version: 66.11
glider: 189
mission: 7
dive: 133
start: 10 24 112 6 32 24
data:
$ID,189
$MISSION,7
$DIVE,133
$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,-47609.969
$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
$GPS1,241012,062234,2434.750,-3818.228,37,0.9,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-60.5
$GPS2,241012,063123,2434.759,-3818.260,14,1.3,14,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.020,-0.202
$KALMAN_X,23787.7,4.6,-109.1,-51234.6,-123.3
$KALMAN_Y,108958.6,-107.3,4.4,-110437.3,840.4
$MHEAD_RNG_PITCHd_Wd,188.5,26516,-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,-146.6,0.0,0.0,0,55,0.00,0.00,-31.27,0.000,2,0.000,0.000,160,1890,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.3,-3.0,3,106,10.05,2.47,-31.30,0.000,4,0.217,0.054,2716,353,2918,0,0,0,0,0,0,25.75,26.17,26.63
$GC,195,-0.66,-146.6,10.5,-11.0,17,205,0.28,2.33,0.00,0.000,6,0.138,0.024,2785,1886,2920,0,0,0,0,0,0,25.84,26.32,28.83
$GC,505,-0.58,-146.6,40.1,-8.3,48,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1887,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,805,-0.50,-146.6,64.9,-7.6,78,807,0.17,0.00,0.00,0.000,6,0.135,0.000,2839,1887,2920,0,0,0,0,0,0,26.26,28.83,28.83
$GC,1105,-0.50,-146.6,80.6,-6.0,102,1113,0.00,2.42,0.00,0.000,4,0.000,0.037,2829,3451,2921,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1346,-0.50,-146.6,95.1,-5.6,110,1353,0.00,2.42,0.00,0.000,6,0.000,0.022,2829,1828,2921,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1676,-0.50,-146.6,111.0,-5.4,121,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1828,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1975,-0.50,-146.6,126.2,-4.9,131,1983,0.00,2.33,0.00,0.000,4,0.000,0.041,2829,347,2922,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2084,-0.50,-146.6,131.3,-5.6,134,2088,0.00,2.30,0.00,0.000,6,0.000,0.024,2818,1889,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2385,-0.50,-146.6,148.2,-4.6,144,2393,0.00,2.42,0.00,0.000,4,0.000,0.041,2818,347,2921,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2464,-0.50,-146.6,151.2,-4.8,146,2469,0.12,2.30,0.00,0.000,6,0.135,0.023,2843,1889,2922,0,0,0,0,0,0,26.34,26.61,28.83
$GC,2797,-0.53,-146.6,163.1,-3.3,152,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1890,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3097,-0.58,-146.6,178.3,-5.4,157,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1891,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-0.62,-146.6,200.3,-7.4,162,3406,0.12,2.38,0.00,0.000,4,0.082,0.037,2753,3460,2921,0,0,0,0,0,0,26.74,26.48,28.83
$GC,3476,-0.65,-146.6,204.5,-7.2,163,3481,0.12,2.47,0.00,0.000,6,0.136,0.023,2788,1815,2921,0,0,0,0,0,0,26.34,26.60,28.83
$GC,3809,-0.65,-146.6,222.6,-4.8,169,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1815,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-0.65,-146.6,243.2,-7.2,174,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1815,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4408,-0.65,-146.6,266.1,-7.6,179,4416,0.00,2.55,0.00,0.000,4,0.000,0.037,2777,3450,2918,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4567,-0.65,-146.6,274.3,-7.1,181,4572,0.00,2.45,0.00,0.000,6,0.000,0.023,2777,1826,2918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4879,-0.65,-146.6,294.3,-5.5,187,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1825,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,-0.65,-146.6,312.1,-6.0,192,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1825,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5479,-0.65,-146.6,329.5,-5.8,197,5487,0.00,2.55,0.00,0.000,4,0.000,0.038,2765,3458,2915,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5568,-0.65,-146.6,332.9,-5.8,198,5572,0.00,2.47,0.00,0.000,6,0.000,0.023,2765,1820,2915,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5890,-0.63,-146.6,355.0,-6.4,204,5899,0.12,2.33,0.00,0.000,4,0.136,0.042,2801,344,2914,0,0,0,0,0,0,26.55,26.43,28.83
$GC,5998,-0.63,-146.6,359.0,-6.6,205,6002,0.00,2.33,0.00,0.000,6,0.000,0.024,2791,1891,2914,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6300,-0.63,-146.6,380.0,-6.0,210,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1891,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6600,-0.63,-146.6,399.0,-6.4,215,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1891,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,-0.63,-146.6,418.8,-6.7,220,6907,0.00,2.45,0.00,0.000,4,0.000,0.039,2780,3459,2911,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7020,-0.63,-146.6,426.4,-6.5,222,7027,0.00,2.47,0.00,0.000,6,0.000,0.024,2780,1826,2911,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7380,-0.63,-146.6,445.2,-5.0,228,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1825,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7680,-0.63,-146.6,458.2,-4.3,233,7687,0.00,2.55,0.00,0.000,4,0.000,0.039,2767,3451,2908,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7789,-0.63,-146.6,461.1,-4.4,234,7793,0.00,2.47,0.00,0.000,6,0.000,0.024,2768,1820,2908,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8090,-0.63,-146.6,482.7,-6.6,239,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1820,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8389,-0.63,-146.6,503.5,-6.9,244,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1819,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8750,-0.63,-146.6,524.5,-6.0,247,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1820,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,-0.63,-146.6,544.6,-5.6,250,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1819,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9470,-0.63,-146.6,566.5,-5.9,253,9478,0.00,2.55,0.00,0.000,4,0.000,0.039,2756,3450,2902,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9648,-0.63,-146.6,575.2,-6.4,254,9653,0.15,2.47,0.00,0.000,6,0.125,0.024,2800,1825,2901,0,0,0,0,0,0,26.27,26.55,28.83
$GC,10062,-0.67,-146.6,609.8,-7.3,258,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1825,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10421,-0.72,-146.6,633.1,-6.7,261,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1826,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10782,-0.77,-146.6,649.3,-4.8,264,10784,0.15,0.00,0.00,0.000,6,0.073,0.000,2723,1825,2899,0,0,0,0,0,0,26.73,28.83,28.83
$GC,11141,-0.77,-146.6,672.8,-6.0,267,11149,0.00,2.55,0.00,0.000,4,0.000,0.040,2711,3449,2898,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11210,-0.77,-146.6,672.8,-6.0,267,11219,0.15,2.47,0.00,0.000,6,0.135,0.025,2753,1826,2898,0,0,0,0,0,0,26.20,26.53,28.83
$GC,11621,-0.77,-146.6,704.7,-6.6,271,11628,0.00,2.35,0.00,0.000,4,0.000,0.044,2753,352,2897,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11690,-0.77,-146.6,704.7,-6.6,271,11694,0.00,2.33,0.00,0.000,6,0.000,0.024,2743,1885,2896,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12091,-0.77,-146.6,737.5,-7.0,275,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1885,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12451,-0.77,-146.6,763.7,-7.2,278,12459,0.00,2.47,0.00,0.000,4,0.000,0.041,2732,3449,2894,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12520,-0.77,-146.6,763.7,-7.2,278,12524,0.00,2.50,0.00,0.000,6,0.000,0.026,2732,1819,2894,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12922,-0.77,-146.6,797.7,-7.2,282,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1818,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13281,-0.77,-146.6,820.2,-6.4,285,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1818,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13642,-0.77,-146.6,841.5,-5.9,288,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1818,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14001,-0.77,-146.6,863.9,-6.1,291,14002,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1818,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14362,-0.77,-146.6,890.1,-7.1,294,14369,0.00,2.62,0.00,0.000,4,0.000,0.043,2720,3459,2889,0,0,0,0,0,0,28.83,26.26,28.83
$GC,14471,-0.77,-146.6,890.1,-7.1,294,14476,0.12,2.50,0.00,0.000,6,0.138,0.027,2754,1830,2889,0,0,0,0,0,0,26.18,26.46,28.83
$GC,14831,-0.77,-146.6,923.5,-7.3,297,14833,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1830,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15193,-0.80,-146.6,941.8,-5.3,300,15200,0.00,2.55,0.00,0.000,4,0.000,0.043,2744,3442,2887,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15261,-0.82,-146.6,941.8,-5.3,300,15269,0.00,2.47,0.00,0.000,6,0.000,0.027,2744,1830,2887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15672,-0.82,-146.6,964.1,-4.6,304,15679,0.00,2.38,0.00,0.000,4,0.000,0.047,2744,354,2886,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15761,-0.82,-146.6,964.1,-4.6,304,15769,0.00,2.35,0.00,0.000,6,0.000,0.026,2733,1889,2884,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,16150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16150,begin apogee
$GC,16155,-0.29,0.0,993.8,-6.2,308,16280,0.50,0.00,119.82,1.689,6,0.109,0.000,2901,1837,2319,0,0,0,0,0,0,25.85,28.83,23.73
$STATE,16282,end apogee,CONTROL_FINISHED_OK
$STATE,16282,begin climb
$GC,16284,0.86,146.6,997.7,0.0,309,16418,1.08,0.00,129.70,1.655,6,0.069,0.000,3276,1836,1721,0,0,0,0,0,0,24.96,28.83,23.39
$GC,16753,0.71,146.6,964.8,8.7,313,16755,0.17,0.00,0.00,0.000,6,0.147,0.000,3229,1836,1712,0,0,0,0,0,0,25.75,28.83,28.83
$GC,17112,0.60,146.6,936.1,8.1,316,17114,0.12,0.00,0.00,0.000,6,0.152,0.000,3193,1836,1710,0,0,0,0,0,0,26.13,28.83,28.83
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$STATE,30504,end climb,SURFACE_DEPTH_REACHED
$STATE,30505,begin surface coast
$FINISH,1.1,1.008253
$STATE,30546,end surface coast,CONTROL_FINISHED_OK
$STATE,30546,begin surface
$SM_CCo,30564,4.25,0.156,0,0,1095,300.00
$SM_GC,2.74,8.00,0.08,4.25,0.032,0.108,0.156,161,1834,1095,-8.84,0.65,300.00,0,0,0,0,0,0,26.53,26.72,26.04
$IRIDIUM_FIX,2437.06,-3821.43,231012,212127
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.09
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.70
$XPDR_PINGS,2
$SC_FREEKB,7718816
$TM_FREEKB,6722272
$24V_AH,23.4,26.261
$10V_AH,10.3,22.556
$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,22.475,150.850,349.325,4.250,0.000,28.442,41.366,228.279,0.500,0.000,15.364,2059.507,26258.932,649.219,1823.274,300.748,33.270,1466.234,0.000,1387.909,0.000,0.538,0.000
$DEVICE_MAMPS,217.260,134.640,1689.120,156.060,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30454.000,6258.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.390,13.540,0.000,0.000
$MEM,344464
$DATA_FILE_SIZE,16739,598
$CAP_FILE_SIZE,192409,0
$CFSIZE,260034560,240844800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241012,150304,2431.565,-3818.364,37,0.8,37,-14.1