version: 66.11
glider: 189
mission: 7
dive: 169
start: 11 5 112 14 39 17
data:
$ID,189
$MISSION,7
$DIVE,169
$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,-47655.617
$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
$GPS1,051112,142858,2446.150,-3814.705,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-60.3
$GPS2,051112,143817,2446.103,-3814.742,17,0.9,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.149,0.093
$KALMAN_X,37373.8,-31.0,-148.8,-58822.7,1299.0
$KALMAN_Y,93151.2,131.7,147.6,-74013.7,-431.7
$MHEAD_RNG_PITCHd_Wd,316.0,4374,-14.7,-6.111,-19.16
$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,21,begin dive
$GC,23,-0.97,-103.3,0.0,0.0,0,46,0.00,0.00,-21.30,0.000,2,0.000,0.000,158,1832,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.02,-146.6,2.2,0.0,2,110,9.38,2.60,-45.28,0.000,4,0.196,0.049,2659,3452,2919,0,0,0,0,0,0,25.64,26.12,26.63
$GC,338,-0.87,-146.6,27.3,-12.6,31,348,0.20,2.50,0.00,0.000,6,0.142,0.024,2715,1818,2919,0,0,0,0,0,0,25.86,26.33,28.83
$GC,648,-0.79,-146.6,59.7,-10.1,62,658,0.12,2.58,0.00,0.000,4,0.155,0.036,2738,3459,2919,0,0,0,0,0,0,26.31,26.27,28.83
$GC,847,-0.75,-146.6,75.4,-7.8,80,851,0.00,2.50,0.00,0.000,6,0.000,0.023,2744,1815,2920,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1148,-0.72,-146.6,103.3,-8.7,90,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1814,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,-0.69,-146.6,122.1,-5.0,100,1450,0.12,0.00,0.00,0.000,6,0.138,0.000,2774,1814,2921,0,0,0,0,0,0,26.46,28.83,28.83
$GC,1748,-0.69,-146.6,133.5,-4.0,110,1756,0.00,2.58,0.00,0.000,4,0.000,0.036,2763,3462,2921,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1887,-0.69,-146.6,140.4,-5.8,114,1891,0.00,2.47,0.00,0.000,6,0.000,0.022,2763,1822,2921,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2188,-0.69,-146.6,164.8,-8.0,121,2196,0.00,2.55,0.00,0.000,4,0.000,0.036,2751,3456,2921,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2307,-0.69,-146.6,174.4,-8.1,123,2315,0.00,2.47,0.00,0.000,6,0.000,0.022,2751,1813,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2668,-0.69,-146.6,199.6,-6.7,129,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1813,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2968,-0.69,-146.6,218.4,-6.2,134,2976,0.00,2.58,0.00,0.000,4,0.000,0.037,2739,3460,2921,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3209,-0.69,-146.6,234.2,-6.6,138,3217,0.10,2.45,0.00,0.000,6,0.107,0.022,2775,1823,2919,0,0,0,0,0,0,26.27,26.55,28.83
$GC,3569,-0.73,-146.6,255.3,-5.8,144,3576,0.00,2.53,0.00,0.000,4,0.000,0.037,2765,3451,2919,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3727,-0.77,-146.6,262.6,-5.9,146,3735,0.00,2.45,0.00,0.000,6,0.000,0.022,2765,1823,2919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4049,-0.80,-146.6,289.4,-7.7,152,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1824,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4348,-0.84,-146.6,315.3,-8.7,157,4350,0.10,0.00,0.00,0.000,6,0.094,0.000,2707,1823,2917,0,0,0,0,0,0,26.75,28.83,28.83
$GC,4648,-0.81,-146.6,340.4,-8.1,162,4656,0.12,2.58,0.00,0.000,4,0.144,0.037,2731,3461,2916,0,0,0,0,0,0,26.49,26.37,28.83
$GC,4717,-0.81,-146.6,344.2,-7.4,163,4721,0.00,2.47,0.00,0.000,6,0.000,0.023,2731,1824,2916,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5059,-0.81,-146.6,362.7,-5.1,169,5066,0.00,2.58,0.00,0.000,4,0.000,0.037,2719,3462,2915,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5148,-0.81,-146.6,366.1,-5.2,170,5152,0.00,2.47,0.00,0.000,6,0.000,0.023,2719,1825,2915,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5470,-0.81,-146.6,390.0,-7.1,176,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1826,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5769,-0.81,-146.6,415.4,-8.6,181,5777,0.00,2.58,0.00,0.000,4,0.000,0.037,2706,3460,2912,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5858,-0.81,-146.6,420.9,-8.8,182,5863,0.12,2.47,0.00,0.000,6,0.135,0.023,2742,1823,2912,0,0,0,0,0,0,26.26,26.53,28.83
$GC,6182,-0.84,-146.6,449.0,-7.8,188,6189,0.00,2.55,0.00,0.000,4,0.000,0.037,2731,3451,2911,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6270,-0.86,-146.6,453.6,-7.7,189,6274,0.00,2.47,0.00,0.000,6,0.000,0.023,2730,1821,2911,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6592,-0.86,-146.6,479.4,-7.3,195,6599,0.00,2.58,0.00,0.000,4,0.000,0.037,2719,3452,2906,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6691,-0.86,-146.6,483.8,-7.2,196,6695,0.00,2.47,0.00,0.000,6,0.000,0.023,2719,1824,2909,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7003,-0.86,-146.6,508.8,-7.2,201,7011,0.00,2.58,0.00,0.000,4,0.000,0.038,2707,3453,2908,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7082,-0.86,-146.6,508.8,-7.2,201,7086,0.00,2.47,0.00,0.000,6,0.000,0.023,2707,1825,2908,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7473,-0.86,-146.6,545.4,-7.8,205,7481,0.00,2.58,0.00,0.000,4,0.000,0.038,2694,3455,2906,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7602,-0.86,-146.6,555.2,-7.9,206,7606,0.00,2.47,0.00,0.000,6,0.000,0.024,2694,1826,2906,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7944,-0.86,-146.6,584.0,-8.2,209,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1825,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,-0.86,-146.6,615.5,-8.7,212,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1825,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8663,-0.86,-146.6,649.9,-9.4,215,8671,0.00,2.60,0.00,0.000,4,0.000,0.039,2682,3461,2902,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8823,-0.86,-146.6,661.9,-9.6,216,8831,0.15,2.50,0.00,0.000,6,0.135,0.024,2728,1824,2902,0,0,0,0,0,0,26.15,26.49,28.83
$GC,9144,-0.86,-146.6,695.8,-9.6,219,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1824,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9504,-0.89,-146.6,725.1,-8.4,222,9512,0.00,2.35,0.00,0.000,4,0.000,0.044,2726,353,2900,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9573,-0.92,-146.6,725.1,-8.4,222,9577,0.00,2.33,0.00,0.000,6,0.000,0.024,2716,1886,2899,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9975,-0.95,-146.6,757.5,-6.9,226,9983,0.00,2.47,0.00,0.000,4,0.000,0.041,2704,3449,2899,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10124,-0.97,-146.6,765.5,-6.6,227,10128,0.00,2.50,0.00,0.000,6,0.000,0.025,2704,1824,2896,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10446,-0.97,-146.6,789.8,-6.9,230,10453,0.00,2.60,0.00,0.000,4,0.000,0.040,2692,3461,2897,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10556,-0.97,-146.6,789.8,-6.9,230,10565,0.00,2.50,0.00,0.000,6,0.000,0.024,2692,1828,2897,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10925,-0.97,-146.6,823.7,-7.1,234,10933,0.00,2.58,0.00,0.000,4,0.000,0.039,2680,3451,2895,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11024,-0.97,-146.6,823.7,-7.1,234,11029,0.00,2.50,0.00,0.000,6,0.000,0.025,2680,1821,2897,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11397,-0.97,-146.6,857.2,-7.1,238,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1821,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11756,-0.97,-146.6,884.0,-7.3,241,11764,0.00,2.60,0.00,0.000,4,0.000,0.040,2668,3449,2893,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11986,-0.97,-146.6,893.1,-7.5,242,11995,0.00,2.50,0.00,0.000,6,0.000,0.026,2668,1826,2892,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12356,-0.97,-146.6,934.3,-8.6,246,12364,0.00,2.60,0.00,0.000,4,0.000,0.041,2657,3454,2891,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12455,-0.97,-146.6,934.3,-8.6,246,12460,0.12,2.50,0.00,0.000,6,0.145,0.025,2689,1828,2891,0,0,0,0,0,0,26.09,26.40,28.83
$GC,12768,-0.97,-146.6,973.5,-9.6,254,12775,0.00,2.38,0.00,0.000,4,0.000,0.045,2689,355,2890,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12827,-0.97,-146.6,979.6,-9.8,256,12835,0.00,2.35,0.00,0.000,6,0.000,0.025,2679,1893,2889,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,12945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12945,begin apogee
$GC,12951,-0.29,0.0,990.8,-9.4,260,13076,0.68,0.00,121.25,1.686,6,0.115,0.000,2900,1838,2319,0,0,0,0,0,0,25.61,28.83,23.68
$STATE,13078,end apogee,CONTROL_FINISHED_OK
$STATE,13078,begin climb
$GC,13081,1.02,146.6,995.1,0.0,264,13218,1.23,0.00,130.18,1.643,6,0.066,0.000,3331,1838,1723,0,0,0,0,0,0,24.94,28.83,23.28
$GC,13518,0.88,146.6,954.6,11.4,279,13526,0.17,2.42,0.00,0.000,4,0.154,0.047,3294,361,1713,0,0,0,0,0,0,25.75,25.90,28.83
$GC,13688,0.76,146.6,941.1,11.3,282,13697,0.17,2.38,0.00,0.000,6,0.145,0.024,3246,1901,1711,0,0,0,0,0,0,25.85,26.19,28.83
$GC,13998,0.68,146.6,905.3,10.1,285,13999,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1901,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14358,0.63,146.6,872.3,9.3,288,14366,0.15,2.45,0.00,0.000,4,0.142,0.039,3201,3446,1709,0,0,0,0,0,0,26.22,26.27,28.83
$GC,14427,0.59,146.6,872.3,9.3,288,14431,0.00,2.53,0.00,0.000,6,0.000,0.028,3211,1822,1709,0,0,0,0,0,0,28.83,26.35,28.83
$GC,14828,0.59,146.6,841.6,6.5,292,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1822,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15189,0.59,146.6,818.8,6.3,295,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1822,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15548,0.59,146.6,795.6,6.4,298,15549,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1822,1706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15908,0.59,146.6,769.8,7.0,301,15916,0.00,2.62,0.00,0.000,4,0.000,0.039,3211,3454,1706,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,26403,end climb,SURFACE_DEPTH_REACHED
$STATE,26403,begin surface coast
$FINISH,1.0,1.024992
$STATE,26436,end surface coast,CONTROL_FINISHED_OK
$STATE,26436,begin surface
$SM_CCo,26455,47.35,0.130,0,0,1095,300.00
$SM_GC,1.88,8.18,0.10,47.35,0.035,0.094,0.130,164,1819,1095,-8.83,0.42,300.00,0,0,0,0,0,0,26.39,26.71,26.04
$IRIDIUM_FIX,2427.58,-3741.48,051112,050559
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.27
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,7704992
$TM_FREEKB,6401632
$24V_AH,23.3,33.023
$10V_AH,10.3,27.635
$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,22.300,169.100,280.750,47.350,0.000,25.612,38.810,240.801,0.000,0.000,18.741,1995.469,22221.182,682.716,1840.713,310.664,33.292,1486.600,0.000,1395.318,0.000,0.537,0.000
$DEVICE_MAMPS,195.840,107.100,1686.060,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26438.000,5360.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.226,13.505,0.000,0.000
$MEM,344296
$DATA_FILE_SIZE,13448,545
$CAP_FILE_SIZE,182225,0
$CFSIZE,260034560,237174784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051112,220204,2447.534,-3817.296,29,1.6,29,-14.0