version: 66.11
glider: 189
mission: 7
dive: 94
start: 10 10 112 23 27 52
data:
$ID,189
$MISSION,7
$DIVE,94
$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,-47241.234
$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
$GPS1,101012,231904,2438.439,-3817.759,31,1.1,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-57.6
$GPS2,101012,232653,2438.429,-3817.835,18,1.2,18,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,-0.202
$KALMAN_X,15610.0,-257.8,-322.3,-41850.9,752.7
$KALMAN_Y,91912.2,411.1,-150.0,-86962.0,1371.4
$MHEAD_RNG_PITCHd_Wd,198.4,33247,-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,-146.6,0.0,0.0,0,45,0.00,0.00,-21.70,0.000,2,0.000,0.000,160,1839,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.0,0.0,2,126,9.23,2.38,-58.55,0.000,4,0.186,0.057,2726,359,2918,0,0,0,0,0,0,26.01,26.25,26.69
$GC,355,-0.66,-146.6,17.7,-13.2,33,365,0.25,2.30,0.00,0.000,6,0.136,0.024,2788,1886,2918,0,0,0,0,0,0,26.05,26.45,28.83
$GC,665,-0.58,-146.6,49.0,-9.0,64,674,0.00,2.42,0.00,0.000,4,0.000,0.041,2788,348,2918,0,0,0,0,0,0,28.83,26.39,28.83
$GC,905,-0.49,-146.6,70.0,-8.4,88,914,0.20,2.30,0.00,0.000,6,0.125,0.024,2839,1889,2920,0,0,0,0,0,0,26.26,26.57,28.83
$GC,1235,-0.49,-146.6,87.0,-4.9,105,1242,0.00,2.42,0.00,0.000,4,0.000,0.041,2837,348,2920,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1465,-0.47,-146.6,98.0,-5.3,112,1474,0.00,2.30,0.00,0.000,6,0.000,0.024,2830,1890,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1775,-0.47,-146.6,115.5,-5.3,123,1782,0.00,2.42,0.00,0.000,4,0.000,0.041,2830,341,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1975,-0.45,-146.6,126.2,-6.0,129,1985,0.12,2.33,0.00,0.000,6,0.133,0.023,2856,1902,2921,0,0,0,0,0,0,26.43,26.66,28.83
$GC,2286,-0.49,-146.6,144.0,-5.1,140,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1902,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,-0.53,-146.6,156.4,-3.5,148,2623,0.00,2.38,0.00,0.000,4,0.000,0.038,2846,3450,2920,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2744,-0.58,-146.6,160.4,-3.3,150,2749,0.00,2.45,0.00,0.000,6,0.000,0.022,2846,1817,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3086,-0.61,-146.6,171.5,-3.1,156,3095,0.12,2.55,0.00,0.000,4,0.083,0.037,2762,3452,2920,0,0,0,0,0,0,26.77,26.57,28.83
$GC,3245,-0.61,-146.6,178.1,-4.2,158,3250,0.15,2.45,0.00,0.000,6,0.129,0.023,2806,1818,2920,0,0,0,0,0,0,26.41,26.65,28.83
$GC,3560,-0.61,-146.6,200.3,-6.3,164,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1818,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3858,-0.61,-146.6,216.4,-5.3,169,3865,0.00,2.30,0.00,0.000,4,0.000,0.042,2807,347,2918,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3966,-0.61,-146.6,220.0,-5.3,170,3970,0.00,2.30,0.00,0.000,6,0.000,0.024,2797,1888,2918,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4267,-0.61,-146.6,242.0,-6.5,175,4275,0.00,2.42,0.00,0.000,4,0.000,0.041,2797,342,2917,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4466,-0.61,-146.6,255.7,-7.5,178,4470,0.00,2.33,0.00,0.000,6,0.000,0.023,2786,1900,2917,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4797,-0.61,-146.6,280.5,-6.9,184,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1901,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5098,-0.61,-146.6,298.0,-5.7,189,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1901,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5398,-0.61,-146.6,313.0,-5.0,194,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1901,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5698,-0.61,-146.6,329.1,-5.4,199,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1901,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,-0.61,-146.6,345.7,-5.6,204,6005,0.00,2.45,0.00,0.000,4,0.000,0.043,2786,348,2912,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6136,-0.61,-146.6,354.3,-6.5,206,6141,0.00,2.33,0.00,0.000,6,0.000,0.024,2774,1893,2912,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6467,-0.61,-146.6,381.8,-8.0,212,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1894,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6768,-0.61,-146.6,406.0,-8.0,217,6775,0.00,2.42,0.00,0.000,4,0.000,0.040,2764,3450,2909,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6927,-0.61,-146.6,415.0,-7.8,219,6932,0.12,2.45,0.00,0.000,6,0.129,0.024,2800,1826,2909,0,0,0,0,0,0,26.44,26.65,28.83
$GC,7240,-0.64,-146.6,434.0,-4.7,225,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1825,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,-0.67,-146.6,443.7,-3.1,230,7547,0.00,2.33,0.00,0.000,4,0.000,0.044,2800,351,2907,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7628,-0.69,-146.6,445.6,-2.9,231,7633,0.00,2.33,0.00,0.000,6,0.000,0.024,2791,1897,2907,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7950,-0.69,-146.6,458.6,-4.1,237,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1898,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8250,-0.69,-146.6,478.5,-6.9,242,8257,0.00,2.45,0.00,0.000,4,0.000,0.044,2791,348,2905,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8329,-0.69,-146.6,483.6,-7.5,243,8333,0.00,2.33,0.00,0.000,6,0.000,0.024,2781,1892,2904,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8660,-0.69,-146.6,510.1,-7.4,248,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1892,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9020,-0.69,-146.6,531.6,-6.2,251,9027,0.00,2.45,0.00,0.000,4,0.000,0.044,2780,348,2902,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9130,-0.69,-146.6,531.6,-6.2,251,9139,0.00,2.33,0.00,0.000,6,0.000,0.024,2770,1890,2901,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9500,-0.69,-146.6,560.9,-6.1,255,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1889,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9860,-0.69,-146.6,581.2,-5.7,258,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1890,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10220,-0.69,-146.6,603.7,-6.1,261,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1889,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10580,-0.69,-146.6,625.7,-6.2,264,10584,0.00,2.45,0.00,0.000,4,0.000,0.044,2770,351,2898,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10670,-0.69,-146.6,625.7,-6.2,264,10674,0.00,2.33,0.00,0.000,6,0.000,0.024,2759,1889,2900,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11042,-0.69,-146.6,653.1,-5.9,268,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1889,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11401,-0.69,-146.6,676.0,-6.2,271,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1889,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11761,-0.69,-146.6,703.5,-7.4,274,11769,0.00,2.45,0.00,0.000,4,0.000,0.045,2759,354,2895,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11870,-0.69,-146.6,703.5,-7.4,274,11874,0.00,2.33,0.00,0.000,6,0.000,0.024,2748,1888,2894,0,0,0,0,0,0,28.83,26.63,28.83
$GC,12231,-0.69,-146.6,739.0,-7.7,277,12233,0.12,0.00,0.00,0.000,6,0.144,0.000,2783,1888,2894,0,0,0,0,0,0,26.55,28.83,28.83
$GC,12592,-0.71,-146.6,756.5,-5.3,280,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1889,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12952,-0.75,-146.6,772.6,-4.4,283,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1889,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13312,-0.79,-146.6,791.7,-5.2,286,13314,0.12,0.00,0.00,0.000,6,0.084,0.000,2721,1889,2890,0,0,0,0,0,0,26.76,28.83,28.83
$GC,13671,-0.79,-146.6,816.9,-6.7,289,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1889,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14031,-0.77,-146.6,843.4,-7.2,292,14040,0.12,2.47,0.00,0.000,4,0.141,0.047,2757,344,2889,0,0,0,0,0,0,26.54,26.40,28.83
$GC,14102,-0.74,-146.6,843.4,-7.2,292,14109,0.00,2.33,0.00,0.000,6,0.000,0.026,2746,1885,2889,0,0,0,0,0,0,28.83,26.60,28.83
$GC,14511,-0.74,-146.6,879.6,-7.5,296,14519,0.00,2.45,0.00,0.000,4,0.000,0.047,2747,354,2888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14631,-0.74,-146.6,890.7,-8.0,297,14635,0.00,2.33,0.00,0.000,6,0.000,0.026,2735,1883,2888,0,0,0,0,0,0,28.83,26.59,28.83
$GC,14982,-0.74,-146.6,922.5,-9.1,300,14983,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1883,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15342,-0.74,-146.6,951.7,-8.3,303,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1883,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15702,-0.74,-146.6,974.6,-6.6,306,15703,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1884,2885,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16060,begin apogee
$GC,16065,-0.29,0.0,994.9,-5.7,309,16191,0.50,0.00,119.93,1.686,6,0.109,0.000,2904,1839,2318,0,0,0,0,0,0,26.05,28.83,23.82
$STATE,16193,end apogee,CONTROL_FINISHED_OK
$STATE,16193,begin climb
$GC,16195,0.86,146.6,996.9,0.0,310,16332,1.08,2.70,128.48,1.654,4,0.071,0.041,3277,3446,1722,0,0,0,0,0,0,25.01,24.60,23.58
$GC,16461,0.95,355.1,979.4,0.0,312,16651,0.00,2.60,181.23,1.633,6,0.000,0.028,3290,1828,871,0,0,0,0,0,0,28.83,25.60,23.49
$GC,17023,0.84,355.1,899.1,14.0,317,17024,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1828,864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17383,0.74,355.1,849.3,13.9,320,17391,0.17,2.38,0.00,0.000,4,0.141,0.050,3250,362,863,0,0,0,0,0,0,26.11,26.21,28.83
$GC,17451,0.64,355.1,849.3,13.9,320,17456,0.15,2.35,0.00,0.000,6,0.133,0.026,3206,1885,862,0,0,0,0,0,0,26.13,26.34,28.83
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$STATE,26611,end climb,SURFACE_DEPTH_REACHED
$STATE,26611,begin surface coast
$FINISH,0.9,1.024595
$STATE,26642,end surface coast,CONTROL_FINISHED_OK
$STATE,26642,begin surface
$SM_CCo,26720,0.00,0.000,0,0,866,356.67
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$IRIDIUM_FIX,2437.06,-3848.48,101012,151509
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.78
$INTERNAL_PRESSURE,9.11433
$TCM_TEMP,24.60
$XPDR_PINGS,6
$SC_FREEKB,7733792
$TM_FREEKB,7069472
$24V_AH,23.5,19.055
$10V_AH,10.4,16.846
$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,21.600,168.100,429.625,0.000,0.000,24.671,39.193,197.256,1.500,0.000,19.648,1960.957,22450.191,759.011,1789.316,222.241,33.267,1580.954,0.000,1389.508,0.000,0.537,0.000
$DEVICE_MAMPS,185.895,145.350,1686.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26548.000,5921.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.811,13.525,0.000,0.000
$MEM,344448
$DATA_FILE_SIZE,13406,532
$CAP_FILE_SIZE,180509,0
$CFSIZE,260034560,244744192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111012,065423,2435.300,-3817.878,40,1.0,40,-14.1