version: 66.11
glider: 189
mission: 7
dive: 121
start: 10 20 112 2 10 36
data:
$ID,189
$MISSION,7
$DIVE,121
$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,-47594.879
$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
$GPS1,201012,020058,2427.796,-3753.057,38,0.9,42,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-57.7
$GPS2,201012,020937,2427.834,-3753.095,23,0.8,24,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.164,0.119
$KALMAN_X,19405.0,83.1,-67.8,-4597.8,551.5
$KALMAN_Y,97838.0,-61.0,170.5,-112361.6,-236.4
$MHEAD_RNG_PITCHd_Wd,320.0,18852,-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,22,-0.86,-146.6,0.0,0.0,0,37,0.00,0.00,-12.80,0.000,2,0.000,0.000,159,1841,1486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.86,-146.6,2.1,0.0,1,110,9.43,2.58,-55.00,0.000,4,0.193,0.050,2722,3464,2918,0,0,0,0,0,0,25.89,26.22,26.64
$GC,338,-0.71,-146.6,22.9,-13.5,31,347,0.15,2.50,0.00,0.000,6,0.135,0.024,2765,1824,2920,0,0,0,0,0,0,26.10,26.37,28.83
$GC,648,-0.61,-146.6,57.1,-11.2,62,658,0.12,2.55,0.00,0.000,4,0.148,0.037,2789,3460,2920,0,0,0,0,0,0,26.36,26.36,28.83
$GC,888,-0.56,-146.6,76.1,-6.6,86,895,0.00,2.47,0.00,0.000,6,0.000,0.023,2789,1822,2920,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1218,-0.51,-146.6,99.7,-7.6,97,1226,0.15,2.30,0.00,0.000,4,0.130,0.041,2835,351,2921,0,0,0,0,0,0,26.41,26.43,28.83
$GC,1278,-0.48,-146.6,104.0,-7.6,99,1285,0.00,2.30,0.00,0.000,6,0.000,0.024,2824,1893,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1609,-0.48,-146.6,120.9,-5.0,110,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1907,-0.48,-146.6,142.5,-8.0,120,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,-0.48,-146.6,160.2,-5.4,127,2215,0.00,2.42,0.00,0.000,4,0.000,0.037,2813,3459,2924,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2377,-0.48,-146.6,166.6,-5.1,129,2382,0.12,2.45,0.00,0.000,6,0.127,0.022,2851,1824,2921,0,0,0,0,0,0,26.39,26.61,28.83
$GC,2678,-0.52,-146.6,182.4,-4.4,134,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1824,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.57,-146.6,193.9,-3.8,139,2980,0.12,0.00,0.00,0.000,6,0.081,0.000,2777,1824,2921,0,0,0,0,0,0,26.75,28.83,28.83
$GC,3278,-0.54,-146.6,207.9,-4.6,144,3280,0.15,0.00,0.00,0.000,6,0.127,0.000,2822,1824,2920,0,0,0,0,0,0,26.51,28.83,28.83
$GC,3578,-0.57,-146.6,217.1,-3.1,149,3586,0.00,2.30,0.00,0.000,4,0.000,0.041,2823,348,2920,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3687,-0.57,-146.6,219.3,-3.2,150,3691,0.00,2.30,0.00,0.000,6,0.000,0.024,2812,1889,2919,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3988,-0.57,-146.6,234.2,-4.5,155,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1889,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4288,-0.59,-146.6,252.1,-6.1,160,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1889,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4588,-0.61,-146.6,270.6,-6.2,165,4596,0.00,2.42,0.00,0.000,4,0.000,0.038,2801,3451,2916,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4697,-0.63,-146.6,274.5,-6.3,166,4701,0.00,2.45,0.00,0.000,6,0.000,0.023,2800,1824,2916,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4998,-0.63,-146.6,296.5,-6.2,171,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5297,-0.63,-146.6,316.0,-6.6,176,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1824,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,-0.63,-146.6,337.5,-7.2,181,5605,0.00,2.55,0.00,0.000,4,0.000,0.038,2789,3458,2914,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5698,-0.63,-146.6,342.0,-7.3,182,5706,0.00,2.47,0.00,0.000,6,0.000,0.024,2788,1819,2913,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6017,-0.63,-146.6,368.2,-7.1,188,6025,0.00,2.55,0.00,0.000,4,0.000,0.037,2776,3451,2912,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6106,-0.63,-146.6,372.0,-6.8,189,6111,0.00,2.45,0.00,0.000,6,0.000,0.024,2776,1825,2912,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6428,-0.63,-146.6,391.3,-5.2,195,6436,0.00,2.33,0.00,0.000,4,0.000,0.043,2776,344,2910,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6527,-0.63,-146.6,394.3,-5.1,196,6532,0.12,2.33,0.00,0.000,6,0.138,0.024,2802,1893,2910,0,0,0,0,0,0,26.37,26.63,28.83
$GC,6840,-0.66,-146.6,407.1,-3.4,202,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1893,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7140,-0.69,-146.6,419.5,-4.2,207,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1893,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7440,-0.72,-146.6,434.8,-5.1,212,7448,0.12,2.45,0.00,0.000,4,0.082,0.039,2723,3474,2907,0,0,0,0,0,0,26.76,26.48,28.83
$GC,7528,-0.72,-146.6,439.0,-5.6,213,7533,0.15,2.50,0.00,0.000,6,0.132,0.024,2763,1826,2907,0,0,0,0,0,0,26.30,26.59,28.83
$GC,7851,-0.72,-146.6,463.1,-6.8,219,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1825,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8150,-0.72,-146.6,484.0,-7.0,224,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1825,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8510,-0.72,-146.6,511.7,-7.7,229,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1825,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,-0.72,-146.6,540.5,-8.0,232,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1825,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9230,-0.72,-146.6,567.4,-7.6,235,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1825,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9590,-0.72,-146.6,589.4,-6.4,238,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1825,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9951,-0.72,-146.6,607.8,-5.2,241,9959,0.00,2.58,0.00,0.000,4,0.000,0.040,2756,3459,2900,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10030,-0.72,-146.6,607.8,-5.2,241,10038,0.00,2.50,0.00,0.000,6,0.000,0.024,2756,1816,2899,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10431,-0.72,-146.6,633.4,-5.3,245,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1816,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10790,-0.72,-146.6,657.6,-6.5,248,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1816,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11151,-0.72,-146.6,685.4,-7.6,251,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1816,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11510,-0.72,-146.6,713.3,-7.8,254,11518,0.00,2.58,0.00,0.000,4,0.000,0.041,2744,3449,2895,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11619,-0.72,-146.6,713.3,-7.8,254,11624,0.00,2.47,0.00,0.000,6,0.000,0.025,2744,1828,2895,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11980,-0.72,-146.6,747.1,-7.3,257,11988,0.00,2.35,0.00,0.000,4,0.000,0.045,2744,352,2894,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12141,-0.72,-146.6,756.3,-7.3,258,12149,0.12,2.33,0.00,0.000,6,0.142,0.024,2768,1885,2894,0,0,0,0,0,0,26.27,26.56,28.83
$GC,12461,-0.72,-146.6,776.4,-6.0,261,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1886,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12822,-0.75,-146.6,793.6,-4.8,264,12829,0.00,2.45,0.00,0.000,4,0.000,0.042,2758,3450,2892,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12980,-0.78,-146.6,800.0,-4.9,265,12985,0.00,2.50,0.00,0.000,6,0.000,0.026,2758,1821,2892,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13293,-0.80,-146.6,821.3,-5.9,268,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1824,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13653,-0.82,-146.6,843.3,-6.1,271,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1820,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14013,-0.85,-146.6,863.9,-5.8,274,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1820,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14373,-0.87,-146.6,885.3,-5.8,277,14381,0.12,2.58,0.00,0.000,4,0.086,0.042,2684,3451,2888,0,0,0,0,0,0,26.72,26.32,28.83
$GC,14472,-0.89,-146.6,885.3,-5.8,277,14479,0.00,2.50,0.00,0.000,6,0.000,0.027,2685,1828,2888,0,0,0,0,0,0,28.83,26.47,28.83
$GC,14852,-0.85,-146.6,927.1,-8.7,281,14854,0.15,0.00,0.00,0.000,6,0.142,0.000,2727,1828,2888,0,0,0,0,0,0,26.39,28.83,28.83
$GC,15212,-0.83,-146.6,953.9,-7.8,284,15220,0.00,2.38,0.00,0.000,4,0.000,0.047,2727,354,2886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,15332,-0.80,-146.6,962.8,-7.4,285,15340,0.00,2.33,0.00,0.000,6,0.000,0.026,2717,1882,2886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,15692,-0.80,-146.6,987.0,-6.9,288,15693,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1882,2885,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15810,begin apogee
$GC,15815,-0.29,0.0,994.4,-6.6,289,15941,0.55,0.00,120.50,1.694,6,0.112,0.000,2901,1840,2319,0,0,0,0,0,0,25.86,28.83,23.72
$STATE,15942,end apogee,CONTROL_FINISHED_OK
$STATE,15942,begin climb
$GC,15944,0.86,146.6,996.2,0.0,290,16079,1.08,0.00,130.32,1.655,6,0.071,0.000,3276,1840,1720,0,0,0,0,0,0,24.94,28.83,23.43
$GC,16413,0.72,146.6,955.5,10.0,294,16415,0.15,0.00,0.00,0.000,6,0.149,0.000,3236,1839,1713,0,0,0,0,0,0,25.79,28.83,28.83
$GC,16772,0.61,146.6,928.2,8.1,297,16781,0.12,2.45,0.00,0.000,4,0.151,0.050,3210,349,1710,0,0,0,0,0,0,26.13,26.12,28.83
$GC,16921,0.51,146.6,919.8,7.4,298,16926,0.15,2.38,0.00,0.000,6,0.134,0.026,3167,1886,1709,0,0,0,0,0,0,26.06,26.31,28.83
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$STATE,28647,end climb,SURFACE_DEPTH_REACHED
$STATE,28647,begin surface coast
$FINISH,0.8,1.024820
$STATE,28678,end surface coast,CONTROL_FINISHED_OK
$STATE,28679,begin surface
$SM_CCo,28758,0.00,0.000,0,0,988,326.74
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$IRIDIUM_FIX,2425.21,-3753.33,191012,171728
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.68
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,7723424
$TM_FREEKB,6832256
$24V_AH,23.4,24.032
$10V_AH,10.4,20.857
$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
$DEVICE_SECS,22.350,155.750,408.100,0.000,0.000,27.979,41.998,216.705,0.000,0.000,25.443,1958.582,24564.158,716.012,1772.431,256.067,33.262,1516.928,0.000,1336.302,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.823,13.510,0.000,0.000
$MEM,344428
$DATA_FILE_SIZE,13408,543
$CAP_FILE_SIZE,187250,0
$CFSIZE,260034560,242073600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201012,101104,2430.166,-3755.638,38,1.0,38,-14.0