version: 66.11
glider: 189
mission: 7
dive: 209
start: 11 19 112 17 40 11
data:
$ID,189
$MISSION,7
$DIVE,209
$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,-47915.16
$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
$GPS1,191112,172935,2433.063,-3752.626,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-60.0
$GPS2,191112,173911,2433.043,-3752.653,18,1.1,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.198,0.042
$KALMAN_X,63421.0,78.7,-547.4,-47362.2,4169.0
$KALMAN_Y,50361.0,234.7,493.5,-55864.2,-1107.4
$MHEAD_RNG_PITCHd_Wd,296.0,15844,-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,-12.02,0.000,2,0.000,0.000,159,1839,1455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.0,0.0,1,117,9.48,2.58,-56.95,0.000,4,0.190,0.051,2722,3439,2919,0,0,0,0,0,0,25.75,26.03,26.64
$GC,346,-0.76,-146.6,18.7,-8.4,32,356,0.12,2.47,0.00,0.000,6,0.136,0.023,2757,1824,2919,0,0,0,0,0,0,26.02,26.29,28.83
$GC,657,-0.69,-146.6,42.9,-7.6,63,666,0.00,2.58,0.00,0.000,4,0.000,0.037,2747,3452,2920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,896,-0.62,-146.6,61.3,-7.3,87,906,0.17,2.47,0.00,0.000,6,0.123,0.023,2798,1822,2919,0,0,0,0,0,0,26.06,26.41,28.83
$GC,1206,-0.62,-146.6,80.8,-6.2,112,1214,0.00,2.58,0.00,0.000,4,0.000,0.036,2788,3455,2920,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1335,-0.62,-146.6,88.8,-6.7,116,1339,0.00,2.47,0.00,0.000,6,0.000,0.022,2788,1821,2920,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1647,-0.62,-146.6,110.4,-6.5,127,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1822,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,-0.62,-146.6,127.0,-4.9,137,1955,0.00,2.58,0.00,0.000,4,0.000,0.036,2775,3460,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2127,-0.62,-146.6,135.0,-4.4,143,2135,0.00,2.47,0.00,0.000,6,0.000,0.022,2775,1822,2920,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2459,-0.62,-146.6,151.2,-5.2,154,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1822,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-0.62,-146.6,168.8,-6.0,159,2765,0.00,2.58,0.00,0.000,4,0.000,0.036,2764,3462,2921,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2886,-0.62,-146.6,175.0,-5.5,161,2894,0.12,2.47,0.00,0.000,6,0.127,0.021,2802,1821,2921,0,0,0,0,0,0,26.26,26.52,28.83
$GC,3238,-0.64,-146.6,191.5,-4.8,167,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1821,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.66,-146.6,209.6,-6.1,172,3545,0.00,2.55,0.00,0.000,4,0.000,0.037,2790,3452,2919,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3779,-0.68,-146.6,221.1,-4.8,176,3785,0.00,2.40,0.00,0.000,6,0.000,0.022,2790,1817,2921,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4137,-0.68,-146.6,235.7,-4.1,182,4145,0.00,2.58,0.00,0.000,4,0.000,0.036,2779,3452,2920,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4379,-0.68,-146.6,248.4,-5.3,186,4385,0.00,2.45,0.00,0.000,6,0.000,0.023,2780,1824,2922,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4737,-0.68,-146.6,268.4,-5.5,192,4745,0.00,2.55,0.00,0.000,4,0.000,0.037,2768,3452,2919,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4979,-0.68,-146.6,282.4,-5.8,196,4985,0.00,2.45,0.00,0.000,6,0.000,0.023,2768,1821,2919,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5337,-0.68,-146.6,305.9,-6.7,202,5344,0.00,2.58,0.00,0.000,4,0.000,0.037,2756,3453,2917,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5578,-0.68,-146.6,324.1,-7.6,206,5585,0.00,2.45,0.00,0.000,6,0.000,0.023,2756,1822,2917,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5937,-0.68,-146.6,353.1,-8.0,212,5945,0.00,2.58,0.00,0.000,4,0.000,0.037,2745,3451,2916,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6178,-0.68,-146.6,371.4,-7.6,216,6186,0.08,2.45,0.00,0.000,6,0.106,0.023,2775,1821,2916,0,0,0,0,0,0,26.27,26.51,28.83
$GC,6538,-0.68,-146.6,391.0,-5.1,222,6545,0.00,2.55,0.00,0.000,4,0.000,0.038,2765,3450,2915,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6779,-0.68,-146.6,400.7,-4.1,226,6785,0.00,2.45,0.00,0.000,6,0.000,0.023,2761,1824,2914,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7138,-0.68,-146.6,417.4,-4.9,232,7145,0.00,2.55,0.00,0.000,4,0.000,0.037,2753,3451,2913,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7378,-0.68,-146.6,432.9,-6.5,236,7385,0.00,2.45,0.00,0.000,6,0.000,0.023,2753,1829,2912,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7737,-0.68,-146.6,458.5,-7.1,242,7745,0.00,2.55,0.00,0.000,4,0.000,0.037,2741,3446,2911,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7886,-0.68,-146.6,466.4,-6.8,244,7891,0.12,2.47,0.00,0.000,6,0.125,0.023,2778,1821,2911,0,0,0,0,0,0,26.26,26.51,28.83
$GC,8210,-0.71,-146.6,483.0,-4.3,250,8216,0.00,2.55,0.00,0.000,4,0.000,0.037,2768,3446,2910,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8338,-0.74,-146.6,487.5,-3.9,252,8346,0.00,2.47,0.00,0.000,6,0.000,0.023,2768,1820,2909,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8689,-0.74,-146.6,500.0,-3.4,258,8696,0.00,2.58,0.00,0.000,4,0.000,0.037,2756,3457,2908,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8920,-0.74,-146.6,504.6,-3.6,260,8928,0.00,2.47,0.00,0.000,6,0.000,0.023,2756,1824,2907,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9289,-0.74,-146.6,526.2,-4.5,264,9297,0.00,2.58,0.00,0.000,4,0.000,0.037,2744,3452,2907,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9468,-0.74,-146.6,533.3,-4.9,265,9476,0.00,2.50,0.00,0.000,6,0.000,0.023,2745,1813,2906,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9888,-0.74,-146.6,566.8,-7.0,269,9896,0.00,2.60,0.00,0.000,4,0.000,0.037,2732,3453,2906,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10129,-0.74,-146.6,584.5,-7.4,271,10136,0.00,2.47,0.00,0.000,6,0.000,0.023,2733,1827,2904,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10488,-0.74,-146.6,607.9,-6.7,274,10497,0.10,2.60,0.00,0.000,4,0.142,0.038,2750,3457,2902,0,0,0,0,0,0,26.58,26.27,28.83
$GC,10678,-0.74,-146.6,614.6,-6.3,275,10686,0.00,2.50,0.00,0.000,6,0.000,0.023,2750,1819,2903,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11089,-0.74,-146.6,636.6,-4.6,279,11096,0.00,2.60,0.00,0.000,4,0.000,0.038,2738,3454,2902,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11308,-0.74,-146.6,641.5,-4.3,280,11316,0.00,2.50,0.00,0.000,6,0.000,0.024,2738,1821,2902,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11689,-0.74,-146.6,665.2,-4.9,284,11697,0.00,2.58,0.00,0.000,4,0.000,0.038,2726,3448,2901,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11931,-0.74,-146.6,679.9,-5.7,286,11937,0.12,2.42,0.00,0.000,6,0.126,0.024,2764,1824,2900,0,0,0,0,0,0,26.20,26.44,28.83
$GC,12289,-0.74,-146.6,702.7,-6.3,289,12296,0.00,2.58,0.00,0.000,4,0.000,0.039,2753,3444,2900,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12530,-0.77,-146.6,717.6,-6.3,291,12536,0.00,2.47,0.00,0.000,6,0.000,0.024,2752,1823,2899,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12890,-0.79,-146.6,738.1,-5.8,294,12897,0.00,2.58,0.00,0.000,4,0.000,0.039,2742,3452,2898,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13131,-0.82,-146.6,751.0,-5.4,296,13137,0.00,2.45,0.00,0.000,6,0.000,0.024,2741,1818,2897,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13489,-0.82,-146.6,769.2,-5.1,299,13496,0.00,2.58,0.00,0.000,4,0.000,0.039,2730,3448,2897,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13730,-0.82,-146.6,781.5,-5.1,301,13736,0.00,2.47,0.00,0.000,6,0.000,0.025,2730,1830,2897,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14089,-0.82,-146.6,799.7,-5.0,304,14097,0.00,2.55,0.00,0.000,4,0.000,0.039,2718,3445,2895,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14288,-0.82,-146.6,806.1,-5.1,305,14295,0.00,2.50,0.00,0.000,6,0.000,0.024,2718,1817,2895,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14689,-0.82,-146.6,838.3,-6.7,309,14696,0.00,2.60,0.00,0.000,4,0.000,0.039,2706,3446,2894,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14930,-0.82,-146.6,856.7,-7.4,311,14937,0.08,2.47,0.00,0.000,6,0.112,0.025,2735,1830,2893,0,0,0,0,0,0,26.15,26.39,28.83
$GC,15288,-0.82,-146.6,883.0,-7.4,314,15297,0.00,2.60,0.00,0.000,4,0.000,0.040,2724,3452,2892,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15531,-0.82,-146.6,900.8,-7.3,316,15536,0.00,2.45,0.00,0.000,6,0.000,0.025,2724,1821,2892,0,0,0,0,0,0,28.83,26.37,28.83
$GC,15888,-0.82,-146.6,926.9,-7.3,319,15896,0.00,2.62,0.00,0.000,4,0.000,0.040,2712,3459,2891,0,0,0,0,0,0,28.83,26.11,28.83
$GC,16098,-0.82,-146.6,935.4,-7.2,320,16106,0.00,2.53,0.00,0.000,6,0.000,0.024,2712,1822,2891,0,0,0,0,0,0,28.83,26.36,28.83
$GC,16429,-0.82,-146.6,965.0,-6.9,328,16436,0.00,2.60,0.00,0.000,4,0.000,0.040,2700,3454,2889,0,0,0,0,0,0,28.83,26.09,28.83
$GC,16588,-0.82,-146.6,975.3,-6.9,333,16596,0.12,2.53,0.00,0.000,6,0.131,0.025,2736,1819,2889,0,0,0,0,0,0,26.07,26.34,28.83
$STATE,16846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16846,begin apogee
$GC,16852,-0.29,0.0,991.3,-5.8,342,16979,0.47,0.00,122.88,1.686,6,0.103,0.000,2900,1877,2319,0,0,0,0,0,0,25.79,28.83,23.46
$STATE,16980,end apogee,CONTROL_FINISHED_OK
$STATE,16981,begin climb
$GC,16983,0.86,146.6,994.7,0.0,346,17123,1.08,2.72,131.60,1.641,4,0.064,0.046,3291,353,1721,0,0,0,0,0,0,24.88,24.19,22.96
$GC,17242,0.69,146.6,980.1,9.2,355,17251,0.25,2.42,0.00,0.000,6,0.134,0.025,3220,1885,1714,0,0,0,0,0,0,25.27,25.56,28.83
$GC,17554,0.60,146.6,954.4,7.5,366,17560,0.00,2.53,0.00,0.000,4,0.000,0.041,3220,3453,1712,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,30233,end climb,SURFACE_DEPTH_REACHED
$STATE,30233,begin surface coast
$FINISH,1.1,1.025540
$STATE,30261,end surface coast,CONTROL_FINISHED_OK
$STATE,30261,begin surface
$SM_CCo,30341,0.00,0.000,0,0,964,332.38
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$IRIDIUM_FIX,2415.74,-3740.46,191112,080840
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.74
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$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,7689632
$TM_FREEKB,6037952
$24V_AH,23.0,40.890
$10V_AH,10.2,34.029
$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
$DEVICE_SECS,21.825,268.175,431.550,0.000,0.000,27.372,38.462,240.921,0.000,0.000,19.483,2888.404,23881.756,897.742,2800.896,431.133,33.270,2182.662,0.000,2319.138,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.925,13.514,0.000,0.000
$MEM,344332
$DATA_FILE_SIZE,16737,611
$CAP_FILE_SIZE,233414,0
$CFSIZE,260034560,232763392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201112,020704,2433.961,-3754.918,39,0.8,39,-14.0