version: 66.11
glider: 189
mission: 7
dive: 130
start: 10 23 112 5 6 12
data:
$ID,189
$MISSION,7
$DIVE,130
$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,-47606.195
$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
$GPS1,231012,045634,2444.196,-3817.106,30,1.0,30,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-62.2
$GPS2,231012,050512,2444.178,-3817.120,15,1.5,15,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.200
$KALMAN_X,24906.0,-57.1,-321.0,-50148.9,952.9
$KALMAN_Y,107026.3,-226.4,-21.6,-90917.1,2086.3
$MHEAD_RNG_PITCHd_Wd,202.1,43854,-11.9,-6.111,-16.85
$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,-144.8,0.0,0.0,0,46,0.00,0.00,-21.98,0.000,2,0.000,0.000,160,1831,1598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.1,0.0,2,117,9.45,2.33,-51.30,0.000,4,0.194,0.054,2718,348,2916,0,0,0,0,0,0,25.86,26.15,26.64
$GC,346,-0.68,-146.6,26.4,-12.7,32,356,0.25,2.33,0.00,0.000,6,0.135,0.023,2777,1888,2918,0,0,0,0,0,0,25.94,26.39,28.83
$GC,656,-0.60,-146.6,53.5,-8.1,63,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1888,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.54,-146.6,82.8,-8.4,89,984,0.15,2.42,0.00,0.000,4,0.137,0.041,2827,348,2919,0,0,0,0,0,0,26.36,26.36,28.83
$GC,1136,-0.51,-146.6,92.7,-6.4,94,1144,0.00,2.30,0.00,0.000,6,0.000,0.024,2817,1888,2921,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1456,-0.51,-146.6,108.9,-4.2,105,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1888,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1756,-0.51,-146.6,122.2,-4.9,115,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1888,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-0.51,-146.6,139.5,-5.8,125,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1884,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,-0.51,-146.6,161.1,-7.7,133,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1888,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2656,-0.51,-146.6,177.9,-5.2,138,2664,0.00,2.42,0.00,0.000,4,0.000,0.041,2817,347,2920,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2897,-0.51,-146.6,187.9,-4.2,142,2904,0.00,2.28,0.00,0.000,6,0.000,0.023,2806,1886,2920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3256,-0.51,-146.6,204.3,-4.9,148,3264,0.00,2.42,0.00,0.000,4,0.000,0.037,2794,3454,2920,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3345,-0.51,-146.6,208.0,-5.3,149,3350,0.15,2.45,0.00,0.000,6,0.121,0.023,2841,1822,2920,0,0,0,0,0,0,26.35,26.60,28.83
$GC,3669,-0.56,-146.6,225.6,-4.9,155,3676,0.00,2.53,0.00,0.000,4,0.000,0.037,2830,3456,2919,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3757,-0.61,-146.6,228.1,-4.6,156,3761,0.00,2.45,0.00,0.000,6,0.000,0.022,2830,1825,2919,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4080,-0.65,-146.6,244.2,-4.9,162,4082,0.12,0.00,0.00,0.000,6,0.080,0.000,2756,1825,2919,0,0,0,0,0,0,26.76,28.83,28.83
$GC,4379,-0.61,-146.6,270.5,-9.1,167,4381,0.15,0.00,0.00,0.000,6,0.126,0.000,2801,1824,2917,0,0,0,0,0,0,26.51,28.83,28.83
$GC,4678,-0.61,-146.6,289.9,-6.2,172,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1824,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.61,-146.6,305.7,-5.2,177,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.63,-146.6,322.3,-5.6,182,5287,0.00,2.53,0.00,0.000,4,0.000,0.038,2790,3449,2915,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5368,-0.65,-146.6,325.6,-5.6,183,5372,0.00,2.45,0.00,0.000,6,0.000,0.024,2790,1827,2915,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5690,-0.65,-146.6,343.4,-5.0,189,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1826,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,-0.65,-146.6,360.3,-5.8,194,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1827,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,-0.65,-146.6,379.3,-6.2,199,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1826,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6590,-0.65,-146.6,396.6,-5.7,204,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1825,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6890,-0.65,-146.6,415.0,-6.3,209,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1826,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7189,-0.65,-146.6,434.1,-6.3,214,7197,0.00,2.55,0.00,0.000,4,0.000,0.039,2778,3452,2909,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7329,-0.65,-146.6,441.1,-5.9,216,7333,0.00,2.47,0.00,0.000,6,0.000,0.024,2778,1823,2908,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7661,-0.65,-146.6,459.0,-5.0,222,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1823,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7961,-0.65,-146.6,473.2,-4.7,227,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1823,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,-0.65,-146.6,488.3,-5.1,232,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1823,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,-0.65,-146.6,510.5,-6.3,237,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1823,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8980,-0.65,-146.6,533.0,-6.3,240,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1823,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9341,-0.65,-146.6,554.6,-6.0,243,9349,0.00,2.58,0.00,0.000,4,0.000,0.039,2766,3456,2902,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9461,-0.65,-146.6,562.2,-6.1,244,9468,0.00,2.47,0.00,0.000,6,0.000,0.024,2766,1829,2901,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9820,-0.65,-146.6,586.1,-6.6,247,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1828,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10180,-0.65,-146.6,612.5,-7.2,250,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1828,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10541,-0.65,-146.6,638.7,-7.4,253,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1828,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10901,-0.65,-146.6,657.6,-5.6,256,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1828,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11261,-0.65,-146.6,675.6,-4.9,259,11269,0.00,2.58,0.00,0.000,4,0.000,0.041,2754,3453,2897,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11350,-0.65,-146.6,675.6,-4.9,259,11358,0.12,2.47,0.00,0.000,6,0.130,0.025,2790,1830,2897,0,0,0,0,0,0,26.29,26.53,28.83
$GC,11741,-0.69,-146.6,703.4,-5.7,263,11742,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1830,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12101,-0.74,-146.6,727.1,-6.5,266,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1830,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12461,-0.79,-146.6,751.7,-6.8,269,12463,0.15,0.00,0.00,0.000,6,0.074,0.000,2716,1830,2894,0,0,0,0,0,0,26.72,28.83,28.83
$GC,12820,-0.79,-146.6,779.6,-7.6,272,12829,0.10,2.58,0.00,0.000,4,0.149,0.041,2734,3451,2893,0,0,0,0,0,0,26.59,26.33,28.83
$GC,12900,-0.79,-146.6,779.6,-7.6,272,12904,0.00,2.50,0.00,0.000,6,0.000,0.025,2732,1819,2894,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13291,-0.79,-146.6,808.5,-6.1,276,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1818,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13652,-0.79,-146.6,830.7,-6.1,279,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1818,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14011,-0.79,-146.6,854.4,-6.6,282,14019,0.00,2.60,0.00,0.000,4,0.000,0.041,2720,3452,2890,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14140,-0.79,-146.6,861.8,-6.5,283,14144,0.00,2.50,0.00,0.000,6,0.000,0.026,2720,1822,2890,0,0,0,0,0,0,28.83,26.47,28.83
$GC,14482,-0.79,-146.6,884.0,-6.3,286,14490,0.00,2.35,0.00,0.000,4,0.000,0.046,2720,352,2889,0,0,0,0,0,0,28.83,26.26,28.83
$GC,14570,-0.79,-146.6,884.0,-6.3,286,14575,0.12,2.33,0.00,0.000,6,0.147,0.025,2744,1881,2888,0,0,0,0,0,0,26.19,26.50,28.83
$GC,14952,-0.79,-146.6,914.1,-6.3,290,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1882,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15313,-0.79,-146.6,934.7,-5.8,293,15314,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1882,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15673,-0.79,-146.6,953.5,-5.3,296,15681,0.00,2.47,0.00,0.000,4,0.000,0.047,2744,348,2886,0,0,0,0,0,0,28.83,26.21,28.83
$GC,15782,-0.79,-146.6,953.5,-5.3,296,15786,0.00,2.35,0.00,0.000,6,0.000,0.026,2734,1883,2886,0,0,0,0,0,0,28.83,26.46,28.83
$GC,16143,-0.79,-146.6,981.6,-5.8,299,16151,0.00,2.50,0.00,0.000,4,0.000,0.044,2723,3456,2885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16232,-0.79,-146.6,981.6,-5.8,299,16236,0.00,2.50,0.00,0.000,6,0.000,0.027,2723,1831,2885,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,16372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16372,begin apogee
$GC,16376,-0.29,0.0,997.7,-6.6,301,16503,0.55,0.00,120.03,1.703,6,0.111,0.000,2905,1831,2319,0,0,0,0,0,0,25.80,28.83,23.72
$STATE,16505,end apogee,CONTROL_FINISHED_OK
$STATE,16506,begin climb
$GC,16508,0.86,146.6,1001.7,0.0,302,16642,1.08,0.00,129.62,1.662,6,0.070,0.000,3280,1831,1723,0,0,0,0,0,0,24.97,28.83,23.39
$GC,16975,0.72,146.6,971.3,8.0,306,16983,0.17,2.60,0.00,0.000,4,0.145,0.041,3230,3440,1713,0,0,0,0,0,0,25.75,25.90,28.83
$GC,17094,0.59,146.6,962.2,7.9,307,17102,0.17,2.53,0.00,0.000,6,0.148,0.028,3193,1834,1712,0,0,0,0,0,0,25.82,26.06,28.83
$GC,17454,0.51,146.6,937.5,7.0,310,17461,0.00,2.42,0.00,0.000,4,0.000,0.049,3204,348,1710,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,30286,end climb,SURFACE_DEPTH_REACHED
$STATE,30286,begin surface coast
$FINISH,0.8,1.011567
$STATE,30328,end surface coast,CONTROL_FINISHED_OK
$STATE,30328,begin surface
$SM_CCo,30346,10.00,0.141,0,0,1095,300.00
$SM_GC,2.69,8.05,0.00,10.00,0.033,0.000,0.141,160,1878,1095,-8.82,0.79,300.00,0,0,0,0,0,0,26.51,28.83,26.06
$IRIDIUM_FIX,2444.18,-3829.57,221012,202038
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.44
$INTERNAL_PRESSURE,9.11433
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7719968
$TM_FREEKB,6750976
$24V_AH,23.4,25.722
$10V_AH,10.3,22.130
$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,22.150,151.125,364.675,10.000,0.000,27.396,38.195,223.590,0.000,0.000,16.310,2036.789,26042.107,695.410,1820.120,273.001,33.271,1514.210,0.000,1389.762,0.000,0.537,0.000
$DEVICE_MAMPS,193.545,53.550,1702.890,140.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30237.000,5755.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.338,13.527,0.000,0.000
$MEM,344484
$DATA_FILE_SIZE,16719,567
$CAP_FILE_SIZE,190596,0
$CFSIZE,260034560,241152000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231012,133322,2440.928,-3817.577,40,0.7,40,-14.1