version: 66.11
glider: 189
mission: 7
dive: 203
start: 11 17 112 14 37 24
data:
$ID,189
$MISSION,7
$DIVE,203
$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,-47907.613
$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
$GPS1,171112,142628,2425.913,-3746.045,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-58.3
$GPS2,171112,143623,2425.858,-3746.056,19,1.0,19,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,0.149
$KALMAN_X,40072.0,398.8,80.9,-13909.6,2391.1
$KALMAN_Y,55422.0,74.4,533.5,-74109.1,-3671.8
$MHEAD_RNG_PITCHd_Wd,331.3,30799,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-146.6,0.0,0.0,0,37,0.00,0.00,-11.82,0.000,2,0.000,0.000,161,1834,1453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.1,0.0,1,117,9.65,2.60,-55.85,0.000,4,0.197,0.046,2710,3459,2919,0,0,0,0,0,0,25.63,26.15,26.64
$GC,347,-0.73,-146.6,21.2,-9.5,32,356,0.17,2.50,0.00,0.000,6,0.132,0.023,2765,1823,2919,0,0,0,0,0,0,25.92,26.31,28.83
$GC,657,-0.67,-146.6,43.1,-5.9,63,666,0.00,2.55,0.00,0.000,4,0.000,0.037,2754,3450,2919,0,0,0,0,0,0,28.83,26.25,28.83
$GC,897,-0.61,-146.6,60.8,-7.2,87,906,0.17,2.47,0.00,0.000,6,0.121,0.022,2807,1819,2919,0,0,0,0,0,0,26.10,26.43,28.83
$GC,1206,-0.61,-146.6,82.4,-7.7,112,1214,0.00,2.58,0.00,0.000,4,0.000,0.037,2796,3454,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1447,-0.61,-146.6,101.6,-7.7,120,1454,0.00,2.45,0.00,0.000,6,0.000,0.022,2796,1821,2919,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1778,-0.61,-146.6,121.7,-5.5,131,1784,0.00,2.55,0.00,0.000,4,0.000,0.036,2784,3456,2920,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1977,-0.61,-146.6,129.6,-4.4,137,1986,0.00,2.45,0.00,0.000,6,0.000,0.021,2784,1823,2920,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2287,-0.61,-146.6,145.8,-5.6,148,2294,0.00,2.55,0.00,0.000,4,0.000,0.036,2773,3452,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2485,-0.61,-146.6,157.8,-6.8,153,2490,0.00,2.47,0.00,0.000,6,0.000,0.022,2772,1811,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2818,-0.58,-146.6,180.9,-6.4,159,2826,0.12,2.55,0.00,0.000,4,0.129,0.036,2799,3448,2921,0,0,0,0,0,0,26.53,26.37,28.83
$GC,3059,-0.58,-146.6,191.9,-4.6,163,3065,0.00,2.45,0.00,0.000,6,0.000,0.022,2799,1817,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3417,-0.58,-146.6,207.0,-4.1,169,3425,0.00,2.58,0.00,0.000,4,0.000,0.037,2788,3455,2921,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3659,-0.58,-146.6,217.5,-4.4,173,3665,0.00,2.45,0.00,0.000,6,0.000,0.023,2788,1820,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4017,-0.58,-146.6,235.2,-5.0,179,4025,0.00,2.58,0.00,0.000,4,0.000,0.037,2776,3458,2919,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4259,-0.58,-146.6,248.4,-5.5,183,4266,0.12,2.40,0.00,0.000,6,0.122,0.022,2814,1820,2919,0,0,0,0,0,0,26.30,26.53,28.83
$GC,4618,-0.63,-146.6,265.6,-4.7,189,4625,0.00,2.55,0.00,0.000,4,0.000,0.037,2804,3450,2918,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4859,-0.67,-146.6,277.7,-5.0,193,4865,0.00,2.40,0.00,0.000,6,0.000,0.023,2803,1818,2917,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5218,-0.71,-146.6,297.4,-5.7,199,5225,0.00,2.55,0.00,0.000,4,0.000,0.037,2792,3448,2916,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5459,-0.74,-146.6,313.2,-6.6,203,5465,0.00,2.45,0.00,0.000,6,0.000,0.023,2792,1821,2916,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5818,-0.77,-146.6,334.7,-5.7,209,5826,0.12,2.55,0.00,0.000,4,0.080,0.037,2708,3447,2915,0,0,0,0,0,0,26.72,26.36,28.83
$GC,6059,-0.73,-146.6,350.8,-6.8,213,6066,0.12,2.45,0.00,0.000,6,0.106,0.023,2762,1820,2914,0,0,0,0,0,0,26.15,26.52,28.83
$GC,6417,-0.73,-146.6,371.4,-5.8,219,6425,0.00,2.58,0.00,0.000,4,0.000,0.037,2751,3451,2914,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6659,-0.73,-146.6,387.4,-6.7,223,6665,0.00,2.45,0.00,0.000,6,0.000,0.023,2752,1826,2913,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7018,-0.73,-146.6,413.5,-7.3,229,7025,0.00,2.58,0.00,0.000,4,0.000,0.037,2741,3457,2912,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7259,-0.73,-146.6,431.2,-7.4,233,7265,0.00,2.47,0.00,0.000,6,0.000,0.023,2740,1823,2911,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7618,-0.71,-146.6,454.3,-6.1,239,7626,0.12,2.55,0.00,0.000,4,0.132,0.037,2766,3447,2910,0,0,0,0,0,0,26.52,26.33,28.83
$GC,7848,-0.71,-146.6,461.9,-4.6,242,7856,0.00,2.45,0.00,0.000,6,0.000,0.024,2766,1823,2909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8158,-0.71,-146.6,474.6,-3.5,248,8165,0.00,2.55,0.00,0.000,4,0.000,0.038,2755,3446,2908,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8338,-0.71,-146.6,483.4,-4.6,251,8345,0.00,2.45,0.00,0.000,6,0.000,0.023,2754,1823,2908,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8757,-0.71,-146.6,515.1,-8.2,257,8765,0.00,2.60,0.00,0.000,4,0.000,0.038,2743,3458,2907,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8998,-0.71,-146.6,537.3,-9.0,259,9005,0.00,2.47,0.00,0.000,6,0.000,0.024,2743,1818,2906,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9357,-0.71,-146.6,566.1,-8.3,262,9365,0.00,2.60,0.00,0.000,4,0.000,0.038,2731,3456,2905,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9597,-0.71,-146.6,580.9,-6.9,264,9605,0.15,2.50,0.00,0.000,6,0.119,0.023,2777,1813,2905,0,0,0,0,0,0,26.20,26.48,28.83
$GC,9958,-0.71,-146.6,597.1,-4.7,267,9966,0.00,2.58,0.00,0.000,4,0.000,0.039,2766,3450,2903,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10200,-0.74,-146.6,609.9,-4.9,269,10205,0.00,2.42,0.00,0.000,6,0.000,0.024,2766,1814,2903,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10558,-0.77,-146.6,633.8,-6.4,272,10565,0.00,2.58,0.00,0.000,4,0.000,0.039,2754,3445,2902,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10799,-0.80,-146.6,651.6,-7.2,274,10805,0.00,2.45,0.00,0.000,6,0.000,0.024,2754,1826,2902,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11158,-0.82,-146.6,676.2,-7.0,277,11165,0.00,2.58,0.00,0.000,4,0.000,0.039,2743,3452,2901,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11399,-0.82,-146.6,689.3,-6.0,279,11405,0.00,2.42,0.00,0.000,6,0.000,0.024,2743,1825,2900,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11758,-0.82,-146.6,706.3,-4.8,282,11765,0.00,2.58,0.00,0.000,4,0.000,0.039,2731,3451,2899,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11999,-0.82,-146.6,718.6,-4.9,284,12005,0.00,2.47,0.00,0.000,6,0.000,0.025,2732,1822,2898,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12358,-0.82,-146.6,740.6,-5.9,287,12366,0.00,2.58,0.00,0.000,4,0.000,0.039,2720,3449,2897,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12599,-0.82,-146.6,757.2,-6.6,289,12605,0.00,2.47,0.00,0.000,6,0.000,0.026,2720,1827,2897,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12958,-0.82,-146.6,784.6,-7.5,292,12965,0.00,2.58,0.00,0.000,4,0.000,0.039,2708,3452,2896,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13198,-0.82,-146.6,803.2,-7.7,294,13205,0.00,2.50,0.00,0.000,6,0.000,0.025,2708,1821,2895,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13558,-0.80,-146.6,827.1,-6.9,297,13566,0.12,2.60,0.00,0.000,4,0.136,0.040,2733,3448,2894,0,0,0,0,0,0,26.48,26.18,28.83
$GC,13799,-0.80,-146.6,838.1,-5.4,299,13805,0.00,2.42,0.00,0.000,6,0.000,0.026,2733,1827,2893,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14158,-0.80,-146.6,854.6,-4.5,302,14165,0.00,2.60,0.00,0.000,4,0.000,0.041,2722,3452,2892,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14399,-0.80,-146.6,867.8,-5.1,304,14405,0.00,2.47,0.00,0.000,6,0.000,0.026,2722,1831,2892,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14758,-0.80,-146.6,891.9,-6.4,307,14765,0.00,2.58,0.00,0.000,4,0.000,0.041,2710,3448,2891,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14999,-0.80,-146.6,910.5,-7.3,309,15006,0.08,2.50,0.00,0.000,6,0.112,0.027,2739,1821,2890,0,0,0,0,0,0,26.10,26.36,28.83
$GC,15358,-0.80,-146.6,937.4,-7.6,312,15365,0.00,2.58,0.00,0.000,4,0.000,0.041,2728,3444,2889,0,0,0,0,0,0,28.83,26.12,28.83
$GC,15599,-0.82,-146.6,954.4,-7.3,314,15605,0.00,2.47,0.00,0.000,6,0.000,0.026,2728,1833,2889,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15929,-0.82,-146.6,974.3,-5.8,325,15936,0.00,2.55,0.00,0.000,4,0.000,0.041,2717,3450,2888,0,0,0,0,0,0,28.83,26.09,28.83
$GC,16168,-0.82,-146.6,988.7,-6.1,333,16175,0.00,2.50,0.00,0.000,6,0.000,0.026,2717,1825,2887,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,16195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16195,begin apogee
$GC,16201,-0.29,0.0,990.6,-6.1,334,16327,0.55,0.00,122.70,1.699,6,0.103,0.000,2903,1825,2319,0,0,0,0,0,0,25.69,28.83,23.51
$STATE,16329,end apogee,CONTROL_FINISHED_OK
$STATE,16329,begin climb
$GC,16331,0.86,146.6,994.4,0.0,338,16470,1.05,2.62,131.55,1.652,4,0.064,0.047,3287,356,1721,0,0,0,0,0,0,24.88,24.20,22.99
$GC,16699,0.69,146.6,971.4,8.4,351,16708,0.22,2.40,0.00,0.000,6,0.137,0.026,3222,1890,1713,0,0,0,0,0,0,25.59,25.90,28.83
$GC,17022,0.60,146.6,949.4,6.4,362,17024,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1890,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17380,0.52,146.6,927.3,6.2,365,17388,0.17,2.50,0.00,0.000,4,0.133,0.048,3179,355,1709,0,0,0,0,0,0,26.16,26.18,28.83
$GC,17481,0.43,146.6,927.3,6.2,365,17488,0.10,2.33,0.00,0.000,6,0.108,0.027,3142,1889,1709,0,0,0,0,0,0,26.11,26.38,28.83
$GC,17861,0.51,210.4,906.7,4.2,369,17921,0.00,2.65,54.92,1.637,4,0.000,0.050,3153,357,1460,0,0,0,0,0,0,28.83,25.13,23.91
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$STATE,29275,end climb,SURFACE_DEPTH_REACHED
$STATE,29276,begin surface coast
$FINISH,1.0,1.025340
$STATE,29305,end surface coast,CONTROL_FINISHED_OK
$STATE,29305,begin surface
$SM_CCo,29385,0.00,0.000,0,0,1072,306.38
$SM_GC,2.02,8.10,0.08,0.00,0.031,0.102,0.000,165,1823,1072,-8.82,0.65,306.38,0,0,0,0,0,0,26.48,26.74,28.83
$IRIDIUM_FIX,2408.65,-3742.33,171112,050534
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.30
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,7691936
$TM_FREEKB,6092736
$24V_AH,23.0,39.716
$10V_AH,10.4,32.964
$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,22.200,262.500,395.100,0.000,0.000,28.266,50.185,246.377,0.000,0.000,20.422,2911.444,22910.553,848.876,2862.067,430.452,33.275,2144.458,0.000,2367.491,0.000,0.536,0.000
$DEVICE_MAMPS,197.370,101.745,1699.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29316.000,5808.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.917,13.490,0.000,0.000
$MEM,344348
$DATA_FILE_SIZE,16746,616
$CAP_FILE_SIZE,228602,0
$CFSIZE,260034560,233451520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171112,224822,2426.862,-3745.867,40,0.8,40,-14.0