version: 66.11
glider: 189
mission: 7
dive: 83
start: 10 7 112 6 14 34
data:
$ID,189
$MISSION,7
$DIVE,83
$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,-47227.398
$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
$GPS1,071012,060504,2425.516,-3752.555,30,0.9,30,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-63.5
$GPS2,071012,061335,2425.499,-3752.594,18,1.1,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.156,0.130
$KALMAN_X,13641.0,-47.0,-72.1,2142.8,580.8
$KALMAN_Y,78993.5,237.0,179.0,-98152.9,239.8
$MHEAD_RNG_PITCHd_Wd,323.8,22335,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-22.50,0.000,2,0.000,0.000,160,1835,1772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.1,0.0,2,106,9.75,0.00,-40.83,0.000,6,0.208,0.000,2721,1835,2918,0,0,0,0,0,0,25.87,28.83,26.67
$GC,407,-0.70,-146.6,36.6,-12.0,38,409,0.17,0.00,0.00,0.000,6,0.155,0.000,2770,1836,2920,0,0,0,0,0,0,26.19,28.83,28.83
$GC,706,-0.60,-146.6,62.2,-7.7,68,716,0.12,2.50,0.00,0.000,4,0.151,0.038,2795,3452,2920,0,0,0,0,0,0,26.41,26.44,28.83
$GC,856,-0.56,-146.6,72.7,-7.1,83,865,0.00,2.45,0.00,0.000,6,0.000,0.023,2794,1822,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1167,-0.51,-146.6,91.3,-5.9,96,1175,0.15,2.28,0.00,0.000,4,0.132,0.042,2840,350,2921,0,0,0,0,0,0,26.46,26.51,28.83
$GC,1235,-0.46,-146.6,94.8,-6.0,98,1240,0.00,2.30,0.00,0.000,6,0.000,0.024,2830,1889,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1547,-0.46,-146.6,111.0,-4.6,109,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1847,-0.46,-146.6,123.9,-4.4,119,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2147,-0.46,-146.6,137.3,-4.7,129,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1886,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,-0.46,-146.6,154.4,-5.4,139,2485,0.00,2.42,0.00,0.000,4,0.000,0.038,2818,3464,2922,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2616,-0.46,-146.6,160.5,-5.3,141,2621,0.12,2.45,0.00,0.000,6,0.128,0.023,2856,1824,2921,0,0,0,0,0,0,26.48,26.67,28.83
$GC,2949,-0.52,-146.6,174.9,-3.8,147,2957,0.00,2.53,0.00,0.000,4,0.000,0.038,2845,3458,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3048,-0.57,-146.6,177.4,-4.0,148,3052,0.00,2.45,0.00,0.000,6,0.000,0.023,2845,1821,2921,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3360,-0.61,-146.6,196.4,-5.6,154,3362,0.12,0.00,0.00,0.000,6,0.080,0.000,2770,1820,2920,0,0,0,0,0,0,26.79,28.83,28.83
$GC,3660,-0.57,-146.6,216.8,-6.8,159,3661,0.15,0.00,0.00,0.000,6,0.129,0.000,2815,1821,2919,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3960,-0.57,-146.6,232.7,-5.2,164,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1820,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4259,-0.57,-146.6,245.8,-4.2,169,4267,0.00,2.30,0.00,0.000,4,0.000,0.043,2816,351,2918,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4368,-0.57,-146.6,248.3,-4.1,170,4373,0.00,2.30,0.00,0.000,6,0.000,0.024,2805,1890,2915,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4670,-0.57,-146.6,262.1,-4.0,175,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1890,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.57,-146.6,279.8,-6.1,180,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1890,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.57,-146.6,301.2,-7.2,185,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1890,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-0.57,-146.6,321.0,-6.5,190,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1890,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,-0.57,-146.6,338.5,-5.7,195,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1890,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,-0.59,-146.6,353.3,-4.9,200,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1890,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6470,-0.61,-146.6,368.3,-5.1,205,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1890,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,-0.64,-146.6,385.7,-5.9,210,6778,0.00,2.42,0.00,0.000,4,0.000,0.043,2805,352,2909,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6858,-0.64,-146.6,389.7,-6.1,211,6862,0.00,2.30,0.00,0.000,6,0.000,0.025,2794,1883,2909,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7179,-0.64,-146.6,412.3,-6.4,217,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1883,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-0.64,-146.6,429.0,-5.5,222,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1883,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7779,-0.64,-146.6,441.7,-4.2,227,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1883,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,-0.66,-146.6,455.1,-4.6,232,8088,0.00,2.40,0.00,0.000,4,0.000,0.044,2794,354,2906,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8179,-0.66,-146.6,458.4,-4.9,233,8183,0.00,2.33,0.00,0.000,6,0.000,0.026,2783,1893,2905,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8490,-0.66,-146.6,479.1,-6.0,239,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1893,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8791,-0.66,-146.6,497.4,-6.1,244,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1893,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9090,-0.66,-146.6,515.5,-6.1,247,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1893,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9450,-0.66,-146.6,537.5,-6.1,250,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1893,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9810,-0.66,-146.6,559.9,-6.3,253,9814,0.00,2.45,0.00,0.000,4,0.000,0.044,2783,353,2900,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9880,-0.66,-146.6,559.9,-6.3,253,9885,0.00,2.33,0.00,0.000,6,0.000,0.026,2774,1888,2900,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10271,-0.66,-146.6,588.7,-6.2,257,10276,0.00,2.45,0.00,0.000,4,0.000,0.045,2773,345,2900,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10362,-0.66,-146.6,588.7,-6.2,257,10366,0.00,2.33,0.00,0.000,6,0.000,0.025,2764,1882,2900,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10733,-0.66,-146.6,622.7,-7.4,261,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1882,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11093,-0.66,-146.6,648.8,-7.3,264,11101,0.00,2.42,0.00,0.000,4,0.000,0.045,2763,354,2898,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11172,-0.66,-146.6,648.8,-7.3,264,11177,0.12,2.33,0.00,0.000,6,0.143,0.026,2788,1888,2898,0,0,0,0,0,0,26.39,26.65,28.83
$GC,11564,-0.69,-146.6,680.2,-6.6,268,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1887,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11924,-0.72,-146.6,704.2,-6.6,271,11932,0.00,2.45,0.00,0.000,4,0.000,0.046,2788,349,2895,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12033,-0.76,-146.6,704.2,-6.6,271,12037,0.00,2.33,0.00,0.000,6,0.000,0.026,2779,1884,2895,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12394,-0.80,-146.6,734.2,-6.5,274,12403,0.12,2.42,0.00,0.000,4,0.083,0.045,2713,355,2894,0,0,0,0,0,0,26.78,26.47,28.83
$GC,12483,-0.83,-146.6,734.2,-6.5,274,12488,0.12,2.33,0.00,0.000,6,0.149,0.026,2735,1886,2894,0,0,0,0,0,0,26.34,26.63,28.83
$GC,12865,-0.83,-146.6,764.1,-6.3,278,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1887,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13226,-0.83,-146.6,785.5,-5.9,281,13234,0.00,2.45,0.00,0.000,4,0.000,0.046,2736,353,2893,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13345,-0.81,-146.6,793.9,-6.2,282,13353,0.00,2.33,0.00,0.000,6,0.000,0.026,2726,1879,2892,0,0,0,0,0,0,28.83,26.63,28.83
$GC,13705,-0.79,-146.6,816.1,-6.3,285,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1882,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14066,-0.77,-146.6,838.6,-6.2,288,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1882,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14425,-0.77,-146.6,865.6,-7.2,291,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1882,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14785,-0.77,-146.6,894.9,-8.1,294,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1883,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15145,-0.77,-146.6,924.9,-8.3,297,15149,0.00,2.45,0.00,0.000,4,0.000,0.047,2726,355,2887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15246,-0.77,-146.6,924.9,-8.3,297,15251,0.12,2.33,0.00,0.000,6,0.147,0.028,2749,1880,2888,0,0,0,0,0,0,26.31,26.59,28.83
$GC,15606,-0.77,-146.6,956.1,-7.1,300,15607,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1880,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15966,-0.77,-146.6,973.0,-4.9,303,15974,0.00,2.45,0.00,0.000,4,0.000,0.047,2750,354,2885,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16046,-0.77,-146.6,973.0,-4.9,303,16050,0.00,2.35,0.00,0.000,6,0.000,0.028,2740,1889,2885,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,16316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16316,begin apogee
$GC,16320,-0.29,0.0,990.4,-4.8,306,16447,0.47,0.00,120.35,1.729,6,0.109,0.000,2902,1836,2319,0,0,0,0,0,0,26.10,28.83,23.78
$STATE,16448,end apogee,CONTROL_FINISHED_OK
$STATE,16448,begin climb
$GC,16450,0.86,146.6,992.0,0.0,307,16584,1.05,0.00,129.80,1.684,6,0.070,0.000,3271,1837,1720,0,0,0,0,0,0,25.00,28.83,23.56
$GC,16918,0.73,146.6,952.4,9.7,311,16920,0.15,0.00,0.00,0.000,6,0.156,0.000,3232,1836,1713,0,0,0,0,0,0,25.82,28.83,28.83
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$STATE,29969,end climb,SURFACE_DEPTH_REACHED
$STATE,29969,begin surface coast
$FINISH,0.8,0.998948
$STATE,30010,end surface coast,CONTROL_FINISHED_OK
$STATE,30010,begin surface
$SM_CCo,30028,6.65,0.148,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,52.91
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$TCM_TEMP,24.90
$XPDR_PINGS,3
$SC_FREEKB,7738016
$TM_FREEKB,7165568
$24V_AH,23.6,16.868
$10V_AH,10.4,15.218
$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
$DEVICE_SECS,21.775,139.375,366.200,6.650,0.000,25.010,36.854,231.282,0.750,0.000,19.671,1980.834,25949.803,640.264,1730.384,237.870,33.257,1396.396,0.000,1293.278,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.900,13.491,0.000,0.000
$MEM,344452
$DATA_FILE_SIZE,16761,581
$CAP_FILE_SIZE,188523,0
$CFSIZE,260034560,245821440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071012,143622,2427.648,-3755.765,39,0.8,39,-14.0