version: 66.11
glider: 189
mission: 7
dive: 376
start: 1 10 113 18 9 18
data:
$ID,189
$MISSION,7
$DIVE,376
$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,-48126.922
$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
$GPS1,100113,175852,2433.198,-3757.568,36,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-63.2
$GPS2,100113,180818,2433.199,-3757.531,44,0.8,44,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,-0.036
$KALMAN_X,207467.9,-83.2,225.8,-200258.7,843.3
$KALMAN_Y,-57315.8,-427.9,-535.8,53819.8,4070.0
$MHEAD_RNG_PITCHd_Wd,266.7,7672,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.85,0.000,2,0.000,0.000,151,2128,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.23,2.50,-50.08,0.000,4,0.190,0.050,2593,551,2718,0,0,0,0,0,0,25.41,26.00,26.70
$GC,194,-1.16,-97.7,7.9,-7.7,17,203,0.12,2.47,0.00,0.000,6,0.138,0.024,2622,2190,2720,0,0,0,0,0,0,25.78,26.27,28.83
$GC,504,-1.14,-97.7,31.9,-8.3,48,513,0.00,2.50,0.00,0.000,4,0.000,0.041,2611,3742,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,804,-1.10,-97.7,57.6,-8.8,78,813,0.10,2.45,0.00,0.000,6,0.131,0.021,2644,2084,2721,0,0,0,0,0,0,26.04,26.46,28.83
$GC,1134,-1.10,-97.7,81.1,-6.6,105,1141,0.00,2.67,0.00,0.000,4,0.000,0.039,2634,3749,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1376,-1.10,-97.7,100.1,-8.3,113,1382,0.00,2.40,0.00,0.000,6,0.000,0.021,2633,2101,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1705,-1.10,-97.7,129.5,-9.2,124,1711,0.00,2.65,0.00,0.000,4,0.000,0.039,2621,3750,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1993,-1.10,-97.7,151.4,-7.5,133,2002,0.00,2.47,0.00,0.000,6,0.000,0.020,2622,2092,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2305,-1.10,-97.7,167.0,-4.3,139,2312,0.00,2.65,0.00,0.000,4,0.000,0.039,2609,3749,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2605,-1.07,-97.7,177.9,-3.6,144,2612,0.12,2.42,0.00,0.000,6,0.121,0.020,2651,2095,2724,0,0,0,0,0,0,26.06,26.52,28.83
$GC,2966,-1.10,-97.7,195.2,-5.5,150,2971,0.00,2.60,0.00,0.000,4,0.000,0.039,2641,3750,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3104,-1.13,-97.7,203.4,-6.5,152,3111,0.00,2.45,0.00,0.000,6,0.000,0.020,2641,2099,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3446,-1.15,-97.7,226.7,-6.4,158,3451,0.00,2.58,0.00,0.000,4,0.000,0.039,2629,3749,2724,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3643,-1.15,-97.7,238.5,-6.5,161,3651,0.00,2.45,0.00,0.000,6,0.000,0.020,2629,2101,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3985,-1.15,-97.7,263.3,-7.0,167,3992,0.00,2.62,0.00,0.000,4,0.000,0.039,2616,3742,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4284,-1.15,-97.7,285.0,-7.2,172,4292,0.00,2.45,0.00,0.000,6,0.000,0.020,2617,2097,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4645,-1.15,-97.7,309.3,-6.7,178,4651,0.00,2.62,0.00,0.000,4,0.000,0.040,2605,3742,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4944,-1.15,-97.7,331.4,-7.5,183,4951,0.00,2.42,0.00,0.000,6,0.000,0.020,2604,2103,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5305,-1.15,-97.7,356.4,-6.7,189,5311,0.00,2.62,0.00,0.000,4,0.000,0.040,2592,3745,2721,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5605,-1.13,-97.7,373.4,-5.6,194,5612,0.10,2.42,0.00,0.000,6,0.122,0.021,2627,2100,2720,0,0,0,0,0,0,26.13,26.51,28.83
$GC,5965,-1.16,-97.7,392.9,-5.6,200,5971,0.00,2.60,0.00,0.000,4,0.000,0.040,2617,3754,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6253,-1.16,-97.7,409.3,-6.9,204,6262,0.00,2.47,0.00,0.000,6,0.000,0.021,2617,2100,2719,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6565,-1.16,-97.7,437.4,-8.0,210,6571,0.00,2.62,0.00,0.000,4,0.000,0.041,2605,3741,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6864,-1.16,-97.7,463.4,-8.7,215,6871,0.00,2.42,0.00,0.000,6,0.000,0.021,2605,2109,2718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7225,-1.16,-97.7,492.9,-8.1,221,7231,0.00,2.65,0.00,0.000,4,0.000,0.040,2598,3747,2717,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7523,-1.16,-97.7,512.5,-8.1,224,7531,0.12,2.47,0.00,0.000,6,0.142,0.021,2626,2094,2716,0,0,0,0,0,0,26.15,26.48,28.83
$GC,7945,-1.19,-97.7,548.4,-7.5,228,7951,0.00,2.60,0.00,0.000,4,0.000,0.041,2615,3746,2715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8163,-1.23,-97.7,557.1,-7.3,229,8171,0.00,2.47,0.00,0.000,6,0.000,0.022,2615,2097,2715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8545,-1.26,-97.7,589.3,-6.7,233,8551,0.00,2.62,0.00,0.000,4,0.000,0.041,2603,3746,2714,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8795,-1.28,-97.7,606.7,-6.9,235,8801,0.00,2.42,0.00,0.000,6,0.000,0.023,2603,2095,2713,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9145,-1.28,-97.7,635.9,-7.9,238,9151,0.00,2.65,0.00,0.000,4,0.000,0.041,2591,3744,2712,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9353,-1.28,-97.7,647.1,-8.4,239,9360,0.00,2.47,0.00,0.000,6,0.000,0.021,2591,2095,2712,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9744,-1.28,-97.7,692.5,-9.4,243,9751,0.00,2.65,0.00,0.000,4,0.000,0.041,2579,3745,2710,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9985,-1.28,-97.7,714.2,-9.2,245,9991,0.00,2.45,0.00,0.000,6,0.000,0.022,2579,2107,2710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10344,-1.28,-97.7,742.6,-8.1,248,10351,0.00,2.62,0.00,0.000,4,0.000,0.041,2567,3744,2709,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10544,-1.28,-97.7,752.7,-8.0,249,10551,0.00,2.45,0.00,0.000,6,0.000,0.022,2567,2106,2708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10944,-1.28,-97.7,793.9,-8.6,253,10951,0.00,2.62,0.00,0.000,4,0.000,0.041,2555,3738,2709,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11243,-1.28,-97.7,813.5,-8.3,255,11252,0.12,2.47,0.00,0.000,6,0.153,0.022,2586,2099,2707,0,0,0,0,0,0,26.06,26.44,28.83
$GC,11664,-1.28,-97.7,844.0,-6.3,259,11672,0.00,2.65,0.00,0.000,4,0.000,0.041,2576,3744,2705,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11943,-1.28,-97.7,858.4,-5.9,261,11951,0.00,2.47,0.00,0.000,6,0.000,0.022,2576,2108,2704,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12264,-1.28,-97.7,881.5,-6.3,264,12271,0.00,2.65,0.00,0.000,4,0.000,0.042,2564,3741,2703,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12516,-1.28,-97.7,899.2,-6.9,266,12521,0.00,2.42,0.00,0.000,6,0.000,0.023,2564,2107,2703,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12864,-1.28,-97.7,926.4,-7.5,269,12872,0.00,2.65,0.00,0.000,4,0.000,0.042,2552,3743,2701,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13135,-1.28,-97.7,946.2,-8.0,271,13142,0.10,2.45,0.00,0.000,6,0.134,0.024,2584,2103,2701,0,0,0,0,0,0,25.98,26.41,28.83
$GC,13465,-1.28,-97.7,975.2,-8.0,274,13471,0.00,2.65,0.00,0.000,4,0.000,0.043,2575,3742,2700,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,13641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13641,begin apogee
$GC,13652,-0.29,0.0,990.2,-8.4,278,13743,1.05,0.00,85.10,1.671,6,0.127,0.000,2902,1578,2322,0,0,0,0,0,0,25.18,28.83,23.03
$STATE,13745,end apogee,CONTROL_FINISHED_OK
$STATE,13745,begin climb
$GC,13749,1.26,97.7,994.8,0.0,283,13852,1.42,2.78,92.10,1.662,4,0.066,0.034,3408,3201,1920,0,0,0,0,0,0,25.21,24.84,23.01
$GC,13905,1.14,123.3,991.2,5.5,291,13935,0.20,2.55,23.60,1.587,6,0.172,0.029,3371,1577,1816,0,0,0,0,0,0,25.31,25.67,23.41
$GC,14257,1.06,123.3,965.9,7.4,298,14263,0.12,1.92,0.00,0.000,4,0.178,0.046,3343,353,1810,0,0,0,0,0,0,25.98,26.12,28.83
$GC,14354,0.98,123.3,965.9,7.4,298,14361,0.00,1.95,0.00,0.000,6,0.000,0.024,3343,1647,1809,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14735,0.92,123.3,929.8,7.5,302,14742,0.17,2.10,0.00,0.000,4,0.157,0.048,3305,352,1807,0,0,0,0,0,0,26.07,26.21,28.83
$GC,14864,0.87,123.3,921.0,7.5,303,14871,0.00,1.95,0.00,0.000,6,0.000,0.024,3305,1652,1807,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15215,0.87,123.3,894.1,7.4,306,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1652,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15574,0.87,123.3,865.3,8.0,309,15581,0.00,2.12,0.00,0.000,4,0.000,0.048,3314,350,1804,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15753,0.87,123.3,855.2,8.1,310,15757,0.12,1.95,0.00,0.000,6,0.160,0.024,3284,1659,1803,0,0,0,0,0,0,26.10,26.51,28.83
$GC,16166,0.87,123.3,820.8,7.3,314,16167,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1661,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16526,0.92,142.4,801.0,5.8,317,16547,0.00,2.53,15.98,1.506,4,0.000,0.036,3283,3202,1737,0,0,0,0,0,0,28.83,26.01,23.86
$GC,16688,0.98,169.8,795.3,5.4,318,16723,0.00,2.50,26.35,1.545,6,0.000,0.030,3294,1577,1626,0,0,0,0,0,0,28.83,26.15,23.63
$GC,17116,1.03,179.9,765.6,6.2,322,17135,0.10,2.65,10.07,1.427,4,0.093,0.036,3348,3197,1585,0,0,0,0,0,0,26.43,26.01,24.01
$GC,17278,1.06,179.9,755.7,6.8,323,17283,0.00,2.50,0.00,0.000,6,0.000,0.030,3360,1571,1585,0,0,0,0,0,0,28.83,26.14,28.83
$GC,17596,1.06,179.9,725.0,8.5,326,17603,0.00,1.98,0.00,0.000,4,0.000,0.048,3369,353,1583,0,0,0,0,0,0,28.83,26.13,28.83
$GC,17685,1.06,179.9,725.0,8.5,326,17688,0.00,1.95,0.00,0.000,6,0.000,0.024,3373,1651,1582,0,0,0,0,0,0,28.83,26.43,28.83
$GC,18068,1.03,179.9,686.4,8.2,330,18074,0.15,2.08,0.00,0.000,4,0.151,0.048,3337,358,1581,0,0,0,0,0,0,26.20,26.16,28.83
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$GC,20939,1.14,192.8,452.7,9.3,357,20946,0.12,2.10,0.00,0.000,4,0.156,0.047,3377,352,1530,0,0,0,0,0,0,26.32,26.10,28.83
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$STATE,25928,end climb,SURFACE_DEPTH_REACHED
$STATE,25928,begin surface coast
$FINISH,1.3,1.014208
$STATE,25959,end surface coast,CONTROL_FINISHED_OK
$STATE,25959,begin surface
$SM_CCo,25982,47.35,0.127,0,0,1094,300.00
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$IRIDIUM_FIX,2432.32,-3754.79,100113,101015
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7625472
$TM_FREEKB,5010848
$24V_AH,23.0,67.015
$10V_AH,10.1,58.476
$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,22.625,208.125,265.500,47.350,0.000,25.284,38.014,202.488,0.000,0.000,45.220,2462.772,20530.420,685.586,2397.525,506.322,33.262,1773.645,0.000,1992.551,0.000,0.536,0.000
$DEVICE_MAMPS,189.720,131.580,1670.760,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25968.000,2847.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.818,13.443,0.000,0.000
$MEM,344280
$DATA_FILE_SIZE,13440,522
$CAP_FILE_SIZE,195098,0
$CFSIZE,260034560,216420352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110113,012429,2433.935,-3758.678,41,0.9,42,-14.0