version: 66.11
glider: 189
mission: 7
dive: 216
start: 11 22 112 4 59 48
data:
$ID,189
$MISSION,7
$DIVE,216
$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,-47923.965
$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,2150
$C_ROLL_CLIMB,1600
$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
$GPS1,221112,044903,2435.943,-3807.863,37,1.1,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-57.6
$GPS2,221112,045848,2435.952,-3807.819,13,1.0,14,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.163,0.121
$KALMAN_X,80418.7,-244.4,-142.6,-90002.6,3369.8
$KALMAN_Y,46272.0,-434.4,141.7,-45341.9,-1227.4
$MHEAD_RNG_PITCHd_Wd,320.5,26219,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-146.6,0.0,0.0,0,47,0.00,0.00,-21.77,0.000,2,0.000,0.000,152,2125,1744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.86,-146.6,2.2,0.0,2,111,9.73,2.55,-44.10,0.000,4,0.198,0.051,2720,548,2921,0,0,0,0,0,0,25.64,26.10,26.63
$GC,339,-0.73,-146.6,20.4,-7.3,31,349,0.17,2.50,0.00,0.000,6,0.143,0.024,2762,2186,2919,0,0,0,0,0,0,25.87,26.31,28.83
$GC,649,-0.68,-146.6,43.4,-8.5,62,658,0.00,2.60,0.00,0.000,4,0.000,0.037,2762,545,2919,0,0,0,0,0,0,28.83,26.22,28.83
$GC,709,-0.60,-146.6,48.0,-7.4,68,719,0.17,2.50,0.00,0.000,6,0.129,0.024,2808,2196,2917,0,0,0,0,0,0,26.02,26.40,28.83
$GC,1019,-0.60,-146.6,67.3,-6.2,99,1028,0.00,2.47,0.00,0.000,4,0.000,0.042,2797,3746,2920,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1109,-0.60,-146.6,73.4,-6.8,108,1118,0.00,2.45,0.00,0.000,6,0.000,0.021,2797,2104,2920,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1439,-0.60,-146.6,95.7,-6.5,121,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2104,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-0.60,-146.6,109.8,-4.0,131,1747,0.00,2.45,0.00,0.000,4,0.000,0.037,2797,548,2920,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1838,-0.60,-146.6,114.0,-4.4,134,1846,0.00,2.47,0.00,0.000,6,0.000,0.024,2785,2191,2920,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2160,-0.60,-146.6,131.4,-5.2,145,2167,0.00,2.45,0.00,0.000,4,0.000,0.041,2773,3746,2920,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2339,-0.60,-146.6,141.9,-6.0,151,2347,0.08,2.42,0.00,0.000,6,0.109,0.020,2803,2090,2920,0,0,0,0,0,0,26.30,26.58,28.83
$GC,2669,-0.60,-146.6,161.2,-5.9,159,2676,0.00,2.42,0.00,0.000,4,0.000,0.037,2804,547,2921,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2729,-0.60,-146.6,164.4,-5.7,160,2737,0.00,2.47,0.00,0.000,6,0.000,0.024,2794,2194,2921,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3089,-0.60,-146.6,180.8,-4.5,166,3097,0.00,2.42,0.00,0.000,4,0.000,0.041,2782,3739,2921,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3188,-0.60,-146.6,184.1,-4.7,167,3192,0.00,2.45,0.00,0.000,6,0.000,0.021,2782,2087,2921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3501,-0.60,-146.6,205.4,-6.1,173,3508,0.00,2.62,0.00,0.000,4,0.000,0.041,2769,3751,2921,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3741,-0.60,-146.6,221.6,-6.8,177,3748,0.08,2.42,0.00,0.000,6,0.107,0.021,2800,2098,2921,0,0,0,0,0,0,26.32,26.59,28.83
$GC,4101,-0.63,-146.6,241.8,-5.3,183,4108,0.00,2.60,0.00,0.000,4,0.000,0.041,2789,3743,2921,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4342,-0.66,-146.6,254.4,-5.3,187,4348,0.00,2.38,0.00,0.000,6,0.000,0.021,2792,2103,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4701,-0.68,-146.6,271.1,-4.5,193,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2108,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5001,-0.71,-146.6,284.7,-4.5,198,5008,0.00,2.60,0.00,0.000,4,0.000,0.041,2778,3742,2919,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5160,-0.73,-146.6,291.3,-5.1,200,5168,0.00,2.45,0.00,0.000,6,0.000,0.021,2777,2096,2918,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5480,-0.73,-146.6,313.2,-6.2,206,5488,0.00,2.62,0.00,0.000,4,0.000,0.041,2765,3753,2917,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5669,-0.73,-146.6,325.0,-6.5,209,5673,0.00,2.47,0.00,0.000,6,0.000,0.021,2766,2093,2917,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6011,-0.73,-146.6,347.3,-6.3,215,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2093,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6311,-0.73,-146.6,365.8,-6.1,220,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2093,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,-0.73,-146.6,380.5,-4.8,225,6619,0.00,2.62,0.00,0.000,4,0.000,0.042,2753,3745,2914,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6781,-0.73,-146.6,385.9,-4.4,227,6789,0.00,2.45,0.00,0.000,6,0.000,0.021,2753,2103,2914,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7092,-0.73,-146.6,402.9,-4.9,233,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2104,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7391,-0.73,-146.6,422.4,-6.6,238,7398,0.00,2.65,0.00,0.000,4,0.000,0.042,2742,3756,2912,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7591,-0.73,-146.6,435.6,-7.3,241,7598,0.00,2.47,0.00,0.000,6,0.000,0.021,2742,2101,2911,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7931,-0.73,-146.6,462.0,-7.2,247,7939,0.00,2.62,0.00,0.000,4,0.000,0.042,2730,3746,2910,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8071,-0.73,-146.6,470.8,-7.3,249,8079,0.12,2.47,0.00,0.000,6,0.129,0.021,2766,2091,2910,0,0,0,0,0,0,26.27,26.55,28.83
$GC,8412,-0.76,-146.6,496.6,-7.2,255,8419,0.00,2.65,0.00,0.000,4,0.000,0.042,2755,3752,2909,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8651,-0.76,-146.6,514.7,-7.5,258,8659,0.00,2.47,0.00,0.000,6,0.000,0.021,2755,2101,2908,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9011,-0.76,-146.6,540.4,-7.2,261,9019,0.00,2.65,0.00,0.000,4,0.000,0.042,2744,3753,2907,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9110,-0.76,-146.6,540.4,-7.2,261,9114,0.00,2.47,0.00,0.000,6,0.000,0.021,2743,2101,2906,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9482,-0.76,-146.6,573.4,-7.0,265,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2102,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9841,-0.76,-146.6,596.4,-6.5,268,9849,0.00,2.65,0.00,0.000,4,0.000,0.043,2731,3746,2905,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10081,-0.76,-146.6,611.3,-6.2,270,10089,0.00,2.47,0.00,0.000,6,0.000,0.022,2731,2100,2905,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10443,-0.76,-146.6,631.6,-5.7,273,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2100,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10802,-0.76,-146.6,653.9,-6.1,276,10809,0.00,2.62,0.00,0.000,4,0.000,0.044,2719,3738,2903,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11044,-0.76,-146.6,670.6,-6.6,278,11050,0.12,2.40,0.00,0.000,6,0.130,0.023,2756,2105,2902,0,0,0,0,0,0,26.23,26.52,28.83
$GC,11401,-0.76,-146.6,692.5,-6.3,281,11409,0.00,2.65,0.00,0.000,4,0.000,0.044,2746,3745,2901,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11561,-0.78,-146.6,699.3,-6.0,282,11569,0.00,2.47,0.00,0.000,6,0.000,0.022,2745,2106,2901,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11883,-0.80,-146.6,717.0,-5.1,285,11889,0.00,2.62,0.00,0.000,4,0.000,0.043,2733,3746,2900,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12031,-0.80,-146.6,722.4,-4.8,286,12035,0.00,2.47,0.00,0.000,6,0.000,0.022,2733,2106,2899,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12353,-0.80,-146.6,739.7,-4.8,289,12355,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2105,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12712,-0.80,-146.6,763.5,-6.3,292,12720,0.00,2.65,0.00,0.000,4,0.000,0.044,2722,3753,2897,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12833,-0.80,-146.6,773.2,-7.0,293,12840,0.00,2.50,0.00,0.000,6,0.000,0.023,2721,2098,2898,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13193,-0.80,-146.6,802.2,-8.1,296,13200,0.00,2.62,0.00,0.000,4,0.000,0.044,2710,3741,2897,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13322,-0.80,-146.6,811.4,-8.0,297,13327,0.12,2.47,0.00,0.000,6,0.133,0.023,2746,2098,2897,0,0,0,0,0,0,26.19,26.48,28.83
$GC,13665,-0.82,-146.6,833.3,-6.5,300,13672,0.00,2.65,0.00,0.000,4,0.000,0.044,2735,3743,2895,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13714,-0.84,-146.6,833.3,-6.5,300,13721,0.00,2.47,0.00,0.000,6,0.000,0.023,2735,2108,2895,0,0,0,0,0,0,28.83,26.48,28.83
$GC,14025,-0.89,-146.6,855.2,-6.1,303,14032,0.00,2.47,0.00,0.000,4,0.000,0.041,2735,550,2894,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14094,-0.95,-146.6,855.2,-6.1,303,14102,0.00,2.50,0.00,0.000,6,0.000,0.026,2724,2187,2894,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14505,-1.00,-146.6,884.2,-6.0,307,14513,0.15,2.60,0.00,0.000,4,0.073,0.041,2649,548,2891,0,0,0,0,0,0,26.67,26.16,28.83
$GC,14746,-1.00,-146.6,904.1,-7.2,309,14753,0.10,2.47,0.00,0.000,6,0.134,0.027,2686,2174,2892,0,0,0,0,0,0,25.89,26.39,28.83
$GC,15105,-0.94,-146.6,931.5,-7.8,312,15106,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2174,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15465,-0.91,-146.6,962.9,-8.6,315,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2174,2891,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15822,begin apogee
$GC,15829,-0.29,0.0,995.1,-9.0,318,15957,0.65,0.05,123.20,1.690,6,0.106,0.129,2906,1620,2319,0,0,0,0,0,0,25.61,24.64,23.48
$STATE,15960,end apogee,CONTROL_FINISHED_OK
$STATE,15960,begin climb
$GC,15962,0.86,146.6,1001.6,0.0,324,16102,1.05,2.22,131.60,1.652,4,0.062,0.049,3289,362,1721,0,0,0,0,0,0,24.95,24.25,23.00
$GC,16173,0.69,146.6,994.7,6.8,335,16177,0.25,2.05,0.00,0.000,6,0.135,0.024,3220,1647,1716,0,0,0,0,0,0,25.07,25.34,28.83
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$STATE,29869,end climb,SURFACE_DEPTH_REACHED
$STATE,29869,begin surface coast
$FINISH,1.1,1.012115
$STATE,29901,end surface coast,CONTROL_FINISHED_OK
$STATE,29901,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,58.50
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,7686944
$TM_FREEKB,5972640
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$10V_AH,10.0,35.230
$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
$DEVICE_SECS,22.375,231.000,398.625,0.000,0.000,24.904,53.403,231.689,0.000,0.000,15.228,2626.414,24167.570,811.493,2528.763,418.315,33.270,1963.695,0.000,2052.587,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.872,13.513,0.000,0.000
$MEM,344392
$DATA_FILE_SIZE,16710,605
$CAP_FILE_SIZE,222741,0
$CFSIZE,260034560,231997440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221112,132034,2436.519,-3809.446,30,0.9,30,-14.0