version: 66.11
glider: 189
mission: 7
dive: 212
start: 11 20 112 19 8 48
data:
$ID,189
$MISSION,7
$DIVE,212
$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,-47918.934
$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,2050
$C_ROLL_CLIMB,1650
$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
$GPS1,201112,185835,2434.444,-3759.333,37,1.0,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-54.8
$GPS2,201112,190748,2434.424,-3759.404,14,1.7,15,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.196,-0.052
$KALMAN_X,70901.3,105.1,-79.5,-66721.7,2876.1
$KALMAN_Y,51488.8,-48.6,-105.5,-53549.1,1062.8
$MHEAD_RNG_PITCHd_Wd,269.2,4442,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-146.6,0.0,0.0,0,47,0.00,0.00,-21.83,0.000,2,0.000,0.000,158,2080,1583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.86,-146.6,2.1,0.0,2,119,9.35,2.65,-52.45,0.000,4,0.184,0.049,2723,442,2919,0,0,0,0,0,0,25.73,26.12,26.65
$GC,347,-0.72,-146.6,24.9,-10.5,32,357,0.20,2.50,0.00,0.000,6,0.132,0.024,2777,2092,2919,0,0,0,0,0,0,25.89,26.34,28.83
$GC,658,-0.68,-146.6,45.2,-7.0,63,667,0.00,2.60,0.00,0.000,4,0.000,0.038,2777,450,2918,0,0,0,0,0,0,28.83,26.24,28.83
$GC,847,-0.61,-146.6,59.2,-8.3,82,857,0.12,2.47,0.00,0.000,6,0.135,0.024,2803,2091,2919,0,0,0,0,0,0,26.17,26.44,28.83
$GC,1168,-0.61,-146.6,78.6,-5.5,110,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2091,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1468,-0.61,-146.6,91.7,-4.5,120,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2091,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1767,-0.61,-146.6,111.4,-7.8,130,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2091,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-0.61,-146.6,134.9,-6.8,140,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2091,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2368,-0.61,-146.6,143.7,-2.1,150,2375,0.00,2.45,0.00,0.000,4,0.000,0.041,2795,3652,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2607,-0.61,-146.6,152.2,-4.2,158,2615,0.00,2.45,0.00,0.000,6,0.000,0.021,2793,2007,2921,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2967,-0.61,-146.6,177.1,-7.3,164,2976,0.00,2.60,0.00,0.000,4,0.000,0.039,2781,3652,2922,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3156,-0.61,-146.6,187.9,-6.3,167,3160,0.00,2.45,0.00,0.000,6,0.000,0.021,2781,2008,2921,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3502,-0.61,-146.6,201.5,-3.4,173,3507,0.00,2.55,0.00,0.000,4,0.000,0.040,2769,3657,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3618,-0.61,-146.6,205.4,-3.1,175,3627,0.12,2.47,0.00,0.000,6,0.128,0.021,2806,1995,2921,0,0,0,0,0,0,26.28,26.57,28.83
$GC,3980,-0.65,-146.6,221.3,-5.0,181,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1995,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4278,-0.69,-146.6,240.2,-6.3,186,4286,0.00,2.60,0.00,0.000,4,0.000,0.040,2795,3646,2920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4520,-0.72,-146.6,253.2,-5.4,190,4526,0.00,2.38,0.00,0.000,6,0.000,0.021,2795,2007,2920,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4879,-0.75,-146.6,274.3,-6.2,196,4887,0.12,2.58,0.00,0.000,4,0.082,0.040,2709,3646,2919,0,0,0,0,0,0,26.72,26.34,28.83
$GC,5099,-0.72,-146.6,290.9,-8.7,199,5106,0.15,2.42,0.00,0.000,6,0.105,0.021,2768,2011,2919,0,0,0,0,0,0,26.17,26.56,28.83
$GC,5418,-0.72,-146.6,320.1,-7.8,205,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2011,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5718,-0.72,-146.6,338.4,-6.0,210,5726,0.00,2.58,0.00,0.000,4,0.000,0.041,2752,3645,2917,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5848,-0.72,-146.6,345.6,-5.9,212,5855,0.00,2.45,0.00,0.000,6,0.000,0.021,2752,2010,2915,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6198,-0.72,-146.6,368.0,-6.4,218,6205,0.00,2.60,0.00,0.000,4,0.000,0.041,2740,3648,2916,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6357,-0.72,-146.6,376.5,-6.8,220,6361,0.00,2.45,0.00,0.000,6,0.000,0.021,2740,2009,2915,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6670,-0.72,-146.6,398.8,-6.2,226,6677,0.00,2.58,0.00,0.000,4,0.000,0.041,2728,3640,2914,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6778,-0.70,-146.6,402.5,-6.1,227,6788,0.15,2.45,0.00,0.000,6,0.120,0.021,2773,2006,2914,0,0,0,0,0,0,26.25,26.55,28.83
$GC,7090,-0.72,-146.6,419.3,-4.3,233,7097,0.00,2.58,0.00,0.000,4,0.000,0.041,2763,3640,2913,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7218,-0.72,-146.6,424.2,-4.1,235,7222,0.00,2.45,0.00,0.000,6,0.000,0.021,2763,2008,2913,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7560,-0.72,-146.6,440.0,-4.6,241,7568,0.00,2.58,0.00,0.000,4,0.000,0.040,2751,3640,2913,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7690,-0.72,-146.6,447.5,-5.6,243,7697,0.00,2.45,0.00,0.000,6,0.000,0.021,2751,2011,2912,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8040,-0.72,-146.6,472.3,-7.0,249,8047,0.00,2.62,0.00,0.000,4,0.000,0.041,2739,3656,2911,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8160,-0.72,-146.6,480.5,-6.9,251,8168,0.00,2.47,0.00,0.000,6,0.000,0.021,2739,2011,2910,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8520,-0.72,-146.6,502.0,-5.8,257,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2011,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8880,-0.72,-146.6,520.0,-5.0,260,8888,0.00,2.60,0.00,0.000,4,0.000,0.041,2727,3646,2908,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9070,-0.72,-146.6,527.2,-5.2,261,9078,0.12,2.47,0.00,0.000,6,0.126,0.021,2764,2004,2907,0,0,0,0,0,0,26.27,26.53,28.83
$GC,9480,-0.72,-146.6,561.1,-7.1,265,9488,0.00,2.65,0.00,0.000,4,0.000,0.043,2753,3653,2906,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9680,-0.75,-146.6,570.1,-7.4,266,9687,0.00,2.50,0.00,0.000,6,0.000,0.023,2753,2003,2905,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10081,-0.75,-146.6,598.0,-5.8,270,10088,0.00,2.62,0.00,0.000,4,0.000,0.044,2741,3646,2905,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10259,-0.75,-146.6,604.2,-5.3,271,10267,0.00,2.47,0.00,0.000,6,0.000,0.023,2741,2013,2904,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10681,-0.75,-146.6,633.1,-6.0,275,10688,0.00,2.60,0.00,0.000,4,0.000,0.044,2730,3643,2903,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10829,-0.75,-146.6,641.9,-6.5,276,10833,0.00,2.47,0.00,0.000,6,0.000,0.023,2730,2013,2903,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11151,-0.75,-146.6,666.0,-7.0,279,11159,0.10,2.62,0.00,0.000,4,0.139,0.043,2744,3647,2901,0,0,0,0,0,0,26.59,26.22,28.83
$GC,11280,-0.75,-146.6,673.1,-6.7,280,11288,0.00,2.47,0.00,0.000,6,0.000,0.023,2748,2014,2902,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11631,-0.75,-146.6,691.9,-5.4,283,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2011,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11992,-0.77,-146.6,713.8,-5.8,286,11998,0.00,2.62,0.00,0.000,4,0.000,0.044,2736,3645,2900,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12220,-0.77,-146.6,722.4,-6.3,287,12224,0.00,2.47,0.00,0.000,6,0.000,0.024,2736,2015,2899,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12581,-0.77,-146.6,753.5,-6.8,290,12589,0.00,2.62,0.00,0.000,4,0.000,0.044,2725,3645,2898,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12823,-0.77,-146.6,766.2,-5.7,292,12829,0.00,2.42,0.00,0.000,6,0.000,0.024,2725,2014,2898,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13181,-0.77,-146.6,784.3,-5.0,295,13188,0.00,2.60,0.00,0.000,4,0.000,0.044,2713,3642,2897,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13390,-0.77,-146.6,791.9,-5.3,296,13399,0.15,2.47,0.00,0.000,6,0.122,0.024,2758,2013,2897,0,0,0,0,0,0,26.13,26.45,28.83
$GC,13781,-0.81,-146.6,827.1,-7.3,300,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2014,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14142,-0.88,-146.6,856.2,-8.1,303,14149,0.12,2.50,0.00,0.000,4,0.082,0.042,2689,453,2894,0,0,0,0,0,0,26.70,26.17,28.83
$GC,14331,-0.94,-146.6,866.5,-8.2,304,14339,0.00,2.50,0.00,0.000,6,0.000,0.027,2677,2079,2894,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14741,-0.89,-146.6,900.1,-7.0,308,14750,0.12,2.53,0.00,0.000,4,0.145,0.046,2702,3650,2893,0,0,0,0,0,0,26.44,26.10,28.83
$GC,14830,-0.84,-146.6,900.1,-7.0,308,14838,0.00,2.50,0.00,0.000,6,0.000,0.024,2702,2014,2892,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15221,-0.81,-146.6,928.0,-5.8,312,15223,0.12,0.00,0.00,0.000,6,0.135,0.000,2739,2013,2892,0,0,0,0,0,0,26.47,28.83,28.83
$GC,15581,-0.81,-146.6,953.4,-6.9,315,15589,0.00,2.65,0.00,0.000,4,0.000,0.046,2728,3645,2891,0,0,0,0,0,0,28.83,26.06,28.83
$GC,15770,-0.84,-146.6,962.4,-7.2,316,15778,0.00,2.50,0.00,0.000,6,0.000,0.025,2728,2011,2891,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16081,-0.86,-146.6,988.3,-6.8,320,16088,0.00,2.62,0.00,0.000,4,0.000,0.046,2717,3648,2889,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,16119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16119,begin apogee
$GC,16128,-0.29,0.0,990.8,-6.3,322,16255,0.55,0.00,122.90,1.683,6,0.103,0.000,2903,1627,2320,0,0,0,0,0,0,25.72,28.83,23.49
$STATE,16256,end apogee,CONTROL_FINISHED_OK
$STATE,16258,begin climb
$GC,16260,0.86,146.6,994.7,0.0,328,16400,1.08,2.80,131.52,1.646,4,0.063,0.040,3278,3253,1722,0,0,0,0,0,0,24.91,24.25,23.00
$GC,16480,0.69,146.6,983.8,9.0,338,16489,0.25,2.65,0.00,0.000,6,0.144,0.029,3221,1634,1718,0,0,0,0,0,0,25.10,25.34,28.83
$GC,16871,0.59,146.6,948.5,8.4,342,16880,0.12,2.60,0.00,0.000,4,0.148,0.038,3185,3252,1714,0,0,0,0,0,0,26.08,26.10,28.83
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$STATE,28837,end climb,SURFACE_DEPTH_REACHED
$STATE,28838,begin surface coast
$FINISH,1.5,1.025386
$STATE,28870,end surface coast,CONTROL_FINISHED_OK
$STATE,28870,begin surface
$SM_CCo,28951,0.00,0.000,0,0,1046,312.51
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$IRIDIUM_FIX,2418.11,-3814.09,201112,101012
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.54
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,7688480
$TM_FREEKB,6010560
$24V_AH,23.0,41.481
$10V_AH,10.2,34.543
$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,22.950,231.725,406.975,0.000,0.000,27.114,38.462,223.668,0.000,0.000,16.042,2457.107,23470.029,834.022,2314.699,411.447,33.271,1904.599,0.000,1872.805,0.000,0.535,0.000
$DEVICE_MAMPS,183.600,81.855,1683.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28876.000,5840.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.936,13.513,0.000,0.000
$MEM,344380
$DATA_FILE_SIZE,16730,580
$CAP_FILE_SIZE,213943,0
$CFSIZE,260034560,232448000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211112,031233,2433.259,-3802.189,38,1.3,41,-14.0