version: 66.11
glider: 189
mission: 7
dive: 122
start: 10 20 112 10 20 29
data:
$ID,189
$MISSION,7
$DIVE,122
$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,-47596.137
$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
$GPS1,201012,101104,2430.166,-3755.638,38,1.0,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-57.4
$GPS2,201012,101930,2430.187,-3755.658,13,1.1,13,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.176,0.101
$KALMAN_X,20191.5,182.5,52.6,-9921.4,360.1
$KALMAN_Y,98375.1,56.1,22.1,-108516.4,271.2
$MHEAD_RNG_PITCHd_Wd,313.8,12806,-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,-12.75,0.000,2,0.000,0.000,160,1835,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.86,-146.6,2.0,0.0,1,117,9.27,2.55,-57.83,0.000,4,0.187,0.051,2701,3448,2919,0,0,0,0,0,0,25.93,26.22,26.64
$GC,346,-0.70,-146.6,24.6,-11.7,32,356,0.22,2.47,0.00,0.000,6,0.138,0.022,2772,1815,2920,0,0,0,0,0,0,26.01,26.39,28.83
$GC,656,-0.60,-146.6,52.0,-9.1,63,666,0.12,2.55,0.00,0.000,4,0.150,0.037,2797,3451,2920,0,0,0,0,0,0,26.36,26.37,28.83
$GC,736,-0.56,-146.6,59.2,-8.6,71,745,0.00,2.47,0.00,0.000,6,0.000,0.023,2794,1814,2920,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1066,-0.52,-146.6,81.4,-6.9,98,1075,0.12,2.55,0.00,0.000,4,0.136,0.037,2822,3458,2921,0,0,0,0,0,0,26.46,26.44,28.83
$GC,1186,-0.52,-146.6,88.6,-6.0,102,1194,0.00,2.47,0.00,0.000,6,0.000,0.022,2823,1813,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1516,-0.52,-146.6,107.8,-5.3,113,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1813,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,-0.52,-146.6,122.5,-5.3,123,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1813,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.52,-146.6,142.3,-6.4,133,2123,0.00,2.55,0.00,0.000,4,0.000,0.037,2811,3456,2922,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2357,-0.52,-146.6,154.6,-4.7,140,2364,0.00,2.42,0.00,0.000,6,0.000,0.022,2810,1828,2921,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2716,-0.52,-146.6,166.4,-3.1,146,2724,0.00,2.33,0.00,0.000,4,0.000,0.041,2810,342,2921,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2836,-0.52,-146.6,173.0,-4.4,148,2844,0.12,2.33,0.00,0.000,6,0.134,0.024,2836,1901,2921,0,0,0,0,0,0,26.40,26.64,28.83
$GC,3196,-0.56,-146.6,194.5,-6.3,154,3204,0.00,2.40,0.00,0.000,4,0.000,0.038,2826,3452,2921,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3437,-0.59,-146.6,206.8,-5.1,158,3444,0.00,2.42,0.00,0.000,6,0.000,0.023,2826,1827,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3797,-0.63,-146.6,222.1,-4.4,164,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1827,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4097,-0.66,-146.6,236.3,-4.8,169,4105,0.12,2.33,0.00,0.000,4,0.078,0.041,2753,342,2919,0,0,0,0,0,0,26.77,26.50,28.83
$GC,4216,-0.66,-146.6,244.9,-5.9,171,4224,0.15,2.33,0.00,0.000,6,0.134,0.024,2785,1894,2919,0,0,0,0,0,0,26.34,26.64,28.83
$GC,4576,-0.66,-146.6,264.9,-5.3,177,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1895,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-0.66,-146.6,282.4,-6.0,182,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1895,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5176,-0.66,-146.6,302.8,-6.8,187,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1894,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,-0.66,-146.6,319.5,-5.3,192,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1895,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5776,-0.66,-146.6,334.0,-4.9,197,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1895,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6077,-0.66,-146.6,351.9,-6.1,202,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1895,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6376,-0.66,-146.6,371.1,-6.3,207,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1896,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,-0.66,-146.6,389.4,-6.1,212,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1895,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6976,-0.66,-146.6,405.5,-5.3,217,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1895,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7277,-0.66,-146.6,422.3,-5.7,222,7284,0.00,2.42,0.00,0.000,4,0.000,0.042,2785,352,2909,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7396,-0.66,-146.6,430.9,-6.6,224,7400,0.00,2.33,0.00,0.000,6,0.000,0.024,2776,1895,2909,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7747,-0.66,-146.6,454.9,-6.8,230,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1895,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8048,-0.66,-146.6,473.9,-6.3,235,8055,0.00,2.45,0.00,0.000,4,0.000,0.041,2765,3459,2906,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8167,-0.66,-146.6,481.1,-6.1,237,8175,0.00,2.47,0.00,0.000,6,0.000,0.024,2764,1826,2907,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8528,-0.66,-146.6,500.6,-5.3,243,8535,0.00,2.55,0.00,0.000,4,0.000,0.039,2752,3452,2905,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8616,-0.66,-146.6,500.6,-5.3,243,8621,0.12,2.47,0.00,0.000,6,0.132,0.024,2788,1821,2905,0,0,0,0,0,0,26.35,26.58,28.83
$GC,8999,-0.66,-146.6,524.9,-5.1,247,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1821,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9359,-0.69,-146.6,544.6,-5.5,250,9367,0.00,2.33,0.00,0.000,4,0.000,0.044,2789,351,2902,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9449,-0.71,-146.6,544.6,-5.5,250,9456,0.00,2.33,0.00,0.000,6,0.000,0.024,2785,1892,2902,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9839,-0.73,-146.6,572.8,-5.9,254,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1892,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10199,-0.76,-146.6,593.3,-5.8,257,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1892,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10560,-0.78,-146.6,612.0,-5.3,260,10567,0.00,2.42,0.00,0.000,4,0.000,0.044,2779,355,2900,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10658,-0.81,-146.6,612.0,-5.3,260,10663,0.00,2.33,0.00,0.000,6,0.000,0.025,2769,1889,2899,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11030,-0.81,-146.6,635.6,-5.0,264,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1889,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11390,-0.81,-146.6,656.6,-5.5,267,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1889,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11749,-0.81,-146.6,685.4,-7.6,270,11757,0.00,2.47,0.00,0.000,4,0.000,0.044,2769,343,2896,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11919,-0.81,-146.6,696.7,-8.4,271,11923,0.00,2.35,0.00,0.000,6,0.000,0.025,2759,1888,2896,0,0,0,0,0,0,28.83,26.57,28.83
$GC,12220,-0.81,-146.6,725.6,-8.5,274,12228,0.00,2.45,0.00,0.000,4,0.000,0.041,2747,3449,2895,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12289,-0.81,-146.6,725.6,-8.5,274,12294,0.00,2.47,0.00,0.000,6,0.000,0.025,2747,1829,2895,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12691,-0.81,-146.6,752.1,-5.6,278,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1828,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13051,-0.81,-146.6,768.4,-4.5,281,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1829,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13411,-0.81,-146.6,789.2,-5.5,284,13418,0.00,2.38,0.00,0.000,4,0.000,0.046,2747,347,2893,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13500,-0.81,-146.6,789.2,-5.5,284,13504,0.00,2.35,0.00,0.000,6,0.000,0.025,2736,1887,2892,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13882,-0.81,-146.6,822.8,-7.1,288,13889,0.00,2.47,0.00,0.000,4,0.000,0.045,2736,346,2891,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13940,-0.81,-146.6,822.8,-7.1,288,13945,0.00,2.35,0.00,0.000,6,0.000,0.026,2725,1888,2890,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14352,-0.81,-146.6,858.3,-7.5,292,14360,0.00,2.47,0.00,0.000,4,0.000,0.041,2714,3457,2889,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14451,-0.81,-146.6,858.3,-7.5,292,14455,0.00,2.50,0.00,0.000,6,0.000,0.026,2714,1827,2889,0,0,0,0,0,0,28.83,26.48,28.83
$GC,14823,-0.79,-146.6,896.7,-8.2,296,14825,0.12,0.00,0.00,0.000,6,0.140,0.000,2749,1827,2889,0,0,0,0,0,0,26.51,28.83,28.83
$GC,15182,-0.79,-146.6,923.6,-7.7,299,15191,0.00,2.58,0.00,0.000,4,0.000,0.042,2738,3449,2888,0,0,0,0,0,0,28.83,26.30,28.83
$GC,15312,-0.79,-146.6,932.8,-7.5,300,15316,0.00,2.50,0.00,0.000,6,0.000,0.027,2738,1824,2888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15653,-0.79,-146.6,960.7,-7.9,303,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1824,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16013,-0.79,-146.6,988.8,-7.9,306,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1824,2886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16132,begin apogee
$GC,16136,-0.29,0.0,997.3,-7.6,307,16262,0.47,0.00,120.32,1.695,6,0.109,0.000,2899,1824,2319,0,0,0,0,0,0,25.94,28.83,23.72
$STATE,16264,end apogee,CONTROL_FINISHED_OK
$STATE,16264,begin climb
$GC,16266,0.86,146.6,1000.2,0.0,308,16400,1.08,0.00,129.73,1.663,6,0.072,0.000,3274,1823,1722,0,0,0,0,0,0,24.94,28.83,23.42
$GC,16735,0.72,146.6,961.0,10.3,312,16737,0.15,0.00,0.00,0.000,6,0.152,0.000,3235,1823,1713,0,0,0,0,0,0,25.79,28.83,28.83
$GC,17094,0.61,146.6,926.8,9.7,315,17095,0.12,0.00,0.00,0.000,6,0.150,0.000,3199,1823,1710,0,0,0,0,0,0,26.13,28.83,28.83
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$STATE,29478,end climb,SURFACE_DEPTH_REACHED
$STATE,29478,begin surface coast
$FINISH,0.9,1.011180
$STATE,29510,end surface coast,CONTROL_FINISHED_OK
$STATE,29510,begin surface
$SM_CCo,29529,6.10,0.148,0,0,1093,300.00
$SM_GC,2.61,8.27,0.08,6.10,0.039,0.109,0.148,161,1837,1093,-8.82,0.76,300.00,0,0,0,0,0,0,26.52,26.76,26.08
$IRIDIUM_FIX,2429.95,-3806.64,201012,020225
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.81
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$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,7723040
$TM_FREEKB,6822880
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$10V_AH,10.4,21.012
$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
$DEVICE_SECS,22.150,165.175,359.875,6.100,0.000,28.588,38.308,219.202,0.250,0.000,15.194,2079.657,25092.029,718.389,1862.061,282.364,33.272,1560.331,0.000,1434.115,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.856,13.512,0.000,0.000
$MEM,344556
$DATA_FILE_SIZE,16753,570
$CAP_FILE_SIZE,191959,0
$CFSIZE,260034560,241963008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201012,183358,2432.365,-3758.820,39,0.9,39,-14.0