version: 66.11
glider: 189
mission: 7
dive: 241
start: 11 30 112 19 52 46
data:
$ID,189
$MISSION,7
$DIVE,241
$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,200
$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,-47956.832
$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
$GPS1,301112,193834,2421.861,-3819.273,28,1.3,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-50.4
$GPS2,301112,195142,2421.855,-3819.316,18,1.3,19,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.216,-0.068
$KALMAN_X,50843.6,334.1,31.2,-80560.5,-8368.4
$KALMAN_Y,56915.4,-305.1,-271.2,-81805.6,3026.8
$MHEAD_RNG_PITCHd_Wd,121.6,4873,-9.7,-6.111,-15.10
$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,-0.79,-195.4,0.0,0.0,0,56,0.00,0.00,-31.48,0.000,2,0.000,0.000,153,2129,1460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.79,-195.4,2.1,-2.3,3,137,9.52,0.00,-64.78,0.000,6,0.185,0.000,2747,2127,3117,0,0,0,0,0,0,25.65,28.83,26.63
$GC,437,-0.69,-195.4,26.6,-7.9,41,445,0.00,2.58,0.00,0.000,4,0.000,0.042,2736,3741,3118,0,0,0,0,0,0,28.83,26.17,28.83
$GC,557,-0.60,-195.4,37.4,-9.2,53,566,0.17,2.45,0.00,0.000,6,0.097,0.021,2800,2083,3117,0,0,0,0,0,0,26.04,26.44,28.83
$GC,867,-0.57,-195.4,59.0,-7.6,84,876,0.00,2.65,0.00,0.000,4,0.000,0.041,2789,3750,3117,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1107,-0.54,-195.4,77.8,-7.4,106,1115,0.12,2.45,0.00,0.000,6,0.126,0.021,2832,2100,3117,0,0,0,0,0,0,26.25,26.53,28.83
$GC,1439,-0.60,-195.4,93.8,-4.0,117,1445,0.00,2.58,0.00,0.000,4,0.000,0.041,2821,3755,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1566,-0.65,-195.4,98.3,-3.8,121,1574,0.00,2.45,0.00,0.000,6,0.000,0.020,2821,2099,3121,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1887,-0.69,-195.4,118.8,-8.0,132,1895,0.12,2.40,0.00,0.000,4,0.077,0.037,2740,549,3117,0,0,0,0,0,0,26.70,26.36,28.83
$GC,2016,-0.63,-195.4,131.4,-10.6,136,2024,0.22,2.47,0.00,0.000,6,0.116,0.024,2798,2193,3117,0,0,0,0,0,0,26.12,26.51,28.83
$GC,2336,-0.63,-195.4,160.6,-8.3,145,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2192,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2637,-0.66,-195.4,179.9,-6.2,150,2645,0.00,2.58,0.00,0.000,4,0.000,0.036,2798,544,3116,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2786,-0.68,-195.4,186.1,-5.4,152,2794,0.00,2.47,0.00,0.000,6,0.000,0.024,2789,2190,3117,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3118,-0.72,-195.4,205.4,-5.6,158,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2190,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,-0.76,-195.4,229.6,-8.4,163,3424,0.00,2.45,0.00,0.000,4,0.000,0.041,2777,3749,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3477,-0.79,-195.4,234.9,-8.6,164,3484,0.00,2.45,0.00,0.000,6,0.000,0.021,2777,2092,3117,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3837,-0.82,-195.4,262.5,-7.2,170,3845,0.12,2.60,0.00,0.000,4,0.079,0.040,2686,3741,3116,0,0,0,0,0,0,26.72,26.34,28.83
$GC,3966,-0.80,-195.4,270.6,-6.7,172,3975,0.17,2.45,0.00,0.000,6,0.120,0.021,2740,2084,3116,0,0,0,0,0,0,26.22,26.58,28.83
$GC,4317,-0.80,-195.4,290.3,-5.6,178,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2084,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4617,-0.80,-195.4,310.6,-6.9,183,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2084,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-0.80,-195.4,335.3,-8.4,188,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2084,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5217,-0.80,-195.4,360.8,-8.5,193,5224,0.00,2.65,0.00,0.000,4,0.000,0.041,2729,3753,3113,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5267,-0.80,-195.4,360.8,-8.5,193,5276,0.00,2.45,0.00,0.000,6,0.000,0.021,2729,2097,3113,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5577,-0.80,-195.4,386.8,-6.9,199,5584,0.00,2.42,0.00,0.000,4,0.000,0.038,2729,551,3112,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5676,-0.77,-195.4,390.9,-6.8,200,5684,0.12,2.47,0.00,0.000,6,0.131,0.024,2755,2190,3111,0,0,0,0,0,0,26.27,26.52,28.83
$GC,5998,-0.80,-195.4,413.0,-6.1,206,6005,0.00,2.58,0.00,0.000,4,0.000,0.037,2755,544,3110,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6046,-0.83,-195.4,413.0,-6.1,206,6056,0.00,2.47,0.00,0.000,6,0.000,0.024,2746,2190,3110,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6357,-0.85,-195.4,438.7,-7.4,212,6364,0.00,2.47,0.00,0.000,4,0.000,0.043,2734,3749,3109,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6446,-0.85,-195.4,443.3,-7.5,213,6453,0.00,2.47,0.00,0.000,6,0.000,0.021,2734,2091,3109,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6776,-0.85,-195.4,470.5,-7.4,219,6784,0.00,2.65,0.00,0.000,4,0.000,0.041,2723,3752,3107,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6887,-0.85,-195.4,474.9,-7.3,220,6896,0.00,2.45,0.00,0.000,6,0.000,0.021,2722,2104,3108,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7197,-0.85,-195.4,502.0,-7.6,226,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2104,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.85,-195.4,532.0,-8.3,229,7564,0.00,2.65,0.00,0.000,4,0.000,0.041,2711,3754,3106,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7676,-0.85,-195.4,542.6,-8.5,230,7684,0.00,2.47,0.00,0.000,6,0.000,0.021,2711,2103,3105,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8037,-0.85,-195.4,572.8,-8.5,233,8045,0.00,2.62,0.00,0.000,4,0.000,0.042,2698,3752,3104,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8085,-0.85,-195.4,572.8,-8.5,233,8090,0.00,2.47,0.00,0.000,6,0.000,0.021,2698,2095,3104,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8387,-0.85,-195.4,602.2,-8.3,236,8395,0.00,2.45,0.00,0.000,4,0.000,0.039,2698,542,3102,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8437,-0.85,-195.4,602.2,-8.3,236,8445,0.15,2.50,0.00,0.000,6,0.133,0.025,2732,2189,3102,0,0,0,0,0,0,26.17,26.48,28.83
$GC,8748,-0.85,-195.4,632.4,-8.4,239,8755,0.00,2.47,0.00,0.000,4,0.000,0.044,2722,3749,3104,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8826,-0.85,-195.4,632.4,-8.4,239,8830,0.00,2.47,0.00,0.000,6,0.000,0.021,2722,2098,3101,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9219,-0.87,-195.4,672.2,-8.5,243,9226,0.00,2.42,0.00,0.000,4,0.000,0.039,2722,553,3100,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9367,-0.87,-195.4,682.2,-8.4,244,9371,0.00,2.50,0.00,0.000,6,0.000,0.025,2712,2197,3099,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9689,-0.87,-195.4,710.9,-8.2,247,9697,0.00,2.62,0.00,0.000,4,0.000,0.038,2712,542,3098,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9759,-0.87,-195.4,710.9,-8.2,247,9766,0.00,2.50,0.00,0.000,6,0.000,0.025,2700,2185,3096,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10169,-0.87,-195.4,748.6,-7.9,251,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2185,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10529,-0.87,-195.4,775.4,-7.5,254,10537,0.00,2.62,0.00,0.000,4,0.000,0.040,2700,549,3096,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10709,-0.87,-195.4,785.3,-7.6,255,10717,0.12,2.55,0.00,0.000,6,0.137,0.027,2725,2192,3095,0,0,0,0,0,0,26.17,26.45,28.83
$GC,11129,-0.89,-195.4,821.3,-7.5,259,11137,0.00,2.60,0.00,0.000,4,0.000,0.040,2726,553,3093,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11209,-0.91,-195.4,821.3,-7.5,259,11216,0.00,2.50,0.00,0.000,6,0.000,0.026,2716,2190,3093,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11610,-0.94,-195.4,851.8,-6.3,263,11611,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2191,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11970,-0.97,-195.4,873.7,-6.1,266,11977,0.00,2.50,0.00,0.000,4,0.000,0.047,2705,3742,3091,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12049,-1.00,-195.4,873.7,-6.1,266,12057,0.00,2.47,0.00,0.000,6,0.000,0.023,2704,2100,3091,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12450,-1.03,-195.4,911.8,-8.0,270,12458,0.12,2.45,0.00,0.000,4,0.080,0.042,2639,556,3089,0,0,0,0,0,0,26.68,26.20,28.83
$GC,12681,-1.03,-195.4,924.7,-8.8,271,12689,0.15,2.42,0.00,0.000,6,0.148,0.028,2668,2182,3088,0,0,0,0,0,0,26.01,26.40,28.83
$GC,13050,-0.94,-195.4,976.7,-10.8,275,13057,0.10,2.50,0.00,0.000,4,0.158,0.046,2686,3739,3087,0,0,0,0,0,0,26.53,26.12,28.83
$GC,13138,-0.84,-195.4,976.7,-10.8,275,13147,0.15,2.47,0.00,0.000,6,0.125,0.024,2731,2108,3087,0,0,0,0,0,0,26.11,26.45,28.83
$STATE,13187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13187,begin apogee
$GC,13194,-0.29,0.0,990.2,-10.2,277,13361,0.50,0.00,163.43,1.665,6,0.092,0.000,2909,1573,2320,0,0,0,0,0,0,25.96,28.83,23.34
$STATE,13365,end apogee,CONTROL_FINISHED_OK
$STATE,13365,begin climb
$GC,13367,0.79,195.4,1000.3,0.0,285,13545,0.98,0.00,173.30,1.628,6,0.060,0.000,3256,1572,1521,0,0,0,0,0,0,24.85,28.83,22.93
$GC,13919,0.66,195.4,963.6,8.7,303,13927,0.15,2.60,0.00,0.000,4,0.137,0.037,3213,3195,1514,0,0,0,0,0,0,26.03,26.13,28.83
$GC,13968,0.53,195.4,963.6,8.7,303,13977,0.17,2.55,0.00,0.000,6,0.135,0.030,3173,1579,1514,0,0,0,0,0,0,25.98,26.20,28.83
$GC,14280,0.46,195.4,934.7,8.2,306,14287,0.00,2.58,0.00,0.000,4,0.000,0.037,3173,3196,1513,0,0,0,0,0,0,28.83,26.30,28.83
$GC,14368,0.40,195.4,934.7,8.2,306,14377,0.20,2.53,0.00,0.000,6,0.116,0.029,3121,1580,1512,0,0,0,0,0,0,26.13,26.35,28.83
$GC,14760,0.43,195.4,900.9,7.0,310,14767,0.00,1.95,0.00,0.000,4,0.000,0.049,3135,359,1510,0,0,0,0,0,0,28.83,26.30,28.83
$GC,14839,0.46,195.4,900.9,7.0,310,14846,0.00,1.95,0.00,0.000,6,0.000,0.025,3129,1653,1510,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,25256,end climb,SURFACE_DEPTH_REACHED
$STATE,25256,begin surface coast
$FINISH,1.2,0.998587
$STATE,25307,end surface coast,CONTROL_FINISHED_OK
$STATE,25307,begin surface
$SM_CCo,25330,0.57,0.333,0,0,1094,300.00
$SM_GC,2.64,8.27,0.82,0.57,0.038,0.035,0.333,156,2198,1094,-8.82,-0.40,300.00,0,0,0,0,0,0,26.46,26.46,25.38
$IRIDIUM_FIX,2418.11,-3803.71,301112,111111
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.71
$INTERNAL_PRESSURE,9.08503
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,7677344
$TM_FREEKB,5745536
$24V_AH,22.9,47.072
$10V_AH,10.2,39.473
$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,22.925,223.200,427.450,0.575,0.000,24.807,39.481,428.323,0.000,0.000,20.232,2081.908,20523.746,876.055,2159.629,468.290,33.279,1818.969,0.000,1553.379,0.000,0.536,0.000
$DEVICE_MAMPS,185.130,78.795,1665.405,332.775,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25317.000,5407.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.748,13.543,0.000,0.000
$MEM,344312
$DATA_FILE_SIZE,13424,525
$CAP_FILE_SIZE,199245,0
$CFSIZE,260034560,229228544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,011212,025604,2421.092,-3818.233,31,0.9,31,-14.1