version: 66.11
glider: 189
mission: 7
dive: 221
start: 11 23 112 23 21 17
data:
$ID,189
$MISSION,7
$DIVE,221
$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,-47930.258
$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,2150
$C_ROLL_CLIMB,1600
$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
$GPS1,231112,231004,2441.311,-3814.903,31,0.9,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.4
$GPS2,231112,232017,2441.267,-3814.914,14,1.3,14,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.089,0.182
$KALMAN_X,90690.9,-42.4,34.9,-112591.8,2113.5
$KALMAN_Y,32151.3,214.2,-144.0,-21764.2,-3151.7
$MHEAD_RNG_PITCHd_Wd,348.0,11989,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-146.6,0.0,0.0,0,47,0.00,0.00,-21.60,0.000,2,0.000,0.000,158,2134,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.86,-146.6,2.1,0.0,2,111,9.70,2.58,-44.45,0.000,4,0.198,0.050,2715,537,2918,0,0,0,0,0,0,25.56,26.12,26.63
$GC,339,-0.71,-146.6,21.4,-9.1,31,349,0.20,2.53,0.00,0.000,6,0.135,0.024,2767,2195,2919,0,0,0,0,0,0,25.87,26.32,28.83
$GC,649,-0.67,-146.6,45.7,-7.4,62,658,0.00,2.58,0.00,0.000,4,0.000,0.037,2767,550,2920,0,0,0,0,0,0,28.83,26.23,28.83
$GC,769,-0.59,-146.6,54.8,-7.3,74,779,0.15,2.47,0.00,0.000,6,0.133,0.024,2807,2185,2920,0,0,0,0,0,0,26.08,26.41,28.83
$GC,1079,-0.59,-146.6,71.3,-5.0,105,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2187,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.59,-146.6,89.5,-6.3,120,1397,0.00,2.42,0.00,0.000,4,0.000,0.042,2797,3750,2920,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1468,-0.59,-146.6,93.5,-6.5,122,1472,0.00,2.45,0.00,0.000,6,0.000,0.020,2797,2104,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1769,-0.59,-146.6,111.8,-5.1,132,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2104,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2069,-0.59,-146.6,128.2,-6.1,142,2077,0.00,2.58,0.00,0.000,4,0.000,0.040,2784,3743,2921,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2309,-0.59,-146.6,142.7,-5.8,150,2316,0.00,2.45,0.00,0.000,6,0.000,0.021,2785,2093,2924,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2639,-0.59,-146.6,161.0,-5.4,158,2647,0.00,2.60,0.00,0.000,4,0.000,0.040,2773,3745,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2808,-0.59,-146.6,167.6,-5.4,160,2818,0.12,2.45,0.00,0.000,6,0.129,0.020,2810,2085,2921,0,0,0,0,0,0,26.29,26.58,28.83
$GC,3120,-0.64,-146.6,186.5,-5.5,166,3127,0.00,2.40,0.00,0.000,4,0.000,0.037,2810,545,2921,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3289,-0.69,-146.6,192.6,-5.4,168,3297,0.00,2.47,0.00,0.000,6,0.000,0.024,2800,2192,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3600,-0.72,-146.6,209.1,-4.7,174,3607,0.00,2.45,0.00,0.000,4,0.000,0.041,2788,3749,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3719,-0.74,-146.6,215.5,-5.1,176,3727,0.00,2.42,0.00,0.000,6,0.000,0.020,2788,2104,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4080,-0.77,-146.6,236.3,-5.9,182,4087,0.10,2.60,0.00,0.000,4,0.095,0.040,2715,3750,2921,0,0,0,0,0,0,26.73,26.34,28.83
$GC,4261,-0.74,-146.6,249.7,-7.2,185,4267,0.15,2.40,0.00,0.000,6,0.128,0.021,2756,2090,2921,0,0,0,0,0,0,26.24,26.59,28.83
$GC,4619,-0.74,-146.6,273.3,-6.5,191,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2089,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4919,-0.74,-146.6,292.1,-6.2,196,4927,0.00,2.62,0.00,0.000,4,0.000,0.041,2748,3746,2920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5088,-0.74,-146.6,299.8,-6.4,198,5092,0.00,2.45,0.00,0.000,6,0.000,0.021,2748,2104,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5390,-0.74,-146.6,321.6,-6.1,203,5397,0.00,2.60,0.00,0.000,4,0.000,0.041,2737,3745,2919,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5610,-0.72,-146.6,332.3,-6.0,206,5617,0.08,2.45,0.00,0.000,6,0.112,0.021,2770,2090,2918,0,0,0,0,0,0,26.32,26.58,28.83
$GC,5929,-0.72,-146.6,351.6,-5.3,212,5937,0.00,2.62,0.00,0.000,4,0.000,0.041,2755,3740,2917,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6171,-0.72,-146.6,365.6,-5.8,216,6177,0.00,2.40,0.00,0.000,6,0.000,0.021,2755,2090,2916,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6529,-0.72,-146.6,386.7,-5.9,222,6537,0.00,2.62,0.00,0.000,4,0.000,0.041,2742,3746,2916,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6771,-0.72,-146.6,402.6,-6.6,226,6777,0.00,2.45,0.00,0.000,6,0.000,0.022,2743,2100,2915,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7129,-0.72,-146.6,426.3,-6.5,232,7137,0.00,2.65,0.00,0.000,4,0.000,0.042,2731,3753,2913,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7358,-0.72,-146.6,437.4,-6.1,235,7369,0.12,2.47,0.00,0.000,6,0.128,0.021,2767,2100,2913,0,0,0,0,0,0,26.29,26.56,28.83
$GC,7669,-0.72,-146.6,453.9,-4.3,241,7677,0.00,2.62,0.00,0.000,4,0.000,0.042,2757,3752,2912,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7869,-0.72,-146.6,462.7,-4.8,244,7877,0.00,2.47,0.00,0.000,6,0.000,0.021,2756,2099,2911,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8210,-0.72,-146.6,483.4,-5.9,250,8217,0.00,2.62,0.00,0.000,4,0.000,0.043,2743,3743,2910,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8398,-0.72,-146.6,495.0,-6.4,253,8406,0.00,2.47,0.00,0.000,6,0.000,0.022,2745,2097,2909,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8749,-0.72,-146.6,519.8,-6.9,257,8756,0.00,2.65,0.00,0.000,4,0.000,0.044,2732,3745,2908,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8989,-0.72,-146.6,537.5,-7.2,259,8997,0.12,2.47,0.00,0.000,6,0.128,0.022,2769,2101,2907,0,0,0,0,0,0,26.25,26.55,28.83
$GC,9350,-0.75,-146.6,561.7,-6.8,262,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2101,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9709,-0.82,-146.6,587.0,-7.0,265,9711,0.12,0.00,0.00,0.000,6,0.081,0.000,2698,2101,2906,0,0,0,0,0,0,26.72,28.83,28.83
$GC,10069,-0.82,-146.6,612.7,-7.2,268,10078,0.12,2.67,0.00,0.000,4,0.136,0.044,2723,3756,2903,0,0,0,0,0,0,26.49,26.23,28.83
$GC,10189,-0.82,-146.6,619.6,-6.8,269,10197,0.00,2.50,0.00,0.000,6,0.000,0.023,2723,2103,2905,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10550,-0.80,-146.6,638.9,-5.5,272,10557,0.00,2.62,0.00,0.000,4,0.000,0.044,2711,3739,2907,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10729,-0.80,-146.6,645.9,-5.4,273,10737,0.12,2.47,0.00,0.000,6,0.132,0.022,2746,2100,2903,0,0,0,0,0,0,26.24,26.53,28.83
$GC,11149,-0.80,-146.6,673.2,-5.7,277,11157,0.00,2.65,0.00,0.000,4,0.000,0.044,2735,3748,2902,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11270,-0.83,-146.6,680.9,-5.8,278,11277,0.00,2.47,0.00,0.000,6,0.000,0.023,2735,2101,2902,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11629,-0.87,-146.6,705.6,-6.8,281,11637,0.00,2.45,0.00,0.000,4,0.000,0.040,2735,551,2901,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11871,-0.90,-146.6,722.9,-7.1,283,11877,0.00,2.42,0.00,0.000,6,0.000,0.026,2725,2184,2900,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12229,-0.90,-146.6,748.0,-7.0,286,12237,0.00,2.53,0.00,0.000,4,0.000,0.045,2714,3745,2899,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12378,-0.90,-146.6,757.3,-7.2,287,12382,0.00,2.47,0.00,0.000,6,0.000,0.024,2714,2109,2899,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12700,-0.90,-146.6,785.7,-8.0,290,12708,0.00,2.62,0.00,0.000,4,0.000,0.044,2701,3740,2898,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12941,-0.90,-146.6,804.8,-8.0,292,12948,0.00,2.45,0.00,0.000,6,0.000,0.024,2701,2115,2897,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13301,-0.88,-146.6,828.2,-6.8,295,13308,0.00,2.60,0.00,0.000,4,0.000,0.044,2690,3735,2896,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13460,-0.86,-146.6,835.5,-6.4,296,13468,0.12,2.47,0.00,0.000,6,0.138,0.023,2725,2101,2896,0,0,0,0,0,0,26.15,26.47,28.83
$GC,13781,-0.86,-146.6,853.2,-5.2,299,13788,0.00,2.62,0.00,0.000,4,0.000,0.045,2714,3736,2895,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13900,-0.86,-146.6,859.5,-4.9,300,13908,0.00,2.47,0.00,0.000,6,0.000,0.024,2714,2105,2895,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14261,-0.86,-146.6,880.1,-5.6,303,14267,0.00,2.62,0.00,0.000,4,0.000,0.045,2702,3739,2894,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14502,-0.86,-146.6,896.8,-6.4,305,14508,0.00,2.42,0.00,0.000,6,0.000,0.024,2702,2101,2893,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14860,-0.86,-146.6,922.2,-7.0,308,14867,0.00,2.67,0.00,0.000,4,0.000,0.045,2690,3753,2892,0,0,0,0,0,0,28.83,26.08,28.83
$GC,15059,-0.86,-146.6,930.8,-7.1,309,15068,0.12,2.50,0.00,0.000,6,0.136,0.024,2725,2110,2892,0,0,0,0,0,0,26.13,26.44,28.83
$GC,15461,-0.89,-146.6,960.4,-6.1,313,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2109,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15821,-0.95,-146.6,981.5,-5.9,316,15828,0.00,2.47,0.00,0.000,4,0.000,0.041,2726,556,2890,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15941,-1.00,-146.6,989.5,-6.0,317,15949,0.08,2.50,0.00,0.000,6,0.054,0.027,2662,2191,2890,0,0,0,0,0,0,26.25,26.37,28.83
$STATE,15957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15958,begin apogee
$GC,15964,-0.29,0.0,990.9,-6.2,318,16092,0.73,0.05,123.30,1.688,6,0.107,0.130,2903,1621,2320,0,0,0,0,0,0,25.58,24.64,23.47
$STATE,16096,end apogee,CONTROL_FINISHED_OK
$STATE,16096,begin climb
$GC,16098,0.86,146.6,996.1,0.0,324,16239,1.05,2.25,131.57,1.652,4,0.063,0.048,3288,353,1722,0,0,0,0,0,0,24.95,24.24,22.99
$GC,16429,0.69,146.6,979.8,7.7,338,16437,0.22,2.00,0.00,0.000,6,0.138,0.024,3224,1652,1714,0,0,0,0,0,0,25.58,25.91,28.83
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$STATE,29287,end climb,SURFACE_DEPTH_REACHED
$STATE,29287,begin surface coast
$FINISH,1.0,1.025419
$STATE,29319,end surface coast,CONTROL_FINISHED_OK
$STATE,29319,begin surface
$SM_CCo,29400,0.00,0.000,0,0,1030,316.44
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$IRIDIUM_FIX,2437.06,-3807.70,231112,141442
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.60
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,7685024
$TM_FREEKB,5925440
$24V_AH,23.0,43.158
$10V_AH,10.2,36.086
$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,23.700,242.000,415.950,0.000,0.000,24.833,37.212,280.613,0.000,0.000,15.671,2686.078,23405.908,857.004,2618.810,429.407,33.270,2040.211,0.000,2112.675,0.000,0.536,0.000
$DEVICE_MAMPS,198.135,130.050,1688.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29325.000,5681.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.880,13.547,0.000,0.000
$MEM,344332
$DATA_FILE_SIZE,16723,576
$CAP_FILE_SIZE,226644,0
$CFSIZE,260034560,231436288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,241112,073230,2442.674,-3815.667,40,1.0,40,-14.1