version: 66.11
glider: 189
mission: 7
dive: 102
start: 10 13 112 16 47 10
data:
$ID,189
$MISSION,7
$DIVE,102
$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,-47251.297
$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
$GPS1,131012,163735,2425.704,-3809.229,25,0.8,25,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-58.4
$GPS2,131012,164611,2425.719,-3809.270,17,0.9,17,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,0.143
$KALMAN_X,16082.2,130.3,408.7,-29043.9,30.6
$KALMAN_Y,98031.7,-231.7,-100.0,-116024.3,1210.5
$MHEAD_RNG_PITCHd_Wd,59.1,19624,-11.8,-6.111,-16.77
$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,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-31.70,0.000,2,0.000,0.000,162,1822,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.3,-3.3,3,106,9.93,2.55,-27.88,0.000,4,0.216,0.049,2705,3449,2918,0,0,0,0,0,0,25.84,26.25,26.63
$GC,315,-0.68,-146.6,27.3,-13.2,29,325,0.25,2.47,0.00,0.000,6,0.134,0.024,2777,1821,2921,0,0,0,0,0,0,26.03,26.39,28.83
$GC,625,-0.58,-146.6,63.4,-12.2,60,627,0.12,0.00,0.00,0.000,6,0.150,0.000,2810,1820,2921,0,0,0,0,0,0,26.36,28.83,28.83
$GC,935,-0.54,-146.6,83.5,-3.9,79,943,0.00,2.55,0.00,0.000,4,0.000,0.037,2802,3464,2922,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1125,-0.51,-146.6,89.8,-3.7,85,1134,0.12,2.47,0.00,0.000,6,0.132,0.023,2839,1816,2923,0,0,0,0,0,0,26.35,26.56,28.83
$GC,1446,-0.51,-146.6,106.6,-6.3,96,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1816,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1745,-0.51,-146.6,125.0,-5.5,106,1752,0.00,2.30,0.00,0.000,4,0.000,0.041,2839,342,2924,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1835,-0.51,-146.6,129.7,-5.2,109,1842,0.00,2.30,0.00,0.000,6,0.000,0.024,2829,1890,2924,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2165,-0.51,-146.6,143.3,-4.0,120,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1891,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2495,-0.51,-146.6,161.7,-6.0,128,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1890,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-0.51,-146.6,180.9,-6.5,133,2803,0.00,2.40,0.00,0.000,4,0.000,0.037,2817,3452,2923,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2984,-0.51,-146.6,190.1,-5.4,136,2988,0.00,2.45,0.00,0.000,6,0.000,0.023,2817,1818,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3326,-0.51,-146.6,206.8,-5.0,142,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1818,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3626,-0.51,-146.6,223.7,-5.8,147,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1818,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3926,-0.51,-146.6,244.0,-6.9,152,3934,0.00,2.55,0.00,0.000,4,0.000,0.038,2804,3461,2924,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4005,-0.51,-146.6,248.2,-7.0,153,4009,0.00,2.47,0.00,0.000,6,0.000,0.023,2805,1816,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4336,-0.51,-146.6,272.0,-6.7,159,4338,0.12,0.00,0.00,0.000,6,0.131,0.000,2843,1815,2920,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4637,-0.57,-146.6,286.4,-4.6,164,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1815,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,-0.63,-146.6,300.5,-4.7,169,4939,0.15,0.00,0.00,0.000,6,0.071,0.000,2758,1815,2918,0,0,0,0,0,0,26.77,28.83,28.83
$GC,5236,-0.59,-146.6,321.6,-7.1,174,5238,0.17,0.00,0.00,0.000,6,0.124,0.000,2811,1815,2917,0,0,0,0,0,0,26.48,28.83,28.83
$GC,5537,-0.61,-146.6,336.6,-4.8,179,5545,0.00,2.53,0.00,0.000,4,0.000,0.038,2800,3449,2916,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5686,-0.64,-146.6,342.1,-4.6,181,5690,0.00,2.45,0.00,0.000,6,0.000,0.024,2799,1825,2915,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6007,-0.64,-146.6,361.3,-5.7,187,6015,0.00,2.33,0.00,0.000,4,0.000,0.043,2800,348,2914,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6086,-0.64,-146.6,365.5,-6.1,188,6090,0.00,2.33,0.00,0.000,6,0.000,0.024,2789,1895,2914,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6417,-0.64,-146.6,389.8,-7.0,194,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1895,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,-0.64,-146.6,409.5,-6.4,199,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1896,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7018,-0.64,-146.6,426.8,-5.6,204,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1895,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,-0.64,-146.6,441.5,-4.8,209,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1895,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,-0.64,-146.6,454.6,-4.4,214,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1896,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7918,-0.64,-146.6,467.9,-4.5,219,7925,0.00,2.45,0.00,0.000,4,0.000,0.043,2789,350,2909,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8038,-0.64,-146.6,474.7,-5.1,221,8045,0.00,2.33,0.00,0.000,6,0.000,0.024,2778,1894,2908,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8398,-0.64,-146.6,497.7,-6.7,227,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1894,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8697,-0.64,-146.6,520.9,-7.6,230,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1894,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9057,-0.64,-146.6,549.5,-8.0,233,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1894,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9417,-0.64,-146.6,577.3,-7.7,236,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1894,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9777,-0.64,-146.6,599.9,-6.6,239,9785,0.00,2.45,0.00,0.000,4,0.000,0.044,2778,354,2904,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9947,-0.64,-146.6,606.4,-6.0,240,9951,0.00,2.33,0.00,0.000,6,0.000,0.025,2767,1887,2906,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10248,-0.64,-146.6,621.4,-4.5,243,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1887,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10609,-0.64,-146.6,638.3,-4.5,246,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1888,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10968,-0.64,-146.6,658.6,-5.5,249,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1888,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11328,-0.64,-146.6,676.2,-5.1,252,11336,0.00,2.45,0.00,0.000,4,0.000,0.044,2767,351,2900,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11427,-0.64,-146.6,676.2,-5.1,252,11432,0.12,2.33,0.00,0.000,6,0.138,0.025,2792,1886,2900,0,0,0,0,0,0,26.36,26.61,28.83
$GC,11800,-0.67,-146.6,691.4,-3.1,256,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1886,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12160,-0.72,-146.6,707.5,-4.1,259,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1886,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12520,-0.77,-146.6,732.3,-6.5,262,12522,0.12,0.00,0.00,0.000,6,0.082,0.000,2726,1886,2897,0,0,0,0,0,0,26.76,28.83,28.83
$GC,12879,-0.77,-146.6,768.2,-9.4,265,12887,0.00,2.45,0.00,0.000,4,0.000,0.046,2726,354,2896,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12988,-0.77,-146.6,768.2,-9.4,265,12993,0.12,2.33,0.00,0.000,6,0.148,0.026,2748,1883,2896,0,0,0,0,0,0,26.29,26.59,28.83
$GC,13350,-0.77,-146.6,809.2,-9.1,268,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1883,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13709,-0.77,-146.6,831.3,-6.4,271,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1883,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14070,-0.77,-146.6,852.1,-5.8,274,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1883,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14430,-0.77,-146.6,872.8,-5.8,277,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1883,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14790,-0.77,-146.6,895.3,-6.1,280,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1883,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15149,-0.77,-146.6,920.8,-6.9,283,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1884,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15509,-0.77,-146.6,946.9,-7.3,286,15517,0.00,2.50,0.00,0.000,4,0.000,0.045,2738,3454,2889,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15608,-0.77,-146.6,946.9,-7.3,286,15613,0.00,2.50,0.00,0.000,6,0.000,0.028,2741,1826,2889,0,0,0,0,0,0,28.83,26.50,28.83
$GC,15980,-0.77,-146.6,975.4,-6.1,290,15988,0.00,2.38,0.00,0.000,4,0.000,0.048,2738,345,2888,0,0,0,0,0,0,28.83,26.31,28.83
$GC,16079,-0.77,-146.6,975.4,-6.1,290,16083,0.00,2.35,0.00,0.000,6,0.000,0.026,2727,1885,2888,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,16328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16328,begin apogee
$GC,16333,-0.29,0.0,993.5,-5.2,293,16459,0.52,0.00,119.80,1.706,6,0.110,0.000,2903,1833,2320,0,0,0,0,0,0,25.97,28.83,23.74
$STATE,16461,end apogee,CONTROL_FINISHED_OK
$STATE,16461,begin climb
$GC,16462,0.86,146.6,994.8,0.0,294,16596,1.10,0.00,129.15,1.666,6,0.069,0.000,3281,1833,1723,0,0,0,0,0,0,24.96,28.83,23.48
$GC,16931,0.71,146.6,953.1,9.9,298,16939,0.17,2.40,0.00,0.000,4,0.149,0.050,3243,359,1714,0,0,0,0,0,0,25.77,25.89,28.83
$GC,17001,0.57,146.6,953.1,9.9,298,17009,0.17,2.38,0.00,0.000,6,0.123,0.026,3185,1885,1713,0,0,0,0,0,0,25.80,26.07,28.83
$GC,17410,0.51,146.6,923.2,6.1,302,17418,0.00,2.50,0.00,0.000,4,0.000,0.041,3185,3449,1712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17580,0.48,161.4,916.3,5.7,303,17600,0.15,2.53,12.45,1.538,6,0.138,0.028,3153,1828,1660,0,0,0,0,0,0,26.10,26.32,24.94
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$STATE,29855,end climb,SURFACE_DEPTH_REACHED
$STATE,29855,begin surface coast
$FINISH,0.9,1.024578
$STATE,29876,end surface coast,CONTROL_FINISHED_OK
$STATE,29876,begin surface
$SM_CCo,29956,0.00,0.000,0,0,855,359.36
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.60
$XPDR_PINGS,1
$SC_FREEKB,7730720
$TM_FREEKB,6998784
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$10V_AH,10.3,18.042
$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
$DEVICE_SECS,22.450,126.125,397.075,0.000,0.000,26.403,47.477,219.467,0.250,0.000,18.373,1899.583,25946.877,647.266,1721.538,247.386,33.272,1413.364,0.000,1283.577,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.856,13.537,0.000,0.000
$MEM,344540
$DATA_FILE_SIZE,13428,545
$CAP_FILE_SIZE,178434,0
$CFSIZE,260034560,243945472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141012,010734,2428.858,-3805.825,37,0.8,37,-14.0