version: 66.11
glider: 189
mission: 7
dive: 378
start: 1 11 113 8 31 51
data:
$ID,189
$MISSION,7
$DIVE,378
$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,-48129.434
$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
$GPS1,110113,081935,2433.875,-3759.780,25,0.8,25,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-62.1
$GPS2,110113,083053,2433.873,-3759.800,18,0.8,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.109,-0.049
$KALMAN_X,210055.1,-91.8,-281.4,-206151.6,2011.3
$KALMAN_Y,-53840.0,200.7,169.3,50239.3,1534.2
$MHEAD_RNG_PITCHd_Wd,259.9,3713,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.20,0.000,2,0.000,0.000,156,2143,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.0,0.0,1,104,9.25,2.55,-50.05,0.000,4,0.190,0.049,2589,539,2718,0,0,0,0,0,0,25.32,26.00,26.67
$GC,274,-1.17,-97.7,15.5,-8.1,25,283,0.12,2.47,0.00,0.000,6,0.145,0.024,2617,2183,2719,0,0,0,0,0,0,25.78,26.30,28.83
$GC,585,-1.14,-97.7,42.6,-10.9,56,593,0.00,2.53,0.00,0.000,4,0.000,0.041,2607,3745,2720,0,0,0,0,0,0,28.83,26.14,28.83
$GC,884,-1.09,-97.7,67.7,-7.3,86,894,0.10,2.45,0.00,0.000,6,0.132,0.021,2641,2089,2721,0,0,0,0,0,0,26.03,26.45,28.83
$GC,1194,-1.09,-97.7,91.8,-7.7,103,1202,0.00,2.65,0.00,0.000,4,0.000,0.039,2630,3745,2721,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1494,-1.09,-97.7,117.9,-8.9,113,1501,0.00,2.47,0.00,0.000,6,0.000,0.021,2630,2076,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1825,-1.09,-97.7,140.8,-5.8,124,1831,0.00,2.62,0.00,0.000,4,0.000,0.039,2618,3754,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2125,-1.07,-97.7,160.5,-6.6,132,2132,0.15,2.42,0.00,0.000,6,0.139,0.021,2658,2076,2723,0,0,0,0,0,0,26.08,26.50,28.83
$GC,2485,-1.10,-97.7,181.9,-6.1,138,2491,0.00,2.67,0.00,0.000,4,0.000,0.039,2647,3746,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2784,-1.10,-97.7,202.5,-6.9,143,2791,0.00,2.45,0.00,0.000,6,0.000,0.021,2648,2103,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3145,-1.13,-97.7,223.5,-5.6,149,3151,0.00,2.62,0.00,0.000,4,0.000,0.039,2635,3745,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3366,-1.13,-97.7,234.6,-6.1,152,3371,0.00,2.40,0.00,0.000,6,0.000,0.021,2635,2090,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3684,-1.13,-97.7,259.3,-6.9,158,3691,0.00,2.65,0.00,0.000,4,0.000,0.039,2623,3749,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3884,-1.13,-97.7,271.4,-6.7,161,3891,0.00,2.45,0.00,0.000,6,0.000,0.021,2623,2095,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4225,-1.13,-97.7,292.1,-5.6,167,4231,0.00,2.65,0.00,0.000,4,0.000,0.040,2611,3742,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4364,-1.13,-97.7,299.0,-5.7,169,4371,0.00,2.47,0.00,0.000,6,0.000,0.020,2611,2088,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4705,-1.13,-97.7,320.0,-6.0,175,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2088,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5004,-1.13,-97.7,343.2,-8.0,180,5011,0.00,2.65,0.00,0.000,4,0.000,0.040,2599,3747,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5173,-1.13,-97.7,354.6,-9.0,182,5183,0.12,2.47,0.00,0.000,6,0.146,0.021,2632,2085,2721,0,0,0,0,0,0,26.15,26.50,28.83
$GC,5485,-1.16,-97.7,385.7,-8.3,188,5491,0.00,2.62,0.00,0.000,4,0.000,0.040,2621,3748,2720,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5784,-1.16,-97.7,409.7,-8.0,193,5791,0.00,2.47,0.00,0.000,6,0.000,0.021,2621,2105,2720,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6145,-1.19,-97.7,433.3,-6.3,199,6151,0.00,2.60,0.00,0.000,4,0.000,0.041,2609,3749,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6213,-1.19,-97.7,437.0,-6.1,200,6221,0.00,2.47,0.00,0.000,6,0.000,0.021,2609,2093,2719,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6565,-1.19,-97.7,459.0,-6.1,206,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2093,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,-1.19,-97.7,480.8,-7.5,211,6872,0.00,2.67,0.00,0.000,4,0.000,0.041,2597,3752,2717,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6984,-1.19,-97.7,490.6,-7.9,213,6991,0.00,2.47,0.00,0.000,6,0.000,0.021,2596,2096,2717,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7345,-1.19,-97.7,519.0,-7.9,217,7351,0.00,2.67,0.00,0.000,4,0.000,0.041,2585,3746,2716,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7513,-1.19,-97.7,528.5,-7.8,218,7522,0.12,2.47,0.00,0.000,6,0.148,0.021,2617,2093,2716,0,0,0,0,0,0,26.13,26.48,28.83
$GC,7824,-1.19,-97.7,554.8,-7.5,221,7831,0.00,2.45,0.00,0.000,4,0.000,0.039,2618,542,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7884,-1.19,-97.7,554.8,-7.5,221,7891,0.00,2.53,0.00,0.000,6,0.000,0.024,2607,2187,2715,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8305,-1.21,-97.7,589.3,-7.2,225,8311,0.00,2.47,0.00,0.000,4,0.000,0.042,2595,3754,2716,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8443,-1.21,-97.7,599.0,-7.4,226,8450,0.00,2.47,0.00,0.000,6,0.000,0.021,2595,2105,2714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8785,-1.21,-97.7,628.2,-8.1,229,8791,0.00,2.65,0.00,0.000,4,0.000,0.041,2583,3749,2712,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9013,-1.21,-97.7,638.4,-8.2,230,9022,0.00,2.47,0.00,0.000,6,0.000,0.021,2583,2104,2712,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9385,-1.21,-97.7,673.9,-7.4,234,9392,0.00,2.65,0.00,0.000,4,0.000,0.041,2571,3751,2711,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9493,-1.21,-97.7,673.9,-7.4,234,9503,0.15,2.47,0.00,0.000,6,0.142,0.022,2611,2101,2710,0,0,0,0,0,0,26.03,26.46,28.83
$GC,9865,-1.24,-97.7,704.9,-6.4,238,9871,0.00,2.67,0.00,0.000,4,0.000,0.042,2601,3752,2709,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10014,-1.27,-97.7,713.7,-6.6,239,10022,0.00,2.45,0.00,0.000,6,0.000,0.022,2600,2110,2709,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10344,-1.31,-97.7,741.2,-7.6,242,10352,0.00,2.62,0.00,0.000,4,0.000,0.041,2588,3744,2708,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10413,-1.35,-97.7,741.2,-7.6,242,10421,0.00,2.47,0.00,0.000,6,0.000,0.022,2589,2103,2708,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10825,-1.38,-97.7,777.3,-7.5,246,10832,0.00,2.65,0.00,0.000,4,0.000,0.041,2577,3749,2707,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10944,-1.40,-97.7,786.4,-7.5,247,10951,0.00,2.45,0.00,0.000,6,0.000,0.022,2577,2109,2707,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11305,-1.40,-97.7,814.0,-7.6,250,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2109,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11664,-1.40,-97.7,845.4,-8.5,253,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2109,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12024,-1.40,-97.7,878.7,-9.3,256,12032,0.00,2.67,0.00,0.000,4,0.000,0.042,2565,3748,2703,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12224,-1.40,-97.7,889.1,-9.1,257,12231,0.00,2.50,0.00,0.000,6,0.000,0.023,2565,2103,2703,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12624,-1.40,-97.7,925.0,-7.4,261,12631,0.00,2.67,0.00,0.000,4,0.000,0.042,2553,3748,2701,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12923,-1.40,-97.7,942.9,-7.3,263,12931,0.00,2.50,0.00,0.000,6,0.000,0.023,2553,2103,2700,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13344,-1.40,-97.7,981.7,-8.1,267,13351,0.00,2.65,0.00,0.000,4,0.000,0.043,2541,3748,2700,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,13461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13461,begin apogee
$GC,13472,-0.29,0.0,992.5,-8.5,268,13564,1.17,0.05,86.05,1.663,6,0.135,0.131,2900,1623,2319,0,0,0,0,0,0,25.07,24.72,23.01
$STATE,13566,end apogee,CONTROL_FINISHED_OK
$STATE,13566,begin climb
$GC,13570,1.26,97.7,997.2,0.0,273,13666,1.45,0.00,92.43,1.655,6,0.067,0.000,3407,1623,1920,0,0,0,0,0,0,25.20,28.83,23.00
$GC,14006,1.13,98.8,976.4,6.6,290,14012,0.17,2.00,0.00,0.000,4,0.168,0.047,3371,355,1909,0,0,0,0,0,0,25.87,26.10,28.83
$GC,14094,1.00,99.8,976.4,6.6,290,14101,0.17,1.95,0.00,0.000,6,0.164,0.024,3327,1654,1907,0,0,0,0,0,0,25.84,26.35,28.83
$GC,14485,0.94,108.6,946.2,6.3,294,14501,0.00,2.55,7.93,1.421,4,0.000,0.037,3327,3210,1878,0,0,0,0,0,0,28.83,26.18,24.01
$GC,14554,0.89,117.5,946.2,6.3,294,14573,0.15,2.55,10.10,1.473,6,0.150,0.030,3292,1586,1842,0,0,0,0,0,0,25.81,26.22,23.96
$GC,14964,0.90,124.8,915.9,6.3,298,14974,0.00,0.00,7.85,1.416,6,0.000,0.000,3292,1585,1812,0,0,0,0,0,0,28.83,28.83,24.04
$GC,15325,0.92,140.3,894.5,5.9,301,15346,0.00,2.70,15.98,1.544,4,0.000,0.035,3292,3210,1746,0,0,0,0,0,0,28.83,25.91,24.01
$GC,15494,0.94,153.7,887.2,6.0,302,15513,0.00,2.58,13.50,1.516,6,0.000,0.029,3302,1581,1692,0,0,0,0,0,0,28.83,26.13,23.90
$GC,15915,0.94,153.7,850.9,7.6,306,15916,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1581,1689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16275,0.96,153.7,823.7,7.6,309,16282,0.00,1.98,0.00,0.000,4,0.000,0.049,3312,350,1688,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16334,0.98,153.7,823.7,7.6,309,16341,0.00,1.95,0.00,0.000,6,0.000,0.025,3312,1649,1688,0,0,0,0,0,0,28.83,26.47,28.83
$GC,16755,0.98,153.7,791.2,6.8,313,16762,0.00,2.10,0.00,0.000,4,0.000,0.048,3322,354,1686,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16834,0.98,153.7,791.2,6.8,313,16842,0.00,1.95,0.00,0.000,6,0.000,0.025,3322,1652,1686,0,0,0,0,0,0,28.83,26.49,28.83
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$STATE,25933,end climb,SURFACE_DEPTH_REACHED
$STATE,25934,begin surface coast
$FINISH,1.1,1.025531
$STATE,25965,end surface coast,CONTROL_FINISHED_OK
$STATE,25965,begin surface
$SM_CCo,25988,47.17,0.125,0,0,1093,300.00
$SM_GC,2.09,8.45,0.80,47.17,0.033,0.034,0.125,154,2190,1093,-8.84,-0.62,300.00,0,0,0,0,0,0,26.36,26.42,25.27
$IRIDIUM_FIX,2432.32,-3758.11,110113,080844
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.85
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7624704
$TM_FREEKB,5002848
$24V_AH,23.0,67.320
$10V_AH,9.8,58.756
$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,22.300,217.575,274.300,47.175,0.000,56.348,88.360,191.797,0.000,0.000,19.453,2311.884,20872.238,728.255,2269.646,516.800,33.268,1750.524,0.000,1814.219,0.000,0.535,0.000
$DEVICE_MAMPS,189.720,130.815,1663.110,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.781,13.476,0.000,0.000
$MEM,344372
$DATA_FILE_SIZE,13437,521
$CAP_FILE_SIZE,193984,0
$CFSIZE,260034560,216236032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110113,154704,2433.909,-3800.801,38,0.8,38,-14.0