version: 66.11
glider: 189
mission: 7
dive: 244
start: 12 1 112 18 38 51
data:
$ID,189
$MISSION,7
$DIVE,244
$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,200
$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,-47960.605
$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
$GPS1,011212,182804,2420.287,-3817.110,32,0.8,32,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-60.6
$GPS2,011212,183749,2420.268,-3817.045,16,0.8,18,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.196,-0.113
$KALMAN_X,34859.4,539.7,241.8,-61184.6,-8598.3
$KALMAN_Y,55503.1,-920.4,-811.4,-82153.1,1427.1
$MHEAD_RNG_PITCHd_Wd,134.1,35903,-9.7,-6.111,-15.10
$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,-0.79,-195.4,0.0,0.0,0,47,0.00,0.00,-21.38,0.000,2,0.000,0.000,151,2117,1729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.79,-195.4,2.1,0.0,2,118,9.57,0.00,-53.80,0.000,6,0.187,0.000,2736,2115,3117,0,0,0,0,0,0,25.64,28.83,26.66
$GC,419,-0.69,-195.4,25.9,-8.4,39,427,0.12,2.58,0.00,0.000,4,0.139,0.043,2763,3746,3118,0,0,0,0,0,0,26.32,26.13,28.83
$GC,648,-0.63,-195.4,44.3,-7.9,62,658,0.08,2.47,0.00,0.000,6,0.106,0.021,2793,2094,3118,0,0,0,0,0,0,26.22,26.45,28.83
$GC,958,-0.60,-195.4,67.8,-7.9,93,967,0.00,2.62,0.00,0.000,4,0.000,0.041,2782,3746,3119,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1147,-0.57,-195.4,81.3,-7.5,106,1155,0.10,2.45,0.00,0.000,6,0.134,0.021,2815,2100,3118,0,0,0,0,0,0,26.28,26.52,28.83
$GC,1470,-0.60,-195.4,101.4,-5.7,117,1475,0.00,2.38,0.00,0.000,4,0.000,0.038,2816,548,3119,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1607,-0.63,-195.4,108.4,-5.8,121,1616,0.00,2.47,0.00,0.000,6,0.000,0.024,2807,2188,3119,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1918,-0.68,-195.4,129.5,-7.0,132,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2189,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-0.72,-195.4,151.0,-6.9,142,2226,0.12,2.58,0.00,0.000,4,0.077,0.036,2726,545,3119,0,0,0,0,0,0,26.74,26.34,28.83
$GC,2328,-0.72,-195.4,155.5,-7.0,143,2337,0.12,2.45,0.00,0.000,6,0.106,0.024,2760,2186,3119,0,0,0,0,0,0,26.17,26.51,28.83
$GC,2638,-0.69,-195.4,177.0,-5.7,149,2646,0.00,2.45,0.00,0.000,4,0.000,0.041,2750,3745,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2727,-0.65,-195.4,181.1,-6.0,150,2735,0.12,2.45,0.00,0.000,6,0.122,0.020,2788,2087,3119,0,0,0,0,0,0,26.32,26.58,28.83
$GC,3058,-0.69,-195.4,206.3,-7.1,156,3065,0.00,2.40,0.00,0.000,4,0.000,0.037,2789,546,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3187,-0.71,-195.4,215.6,-7.6,158,3195,0.00,2.47,0.00,0.000,6,0.000,0.024,2779,2188,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3538,-0.74,-195.4,242.0,-7.3,164,3546,0.00,2.55,0.00,0.000,4,0.000,0.037,2780,552,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3687,-0.77,-195.4,250.3,-7.0,166,3695,0.00,2.47,0.00,0.000,6,0.000,0.024,2769,2196,3119,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4018,-0.80,-195.4,273.5,-6.5,172,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2196,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4318,-0.82,-195.4,292.2,-6.3,177,4326,0.10,2.58,0.00,0.000,4,0.092,0.037,2697,548,3118,0,0,0,0,0,0,26.73,26.36,28.83
$GC,4518,-0.77,-195.4,306.1,-7.4,180,4526,0.17,2.45,0.00,0.000,6,0.106,0.024,2748,2181,3118,0,0,0,0,0,0,26.10,26.52,28.83
$GC,4858,-0.77,-195.4,330.6,-7.0,186,4865,0.00,2.55,0.00,0.000,4,0.000,0.037,2748,553,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4926,-0.77,-195.4,335.1,-7.2,187,4931,0.00,2.47,0.00,0.000,6,0.000,0.024,2738,2191,3117,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5268,-0.77,-195.4,363.2,-8.2,193,5276,0.00,2.60,0.00,0.000,4,0.000,0.037,2738,540,3113,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5458,-0.77,-195.4,378.7,-8.6,196,5466,0.00,2.50,0.00,0.000,6,0.000,0.025,2728,2194,3114,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5808,-0.77,-195.4,408.2,-8.2,202,5816,0.00,2.60,0.00,0.000,4,0.000,0.037,2727,547,3114,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5978,-0.74,-195.4,417.9,-8.0,204,5988,0.15,2.47,0.00,0.000,6,0.121,0.024,2762,2188,3113,0,0,0,0,0,0,26.24,26.51,28.83
$GC,6289,-0.78,-195.4,441.6,-6.3,210,6296,0.00,2.58,0.00,0.000,4,0.000,0.037,2762,548,3113,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6459,-0.81,-195.4,448.9,-6.1,212,6467,0.00,2.47,0.00,0.000,6,0.000,0.024,2754,2186,3112,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6769,-0.85,-195.4,470.3,-6.0,218,6776,0.00,2.58,0.00,0.000,4,0.000,0.038,2754,547,3111,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6889,-0.88,-195.4,477.9,-6.2,220,6896,0.00,2.50,0.00,0.000,6,0.000,0.024,2743,2197,3111,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7250,-0.90,-195.4,501.8,-6.8,226,7256,0.00,2.60,0.00,0.000,4,0.000,0.038,2743,543,3110,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7478,-0.90,-195.4,510.4,-7.0,227,7487,0.00,2.53,0.00,0.000,6,0.000,0.025,2732,2194,3109,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7849,-0.90,-195.4,541.2,-6.4,231,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2194,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8209,-0.92,-195.4,561.8,-5.8,234,8216,0.00,2.60,0.00,0.000,4,0.000,0.038,2732,548,3107,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8358,-0.92,-195.4,569.2,-5.8,235,8365,0.00,2.50,0.00,0.000,6,0.000,0.025,2722,2189,3106,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8689,-0.92,-195.4,594.3,-6.7,238,8696,0.00,2.60,0.00,0.000,4,0.000,0.039,2720,548,3106,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8747,-0.92,-195.4,594.3,-6.7,238,8752,0.00,2.50,0.00,0.000,6,0.000,0.026,2710,2187,3105,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9159,-0.92,-195.4,632.9,-8.2,242,9167,0.00,2.62,0.00,0.000,4,0.000,0.039,2709,541,3104,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9339,-0.92,-195.4,643.6,-8.5,243,9347,0.00,2.50,0.00,0.000,6,0.000,0.025,2698,2183,3101,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9759,-0.92,-195.4,684.4,-8.5,247,9767,0.00,2.60,0.00,0.000,4,0.000,0.039,2698,550,3102,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10002,-0.89,-195.4,705.0,-8.5,249,10007,0.00,2.45,0.00,0.000,6,0.000,0.027,2686,2189,3101,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10360,-0.82,-195.4,733.9,-8.1,252,10368,0.17,2.50,0.00,0.000,4,0.126,0.045,2730,3746,3100,0,0,0,0,0,0,26.34,26.20,28.83
$GC,10480,-0.77,-195.4,742.8,-7.9,253,10487,0.00,2.47,0.00,0.000,6,0.000,0.023,2730,2093,3100,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10840,-0.77,-195.4,770.4,-7.6,256,10847,0.00,2.65,0.00,0.000,4,0.000,0.044,2718,3746,3098,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10979,-0.81,-195.4,779.9,-7.7,257,10986,0.00,2.47,0.00,0.000,6,0.000,0.023,2718,2104,3098,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11320,-0.83,-195.4,809.5,-8.2,260,11327,0.00,2.62,0.00,0.000,4,0.000,0.044,2706,3748,3097,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11488,-0.83,-195.4,819.8,-8.3,261,11492,0.00,2.47,0.00,0.000,6,0.000,0.023,2706,2107,3096,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11791,-0.85,-195.4,851.1,-8.8,264,11798,0.00,2.47,0.00,0.000,4,0.000,0.041,2706,546,3096,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11911,-0.85,-195.4,861.8,-8.9,265,11918,0.00,2.50,0.00,0.000,6,0.000,0.026,2695,2180,3095,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12270,-0.85,-195.4,892.0,-8.5,268,12278,0.00,2.62,0.00,0.000,4,0.000,0.041,2695,541,3094,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12490,-0.85,-195.4,901.9,-8.3,269,12498,0.15,2.53,0.00,0.000,6,0.127,0.026,2731,2190,3093,0,0,0,0,0,0,26.10,26.42,28.83
$GC,12870,-0.88,-195.4,939.4,-7.8,273,12878,0.00,2.50,0.00,0.000,4,0.000,0.046,2721,3742,3092,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12960,-0.92,-195.4,939.4,-7.8,273,12967,0.00,2.47,0.00,0.000,6,0.000,0.024,2721,2107,3091,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13351,-0.96,-195.4,975.7,-7.6,277,13358,0.00,2.62,0.00,0.000,4,0.000,0.044,2709,3741,3090,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13409,-1.01,-195.4,975.7,-7.6,277,13418,0.00,2.47,0.00,0.000,6,0.000,0.024,2710,2109,3091,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,13588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13588,begin apogee
$GC,13595,-0.29,0.0,993.1,-7.3,279,13764,0.55,0.00,164.85,1.667,6,0.090,0.000,2904,1574,2319,0,0,0,0,0,0,25.92,28.83,23.28
$STATE,13768,end apogee,CONTROL_FINISHED_OK
$STATE,13768,begin climb
$GC,13770,0.79,195.4,1000.2,0.0,287,13954,0.98,2.85,173.60,1.622,4,0.060,0.036,3254,3197,1523,0,0,0,0,0,0,24.84,24.23,22.86
$GC,14151,0.64,195.4,983.1,9.3,301,14160,0.20,2.58,0.00,0.000,6,0.138,0.029,3210,1582,1518,0,0,0,0,0,0,25.70,25.92,28.83
$GC,14532,0.56,195.4,945.2,7.8,305,14540,0.00,2.00,0.00,0.000,4,0.000,0.049,3218,352,1514,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14612,0.47,195.4,945.2,7.8,305,14620,0.22,1.98,0.00,0.000,6,0.117,0.025,3148,1655,1514,0,0,0,0,0,0,26.08,26.40,28.83
$GC,15012,0.47,195.4,912.1,6.9,309,15019,0.00,2.12,0.00,0.000,4,0.000,0.049,3156,349,1512,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15101,0.47,195.4,912.1,6.9,309,15105,0.00,1.98,0.00,0.000,6,0.000,0.026,3157,1658,1512,0,0,0,0,0,0,28.83,26.49,28.83
$GC,15483,0.47,195.4,879.6,6.9,313,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1658,1512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15842,0.47,195.4,854.8,6.9,316,15850,0.00,2.12,0.00,0.000,4,0.000,0.048,3166,354,1511,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,26700,end climb,SURFACE_DEPTH_REACHED
$STATE,26700,begin surface coast
$FINISH,1.1,1.013983
$STATE,26720,end surface coast,CONTROL_FINISHED_OK
$STATE,26720,begin surface
$SM_CCo,26801,0.00,0.000,0,0,1088,302.21
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$TT8_MAMPS,0.026964,0.026964
$HUMID,60.12
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,7676192
$TM_FREEKB,5720352
$24V_AH,22.9,47.683
$10V_AH,10.1,39.938
$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
$DEVICE_SECS,22.000,239.475,433.250,0.000,0.000,26.667,41.507,242.689,0.000,0.000,18.895,2270.996,21592.381,883.220,2191.317,434.466,33.274,1916.446,0.000,1738.174,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.790,13.529,0.000,0.000
$MEM,344364
$DATA_FILE_SIZE,16739,537
$CAP_FILE_SIZE,207155,0
$CFSIZE,260034560,228896768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,021212,020634,2419.646,-3815.998,28,0.9,28,-14.1