version: 66.11
glider: 189
mission: 7
dive: 208
start: 11 19 112 9 3 5
data:
$ID,189
$MISSION,7
$DIVE,208
$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,-47913.902
$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
$GPS1,191112,085228,2432.524,-3750.377,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-58.2
$GPS2,191112,090205,2432.492,-3750.400,15,1.9,15,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.203,0.006
$KALMAN_X,60666.8,-536.5,74.6,-40840.3,5510.6
$KALMAN_Y,50509.1,192.8,-469.8,-56030.8,-29.3
$MHEAD_RNG_PITCHd_Wd,285.6,19737,-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,-146.6,0.0,0.0,0,37,0.00,0.00,-11.95,0.000,2,0.000,0.000,164,1833,1445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.0,0.0,1,117,9.20,2.62,-56.88,0.000,4,0.177,0.050,2716,3457,2919,0,0,0,0,0,0,25.72,26.08,26.64
$GC,226,-0.74,-146.6,11.9,-10.0,20,236,0.15,2.50,0.00,0.000,6,0.128,0.023,2759,1826,2919,0,0,0,0,0,0,25.96,26.27,28.83
$GC,537,-0.68,-146.6,37.6,-6.8,51,545,0.00,2.35,0.00,0.000,4,0.000,0.041,2759,351,2919,0,0,0,0,0,0,28.83,26.19,28.83
$GC,776,-0.59,-146.6,55.9,-7.4,75,787,0.20,2.33,0.00,0.000,6,0.126,0.023,2809,1893,2920,0,0,0,0,0,0,26.03,26.44,28.83
$GC,1087,-0.59,-146.6,70.7,-4.6,106,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1893,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-0.59,-146.6,90.2,-7.0,122,1394,0.00,2.42,0.00,0.000,4,0.000,0.038,2799,3449,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1545,-0.59,-146.6,100.4,-6.9,127,1549,0.00,2.47,0.00,0.000,6,0.000,0.022,2799,1815,2921,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1857,-0.59,-146.6,120.3,-6.0,138,1865,0.00,2.55,0.00,0.000,4,0.000,0.036,2787,3449,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2007,-0.59,-146.6,128.6,-5.5,143,2015,0.00,2.47,0.00,0.000,6,0.000,0.022,2787,1811,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2339,-0.59,-146.6,141.7,-4.0,154,2345,0.00,2.55,0.00,0.000,4,0.000,0.037,2775,3449,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2506,-0.59,-146.6,149.2,-5.1,159,2516,0.12,2.47,0.00,0.000,6,0.124,0.022,2813,1810,2922,0,0,0,0,0,0,26.28,26.55,28.83
$GC,2818,-0.62,-146.6,168.1,-5.7,165,2825,0.00,2.30,0.00,0.000,4,0.000,0.040,2814,346,2922,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2917,-0.65,-146.6,171.8,-5.9,166,2924,0.00,2.33,0.00,0.000,6,0.000,0.023,2804,1901,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3238,-0.67,-146.6,188.8,-4.4,172,3245,0.00,2.40,0.00,0.000,4,0.000,0.037,2793,3447,2922,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3479,-0.69,-146.6,199.8,-4.6,176,3485,0.00,2.40,0.00,0.000,6,0.000,0.022,2793,1815,2923,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3838,-0.69,-146.6,218.6,-5.3,182,3845,0.00,2.58,0.00,0.000,4,0.000,0.037,2781,3457,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3967,-0.69,-146.6,225.4,-5.5,184,3975,0.00,2.47,0.00,0.000,6,0.000,0.021,2781,1818,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4317,-0.69,-146.6,248.0,-6.6,190,4325,0.00,2.58,0.00,0.000,4,0.000,0.037,2769,3454,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4559,-0.69,-146.6,263.5,-6.5,194,4565,0.00,2.42,0.00,0.000,6,0.000,0.023,2769,1805,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4917,-0.69,-146.6,284.6,-5.7,200,4925,0.00,2.60,0.00,0.000,4,0.000,0.037,2757,3455,2919,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5146,-0.69,-146.6,295.8,-6.2,203,5151,0.00,2.47,0.00,0.000,6,0.000,0.022,2757,1819,2918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5447,-0.69,-146.6,318.9,-6.7,208,5455,0.00,2.58,0.00,0.000,4,0.000,0.037,2746,3457,2918,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5636,-0.69,-146.6,331.7,-7.0,211,5641,0.12,2.47,0.00,0.000,6,0.125,0.022,2782,1819,2918,0,0,0,0,0,0,26.27,26.53,28.83
$GC,5980,-0.71,-146.6,352.8,-5.9,217,5986,0.00,2.55,0.00,0.000,4,0.000,0.037,2771,3445,2917,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6108,-0.73,-146.6,359.8,-5.7,219,6116,0.00,2.47,0.00,0.000,6,0.000,0.022,2771,1813,2917,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6459,-0.73,-146.6,381.1,-6.1,225,6466,0.00,2.55,0.00,0.000,4,0.000,0.037,2760,3445,2915,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6700,-0.73,-146.6,395.8,-6.1,229,6706,0.00,2.45,0.00,0.000,6,0.000,0.023,2760,1821,2914,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7059,-0.73,-146.6,413.2,-4.6,235,7067,0.00,2.55,0.00,0.000,4,0.000,0.037,2748,3446,2913,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7300,-0.73,-146.6,422.5,-3.9,239,7306,0.00,2.45,0.00,0.000,6,0.000,0.024,2748,1825,2913,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7659,-0.73,-146.6,437.7,-4.4,245,7666,0.00,2.55,0.00,0.000,4,0.000,0.038,2737,3449,2911,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7900,-0.73,-146.6,450.4,-5.3,249,7906,0.00,2.45,0.00,0.000,6,0.000,0.024,2737,1822,2911,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8260,-0.71,-146.6,471.7,-6.0,255,8267,0.12,2.55,0.00,0.000,4,0.132,0.038,2762,3451,2910,0,0,0,0,0,0,26.51,26.34,28.83
$GC,8500,-0.71,-146.6,485.2,-5.6,259,8506,0.00,2.45,0.00,0.000,6,0.000,0.024,2762,1827,2909,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8919,-0.71,-146.6,509.0,-5.7,265,8926,0.00,2.58,0.00,0.000,4,0.000,0.038,2751,3455,2908,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9160,-0.71,-146.6,523.5,-5.9,267,9166,0.00,2.47,0.00,0.000,6,0.000,0.024,2751,1823,2907,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9518,-0.71,-146.6,546.6,-6.3,270,9526,0.00,2.35,0.00,0.000,4,0.000,0.041,2751,352,2906,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9759,-0.71,-146.6,564.2,-6.9,272,9767,0.00,2.33,0.00,0.000,6,0.000,0.024,2740,1890,2905,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10119,-0.71,-146.6,588.3,-6.8,275,10126,0.00,2.47,0.00,0.000,4,0.000,0.039,2729,3453,2905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10258,-0.71,-146.6,595.8,-6.6,276,10266,0.15,2.50,0.00,0.000,6,0.119,0.024,2773,1820,2905,0,0,0,0,0,0,26.17,26.46,28.83
$GC,10599,-0.71,-146.6,614.2,-5.3,279,10606,0.00,2.58,0.00,0.000,4,0.000,0.038,2766,3448,2903,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10841,-0.75,-146.6,627.5,-5.2,281,10846,0.00,2.45,0.00,0.000,6,0.000,0.025,2763,1824,2903,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11199,-0.78,-146.6,650.3,-6.2,284,11206,0.00,2.58,0.00,0.000,4,0.000,0.039,2752,3448,2902,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11388,-0.81,-146.6,658.3,-6.4,285,11396,0.00,2.50,0.00,0.000,6,0.000,0.024,2752,1824,2902,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11798,-0.81,-146.6,688.9,-6.4,289,11806,0.00,2.60,0.00,0.000,4,0.000,0.039,2740,3450,2900,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12041,-0.81,-146.6,703.5,-6.1,291,12046,0.00,2.42,0.00,0.000,6,0.000,0.025,2740,1827,2900,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12398,-0.81,-146.6,726.6,-6.3,294,12406,0.00,2.60,0.00,0.000,4,0.000,0.039,2728,3457,2899,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12627,-0.81,-146.6,734.9,-6.5,295,12632,0.00,2.50,0.00,0.000,6,0.000,0.024,2728,1827,2898,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12989,-0.81,-146.6,766.8,-6.8,298,12997,0.00,2.60,0.00,0.000,4,0.000,0.039,2717,3464,2897,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13217,-0.81,-146.6,775.1,-6.8,299,13222,0.00,2.53,0.00,0.000,6,0.000,0.024,2716,1820,2897,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13579,-0.81,-146.6,810.0,-7.3,302,13587,0.00,2.58,0.00,0.000,4,0.000,0.039,2704,3448,2896,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13807,-0.81,-146.6,819.3,-7.5,303,13813,0.12,2.50,0.00,0.000,6,0.130,0.025,2741,1827,2895,0,0,0,0,0,0,26.13,26.39,28.83
$GC,14168,-0.81,-146.6,853.3,-7.4,306,14176,0.00,2.60,0.00,0.000,4,0.000,0.041,2730,3454,2894,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14368,-0.81,-146.6,861.4,-7.1,307,14375,0.00,2.50,0.00,0.000,6,0.000,0.025,2730,1829,2894,0,0,0,0,0,0,28.83,26.38,28.83
$GC,14769,-0.81,-146.6,892.4,-6.5,311,14776,0.00,2.60,0.00,0.000,4,0.000,0.040,2718,3454,2890,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14948,-0.81,-146.6,899.8,-6.3,312,14955,0.00,2.53,0.00,0.000,6,0.000,0.025,2718,1819,2892,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15369,-0.81,-146.6,927.1,-5.7,316,15376,0.00,2.60,0.00,0.000,4,0.000,0.040,2706,3443,2891,0,0,0,0,0,0,28.83,26.12,28.83
$GC,15611,-0.81,-146.6,941.3,-5.8,318,15617,0.12,2.45,0.00,0.000,6,0.129,0.026,2743,1822,2891,0,0,0,0,0,0,26.09,26.35,28.83
$GC,15941,-0.84,-146.6,960.7,-5.9,323,15946,0.00,2.58,0.00,0.000,4,0.000,0.041,2732,3455,2890,0,0,0,0,0,0,28.83,26.09,28.83
$GC,16179,-0.86,-146.6,975.7,-6.4,331,16186,0.00,2.53,0.00,0.000,6,0.000,0.026,2731,1829,2889,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,16416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16416,begin apogee
$GC,16422,-0.29,0.0,991.0,-6.6,339,16549,0.50,0.00,123.25,1.680,6,0.103,0.000,2902,1828,2319,0,0,0,0,0,0,25.74,28.83,23.45
$STATE,16550,end apogee,CONTROL_FINISHED_OK
$STATE,16550,begin climb
$GC,16553,0.86,146.6,995.9,0.0,343,16689,1.05,0.00,131.95,1.656,6,0.064,0.000,3274,1828,1722,0,0,0,0,0,0,24.89,28.83,22.94
$GC,16999,0.71,146.6,969.6,7.5,359,17001,0.17,0.00,0.00,0.000,6,0.146,0.000,3226,1828,1714,0,0,0,0,0,0,25.78,28.83,28.83
$GC,17299,0.63,146.6,950.7,6.2,369,17300,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1828,1712,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,30257,end climb,SURFACE_DEPTH_REACHED
$STATE,30257,begin surface coast
$FINISH,1.0,1.010935
$STATE,30289,end surface coast,CONTROL_FINISHED_OK
$STATE,30289,begin surface
$SM_CCo,30309,5.65,0.148,0,0,1095,300.00
$SM_GC,2.90,8.10,0.08,5.65,0.031,0.104,0.148,161,1841,1095,-8.84,0.76,300.00,0,0,0,0,0,0,26.42,26.73,25.41
$IRIDIUM_FIX,2411.01,-3821.12,191112,000005
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,7690016
$TM_FREEKB,6047072
$24V_AH,22.9,40.683
$10V_AH,10.3,33.850
$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,22.700,271.225,382.250,5.650,0.000,28.476,38.807,242.285,0.000,0.000,16.542,2897.118,23875.596,878.107,2787.452,439.031,33.274,2153.470,0.000,2311.370,0.000,0.536,0.000
$DEVICE_MAMPS,177.480,104.040,1679.940,147.645,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30299.000,6063.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.919,13.493,0.000,0.000
$MEM,344324
$DATA_FILE_SIZE,16719,627
$CAP_FILE_SIZE,235090,0
$CFSIZE,260034560,232873984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191112,172935,2433.063,-3752.626,39,0.9,39,-14.0