912,050503
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.55
$INTERNAL_PRESSURE,9.15339
$TCM_TEMP,24.70
$XPDR_PINGS,13
$SC_FREEKB,7760288
$TM_FREEKB,7714048
$24V_AH,23.8,7.025
$10V_AH,10.3,6.135
$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,22.400,172.675,295.525,4.350,0.000,53.209,95.431,679.951,3.250,0.000,19.212,3591.524,20738.564,502.909,3881.625,253.193,33.262,1909.897,0.000,2666.106,0.000,0.538,0.000
$DEVICE_MAMPS,217.260,143.055,1697.535,157.590,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27702.000,7038.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.745,13.618,0.000,0.000
$MEM,344796
$DATA_FILE_SIZE,29983,1106
$CAP_FILE_SIZE,279526,0
$CFSIZE,260034560,252608512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190912,133452,2420.886,-3747.486,40,0.7,40,-14.0