version: 66.11
glider: 189
mission: 7
dive: 113
start: 10 17 112 9 26 29
data:
$ID,189
$MISSION,7
$DIVE,113
$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,-47265.23
$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
$GPS1,171012,091135,2436.290,-3749.862,40,0.9,40,-13.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-58.9
$GPS2,171012,092530,2436.333,-3750.001,14,1.4,14,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.050,-0.197
$KALMAN_X,20425.8,153.3,-371.4,-158.9,-581.6
$KALMAN_Y,99759.9,-173.0,-87.1,-98175.7,12.2
$MHEAD_RNG_PITCHd_Wd,179.7,29712,-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,-21.60,0.000,2,0.000,0.000,165,1833,1755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.1,0.0,2,106,9.85,2.38,-41.97,0.000,4,0.210,0.054,2720,350,2919,0,0,0,0,0,0,25.79,26.18,26.60
$GC,335,-0.66,-146.6,34.0,-17.1,31,345,0.25,2.33,0.00,0.000,6,0.138,0.023,2782,1895,2920,0,0,0,0,0,0,25.94,26.39,28.83
$GC,645,-0.60,-146.6,61.8,-7.2,62,654,0.00,2.42,0.00,0.000,4,0.000,0.040,2783,351,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,786,-0.51,-146.6,73.9,-9.2,76,795,0.17,2.28,0.00,0.000,6,0.113,0.023,2834,1879,2921,0,0,0,0,0,0,26.14,26.51,28.83
$GC,1106,-0.51,-146.6,96.1,-6.1,88,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1882,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-0.51,-146.6,111.3,-4.4,98,1413,0.00,2.40,0.00,0.000,4,0.000,0.041,2834,351,2922,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1484,-0.51,-146.6,114.1,-4.4,100,1488,0.00,2.30,0.00,0.000,6,0.000,0.023,2825,1893,2923,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1785,-0.51,-146.6,129.6,-5.6,110,1793,0.00,2.40,0.00,0.000,4,0.000,0.037,2813,3453,2922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2025,-0.51,-146.6,146.6,-7.1,118,2029,0.00,2.45,0.00,0.000,6,0.000,0.022,2812,1819,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2376,-0.51,-146.6,168.4,-6.0,125,2384,0.00,2.30,0.00,0.000,4,0.000,0.041,2813,345,2922,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2496,-0.51,-146.6,174.8,-5.5,127,2504,0.12,2.30,0.00,0.000,6,0.135,0.023,2839,1892,2921,0,0,0,0,0,0,26.39,26.65,28.83
$GC,2857,-0.54,-146.6,185.4,-2.8,133,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1892,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,-0.58,-146.6,200.6,-5.4,138,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1892,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3456,-0.63,-146.6,221.8,-7.1,143,3464,0.12,2.42,0.00,0.000,4,0.080,0.041,2765,346,2920,0,0,0,0,0,0,26.77,26.50,28.83
$GC,3595,-0.63,-146.6,231.6,-7.6,145,3600,0.15,2.30,0.00,0.000,6,0.133,0.023,2797,1889,2920,0,0,0,0,0,0,26.36,26.65,28.83
$GC,3928,-0.63,-146.6,251.8,-5.4,151,3935,0.00,2.42,0.00,0.000,4,0.000,0.037,2787,3458,2918,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4086,-0.63,-146.6,257.7,-5.0,153,4090,0.00,2.45,0.00,0.000,6,0.000,0.023,2787,1825,2917,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4398,-0.63,-146.6,275.7,-5.2,159,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1824,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.63,-146.6,290.1,-4.8,164,4706,0.00,2.53,0.00,0.000,4,0.000,0.037,2775,3451,2916,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4797,-0.63,-146.6,293.1,-4.8,165,4801,0.00,2.45,0.00,0.000,6,0.000,0.023,2775,1824,2916,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5109,-0.63,-146.6,316.9,-7.2,171,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5408,-0.63,-146.6,339.8,-7.6,176,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-0.63,-146.6,358.6,-6.1,181,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6009,-0.63,-146.6,372.2,-4.3,186,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6309,-0.63,-146.6,388.8,-5.7,191,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6608,-0.63,-146.6,412.6,-8.2,196,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1824,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6908,-0.63,-146.6,434.6,-7.1,201,6915,0.00,2.33,0.00,0.000,4,0.000,0.043,2775,348,2909,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7037,-0.63,-146.6,442.1,-6.5,203,7042,0.12,2.33,0.00,0.000,6,0.137,0.024,2801,1895,2908,0,0,0,0,0,0,26.38,26.63,28.83
$GC,7380,-0.66,-146.6,455.1,-3.4,209,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1895,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7680,-0.69,-146.6,467.2,-4.2,214,7688,0.00,2.40,0.00,0.000,4,0.000,0.039,2790,3447,2907,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7800,-0.72,-146.6,473.6,-4.9,216,7807,0.00,2.45,0.00,0.000,6,0.000,0.024,2790,1827,2907,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8160,-0.75,-146.6,496.7,-6.6,222,8167,0.00,2.55,0.00,0.000,4,0.000,0.038,2779,3457,2905,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8239,-0.77,-146.6,500.7,-6.6,223,8243,0.00,2.47,0.00,0.000,6,0.000,0.024,2778,1822,2905,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8631,-0.77,-146.6,526.5,-6.3,227,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1819,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8991,-0.77,-146.6,546.6,-5.7,230,8998,0.00,2.33,0.00,0.000,4,0.000,0.044,2779,350,2903,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9080,-0.77,-146.6,546.6,-5.7,230,9084,0.00,2.33,0.00,0.000,6,0.000,0.024,2768,1892,2903,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9461,-0.77,-146.6,573.5,-5.7,234,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1892,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.77,-146.6,592.9,-5.4,237,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1892,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10182,-0.77,-146.6,610.5,-5.0,240,10189,0.00,2.45,0.00,0.000,4,0.000,0.040,2757,3453,2900,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10250,-0.77,-146.6,610.5,-5.0,240,10254,0.00,2.47,0.00,0.000,6,0.000,0.024,2757,1826,2900,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10651,-0.77,-146.6,640.3,-6.3,244,10656,0.00,2.35,0.00,0.000,4,0.000,0.044,2757,344,2899,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10732,-0.77,-146.6,640.3,-6.3,244,10736,0.00,2.35,0.00,0.000,6,0.000,0.024,2746,1898,2898,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11114,-0.77,-146.6,677.0,-7.9,248,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1898,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,-0.77,-146.6,701.2,-7.0,251,11481,0.00,2.45,0.00,0.000,4,0.000,0.041,2735,3456,2895,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11562,-0.77,-146.6,701.2,-7.0,251,11566,0.00,2.47,0.00,0.000,6,0.000,0.024,2734,1828,2896,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11944,-0.77,-146.6,728.6,-5.8,255,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1828,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12303,-0.77,-146.6,752.0,-6.3,258,12308,0.00,2.35,0.00,0.000,4,0.000,0.045,2734,354,2892,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12395,-0.77,-146.6,752.0,-6.3,258,12403,0.00,2.33,0.00,0.000,6,0.000,0.025,2724,1884,2894,0,0,0,0,0,0,28.83,26.57,28.83
$GC,12775,-0.75,-146.6,787.8,-7.6,262,12777,0.12,0.00,0.00,0.000,6,0.145,0.000,2759,1882,2893,0,0,0,0,0,0,26.51,28.83,28.83
$GC,13135,-0.75,-146.6,812.4,-7.0,265,13142,0.00,2.47,0.00,0.000,4,0.000,0.041,2748,3452,2892,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13224,-0.75,-146.6,812.4,-7.0,265,13228,0.00,2.50,0.00,0.000,6,0.000,0.026,2748,1820,2892,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13606,-0.75,-146.6,848.8,-7.8,269,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1820,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13965,-0.75,-146.6,873.3,-7.0,272,13973,0.00,2.60,0.00,0.000,4,0.000,0.041,2737,3459,2890,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14064,-0.75,-146.6,873.3,-7.0,272,14068,0.00,2.50,0.00,0.000,6,0.000,0.026,2737,1830,2892,0,0,0,0,0,0,28.83,26.51,28.83
$GC,14436,-0.75,-146.6,900.6,-5.8,276,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1830,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14796,-0.75,-146.6,920.2,-5.5,279,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1829,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15156,-0.75,-146.6,940.7,-5.6,282,15157,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1829,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15515,-0.75,-146.6,964.7,-6.6,285,15516,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1830,2886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15874,begin apogee
$GC,15879,-0.29,0.0,991.7,-7.4,288,16005,0.47,0.00,120.35,1.707,6,0.110,0.000,2899,1829,2320,0,0,0,0,0,0,25.94,28.83,23.75
$STATE,16006,end apogee,CONTROL_FINISHED_OK
$STATE,16007,begin climb
$GC,16008,0.86,146.6,996.3,0.0,289,16143,1.08,0.00,130.10,1.686,6,0.070,0.000,3273,1828,1722,0,0,0,0,0,0,24.96,28.83,23.44
$GC,16477,0.72,146.6,962.3,9.2,293,16479,0.15,0.00,0.00,0.000,6,0.155,0.000,3233,1828,1714,0,0,0,0,0,0,25.79,28.83,28.83
$GC,16836,0.61,146.6,930.8,8.8,296,16838,0.12,0.00,0.00,0.000,6,0.152,0.000,3198,1828,1712,0,0,0,0,0,0,26.13,28.83,28.83
$GC,17196,0.55,146.6,903.4,7.9,299,17203,0.00,2.40,0.00,0.000,4,0.000,0.048,3208,355,1709,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,28952,end climb,SURFACE_DEPTH_REACHED
$STATE,28952,begin surface coast
$FINISH,0.9,1.024805
$STATE,28984,end surface coast,CONTROL_FINISHED_OK
$STATE,28984,begin surface
$SM_CCo,29001,3.25,0.164,0,0,1095,300.00
$SM_GC,2.29,8.02,0.10,3.25,0.032,0.097,0.164,165,1825,1095,-8.82,0.40,300.00,0,0,0,0,0,0,26.63,26.70,26.12
$IRIDIUM_FIX,2437.06,-3755.83,171012,000026
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.25
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,7726496
$TM_FREEKB,6901472
$24V_AH,23.4,22.499
$10V_AH,10.3,19.664
$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,21.900,178.625,381.500,3.250,0.000,121.120,81.650,224.787,0.000,0.000,16.160,2028.300,24849.334,731.420,1967.652,255.593,33.261,1553.898,0.000,1398.826,0.000,0.538,0.000
$DEVICE_MAMPS,209.610,97.155,1707.480,164.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28890.000,5742.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.836,13.504,0.000,0.000
$MEM,344516
$DATA_FILE_SIZE,13412,547
$CAP_FILE_SIZE,192011,0
$CFSIZE,260034560,242843648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171012,173104,2432.728,-3749.241,37,0.8,37,-14.0