version: 66.11
glider: 189
mission: 7
dive: 109
start: 10 15 112 23 21 41
data:
$ID,189
$MISSION,7
$DIVE,109
$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,-47260.199
$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
$GPS1,151012,231204,2445.079,-3750.827,25,1.1,25,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-59.8
$GPS2,151012,232041,2445.087,-3750.895,13,1.6,13,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.153,0.132
$KALMAN_X,22148.3,-304.8,-93.4,-3216.6,1334.1
$KALMAN_Y,100151.5,108.5,166.0,-82892.7,193.6
$MHEAD_RNG_PITCHd_Wd,63.1,7708,-11.9,-6.111,-16.83
$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,-145.3,0.0,0.0,0,36,0.00,0.00,-12.35,0.000,2,0.000,0.000,164,1878,1467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.86,-146.6,2.0,0.0,1,106,9.40,0.00,-55.05,0.000,6,0.193,0.000,2720,1879,2919,0,0,0,0,0,0,25.93,28.83,26.67
$GC,406,-0.70,-146.6,29.4,-10.9,38,408,0.17,0.00,0.00,0.000,6,0.145,0.000,2769,1880,2920,0,0,0,0,0,0,26.18,28.83,28.83
$GC,705,-0.60,-146.6,56.6,-8.2,68,707,0.12,0.00,0.00,0.000,6,0.146,0.000,2806,1880,2922,0,0,0,0,0,0,26.39,28.83,28.83
$GC,1006,-0.57,-146.6,73.5,-5.9,98,1015,0.00,2.42,0.00,0.000,4,0.000,0.037,2795,3458,2921,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1175,-0.53,-146.6,82.6,-6.0,105,1185,0.12,2.45,0.00,0.000,6,0.135,0.022,2831,1822,2921,0,0,0,0,0,0,26.34,26.57,28.83
$GC,1486,-0.53,-146.6,99.1,-4.9,116,1493,0.00,2.30,0.00,0.000,4,0.000,0.041,2832,348,2922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1635,-0.53,-146.6,106.6,-5.1,121,1642,0.00,2.30,0.00,0.000,6,0.000,0.023,2822,1892,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1965,-0.53,-146.6,122.3,-5.4,132,1973,0.00,2.40,0.00,0.000,4,0.000,0.037,2810,3454,2922,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2185,-0.53,-146.6,137.3,-7.7,139,2189,0.00,2.45,0.00,0.000,6,0.000,0.022,2809,1815,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2496,-0.53,-146.6,158.2,-5.7,148,2504,0.00,2.28,0.00,0.000,4,0.000,0.041,2810,351,2922,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2596,-0.53,-146.6,161.1,-5.3,149,2605,0.12,2.30,0.00,0.000,6,0.135,0.023,2836,1899,2922,0,0,0,0,0,0,26.42,26.67,28.83
$GC,2916,-0.56,-146.6,176.0,-4.1,155,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1899,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3217,-0.60,-146.6,188.5,-4.2,160,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1899,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3517,-0.64,-146.6,203.2,-5.0,165,3525,0.12,2.40,0.00,0.000,4,0.080,0.041,2762,355,2920,0,0,0,0,0,0,26.77,26.55,28.83
$GC,3615,-0.64,-146.6,207.6,-5.6,166,3620,0.15,2.30,0.00,0.000,6,0.135,0.023,2794,1902,2920,0,0,0,0,0,0,26.39,26.67,28.83
$GC,3927,-0.64,-146.6,233.5,-7.1,172,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1901,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-0.64,-146.6,251.5,-5.9,177,4235,0.00,2.40,0.00,0.000,4,0.000,0.038,2783,3453,2918,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4348,-0.64,-146.6,257.7,-5.4,179,4356,0.00,2.45,0.00,0.000,6,0.000,0.023,2779,1828,2918,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4708,-0.64,-146.6,275.3,-4.9,185,4715,0.00,2.33,0.00,0.000,4,0.000,0.042,2783,341,2917,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4777,-0.64,-146.6,278.9,-5.1,186,4781,0.00,2.33,0.00,0.000,6,0.000,0.024,2772,1896,2917,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5118,-0.64,-146.6,302.0,-6.8,192,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1896,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5418,-0.64,-146.6,325.6,-8.0,197,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1896,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5718,-0.64,-146.6,348.9,-7.7,202,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1896,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6018,-0.64,-146.6,368.7,-6.5,207,6026,0.00,2.45,0.00,0.000,4,0.000,0.042,2773,342,2912,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6127,-0.64,-146.6,372.8,-6.4,208,6131,0.12,2.33,0.00,0.000,6,0.138,0.024,2797,1895,2911,0,0,0,0,0,0,26.41,26.66,28.83
$GC,6429,-0.66,-146.6,392.7,-5.5,213,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1895,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6729,-0.68,-146.6,407.9,-4.9,218,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1895,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7028,-0.71,-146.6,420.3,-4.1,223,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1895,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7328,-0.74,-146.6,433.2,-4.4,228,7330,0.12,0.00,0.00,0.000,6,0.080,0.000,2730,1895,2909,0,0,0,0,0,0,26.77,28.83,28.83
$GC,7629,-0.68,-146.6,455.8,-7.8,233,7637,0.17,2.42,0.00,0.000,4,0.127,0.042,2783,349,2907,0,0,0,0,0,0,26.46,26.50,28.83
$GC,7697,-0.64,-146.6,460.2,-7.9,234,7701,0.00,2.33,0.00,0.000,6,0.000,0.024,2773,1895,2907,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8038,-0.64,-146.6,485.4,-7.3,240,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1893,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,-0.64,-146.6,508.5,-6.2,245,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1895,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8759,-0.64,-146.6,527.6,-5.5,248,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1895,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9118,-0.64,-146.6,543.4,-4.5,251,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1895,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9479,-0.64,-146.6,558.4,-4.1,254,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1894,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9838,-0.64,-146.6,577.2,-5.0,257,9846,0.00,2.45,0.00,0.000,4,0.000,0.044,2773,354,2901,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9958,-0.64,-146.6,584.7,-5.5,258,9967,0.12,2.33,0.00,0.000,6,0.137,0.025,2799,1891,2900,0,0,0,0,0,0,26.36,26.62,28.83
$GC,10319,-0.67,-146.6,602.7,-5.3,261,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1890,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10679,-0.72,-146.6,619.6,-4.7,264,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1891,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11039,-0.77,-146.6,635.0,-4.4,267,11041,0.15,0.00,0.00,0.000,6,0.073,0.000,2724,1890,2898,0,0,0,0,0,0,26.74,28.83,28.83
$GC,11398,-0.77,-146.6,660.8,-6.5,270,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1890,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11758,-0.73,-146.6,692.2,-8.6,273,11767,0.15,2.45,0.00,0.000,4,0.133,0.046,2768,352,2896,0,0,0,0,0,0,26.50,26.42,28.83
$GC,11908,-0.70,-146.6,701.6,-8.5,274,11912,0.00,2.33,0.00,0.000,6,0.000,0.024,2758,1888,2895,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12229,-0.70,-146.6,724.2,-6.8,277,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1887,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12589,-0.70,-146.6,742.6,-5.3,280,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1888,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12949,-0.70,-146.6,759.6,-4.7,283,12957,0.00,2.45,0.00,0.000,4,0.000,0.041,2747,3446,2895,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13038,-0.70,-146.6,759.6,-4.7,283,13043,0.00,2.47,0.00,0.000,6,0.000,0.026,2747,1826,2893,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13420,-0.70,-146.6,784.3,-5.3,287,13428,0.00,2.35,0.00,0.000,4,0.000,0.046,2747,351,2892,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13549,-0.70,-146.6,791.8,-5.5,288,13554,0.12,2.33,0.00,0.000,6,0.144,0.025,2770,1885,2892,0,0,0,0,0,0,26.29,26.58,28.83
$GC,13892,-0.70,-146.6,810.7,-5.5,291,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1885,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14251,-0.74,-146.6,835.4,-6.6,294,14252,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1885,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14611,-0.78,-146.6,864.2,-7.8,297,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1885,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14972,-0.82,-146.6,893.9,-8.3,300,14974,0.12,0.00,0.00,0.000,6,0.084,0.000,2708,1885,2889,0,0,0,0,0,0,26.74,28.83,28.83
$GC,15331,-0.82,-146.6,926.8,-9.0,303,15332,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1884,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15691,-0.80,-146.6,955.2,-8.1,306,15700,0.12,2.47,0.00,0.000,4,0.145,0.047,2744,351,2887,0,0,0,0,0,0,26.51,26.31,28.83
$GC,15812,-0.78,-146.6,963.1,-7.6,307,15819,0.00,2.35,0.00,0.000,6,0.000,0.026,2734,1889,2886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16171,-0.78,-146.6,984.2,-6.0,310,16172,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1889,2886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16290,begin apogee
$GC,16294,-0.29,0.0,991.1,-5.8,311,16420,0.50,0.00,120.47,1.702,6,0.109,0.000,2902,1837,2319,0,0,0,0,0,0,25.98,28.83,23.75
$STATE,16422,end apogee,CONTROL_FINISHED_OK
$STATE,16422,begin climb
$GC,16424,0.86,146.6,993.1,0.0,312,16558,1.08,0.00,129.77,1.666,6,0.070,0.000,3275,1837,1723,0,0,0,0,0,0,24.96,28.83,23.48
$GC,16892,0.72,146.6,951.1,10.7,316,16894,0.15,0.00,0.00,0.000,6,0.153,0.000,3235,1837,1715,0,0,0,0,0,0,25.80,28.83,28.83
$GC,17252,0.61,146.6,918.3,9.5,319,17254,0.12,0.00,0.00,0.000,6,0.152,0.000,3200,1837,1713,0,0,0,0,0,0,26.13,28.83,28.83
$GC,17611,0.54,146.6,891.3,7.8,322,17619,0.00,2.42,0.00,0.000,4,0.000,0.050,3210,351,1711,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,30135,end climb,SURFACE_DEPTH_REACHED
$STATE,30135,begin surface coast
$FINISH,0.8,1.024748
$STATE,30176,end surface coast,CONTROL_FINISHED_OK
$STATE,30176,begin surface
$SM_CCo,30197,5.95,0.148,0,0,1096,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,53.58
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.60
$XPDR_PINGS,1
$SC_FREEKB,7728032
$TM_FREEKB,6938176
$24V_AH,23.5,21.757
$10V_AH,10.4,19.050
$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,21.500,134.275,350.250,5.950,0.000,25.569,38.655,234.607,0.250,0.000,14.382,2043.849,25959.570,635.617,1818.759,255.503,33.259,1443.277,0.000,1384.312,0.000,0.538,0.000
$DEVICE_MAMPS,192.780,107.100,1702.125,148.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30084.000,6235.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.888,13.501,0.000,0.000
$MEM,344412
$DATA_FILE_SIZE,16705,589
$CAP_FILE_SIZE,188198,0
$CFSIZE,260034560,243253248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161012,074605,2446.946,-3747.368,27,1.1,27,-13.9