version: 66.11
glider: 189
mission: 7
dive: 170
start: 11 5 112 22 11 54
data:
$ID,189
$MISSION,7
$DIVE,170
$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,-47656.875
$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
$GPS1,051112,220204,2447.534,-3817.296,29,1.6,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-59.8
$GPS2,051112,221054,2447.509,-3817.355,19,1.2,19,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.051,-0.196
$KALMAN_X,37993.5,-140.5,-228.7,-63647.0,1742.2
$KALMAN_Y,93679.2,-256.4,-406.8,-70992.6,1755.8
$MHEAD_RNG_PITCHd_Wd,208.7,50029,-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,23,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-21.65,0.000,2,0.000,0.000,163,1885,1741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.2,0.0,2,108,9.57,2.50,-43.17,0.000,4,0.196,0.053,2722,341,2918,0,0,0,0,0,0,25.72,26.13,26.63
$GC,336,-0.71,-146.6,27.6,-10.7,31,346,0.20,2.35,0.00,0.000,6,0.141,0.023,2768,1892,2920,0,0,0,0,0,0,25.89,26.35,28.83
$GC,646,-0.62,-146.6,50.5,-8.2,62,656,0.10,2.45,0.00,0.000,4,0.158,0.040,2796,348,2921,0,0,0,0,0,0,26.43,26.25,28.83
$GC,736,-0.56,-146.6,58.3,-8.9,71,746,0.12,2.33,0.00,0.000,6,0.140,0.023,2821,1893,2920,0,0,0,0,0,0,26.16,26.46,28.83
$GC,1066,-0.56,-146.6,79.6,-5.0,98,1074,0.00,2.45,0.00,0.000,4,0.000,0.041,2822,349,2920,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1126,-0.56,-146.6,82.5,-4.8,100,1134,0.00,2.33,0.00,0.000,6,0.000,0.023,2812,1903,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1456,-0.56,-146.6,100.4,-6.2,111,1464,0.00,2.42,0.00,0.000,4,0.000,0.037,2805,3461,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1697,-0.56,-146.6,114.1,-5.2,119,1704,0.00,2.47,0.00,0.000,6,0.000,0.022,2800,1819,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2028,-0.56,-146.6,131.2,-5.7,130,2034,0.00,2.53,0.00,0.000,4,0.000,0.036,2787,3453,2922,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2116,-0.56,-146.6,136.7,-6.1,133,2125,0.12,2.45,0.00,0.000,6,0.127,0.022,2825,1822,2922,0,0,0,0,0,0,26.29,26.53,28.83
$GC,2478,-0.58,-146.6,158.6,-6.1,143,2484,0.00,2.47,0.00,0.000,4,0.000,0.037,2814,3452,2922,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2537,-0.60,-146.6,162.1,-5.9,144,2544,0.00,2.45,0.00,0.000,6,0.000,0.022,2814,1823,2922,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2897,-0.60,-146.6,181.6,-5.2,150,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1823,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3196,-0.60,-146.6,194.5,-4.2,155,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1823,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3497,-0.62,-146.6,206.2,-4.0,160,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1823,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3797,-0.65,-146.6,221.7,-5.3,165,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1823,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4097,-0.68,-146.6,238.9,-5.7,170,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1824,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4397,-0.70,-146.6,256.8,-6.0,175,4405,0.12,2.55,0.00,0.000,4,0.080,0.037,2729,3460,2920,0,0,0,0,0,0,26.74,26.39,28.83
$GC,4555,-0.70,-146.6,266.5,-7.1,177,4560,0.15,2.47,0.00,0.000,6,0.124,0.023,2773,1824,2919,0,0,0,0,0,0,26.25,26.54,28.83
$GC,4868,-0.70,-146.6,287.6,-5.6,183,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1824,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5168,-0.70,-146.6,303.3,-5.3,188,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1824,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5468,-0.70,-146.6,320.1,-5.7,193,5476,0.00,2.55,0.00,0.000,4,0.000,0.037,2762,3457,2917,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5617,-0.70,-146.6,326.9,-5.6,195,5621,0.00,2.47,0.00,0.000,6,0.000,0.023,2762,1825,2916,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5939,-0.70,-146.6,348.3,-6.3,201,5947,0.00,2.53,0.00,0.000,4,0.000,0.037,2750,3445,2916,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6038,-0.68,-146.6,352.3,-6.5,202,6042,0.00,2.45,0.00,0.000,6,0.000,0.023,2750,1824,2916,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6350,-0.66,-146.6,377.7,-7.2,208,6358,0.12,2.55,0.00,0.000,4,0.133,0.037,2776,3457,2914,0,0,0,0,0,0,26.53,26.36,28.83
$GC,6479,-0.66,-146.6,385.4,-6.8,210,6483,0.00,2.47,0.00,0.000,6,0.000,0.023,2776,1823,2914,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6821,-0.66,-146.6,406.8,-6.0,216,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1823,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7121,-0.66,-146.6,423.7,-5.7,221,7129,0.00,2.58,0.00,0.000,4,0.000,0.037,2764,3455,2912,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7310,-0.66,-146.6,435.2,-6.2,224,7314,0.00,2.47,0.00,0.000,6,0.000,0.024,2764,1825,2911,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7651,-0.66,-146.6,459.2,-6.9,230,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1824,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7952,-0.66,-146.6,478.9,-6.6,235,7959,0.00,2.58,0.00,0.000,4,0.000,0.038,2752,3457,2909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8040,-0.66,-146.6,482.6,-6.4,236,8045,0.12,2.47,0.00,0.000,6,0.127,0.023,2789,1823,2909,0,0,0,0,0,0,26.28,26.52,28.83
$GC,8363,-0.68,-146.6,500.9,-5.1,242,8371,0.00,2.55,0.00,0.000,4,0.000,0.037,2778,3452,2908,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8453,-0.71,-146.6,500.9,-5.1,242,8460,0.00,2.47,0.00,0.000,6,0.000,0.024,2778,1823,2908,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8844,-0.74,-146.6,527.6,-5.6,246,8851,0.00,2.55,0.00,0.000,4,0.000,0.038,2768,3452,2906,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8932,-0.76,-146.6,527.6,-5.6,246,8940,0.00,2.47,0.00,0.000,6,0.000,0.023,2767,1823,2906,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9324,-0.76,-146.6,553.7,-5.4,250,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1822,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9683,-0.76,-146.6,571.3,-5.0,253,9691,0.00,2.58,0.00,0.000,4,0.000,0.039,2760,3452,2904,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9872,-0.76,-146.6,577.3,-4.9,254,9880,0.00,2.50,0.00,0.000,6,0.000,0.024,2754,1815,2903,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10283,-0.76,-146.6,606.0,-6.0,258,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1815,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10643,-0.76,-146.6,630.3,-6.7,261,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1815,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11003,-0.76,-146.6,652.5,-6.3,264,11010,0.00,2.60,0.00,0.000,4,0.000,0.039,2743,3451,2900,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11114,-0.76,-146.6,652.5,-6.3,264,11122,0.00,2.47,0.00,0.000,6,0.000,0.024,2743,1820,2900,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11483,-0.76,-146.6,682.3,-6.2,268,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1823,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11843,-0.76,-146.6,707.8,-7.0,271,11850,0.00,2.60,0.00,0.000,4,0.000,0.040,2731,3450,2899,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12044,-0.76,-146.6,715.9,-7.0,272,12051,0.00,2.47,0.00,0.000,6,0.000,0.025,2731,1827,2898,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12443,-0.76,-146.6,743.6,-5.7,276,12451,0.00,2.60,0.00,0.000,4,0.000,0.040,2719,3458,2897,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12522,-0.76,-146.6,743.6,-5.7,276,12531,0.12,2.50,0.00,0.000,6,0.130,0.024,2755,1823,2897,0,0,0,0,0,0,26.19,26.45,28.83
$GC,12923,-0.76,-146.6,768.2,-5.1,280,12931,0.00,2.35,0.00,0.000,4,0.000,0.044,2755,352,2896,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12992,-0.76,-146.6,768.2,-5.1,280,12996,0.00,2.33,0.00,0.000,6,0.000,0.024,2746,1886,2895,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13393,-0.76,-146.6,799.9,-6.8,284,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1886,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13754,-0.76,-146.6,821.2,-6.1,287,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1886,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14114,-0.76,-146.6,842.3,-5.7,290,14115,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1886,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14473,-0.76,-146.6,868.8,-7.1,293,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1886,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14833,-0.76,-146.6,896.7,-7.7,296,14834,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1886,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15194,-0.76,-146.6,921.2,-7.0,299,15195,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1886,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15554,-0.78,-146.6,942.2,-5.8,302,15562,0.00,2.47,0.00,0.000,4,0.000,0.047,2746,360,2889,0,0,0,0,0,0,28.83,26.08,28.83
$GC,15633,-0.80,-146.6,942.2,-5.8,302,15641,0.00,2.35,0.00,0.000,6,0.000,0.027,2735,1890,2889,0,0,0,0,0,0,28.83,26.40,28.83
$GC,15944,-0.80,-146.6,969.5,-7.3,312,15945,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1890,2888,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16242,begin apogee
$GC,16247,-0.29,0.0,990.3,-6.7,322,16373,0.50,0.00,122.05,1.683,6,0.104,0.000,2905,1839,2319,0,0,0,0,0,0,25.77,28.83,23.61
$STATE,16374,end apogee,CONTROL_FINISHED_OK
$STATE,16375,begin climb
$GC,16377,0.86,146.6,993.1,0.0,326,16512,1.05,0.00,131.25,1.640,6,0.066,0.000,3274,1839,1724,0,0,0,0,0,0,24.91,28.83,23.18
$GC,16804,0.72,146.6,957.7,10.2,341,16806,0.15,0.00,0.00,0.000,6,0.148,0.000,3234,1839,1713,0,0,0,0,0,0,25.75,28.83,28.83
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$STATE,29708,end climb,SURFACE_DEPTH_REACHED
$STATE,29710,begin surface coast
$FINISH,1.1,1.024989
$STATE,29740,end surface coast,CONTROL_FINISHED_OK
$STATE,29740,begin surface
$SM_CCo,29820,0.00,0.000,0,0,1009,321.59
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$IRIDIUM_FIX,2446.56,-3815.84,051112,141449
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.11
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,7704608
$TM_FREEKB,6392256
$24V_AH,23.2,33.211
$10V_AH,10.4,27.780
$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,22.575,172.625,388.425,0.000,0.000,25.844,43.259,217.796,0.000,0.000,21.000,2143.196,25212.529,747.402,1892.392,344.834,33.274,1602.218,0.000,1467.237,0.000,0.537,0.000
$DEVICE_MAMPS,195.840,143.820,1683.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.372,13.532,0.000,0.000
$MEM,344320
$DATA_FILE_SIZE,16741,604
$CAP_FILE_SIZE,196885,0
$CFSIZE,260034560,237056000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061112,063004,2444.593,-3818.752,37,0.9,37,-14.1