version: 66.11
glider: 189
mission: 7
dive: 81
start: 10 6 112 13 11 59
data:
$ID,189
$MISSION,7
$DIVE,81
$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,-47224.883
$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
$GPS1,061012,130259,2419.956,-3747.040,40,0.8,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-57.4
$GPS2,061012,131100,2420.010,-3747.037,18,2.0,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.152,0.134
$KALMAN_X,12781.8,176.9,-65.2,12130.6,70.1
$KALMAN_Y,77923.5,44.7,-137.6,-106728.8,677.6
$MHEAD_RNG_PITCHd_Wd,325.2,36145,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-32.05,0.000,2,0.000,0.000,159,1826,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.3,-4.3,3,96,10.02,0.00,-25.77,0.000,6,0.219,0.000,2715,1826,2919,0,0,0,0,0,0,25.85,28.83,26.65
$GC,396,-0.69,-146.6,38.5,-12.6,37,398,0.20,0.00,0.00,0.000,6,0.145,0.000,2773,1826,2922,0,0,0,0,0,0,26.15,28.83,28.83
$GC,695,-0.61,-146.6,71.5,-9.3,67,705,0.12,2.53,0.00,0.000,4,0.150,0.037,2799,3453,2923,0,0,0,0,0,0,26.41,26.44,28.83
$GC,914,-0.56,-146.6,82.9,-4.7,78,918,0.00,2.45,0.00,0.000,6,0.000,0.023,2798,1823,2923,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1226,-0.52,-146.6,103.2,-6.1,89,1228,0.12,0.00,0.00,0.000,6,0.137,0.000,2836,1823,2923,0,0,0,0,0,0,26.52,28.83,28.83
$GC,1526,-0.52,-146.6,119.7,-5.7,99,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1822,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.52,-146.6,138.1,-6.2,109,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1822,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2126,-0.52,-146.6,153.1,-4.5,118,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1822,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2426,-0.52,-146.6,167.8,-5.1,123,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1822,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2726,-0.54,-146.6,185.2,-6.0,128,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1822,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3029,-0.57,-146.6,200.6,-4.8,133,3034,0.00,2.25,0.00,0.000,4,0.000,0.044,2835,345,2923,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3225,-0.57,-146.6,209.5,-4.8,136,3229,0.00,2.30,0.00,0.000,6,0.000,0.024,2826,1888,2923,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3556,-0.60,-146.6,225.8,-4.7,142,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1888,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3856,-0.62,-146.6,242.9,-5.8,147,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1888,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4157,-0.65,-146.6,257.1,-4.5,152,4165,0.12,2.40,0.00,0.000,4,0.080,0.042,2752,347,2920,0,0,0,0,0,0,26.80,26.58,28.83
$GC,4255,-0.65,-146.6,260.8,-4.6,153,4260,0.17,2.30,0.00,0.000,6,0.134,0.024,2792,1888,2920,0,0,0,0,0,0,26.39,26.70,28.83
$GC,4567,-0.65,-146.6,279.3,-5.2,159,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1888,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-0.65,-146.6,296.2,-5.6,164,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1888,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,-0.65,-146.6,309.1,-4.2,169,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1888,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,-0.65,-146.6,326.4,-6.0,174,5475,0.00,2.42,0.00,0.000,4,0.000,0.043,2793,348,2916,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5576,-0.65,-146.6,330.6,-6.4,175,5580,0.00,2.30,0.00,0.000,6,0.000,0.024,2783,1885,2916,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5877,-0.65,-146.6,351.1,-5.4,180,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1886,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6177,-0.65,-146.6,365.7,-5.0,185,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1886,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6477,-0.65,-146.6,387.1,-7.4,190,6484,0.00,2.42,0.00,0.000,4,0.000,0.043,2783,346,2913,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6545,-0.65,-146.6,392.0,-7.6,191,6550,0.00,2.33,0.00,0.000,6,0.000,0.024,2772,1896,2913,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6887,-0.65,-146.6,415.9,-6.5,197,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1896,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7187,-0.65,-146.6,431.8,-5.2,202,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1896,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,-0.65,-146.6,447.0,-5.2,207,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1896,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7787,-0.65,-146.6,465.5,-6.3,212,7794,0.00,2.45,0.00,0.000,4,0.000,0.044,2772,348,2910,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7896,-0.65,-146.6,470.1,-6.8,213,7900,0.00,2.33,0.00,0.000,6,0.000,0.025,2762,1890,2908,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8197,-0.65,-146.6,497.6,-7.8,218,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1890,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8497,-0.65,-146.6,517.6,-6.8,221,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1890,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8857,-0.65,-146.6,541.7,-6.6,224,8864,0.00,2.45,0.00,0.000,4,0.000,0.044,2762,346,2904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8986,-0.65,-146.6,551.1,-7.0,225,8991,0.12,2.33,0.00,0.000,6,0.142,0.025,2784,1885,2905,0,0,0,0,0,0,26.41,26.67,28.83
$GC,9328,-0.65,-146.6,573.1,-6.6,228,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1886,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9689,-0.68,-146.6,594.9,-6.0,231,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1886,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10049,-0.70,-146.6,617.9,-6.3,234,10057,0.00,2.45,0.00,0.000,4,0.000,0.045,2787,342,2902,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10227,-0.73,-146.6,626.3,-6.5,235,10231,0.00,2.33,0.00,0.000,6,0.000,0.025,2777,1884,2901,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10639,-0.73,-146.6,656.4,-6.4,239,10646,0.00,2.42,0.00,0.000,4,0.000,0.046,2778,354,2901,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10747,-0.73,-146.6,656.4,-6.4,239,10752,0.00,2.33,0.00,0.000,6,0.000,0.025,2768,1890,2900,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11108,-0.73,-146.6,686.7,-6.5,242,11113,0.00,2.45,0.00,0.000,4,0.000,0.041,2756,3455,2900,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11200,-0.73,-146.6,686.7,-6.5,242,11208,0.00,2.47,0.00,0.000,6,0.000,0.025,2756,1828,2900,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11580,-0.73,-146.6,716.5,-6.3,246,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1828,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11939,-0.73,-146.6,742.1,-7.0,249,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1828,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12299,-0.73,-146.6,766.1,-6.8,252,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1828,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12659,-0.73,-146.6,789.2,-6.4,255,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1828,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13020,-0.73,-146.6,812.9,-6.6,258,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1828,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13379,-0.73,-146.6,834.5,-6.1,261,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1828,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13740,-0.73,-146.6,853.4,-5.3,264,13747,0.00,2.38,0.00,0.000,4,0.000,0.048,2762,345,2894,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13829,-0.73,-146.6,853.4,-5.3,264,13833,0.00,2.35,0.00,0.000,6,0.000,0.027,2746,1888,2894,0,0,0,0,0,0,28.83,26.61,28.83
$GC,14210,-0.73,-146.6,883.0,-6.3,268,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1888,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14570,-0.73,-146.6,907.9,-6.9,271,14572,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1888,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14930,-0.73,-146.6,932.1,-6.8,274,14938,0.00,2.47,0.00,0.000,4,0.000,0.048,2746,349,2892,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15029,-0.73,-146.6,932.1,-6.8,274,15034,0.12,2.35,0.00,0.000,6,0.146,0.027,2770,1890,2890,0,0,0,0,0,0,26.31,26.60,28.83
$GC,15402,-0.76,-146.6,961.9,-6.2,278,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1890,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15762,-0.80,-146.6,983.1,-5.9,281,15770,0.00,2.47,0.00,0.000,4,0.000,0.048,2770,352,2889,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,15880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15880,begin apogee
$GC,15887,-0.29,0.0,990.8,-6.0,282,16012,0.43,0.05,120.90,1.727,6,0.108,0.133,2906,1843,2319,0,0,0,0,0,0,26.15,24.72,23.78
$STATE,16013,end apogee,CONTROL_FINISHED_OK
$STATE,16014,begin climb
$GC,16015,0.86,146.6,993.7,0.0,283,16149,1.05,0.00,129.82,1.697,6,0.070,0.000,3272,1843,1721,0,0,0,0,0,0,24.96,28.83,23.56
$GC,16472,0.72,146.6,956.8,9.6,287,16481,0.15,2.42,0.00,0.000,4,0.151,0.050,3243,362,1713,0,0,0,0,0,0,25.82,25.91,28.83
$GC,16542,0.59,146.6,956.8,9.6,287,16550,0.17,2.38,0.00,0.000,6,0.142,0.027,3193,1884,1712,0,0,0,0,0,0,25.84,26.08,28.83
$GC,16952,0.53,146.6,921.5,7.3,291,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1884,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17312,0.49,146.6,897.1,6.8,294,17313,0.12,0.00,0.00,0.000,6,0.148,0.000,3157,1884,1710,0,0,0,0,0,0,26.30,28.83,28.83
$GC,17672,0.47,146.6,875.3,6.2,297,17673,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1885,1708,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29649,end climb,SURFACE_DEPTH_REACHED
$STATE,29649,begin surface coast
$FINISH,0.9,1.024517
$STATE,29690,end surface coast,CONTROL_FINISHED_OK
$STATE,29690,begin surface
$SM_CCo,29708,8.90,0.145,0,0,1095,300.00
$SM_GC,2.76,8.00,0.08,8.90,0.032,0.115,0.145,161,1839,1095,-8.84,0.79,300.00,0,0,0,0,0,0,26.63,26.74,26.23
$IRIDIUM_FIX,2406.29,-3756.02,061012,060607
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.36
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.90
$XPDR_PINGS,5
$SC_FREEKB,7738784
$TM_FREEKB,7185024
$24V_AH,23.6,16.508
$10V_AH,10.3,14.906
$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,22.275,134.300,335.050,8.900,0.000,28.283,46.115,210.180,1.250,0.000,19.307,1925.534,25768.764,609.624,1684.311,208.046,33.261,1350.944,0.000,1267.630,0.000,0.539,0.000
$DEVICE_MAMPS,218.790,133.110,1726.605,144.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29605.000,5619.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.856,13.505,0.000,0.000
$MEM,344472
$DATA_FILE_SIZE,13433,556
$CAP_FILE_SIZE,181221,0
$CFSIZE,260034560,246046720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061012,212828,2422.408,-3749.876,38,0.8,38,-14.0