version: 66.11
glider: 189
mission: 7
dive: 98
start: 10 12 112 7 41 34
data:
$ID,189
$MISSION,7
$DIVE,98
$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,-47246.266
$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
$GPS1,121012,073159,2426.079,-3817.258,40,1.1,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-60.8
$GPS2,121012,074035,2426.110,-3817.328,14,1.1,14,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.036,-0.199
$KALMAN_X,13687.1,227.8,78.5,-39977.8,-754.2
$KALMAN_Y,95422.1,-168.3,44.8,-112904.9,1217.8
$MHEAD_RNG_PITCHd_Wd,183.8,10422,-11.8,-6.111,-16.78
$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,-21.60,0.000,2,0.000,0.000,162,1831,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.0,0.0,2,106,9.60,2.30,-41.05,0.000,4,0.200,0.053,2726,350,2918,0,0,0,0,0,0,25.88,26.21,26.64
$GC,335,-0.66,-146.6,29.7,-11.4,31,345,0.25,2.33,0.00,0.000,6,0.142,0.023,2788,1892,2920,0,0,0,0,0,0,26.02,26.42,28.83
$GC,645,-0.60,-146.6,55.1,-7.7,62,654,0.00,2.42,0.00,0.000,4,0.000,0.040,2790,351,2919,0,0,0,0,0,0,28.83,26.39,28.83
$GC,776,-0.51,-146.6,65.6,-8.4,75,785,0.20,2.30,0.00,0.000,6,0.128,0.023,2839,1889,2921,0,0,0,0,0,0,26.22,26.53,28.83
$GC,1095,-0.51,-146.6,84.8,-5.1,95,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1889,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1395,-0.51,-146.6,98.6,-5.0,105,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1893,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1695,-0.51,-146.6,112.4,-3.5,115,1702,0.00,2.42,0.00,0.000,4,0.000,0.041,2839,342,2923,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1794,-0.51,-146.6,115.5,-3.4,118,1798,0.00,2.30,0.00,0.000,6,0.000,0.023,2829,1889,2923,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2106,-0.51,-146.6,129.3,-5.0,129,2113,0.00,2.42,0.00,0.000,4,0.000,0.037,2821,3462,2923,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2184,-0.51,-146.6,132.8,-5.6,131,2189,0.00,2.45,0.00,0.000,6,0.000,0.022,2817,1824,2922,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2515,-0.51,-146.6,161.4,-9.1,140,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1820,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-0.51,-146.6,187.0,-8.3,145,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1824,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,-0.51,-146.6,202.2,-4.7,150,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1824,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,-0.51,-146.6,216.8,-4.9,155,3423,0.00,2.30,0.00,0.000,4,0.000,0.041,2817,352,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3555,-0.51,-146.6,223.8,-5.5,157,3560,0.10,2.30,0.00,0.000,6,0.145,0.024,2835,1893,2921,0,0,0,0,0,0,26.48,26.68,28.83
$GC,3888,-0.54,-146.6,238.7,-4.0,163,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1893,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.59,-146.6,249.1,-3.5,168,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1893,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,-0.63,-146.6,260.4,-3.8,173,4489,0.12,0.00,0.00,0.000,6,0.080,0.000,2762,1893,2919,0,0,0,0,0,0,26.79,28.83,28.83
$GC,4787,-0.59,-146.6,278.4,-6.2,178,4795,0.17,2.42,0.00,0.000,4,0.123,0.041,2815,351,2918,0,0,0,0,0,0,26.49,26.54,28.83
$GC,4866,-0.56,-146.6,282.1,-6.3,179,4871,0.00,2.30,0.00,0.000,6,0.000,0.024,2805,1887,2917,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5198,-0.56,-146.6,303.0,-6.1,185,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1887,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5498,-0.56,-146.6,319.2,-5.3,190,5506,0.00,2.42,0.00,0.000,4,0.000,0.039,2793,3450,2915,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5567,-0.56,-146.6,322.2,-5.2,191,5571,0.00,2.45,0.00,0.000,6,0.000,0.023,2793,1825,2916,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5909,-0.56,-146.6,340.8,-5.4,197,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1825,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6209,-0.56,-146.6,357.9,-5.7,202,6216,0.00,2.33,0.00,0.000,4,0.000,0.043,2794,347,2913,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6298,-0.56,-146.6,361.7,-5.8,203,6303,0.12,2.33,0.00,0.000,6,0.135,0.024,2820,1895,2910,0,0,0,0,0,0,26.44,26.67,28.83
$GC,6620,-0.60,-146.6,382.9,-6.0,209,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1896,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,-0.64,-146.6,401.8,-6.3,214,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1896,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7221,-0.69,-146.6,416.8,-4.8,219,7223,0.12,0.00,0.00,0.000,6,0.079,0.000,2749,1896,2909,0,0,0,0,0,0,26.79,28.83,28.83
$GC,7521,-0.66,-146.6,431.8,-4.9,224,7523,0.12,0.00,0.00,0.000,6,0.135,0.000,2785,1896,2908,0,0,0,0,0,0,26.58,28.83,28.83
$GC,7820,-0.66,-146.6,444.1,-4.2,229,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1896,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8120,-0.66,-146.6,461.2,-5.9,234,8128,0.00,2.45,0.00,0.000,4,0.000,0.043,2785,347,2907,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8209,-0.66,-146.6,465.4,-6.2,235,8213,0.00,2.33,0.00,0.000,6,0.000,0.024,2775,1889,2906,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8530,-0.66,-146.6,491.1,-7.5,241,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1889,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8890,-0.66,-146.6,520.2,-8.1,245,8894,0.00,2.45,0.00,0.000,4,0.000,0.044,2775,342,2905,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9001,-0.66,-146.6,529.5,-8.2,246,9008,0.00,2.33,0.00,0.000,6,0.000,0.024,2764,1885,2904,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9361,-0.66,-146.6,554.0,-7.2,249,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1885,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9721,-0.66,-146.6,570.6,-4.9,252,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1885,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10081,-0.66,-146.6,585.7,-4.2,255,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1885,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10441,-0.66,-146.6,605.9,-5.3,258,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1884,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10801,-0.66,-146.6,630.9,-6.7,261,10808,0.00,2.45,0.00,0.000,4,0.000,0.044,2764,345,2899,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10880,-0.66,-146.6,630.9,-6.7,261,10885,0.12,2.33,0.00,0.000,6,0.139,0.025,2789,1883,2899,0,0,0,0,0,0,26.37,26.63,28.83
$GC,11272,-0.69,-146.6,662.1,-6.6,265,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1883,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11633,-0.73,-146.6,682.0,-5.6,268,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1883,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11992,-0.77,-146.6,701.9,-5.5,271,11994,0.12,0.00,0.00,0.000,6,0.081,0.000,2724,1883,2896,0,0,0,0,0,0,26.77,28.83,28.83
$GC,12352,-0.77,-146.6,724.5,-6.1,274,12359,0.00,2.45,0.00,0.000,4,0.000,0.045,2724,351,2895,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12531,-0.74,-146.6,733.0,-6.4,275,12536,0.17,2.33,0.00,0.000,6,0.137,0.026,2763,1881,2895,0,0,0,0,0,0,26.24,26.60,28.83
$GC,12943,-0.74,-146.6,762.7,-6.2,279,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1881,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13304,-0.76,-146.6,786.5,-6.6,282,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1881,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13664,-0.79,-146.6,808.9,-6.3,285,13671,0.00,2.45,0.00,0.000,4,0.000,0.046,2764,351,2892,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13743,-0.81,-146.6,808.9,-6.3,285,13747,0.00,2.33,0.00,0.000,6,0.000,0.026,2754,1881,2892,0,0,0,0,0,0,28.83,26.59,28.83
$GC,14134,-0.81,-146.6,838.0,-6.2,289,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1881,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14495,-0.81,-146.6,856.6,-5.3,292,14496,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1881,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14854,-0.81,-146.6,874.2,-4.9,295,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1881,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15215,-0.83,-146.6,896.3,-5.8,298,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1882,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15574,-0.85,-146.6,922.0,-7.0,301,15582,0.00,2.45,0.00,0.000,4,0.000,0.047,2754,355,2887,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15713,-0.85,-146.6,931.3,-7.3,302,15717,0.00,2.35,0.00,0.000,6,0.000,0.028,2744,1889,2887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16045,-0.85,-146.6,955.0,-7.0,305,16046,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1889,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16405,-0.85,-146.6,978.2,-6.4,308,16412,0.00,2.47,0.00,0.000,4,0.000,0.047,2746,351,2885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16544,-0.85,-146.6,986.9,-6.6,309,16548,0.00,2.35,0.00,0.000,6,0.000,0.026,2732,1888,2886,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,16633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16633,begin apogee
$GC,16638,-0.29,0.0,994.7,-6.9,310,16764,0.52,0.00,119.80,1.701,6,0.109,0.000,2905,1835,2320,0,0,0,0,0,0,25.99,28.83,23.75
$STATE,16766,end apogee,CONTROL_FINISHED_OK
$STATE,16766,begin climb
$GC,16768,0.86,146.6,998.2,0.0,311,16903,1.05,0.00,129.95,1.667,6,0.070,0.000,3273,1835,1721,0,0,0,0,0,0,24.98,28.83,23.49
$GC,17236,0.72,146.6,963.5,9.0,315,17238,0.15,0.00,0.00,0.000,6,0.155,0.000,3234,1835,1713,0,0,0,0,0,0,25.78,28.83,28.83
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$STATE,30201,end climb,SURFACE_DEPTH_REACHED
$STATE,30201,begin surface coast
$FINISH,1.0,1.010752
$STATE,30252,end surface coast,CONTROL_FINISHED_OK
$STATE,30252,begin surface
$SM_CCo,30272,5.07,0.153,0,0,1094,300.00
$SM_GC,2.60,8.12,2.33,5.07,0.038,0.024,0.153,161,1886,1094,-8.84,-0.45,300.00,0,0,0,0,0,0,26.63,26.63,26.20
$IRIDIUM_FIX,2429.95,-3833.67,111012,232353
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.75
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.80
$XPDR_PINGS,1
$SC_FREEKB,7732256
$TM_FREEKB,7033792
$24V_AH,23.5,19.813
$10V_AH,10.3,17.450
$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,22.400,148.725,377.400,5.075,0.000,25.900,37.651,237.948,0.250,0.000,15.675,2040.664,26031.256,676.078,1809.102,229.168,33.268,1475.170,0.000,1365.061,0.000,0.537,0.000
$DEVICE_MAMPS,200.430,107.100,1701.360,153.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30159.000,5482.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.888,13.535,0.000,0.000
$MEM,344496
$DATA_FILE_SIZE,16762,578
$CAP_FILE_SIZE,191650,0
$CFSIZE,260034560,244334592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121012,160722,2422.797,-3816.269,37,0.8,37,-14.1