version: 66.11
glider: 189
mission: 7
dive: 353
start: 1 3 113 17 12 36
data:
$ID,189
$MISSION,7
$DIVE,353
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$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,100
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-48097.902
$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,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,030113,165936,2424.958,-3741.966,37,1.0,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-60.1
$GPS2,030113,171136,2424.979,-3741.935,17,1.2,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.041,0.113
$KALMAN_X,169678.7,118.0,391.6,-136581.5,2298.2
$KALMAN_Y,-97372.8,629.7,645.1,76384.4,-3879.7
$MHEAD_RNG_PITCHd_Wd,353.9,37701,-19.9,-6.667,-29.07
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.26,-97.7,0.0,0.0,0,33,0.00,0.00,-10.70,0.000,2,0.000,0.000,151,2129,830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.26,-97.7,2.0,0.0,1,123,8.95,2.50,-69.97,0.000,4,0.179,0.049,2590,542,2719,0,0,0,0,0,0,25.51,26.03,26.67
$GC,413,-1.16,-97.7,25.6,-9.0,39,422,0.12,2.47,0.00,0.000,6,0.139,0.023,2619,2190,2719,0,0,0,0,0,0,25.86,26.36,28.83
$GC,723,-1.13,-97.7,50.6,-8.0,70,732,0.00,2.47,0.00,0.000,4,0.000,0.041,2609,3747,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,963,-1.08,-97.7,68.9,-6.9,94,972,0.12,2.45,0.00,0.000,6,0.127,0.021,2650,2090,2719,0,0,0,0,0,0,26.03,26.49,28.83
$GC,1273,-1.08,-97.7,89.5,-6.9,111,1280,0.00,2.65,0.00,0.000,4,0.000,0.039,2639,3745,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1472,-1.08,-97.7,102.7,-7.4,117,1481,0.00,2.45,0.00,0.000,6,0.000,0.020,2640,2101,2719,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1783,-1.08,-97.7,126.0,-6.8,128,1790,0.00,2.62,0.00,0.000,4,0.000,0.038,2627,3749,2719,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1833,-1.08,-97.7,127.9,-6.6,129,1842,0.00,2.45,0.00,0.000,6,0.000,0.020,2627,2101,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2143,-1.08,-97.7,147.3,-5.9,140,2150,0.00,2.42,0.00,0.000,4,0.000,0.037,2628,548,2721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2326,-1.04,-97.7,157.4,-5.6,144,2332,0.17,2.42,0.00,0.000,6,0.144,0.024,2663,2193,2720,0,0,0,0,0,0,26.01,26.48,28.83
$GC,2684,-1.08,-97.7,177.3,-5.8,150,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2192,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-1.12,-97.7,198.6,-7.1,155,2990,0.00,2.47,0.00,0.000,4,0.000,0.040,2654,3747,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3104,-1.16,-97.7,206.9,-7.0,157,3110,0.00,2.40,0.00,0.000,6,0.000,0.021,2654,2092,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3464,-1.19,-97.7,229.3,-6.2,163,3471,0.10,2.62,0.00,0.000,4,0.096,0.039,2581,3749,2720,0,0,0,0,0,0,26.69,26.27,28.83
$GC,3763,-1.14,-97.7,254.4,-8.5,168,3771,0.15,2.42,0.00,0.000,6,0.125,0.021,2631,2098,2720,0,0,0,0,0,0,26.03,26.54,28.83
$GC,4123,-1.14,-97.7,284.2,-8.3,174,4131,0.00,2.62,0.00,0.000,4,0.000,0.039,2620,3746,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4402,-1.14,-97.7,301.8,-7.3,178,4409,0.00,2.45,0.00,0.000,6,0.000,0.021,2620,2102,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4723,-1.14,-97.7,325.0,-6.4,184,4730,0.00,2.60,0.00,0.000,4,0.000,0.040,2607,3746,2718,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4904,-1.14,-97.7,338.0,-7.1,187,4911,0.00,2.45,0.00,0.000,6,0.000,0.021,2604,2096,2718,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5263,-1.14,-97.7,364.7,-7.4,193,5270,0.00,2.62,0.00,0.000,4,0.000,0.040,2595,3749,2717,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5563,-1.11,-97.7,385.4,-6.9,198,5571,0.12,2.45,0.00,0.000,6,0.121,0.021,2638,2092,2714,0,0,0,0,0,0,26.09,26.53,28.83
$GC,5924,-1.15,-97.7,405.4,-5.5,204,5930,0.00,2.65,0.00,0.000,4,0.000,0.041,2627,3743,2715,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6223,-1.15,-97.7,425.6,-6.9,209,6230,0.00,2.45,0.00,0.000,6,0.000,0.021,2627,2104,2714,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6583,-1.18,-97.7,454.6,-8.4,215,6591,0.00,2.62,0.00,0.000,4,0.000,0.040,2612,3749,2713,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6883,-1.18,-97.7,478.9,-8.0,220,6891,0.00,2.47,0.00,0.000,6,0.000,0.021,2615,2097,2713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7244,-1.18,-97.7,499.3,-5.3,226,7250,0.00,2.65,0.00,0.000,4,0.000,0.041,2602,3748,2712,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7543,-1.18,-97.7,511.6,-5.0,229,7550,0.00,2.47,0.00,0.000,6,0.000,0.021,2602,2101,2713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7963,-1.18,-97.7,546.3,-7.3,233,7970,0.00,2.65,0.00,0.000,4,0.000,0.041,2590,3750,2708,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8263,-1.18,-97.7,567.1,-8.3,235,8271,0.08,2.45,0.00,0.000,6,0.127,0.021,2616,2100,2709,0,0,0,0,0,0,26.20,26.51,28.83
$GC,8684,-1.20,-97.7,603.3,-7.5,239,8690,0.00,2.62,0.00,0.000,4,0.000,0.041,2606,3745,2707,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8984,-1.22,-97.7,621.5,-7.4,241,8990,0.00,2.45,0.00,0.000,6,0.000,0.022,2605,2107,2707,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9404,-1.25,-97.7,657.3,-7.5,245,9410,0.00,2.62,0.00,0.000,4,0.000,0.041,2594,3748,2705,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9603,-1.27,-97.7,666.2,-7.4,246,9611,0.00,2.45,0.00,0.000,6,0.000,0.021,2593,2108,2705,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10003,-1.27,-97.7,700.8,-7.2,250,10010,0.00,2.62,0.00,0.000,4,0.000,0.041,2581,3744,2704,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10293,-1.27,-97.7,719.4,-7.4,252,10300,0.00,2.47,0.00,0.000,6,0.000,0.021,2581,2108,2703,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10603,-1.27,-97.7,748.5,-8.0,255,10610,0.00,2.62,0.00,0.000,4,0.000,0.041,2570,3744,2701,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10802,-1.27,-97.7,759.8,-8.4,256,10810,0.00,2.47,0.00,0.000,6,0.000,0.022,2570,2105,2701,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11204,-1.27,-97.7,804.8,-9.4,260,11210,0.00,2.65,0.00,0.000,4,0.000,0.042,2557,3752,2700,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11502,-1.27,-97.7,825.2,-8.8,262,11510,0.12,2.50,0.00,0.000,6,0.151,0.023,2588,2103,2699,0,0,0,0,0,0,26.07,26.45,28.83
$GC,11924,-1.27,-97.7,856.0,-6.4,266,11930,0.00,2.62,0.00,0.000,4,0.000,0.043,2578,3755,2699,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12222,-1.27,-97.7,872.3,-6.4,268,12230,0.00,2.50,0.00,0.000,6,0.000,0.022,2578,2104,2698,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12644,-1.27,-97.7,912.3,-8.3,272,12650,0.00,2.62,0.00,0.000,4,0.000,0.042,2566,3745,2696,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12942,-1.27,-97.7,937.1,-9.6,274,12949,0.00,2.50,0.00,0.000,6,0.000,0.023,2566,2098,2694,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13364,-1.27,-97.7,989.1,-10.8,278,13370,0.00,2.65,0.00,0.000,4,0.000,0.044,2554,3744,2694,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,13381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13381,begin apogee
$GC,13391,-0.29,0.0,991.1,-10.8,279,13483,1.12,0.05,84.28,1.660,6,0.130,0.130,2902,1620,2321,0,0,0,0,0,0,25.18,24.77,23.11
$STATE,13485,end apogee,CONTROL_FINISHED_OK
$STATE,13485,begin climb
$GC,13488,1.26,97.7,997.2,0.0,284,13587,1.40,2.20,91.75,1.639,4,0.065,0.047,3412,354,1921,0,0,0,0,0,0,25.24,24.84,23.10
$GC,13877,1.10,97.7,981.5,7.2,301,13883,0.22,1.90,0.00,0.000,6,0.161,0.024,3354,1656,1912,0,0,0,0,0,0,25.74,26.27,28.83
$GC,14196,1.00,97.7,955.1,7.3,304,14203,0.12,2.10,0.00,0.000,4,0.174,0.047,3331,359,1907,0,0,0,0,0,0,26.16,26.20,28.83
$GC,14445,0.93,97.7,937.0,7.5,306,14454,0.12,1.95,0.00,0.000,6,0.161,0.024,3299,1662,1905,0,0,0,0,0,0,26.09,26.46,28.83
$GC,14796,0.89,97.7,912.7,6.9,309,14803,0.00,2.10,0.00,0.000,4,0.000,0.048,3308,357,1904,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14865,0.86,97.7,912.7,6.9,309,14873,0.12,1.95,0.00,0.000,6,0.160,0.024,3278,1667,1906,0,0,0,0,0,0,26.11,26.50,28.83
$GC,15277,0.88,115.5,884.6,5.8,313,15292,0.00,0.00,14.05,1.538,6,0.000,0.000,3277,1668,1848,0,0,0,0,0,0,28.83,28.83,23.99
$GC,15636,0.89,126.3,861.7,6.2,316,15649,0.00,0.00,11.23,1.476,6,0.000,0.000,3277,1667,1804,0,0,0,0,0,0,28.83,28.83,24.08
$GC,15996,0.92,126.3,837.3,6.8,319,15997,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1663,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16357,0.97,139.4,816.0,6.1,322,16375,0.10,2.17,12.68,1.476,4,0.096,0.048,3341,355,1752,0,0,0,0,0,0,26.58,26.05,24.15
$GC,16585,0.98,149.8,800.5,6.2,324,16604,0.00,1.98,11.07,1.443,6,0.000,0.025,3340,1660,1708,0,0,0,0,0,0,28.83,26.34,24.08
$GC,16946,0.95,149.8,774.5,7.1,327,16954,0.12,2.10,0.00,0.000,4,0.155,0.047,3317,359,1705,0,0,0,0,0,0,26.18,26.13,28.83
$GC,17137,0.92,149.8,765.0,7.4,328,17143,0.00,1.92,0.00,0.000,6,0.000,0.025,3318,1646,1705,0,0,0,0,0,0,28.83,26.43,28.83
$GC,17546,0.92,149.8,730.2,7.2,332,17553,0.00,2.08,0.00,0.000,4,0.000,0.048,3326,356,1705,0,0,0,0,0,0,28.83,26.19,28.83
$GC,17844,0.92,149.8,713.8,6.9,334,17848,0.00,1.95,0.00,0.000,6,0.000,0.025,3326,1654,1704,0,0,0,0,0,0,28.83,26.50,28.83
$GC,18257,0.92,149.8,680.8,7.0,338,18263,0.00,2.10,0.00,0.000,4,0.000,0.048,3336,353,1704,0,0,0,0,0,0,28.83,26.16,28.83
$GC,18455,0.92,149.8,671.1,7.3,339,18460,0.15,1.95,0.00,0.000,6,0.142,0.025,3295,1658,1704,0,0,0,0,0,0,26.07,26.50,28.83
$GC,18848,0.95,149.8,631.7,8.3,343,18855,0.00,2.45,0.00,0.000,4,0.000,0.037,3294,3198,1704,0,0,0,0,0,0,28.83,26.24,28.83
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$GC,22560,1.09,166.1,337.4,7.7,390,22566,0.00,2.12,0.00,0.000,4,0.000,0.046,3345,356,1640,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,26456,end climb,SURFACE_DEPTH_REACHED
$STATE,26456,begin surface coast
$FINISH,1.2,1.010792
$STATE,26488,end surface coast,CONTROL_FINISHED_OK
$STATE,26488,begin surface
$SM_CCo,26512,39.05,0.127,0,0,1094,300.00
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$IRIDIUM_FIX,2425.21,-3714.47,030113,090919
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.10
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7634304
$TM_FREEKB,5107072
$24V_AH,23.1,63.709
$10V_AH,10.1,55.158
$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
$DEVICE_SECS,22.500,202.925,265.100,39.050,0.000,26.144,46.386,361.929,0.000,0.000,18.883,2575.022,20769.541,697.541,2638.096,577.835,33.287,1836.305,0.000,2108.985,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.849,13.485,0.000,0.000
$MEM,344340
$DATA_FILE_SIZE,13453,537
$CAP_FILE_SIZE,200030,0
$CFSIZE,260034560,218529792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040113,003627,2425.915,-3740.851,36,1.2,40,-13.9