version: 66.11
glider: 189
mission: 7
dive: 101
start: 10 13 112 8 13 59
data:
$ID,189
$MISSION,7
$DIVE,101
$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,-47250.039
$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
$GPS1,131012,080435,2423.086,-3812.823,29,0.9,29,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-60.3
$GPS2,131012,081259,2423.145,-3812.884,15,1.0,15,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,0.144
$KALMAN_X,14997.0,138.6,2.1,-33642.7,434.1
$KALMAN_Y,97592.3,-84.4,100.8,-120707.9,888.7
$MHEAD_RNG_PITCHd_Wd,58.9,27207,-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,-21.55,0.000,2,0.000,0.000,162,1837,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.0,0.0,2,106,9.52,0.00,-45.10,0.000,6,0.197,0.000,2722,1837,2917,0,0,0,0,0,0,25.86,28.83,26.65
$GC,406,-0.70,-146.6,31.3,-12.5,38,415,0.17,2.50,0.00,0.000,4,0.144,0.038,2762,3449,2918,0,0,0,0,0,0,26.17,26.32,28.83
$GC,546,-0.61,-146.6,46.9,-10.4,52,555,0.15,2.45,0.00,0.000,6,0.132,0.023,2811,1823,2920,0,0,0,0,0,0,26.17,26.45,28.83
$GC,855,-0.58,-146.6,71.2,-7.0,83,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1823,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1156,-0.55,-146.6,91.1,-5.7,97,1163,0.00,2.50,0.00,0.000,4,0.000,0.037,2800,3450,2920,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1396,-0.52,-146.6,104.5,-5.6,105,1404,0.08,2.42,0.00,0.000,6,0.110,0.023,2834,1823,2921,0,0,0,0,0,0,26.37,26.59,28.83
$GC,1726,-0.52,-146.6,121.3,-5.2,116,1733,0.00,2.28,0.00,0.000,4,0.000,0.041,2830,359,2921,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1815,-0.52,-146.6,126.5,-5.6,119,1822,0.00,2.30,0.00,0.000,6,0.000,0.023,2822,1900,2921,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2145,-0.52,-146.6,141.7,-4.5,130,2153,0.00,2.42,0.00,0.000,4,0.000,0.041,2820,348,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2235,-0.52,-146.6,146.4,-5.1,133,2242,0.00,2.30,0.00,0.000,6,0.000,0.023,2809,1892,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2565,-0.52,-146.6,164.7,-5.7,140,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1892,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2865,-0.52,-146.6,184.0,-6.4,145,2869,0.00,2.42,0.00,0.000,4,0.000,0.038,2797,3461,2921,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2935,-0.52,-146.6,187.3,-6.4,146,2940,0.12,2.45,0.00,0.000,6,0.129,0.022,2835,1822,2923,0,0,0,0,0,0,26.43,26.64,28.83
$GC,3268,-0.56,-146.6,204.2,-4.5,152,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1822,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3567,-0.59,-146.6,216.0,-3.9,157,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1822,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-0.63,-146.6,228.9,-4.3,162,3870,0.12,0.00,0.00,0.000,6,0.080,0.000,2761,1822,2919,0,0,0,0,0,0,26.78,28.83,28.83
$GC,4167,-0.59,-146.6,250.3,-7.3,167,4169,0.17,0.00,0.00,0.000,6,0.122,0.000,2814,1822,2918,0,0,0,0,0,0,26.49,28.83,28.83
$GC,4468,-0.61,-146.6,265.1,-4.8,172,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1822,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,-0.64,-146.6,276.2,-3.6,177,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1822,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,-0.66,-146.6,288.5,-4.2,182,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1821,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5367,-0.69,-146.6,305.0,-5.7,187,5376,0.12,2.55,0.00,0.000,4,0.080,0.038,2733,3461,2914,0,0,0,0,0,0,26.78,26.53,28.83
$GC,5506,-0.69,-146.6,315.2,-7.1,189,5511,0.15,2.47,0.00,0.000,6,0.130,0.024,2776,1821,2914,0,0,0,0,0,0,26.36,26.63,28.83
$GC,5838,-0.69,-146.6,342.1,-7.5,195,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1820,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6138,-0.69,-146.6,362.2,-6.6,200,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1820,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6439,-0.69,-146.6,379.4,-5.5,205,6446,0.00,2.55,0.00,0.000,4,0.000,0.039,2765,3453,2911,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6558,-0.69,-146.6,386.3,-5.6,207,6566,0.00,2.45,0.00,0.000,6,0.000,0.024,2765,1826,2911,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6919,-0.69,-146.6,407.8,-6.1,213,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1826,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7218,-0.69,-146.6,426.7,-6.3,218,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1826,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,-0.69,-146.6,444.3,-5.8,223,7526,0.00,2.55,0.00,0.000,4,0.000,0.039,2753,3456,2908,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7597,-0.69,-146.6,447.8,-5.7,224,7602,0.00,2.47,0.00,0.000,6,0.000,0.024,2753,1818,2908,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7930,-0.67,-146.6,467.9,-5.8,230,7932,0.12,0.00,0.00,0.000,6,0.135,0.000,2790,1818,2906,0,0,0,0,0,0,26.58,28.83,28.83
$GC,8229,-0.69,-146.6,482.9,-5.0,235,8237,0.00,2.58,0.00,0.000,4,0.000,0.040,2779,3460,2905,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8309,-0.69,-146.6,486.1,-5.0,236,8316,0.00,2.47,0.00,0.000,6,0.000,0.024,2779,1826,2905,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8649,-0.69,-146.6,508.1,-6.3,241,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1826,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9009,-0.69,-146.6,532.7,-6.7,244,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1826,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9369,-0.69,-146.6,556.2,-6.6,247,9373,0.00,2.35,0.00,0.000,4,0.000,0.044,2779,342,2901,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9469,-0.69,-146.6,556.2,-6.6,247,9473,0.00,2.33,0.00,0.000,6,0.000,0.025,2768,1882,2901,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9830,-0.69,-146.6,586.9,-6.6,250,9837,0.00,2.47,0.00,0.000,4,0.000,0.041,2757,3460,2900,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9940,-0.69,-146.6,586.9,-6.6,250,9949,0.00,2.47,0.00,0.000,6,0.000,0.025,2757,1828,2900,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10310,-0.69,-146.6,616.8,-6.3,254,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1828,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10670,-0.69,-146.6,632.6,-4.6,257,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1828,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11030,-0.69,-146.6,647.1,-4.0,260,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1828,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11390,-0.69,-146.6,668.2,-5.5,263,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1828,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11750,-0.69,-146.6,694.3,-7.1,266,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1828,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12110,-0.69,-146.6,718.5,-6.9,269,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1828,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12470,-0.69,-146.6,739.2,-5.8,272,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1828,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12830,-0.69,-146.6,758.0,-5.3,275,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1829,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13190,-0.69,-146.6,774.4,-4.7,278,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1828,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13550,-0.69,-146.6,790.3,-4.4,281,13557,0.00,2.38,0.00,0.000,4,0.000,0.047,2757,347,2891,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13619,-0.69,-146.6,790.3,-4.4,281,13624,0.12,2.35,0.00,0.000,6,0.140,0.026,2782,1886,2891,0,0,0,0,0,0,26.30,26.56,28.83
$GC,14022,-0.73,-146.6,810.1,-4.1,285,14023,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1887,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14382,-0.77,-146.6,833.2,-6.0,288,14389,0.00,2.47,0.00,0.000,4,0.000,0.047,2782,349,2890,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14481,-0.82,-146.6,833.2,-6.0,288,14486,0.12,2.35,0.00,0.000,6,0.082,0.027,2712,1883,2889,0,0,0,0,0,0,26.48,26.54,28.83
$GC,14854,-0.82,-146.6,877.7,-9.5,292,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1883,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15214,-0.79,-146.6,910.1,-9.2,295,15215,0.12,0.00,0.00,0.000,6,0.142,0.000,2746,1883,2887,0,0,0,0,0,0,26.52,28.83,28.83
$GC,15573,-0.79,-146.6,934.9,-7.3,298,15581,0.00,2.47,0.00,0.000,4,0.000,0.048,2747,352,2886,0,0,0,0,0,0,28.83,26.30,28.83
$GC,15652,-0.79,-146.6,934.9,-7.3,298,15656,0.00,2.35,0.00,0.000,6,0.000,0.027,2736,1888,2886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16043,-0.79,-146.6,965.6,-6.5,302,16044,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1888,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16403,-0.79,-146.6,988.6,-6.4,305,16404,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1888,2884,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16522,begin apogee
$GC,16527,-0.29,0.0,996.4,-6.4,306,16653,0.50,0.00,119.70,1.705,6,0.107,0.000,2906,1837,2321,0,0,0,0,0,0,25.99,28.83,23.73
$STATE,16654,end apogee,CONTROL_FINISHED_OK
$STATE,16654,begin climb
$GC,16656,0.86,146.6,998.8,0.0,307,16790,1.08,0.00,129.70,1.669,6,0.070,0.000,3279,1837,1722,0,0,0,0,0,0,24.96,28.83,23.47
$GC,17125,0.72,146.6,959.3,10.1,311,17133,0.17,2.60,0.00,0.000,4,0.146,0.042,3229,3446,1714,0,0,0,0,0,0,25.77,25.91,28.83
$GC,17212,0.59,146.6,959.3,10.1,311,17218,0.17,2.55,0.00,0.000,6,0.145,0.029,3192,1829,1714,0,0,0,0,0,0,25.80,26.05,28.83
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$STATE,30112,end climb,SURFACE_DEPTH_REACHED
$STATE,30112,begin surface coast
$FINISH,1.1,1.024594
$STATE,30133,end surface coast,CONTROL_FINISHED_OK
$STATE,30133,begin surface
$SM_CCo,30151,5.80,0.150,0,0,1095,300.00
$SM_GC,2.52,8.25,0.08,5.80,0.038,0.105,0.150,163,1822,1095,-8.82,0.76,300.00,0,0,0,0,0,0,26.63,26.77,26.18
$IRIDIUM_FIX,2415.74,-3817.41,121012,232345
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.89
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.80
$XPDR_PINGS,1
$SC_FREEKB,7731104
$TM_FREEKB,7007648
$24V_AH,23.5,20.307
$10V_AH,10.4,17.892
$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,22.600,145.800,374.925,5.800,0.000,26.298,36.046,223.525,0.250,0.000,16.191,1971.467,26034.150,670.460,1727.177,251.678,33.267,1449.529,0.000,1307.637,0.000,0.537,0.000
$DEVICE_MAMPS,197.370,110.160,1705.185,149.940,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30041.000,5575.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.882,13.510,0.000,0.000
$MEM,344472
$DATA_FILE_SIZE,16711,570
$CAP_FILE_SIZE,189300,0
$CFSIZE,260034560,244031488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131012,163735,2425.704,-3809.229,25,0.8,25,-14.1