version: 66.11
glider: 189
mission: 7
dive: 211
start: 11 20 112 10 46 29
data:
$ID,189
$MISSION,7
$DIVE,211
$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,-47917.676
$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,1950
$C_ROLL_CLIMB,1750
$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
$GPS1,201112,103605,2434.310,-3757.178,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-58.6
$GPS2,201112,104529,2434.266,-3757.233,16,1.3,16,-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,-0.009
$KALMAN_X,68329.3,-336.2,51.3,-60169.9,3672.7
$KALMAN_Y,51096.6,230.7,-582.9,-53250.8,116.5
$MHEAD_RNG_PITCHd_Wd,281.5,8045,-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,-11.95,0.000,2,0.000,0.000,161,1974,1452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.1,0.0,1,117,9.35,2.65,-56.83,0.000,4,0.186,0.054,2724,348,2919,0,0,0,0,0,0,25.74,26.08,26.65
$GC,176,-0.74,-146.6,5.4,-7.6,15,187,0.17,2.53,0.00,0.000,6,0.138,0.025,2758,1995,2919,0,0,0,0,0,0,25.88,26.27,28.83
$GC,487,-0.68,-146.6,28.5,-7.2,46,496,0.00,2.62,0.00,0.000,4,0.000,0.041,2759,348,2919,0,0,0,0,0,0,28.83,26.18,28.83
$GC,727,-0.59,-146.6,44.3,-7.3,70,736,0.20,2.50,0.00,0.000,6,0.129,0.024,2807,2004,2919,0,0,0,0,0,0,26.01,26.44,28.83
$GC,1036,-0.59,-146.6,70.1,-6.1,101,1046,0.00,2.62,0.00,0.000,4,0.000,0.040,2808,352,2917,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1146,-0.56,-146.6,76.1,-6.7,110,1155,0.00,2.47,0.00,0.000,6,0.000,0.024,2797,1996,2920,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1456,-0.56,-146.6,96.1,-6.1,121,1464,0.00,2.45,0.00,0.000,4,0.000,0.040,2785,3554,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1696,-0.56,-146.6,109.2,-5.6,129,1705,0.12,2.47,0.00,0.000,6,0.129,0.021,2822,1901,2920,0,0,0,0,0,0,26.26,26.52,28.83
$GC,2028,-0.59,-146.6,130.7,-7.4,140,2034,0.00,2.45,0.00,0.000,4,0.000,0.041,2823,348,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2087,-0.61,-146.6,135.4,-7.7,142,2094,0.00,2.47,0.00,0.000,6,0.000,0.024,2817,1999,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2417,-0.64,-146.6,157.6,-6.5,151,2424,0.00,2.42,0.00,0.000,4,0.000,0.039,2801,3557,2921,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2586,-0.66,-146.6,164.3,-5.9,153,2595,0.00,2.47,0.00,0.000,6,0.000,0.021,2801,1908,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2897,-0.66,-146.6,180.0,-4.3,159,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1904,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3197,-0.69,-146.6,193.6,-4.5,164,3204,0.00,2.58,0.00,0.000,4,0.000,0.038,2785,3553,2920,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3439,-0.71,-146.6,205.4,-4.9,168,3444,0.00,2.40,0.00,0.000,6,0.000,0.022,2789,1905,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3797,-0.71,-146.6,226.0,-5.9,174,3805,0.00,2.60,0.00,0.000,4,0.000,0.038,2777,3557,2920,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4038,-0.71,-146.6,240.4,-6.0,178,4045,0.00,2.45,0.00,0.000,6,0.000,0.022,2776,1911,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4397,-0.71,-146.6,261.0,-5.7,184,4404,0.00,2.55,0.00,0.000,4,0.000,0.039,2765,3546,2920,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4638,-0.71,-146.6,276.7,-6.6,188,4644,0.00,2.42,0.00,0.000,6,0.000,0.022,2765,1918,2920,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4996,-0.71,-146.6,300.8,-6.5,194,5004,0.00,2.58,0.00,0.000,4,0.000,0.039,2753,3553,2919,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5238,-0.71,-146.6,315.8,-6.2,198,5244,0.00,2.45,0.00,0.000,6,0.000,0.022,2753,1910,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5597,-0.71,-146.6,339.0,-6.5,204,5605,0.00,2.58,0.00,0.000,4,0.000,0.039,2742,3551,2917,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5837,-0.71,-146.6,356.6,-7.3,208,5844,0.00,2.45,0.00,0.000,6,0.000,0.022,2742,1914,2917,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6197,-0.71,-146.6,383.5,-7.4,214,6205,0.10,2.58,0.00,0.000,4,0.140,0.040,2759,3553,2916,0,0,0,0,0,0,26.60,26.33,28.83
$GC,6436,-0.71,-146.6,399.8,-6.8,218,6444,0.00,2.47,0.00,0.000,6,0.000,0.023,2759,1909,2915,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6797,-0.71,-146.6,424.6,-7.1,224,6804,0.00,2.58,0.00,0.000,4,0.000,0.040,2747,3553,2915,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6916,-0.71,-146.6,433.2,-7.2,226,6924,0.00,2.47,0.00,0.000,6,0.000,0.022,2748,1908,2913,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7277,-0.71,-146.6,455.1,-5.8,232,7284,0.00,2.58,0.00,0.000,4,0.000,0.040,2736,3547,2912,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7518,-0.71,-146.6,467.4,-5.1,236,7525,0.10,2.45,0.00,0.000,6,0.102,0.023,2773,1910,2912,0,0,0,0,0,0,26.25,26.53,28.83
$GC,7878,-0.73,-146.6,479.5,-3.2,242,7885,0.00,2.58,0.00,0.000,4,0.000,0.041,2763,3545,2911,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8119,-0.76,-146.6,489.8,-4.3,246,8124,0.00,2.40,0.00,0.000,6,0.000,0.023,2763,1913,2910,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8477,-0.76,-146.6,508.9,-5.4,251,8484,0.00,2.58,0.00,0.000,4,0.000,0.040,2751,3549,2908,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8718,-0.76,-146.6,522.1,-5.5,253,8724,0.00,2.45,0.00,0.000,6,0.000,0.023,2751,1914,2907,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9077,-0.76,-146.6,540.2,-5.1,256,9084,0.00,2.60,0.00,0.000,4,0.000,0.040,2739,3557,2906,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9318,-0.76,-146.6,553.8,-5.3,258,9324,0.00,2.42,0.00,0.000,6,0.000,0.024,2739,1914,2906,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9676,-0.76,-146.6,580.7,-7.1,261,9684,0.00,2.62,0.00,0.000,4,0.000,0.041,2728,3557,2905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9896,-0.76,-146.6,591.0,-7.8,262,9904,0.00,2.50,0.00,0.000,6,0.000,0.023,2731,1909,2904,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10276,-0.76,-146.6,629.8,-8.1,266,10284,0.00,2.62,0.00,0.000,4,0.000,0.041,2715,3557,2903,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10387,-0.76,-146.6,629.8,-8.1,266,10396,0.10,2.47,0.00,0.000,6,0.106,0.023,2753,1907,2903,0,0,0,0,0,0,26.21,26.49,28.83
$GC,10757,-0.76,-146.6,659.0,-6.0,270,10764,0.00,2.62,0.00,0.000,4,0.000,0.041,2742,3558,2902,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10998,-0.78,-146.6,673.8,-5.9,272,11004,0.00,2.42,0.00,0.000,6,0.000,0.024,2742,1916,2902,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11357,-0.78,-146.6,697.9,-6.6,275,11365,0.00,2.60,0.00,0.000,4,0.000,0.041,2731,3557,2901,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11598,-0.78,-146.6,715.7,-7.1,277,11604,0.00,2.47,0.00,0.000,6,0.000,0.024,2731,1914,2900,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11957,-0.78,-146.6,743.9,-7.8,280,11964,0.00,2.60,0.00,0.000,4,0.000,0.041,2719,3551,2899,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12198,-0.78,-146.6,762.7,-7.9,282,12205,0.08,2.47,0.00,0.000,6,0.110,0.024,2748,1914,2896,0,0,0,0,0,0,26.20,26.46,28.83
$GC,12557,-0.78,-146.6,786.1,-6.8,285,12564,0.00,2.60,0.00,0.000,4,0.000,0.042,2737,3550,2897,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12798,-0.80,-146.6,801.0,-6.3,287,12804,0.00,2.45,0.00,0.000,6,0.000,0.024,2737,1913,2897,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13157,-0.80,-146.6,821.6,-5.8,290,13164,0.00,2.60,0.00,0.000,4,0.000,0.041,2726,3550,2896,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13398,-0.80,-146.6,835.5,-5.7,292,13404,0.00,2.47,0.00,0.000,6,0.000,0.024,2725,1920,2895,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13757,-0.80,-146.6,856.0,-5.7,295,13765,0.00,2.60,0.00,0.000,4,0.000,0.042,2714,3557,2894,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13998,-0.80,-146.6,871.4,-6.0,297,14004,0.00,2.45,0.00,0.000,6,0.000,0.025,2714,1914,2894,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14357,-0.80,-146.6,898.0,-7.2,300,14364,0.00,2.60,0.00,0.000,4,0.000,0.042,2702,3550,2893,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14495,-0.80,-146.6,907.9,-7.6,301,14500,0.15,2.50,0.00,0.000,6,0.125,0.025,2747,1915,2892,0,0,0,0,0,0,26.08,26.40,28.83
$GC,14828,-0.80,-146.6,932.2,-7.2,304,14835,0.00,2.62,0.00,0.000,4,0.000,0.043,2735,3552,2892,0,0,0,0,0,0,28.83,26.12,28.83
$GC,15070,-0.83,-146.6,946.5,-6.3,306,15076,0.00,2.45,0.00,0.000,6,0.000,0.026,2735,1909,2891,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15429,-0.86,-146.6,965.7,-5.4,309,15436,0.00,2.62,0.00,0.000,4,0.000,0.042,2724,3553,2890,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15671,-0.89,-146.6,978.3,-5.2,311,15676,0.00,2.45,0.00,0.000,6,0.000,0.025,2724,1911,2889,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,15906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15906,begin apogee
$GC,15912,-0.29,0.0,991.5,-5.4,313,16040,0.52,0.05,123.07,1.687,6,0.099,0.130,2904,1768,2319,0,0,0,0,0,0,25.79,24.60,23.47
$STATE,16043,end apogee,CONTROL_FINISHED_OK
$STATE,16043,begin climb
$GC,16045,0.86,146.6,995.7,0.0,319,16187,1.05,2.50,131.95,1.649,4,0.063,0.047,3290,366,1721,0,0,0,0,0,0,24.92,24.21,22.96
$GC,16417,0.68,146.6,977.0,8.0,332,16425,0.25,2.22,0.00,0.000,6,0.135,0.025,3217,1797,1712,0,0,0,0,0,0,25.61,25.92,28.83
$GC,16738,0.57,146.6,955.2,6.4,335,16746,0.12,2.50,0.00,0.000,4,0.146,0.039,3181,3355,1711,0,0,0,0,0,0,26.13,26.15,28.83
$GC,16839,0.45,146.6,955.2,6.4,335,16846,0.12,2.55,0.00,0.000,6,0.116,0.029,3148,1728,1711,0,0,0,0,0,0,25.98,26.24,28.83
$GC,17218,0.51,191.7,931.9,4.8,339,17262,0.00,2.35,38.45,1.629,4,0.000,0.050,3157,357,1537,0,0,0,0,0,0,28.83,25.35,24.09
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$STATE,29345,end climb,SURFACE_DEPTH_REACHED
$STATE,29345,begin surface coast
$FINISH,1.2,1.011708
$STATE,29375,end surface coast,CONTROL_FINISHED_OK
$STATE,29375,begin surface
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$HUMID,58.74
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,7688864
$TM_FREEKB,6019712
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$10V_AH,10.2,34.378
$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,22.250,252.800,424.750,0.000,0.000,26.119,42.693,230.507,0.000,0.000,17.712,2828.912,23106.072,874.541,2767.352,426.247,33.267,2143.916,0.000,2297.603,0.000,0.536,0.000
$DEVICE_MAMPS,185.895,130.050,1686.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.918,13.527,0.000,0.000
$MEM,344344
$DATA_FILE_SIZE,16732,580
$CAP_FILE_SIZE,227087,0
$CFSIZE,260034560,232542208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201112,185835,2434.444,-3759.333,37,1.0,37,-14.0