version: 66.11
glider: 189
mission: 7
dive: 223
start: 11 24 112 16 5 36
data:
$ID,189
$MISSION,7
$DIVE,223
$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,-47932.773
$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
$GPS1,241112,155459,2443.958,-3816.280,41,0.9,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-64.5
$GPS2,241112,160436,2444.011,-3816.255,17,1.5,17,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.080,0.186
$KALMAN_X,94303.5,129.1,-236.7,-118369.4,2247.1
$KALMAN_Y,25494.1,27.8,-1.9,-9975.9,-3726.0
$MHEAD_RNG_PITCHd_Wd,350.8,6535,-11.8,-6.111,-16.78
$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,23,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-21.08,0.000,2,0.000,0.000,151,2118,1726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-0.86,-146.6,2.1,0.0,2,110,9.88,2.53,-44.20,0.000,4,0.205,0.050,2716,548,2919,0,0,0,0,0,0,25.58,26.13,26.64
$GC,338,-0.71,-146.6,22.3,-9.5,31,348,0.20,2.50,0.00,0.000,6,0.137,0.024,2767,2189,2920,0,0,0,0,0,0,25.89,26.34,28.83
$GC,648,-0.66,-146.6,45.9,-7.6,62,657,0.00,2.58,0.00,0.000,4,0.000,0.037,2767,550,2919,0,0,0,0,0,0,28.83,26.27,28.83
$GC,728,-0.59,-146.6,52.4,-8.1,70,738,0.17,2.47,0.00,0.000,6,0.129,0.024,2809,2187,2921,0,0,0,0,0,0,26.06,26.43,28.83
$GC,1038,-0.59,-146.6,71.2,-5.6,101,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2187,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1349,-0.59,-146.6,89.2,-6.1,116,1356,0.00,2.58,0.00,0.000,4,0.000,0.037,2809,547,2922,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1457,-0.59,-146.6,94.8,-6.4,119,1461,0.00,2.47,0.00,0.000,6,0.000,0.024,2799,2187,2918,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1758,-0.59,-146.6,111.8,-5.0,129,1766,0.00,2.47,0.00,0.000,4,0.000,0.041,2787,3750,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1878,-0.59,-146.6,118.2,-5.3,133,1886,0.00,2.45,0.00,0.000,6,0.000,0.020,2786,2097,2925,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2208,-0.59,-146.6,132.2,-4.2,144,2216,0.00,2.60,0.00,0.000,4,0.000,0.041,2774,3753,2923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2399,-0.59,-146.6,142.1,-5.7,150,2406,0.08,2.42,0.00,0.000,6,0.106,0.021,2805,2101,2923,0,0,0,0,0,0,26.32,26.59,28.83
$GC,2719,-0.62,-146.6,162.0,-6.2,158,2726,0.00,2.60,0.00,0.000,4,0.000,0.041,2794,3752,2923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2928,-0.64,-146.6,173.7,-6.4,161,2935,0.00,2.45,0.00,0.000,6,0.000,0.020,2794,2100,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3258,-0.67,-146.6,197.7,-6.7,167,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2100,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3559,-0.72,-146.6,214.3,-5.4,172,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2099,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3859,-0.77,-146.6,227.6,-4.4,177,3866,0.12,2.42,0.00,0.000,4,0.080,0.038,2717,553,2923,0,0,0,0,0,0,26.72,26.38,28.83
$GC,3997,-0.77,-146.6,234.2,-4.9,179,4006,0.17,2.47,0.00,0.000,6,0.132,0.024,2756,2196,2923,0,0,0,0,0,0,26.17,26.53,28.83
$GC,4339,-0.77,-146.6,252.9,-5.3,185,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2195,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4638,-0.77,-146.6,271.8,-6.4,190,4645,0.00,2.47,0.00,0.000,4,0.000,0.042,2746,3750,2922,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4818,-0.77,-146.6,286.0,-7.6,193,4826,0.00,2.45,0.00,0.000,6,0.000,0.021,2746,2104,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5178,-0.77,-146.6,314.9,-8.0,199,5186,0.00,2.60,0.00,0.000,4,0.000,0.041,2734,3750,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5420,-0.74,-146.6,332.4,-7.3,203,5426,0.00,2.45,0.00,0.000,6,0.000,0.021,2734,2100,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5779,-0.71,-146.6,351.9,-5.1,209,5786,0.12,2.60,0.00,0.000,4,0.132,0.042,2760,3740,2919,0,0,0,0,0,0,26.52,26.34,28.83
$GC,5969,-0.71,-146.6,360.4,-4.8,212,5976,0.00,2.42,0.00,0.000,6,0.000,0.021,2764,2106,2919,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6318,-0.71,-146.6,382.4,-6.6,218,6326,0.00,2.60,0.00,0.000,4,0.000,0.041,2748,3747,2918,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6517,-0.71,-146.6,396.7,-7.7,221,6521,0.00,2.45,0.00,0.000,6,0.000,0.021,2748,2106,2917,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6849,-0.71,-146.6,424.1,-7.6,227,6857,0.00,2.60,0.00,0.000,4,0.000,0.041,2736,3743,2916,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7090,-0.71,-146.6,440.5,-6.8,231,7097,0.08,2.45,0.00,0.000,6,0.108,0.021,2767,2096,2915,0,0,0,0,0,0,26.32,26.58,28.83
$GC,7450,-0.73,-146.6,456.2,-4.1,237,7457,0.00,2.62,0.00,0.000,4,0.000,0.042,2756,3743,2914,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7629,-0.73,-146.6,464.4,-4.4,240,7637,0.00,2.45,0.00,0.000,6,0.000,0.021,2752,2105,2914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7990,-0.77,-146.6,488.8,-7.3,246,7996,0.00,2.45,0.00,0.000,4,0.000,0.038,2756,542,2913,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8049,-0.80,-146.6,494.0,-7.9,247,8057,0.00,2.50,0.00,0.000,6,0.000,0.024,2745,2196,2912,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8409,-0.80,-146.6,524.5,-8.5,251,8417,0.00,2.47,0.00,0.000,4,0.000,0.043,2733,3745,2912,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8640,-0.80,-146.6,534.2,-8.4,252,8648,0.00,2.42,0.00,0.000,6,0.000,0.021,2733,2111,2911,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9009,-0.80,-146.6,562.2,-5.8,256,9017,0.00,2.60,0.00,0.000,4,0.000,0.042,2721,3743,2910,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9129,-0.80,-146.6,568.0,-5.2,257,9137,0.00,2.45,0.00,0.000,6,0.000,0.021,2721,2100,2909,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9490,-0.80,-146.6,585.4,-4.8,260,9496,0.00,2.62,0.00,0.000,4,0.000,0.043,2709,3747,2908,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9628,-0.80,-146.6,593.0,-5.2,261,9636,0.12,2.47,0.00,0.000,6,0.130,0.022,2746,2099,2908,0,0,0,0,0,0,26.26,26.55,28.83
$GC,9969,-0.80,-146.6,616.6,-6.5,264,9977,0.00,2.62,0.00,0.000,4,0.000,0.043,2735,3738,2906,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10209,-0.80,-146.6,635.7,-7.3,266,10216,0.00,2.47,0.00,0.000,6,0.000,0.022,2735,2097,2908,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10569,-0.80,-146.6,666.0,-8.4,269,10577,0.00,2.62,0.00,0.000,4,0.000,0.044,2723,3738,2905,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10718,-0.80,-146.6,675.3,-8.3,270,10722,0.00,2.47,0.00,0.000,6,0.000,0.022,2723,2094,2905,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11039,-0.80,-146.6,697.3,-6.7,273,11047,0.00,2.67,0.00,0.000,4,0.000,0.043,2710,3749,2904,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11161,-0.80,-146.6,703.3,-5.9,274,11168,0.08,2.45,0.00,0.000,6,0.112,0.023,2739,2108,2904,0,0,0,0,0,0,26.26,26.53,28.83
$GC,11520,-0.80,-146.6,717.8,-4.2,277,11527,0.00,2.62,0.00,0.000,4,0.000,0.043,2734,3748,2903,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11762,-0.80,-146.6,728.6,-4.2,279,11767,0.00,2.42,0.00,0.000,6,0.000,0.023,2729,2105,2902,0,0,0,0,0,0,28.83,26.52,28.83
$GC,12120,-0.80,-146.6,747.1,-5.0,282,12128,0.00,2.62,0.00,0.000,4,0.000,0.043,2717,3749,2902,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12309,-0.80,-146.6,754.5,-5.4,283,12317,0.00,2.47,0.00,0.000,6,0.000,0.022,2717,2108,2901,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12720,-0.80,-146.6,790.0,-7.4,287,12727,0.00,2.62,0.00,0.000,4,0.000,0.044,2705,3750,2899,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12961,-0.80,-146.6,810.6,-8.3,289,12968,0.10,2.47,0.00,0.000,6,0.106,0.024,2742,2100,2899,0,0,0,0,0,0,26.17,26.49,28.83
$GC,13320,-0.83,-146.6,839.0,-8.0,292,13327,0.00,2.45,0.00,0.000,4,0.000,0.041,2742,550,2898,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13459,-0.87,-146.6,848.1,-7.8,293,13466,0.00,2.50,0.00,0.000,6,0.000,0.025,2734,2192,2897,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13800,-0.93,-146.6,873.4,-7.2,296,13807,0.00,2.60,0.00,0.000,4,0.000,0.041,2734,558,2897,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14041,-0.98,-146.6,888.8,-6.7,298,14048,0.12,2.45,0.00,0.000,6,0.080,0.027,2662,2200,2896,0,0,0,0,0,0,26.35,26.42,28.83
$GC,14400,-0.96,-146.6,913.8,-6.8,301,14402,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2200,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14760,-0.91,-146.6,940.7,-7.4,304,14762,0.15,0.00,0.00,0.000,6,0.138,0.000,2704,2200,2896,0,0,0,0,0,0,26.34,28.83,28.83
$GC,15120,-0.88,-146.6,964.1,-6.7,307,15121,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2200,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15480,-0.88,-146.6,987.1,-6.4,310,15488,0.00,2.65,0.00,0.000,4,0.000,0.042,2705,556,2892,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,15537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15537,begin apogee
$GC,15544,-0.29,0.0,991.4,-6.5,313,15673,0.60,0.08,124.20,1.691,6,0.108,0.104,2900,1594,2320,0,0,0,0,0,0,25.69,24.66,23.45
$STATE,15677,end apogee,CONTROL_FINISHED_OK
$STATE,15677,begin climb
$GC,15679,0.86,146.6,996.1,0.0,319,15819,1.05,2.12,131.80,1.653,4,0.064,0.048,3284,360,1721,0,0,0,0,0,0,24.94,24.24,22.98
$GC,15959,0.70,146.6,982.1,8.0,333,15964,0.20,2.03,0.00,0.000,6,0.138,0.025,3228,1651,1714,0,0,0,0,0,0,25.45,25.75,28.83
$GC,16302,0.58,146.6,957.5,7.0,336,16304,0.15,0.00,0.00,0.000,6,0.140,0.000,3184,1653,1712,0,0,0,0,0,0,26.06,28.83,28.83
$GC,16662,0.54,146.6,934.2,6.5,339,16669,0.00,2.47,0.00,0.000,4,0.000,0.037,3184,3205,1711,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,29357,end climb,SURFACE_DEPTH_REACHED
$STATE,29357,begin surface coast
$FINISH,2.1,1.025067
$STATE,29368,end surface coast,CONTROL_FINISHED_OK
$STATE,29368,begin surface
$SM_CCo,29391,11.32,0.134,0,0,1095,300.00
$SM_GC,2.84,8.20,2.80,11.32,0.034,0.024,0.134,151,2188,1095,-8.81,-0.48,300.00,0,0,0,0,0,0,26.34,26.46,25.77
$IRIDIUM_FIX,2427.58,-3808.50,241112,070735
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7684256
$TM_FREEKB,5906880
$24V_AH,23.0,43.520
$10V_AH,10.1,36.436
$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
$DEVICE_SECS,22.675,245.025,360.475,11.325,0.000,25.326,43.411,233.571,0.000,0.000,18.948,2813.548,23181.051,814.211,2723.134,433.292,33.268,2051.221,0.000,2256.696,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29375.000,5869.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.921,13.517,0.000,0.000
$MEM,344360
$DATA_FILE_SIZE,16728,585
$CAP_FILE_SIZE,226570,0
$CFSIZE,260034560,231211008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251112,001653,2445.501,-3816.813,38,0.9,38,-14.1