version: 66.11
glider: 189
mission: 7
dive: 245
start: 12 2 112 2 17 7
data:
$ID,189
$MISSION,7
$DIVE,245
$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,-47961.863
$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
$GPS1,021212,020634,2419.646,-3815.998,28,0.9,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-60.2
$GPS2,021212,021605,2419.677,-3815.988,17,0.9,18,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.214,-0.073
$KALMAN_X,30289.8,543.9,448.1,-55043.4,-8626.8
$KALMAN_Y,55861.6,672.0,-182.1,-85882.1,484.3
$MHEAD_RNG_PITCHd_Wd,123.0,35479,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.79,-195.4,0.0,0.0,0,37,0.00,0.00,-11.40,0.000,2,0.000,0.000,151,2135,1430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.79,-195.4,2.0,0.0,1,127,9.50,2.65,-65.80,0.000,4,0.185,0.054,2731,3756,3117,0,0,0,0,0,0,25.72,26.09,26.67
$GC,257,-0.69,-195.4,12.6,-8.4,23,267,0.12,2.50,0.00,0.000,6,0.129,0.021,2774,2094,3118,0,0,0,0,0,0,26.05,26.36,28.83
$GC,567,-0.63,-195.4,35.6,-7.3,54,576,0.00,2.62,0.00,0.000,4,0.000,0.041,2763,3739,3118,0,0,0,0,0,0,28.83,26.20,28.83
$GC,807,-0.57,-195.4,55.4,-8.3,78,816,0.15,2.45,0.00,0.000,6,0.122,0.021,2815,2096,3118,0,0,0,0,0,0,26.16,26.49,28.83
$GC,1137,-0.61,-195.4,79.5,-7.3,107,1144,0.00,2.42,0.00,0.000,4,0.000,0.038,2816,548,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1216,-0.63,-195.4,83.9,-7.4,109,1225,0.00,2.50,0.00,0.000,6,0.000,0.025,2807,2187,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1527,-0.67,-195.4,107.4,-6.9,120,1535,0.00,2.58,0.00,0.000,4,0.000,0.037,2807,544,3120,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1646,-0.67,-195.4,115.1,-6.5,124,1654,0.00,2.47,0.00,0.000,6,0.000,0.024,2796,2188,3118,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1979,-0.70,-195.4,134.6,-5.6,135,1985,0.00,2.55,0.00,0.000,4,0.000,0.037,2796,540,3119,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2146,-0.70,-195.4,143.4,-5.9,140,2155,0.00,2.50,0.00,0.000,6,0.000,0.024,2786,2204,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2458,-0.72,-195.4,162.4,-5.9,148,2464,0.00,2.58,0.00,0.000,4,0.000,0.037,2786,547,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2585,-0.72,-195.4,170.3,-6.3,150,2590,0.00,2.47,0.00,0.000,6,0.000,0.024,2775,2189,3120,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2928,-0.72,-195.4,191.5,-5.9,156,2935,0.00,2.55,0.00,0.000,4,0.000,0.037,2775,550,3119,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3016,-0.72,-195.4,194.9,-5.7,157,3025,0.00,2.47,0.00,0.000,6,0.000,0.025,2764,2191,3122,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3347,-0.72,-195.4,217.1,-6.5,163,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2191,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3648,-0.72,-195.4,242.0,-8.4,168,3655,0.00,2.58,0.00,0.000,4,0.000,0.037,2764,546,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3726,-0.72,-195.4,247.0,-8.4,169,3730,0.00,2.47,0.00,0.000,6,0.000,0.025,2753,2187,3119,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4059,-0.72,-195.4,273.1,-7.3,175,4066,0.00,2.58,0.00,0.000,4,0.000,0.037,2754,540,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4268,-0.72,-195.4,286.8,-7.4,178,4276,0.00,2.50,0.00,0.000,6,0.000,0.024,2742,2197,3119,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4598,-0.72,-195.4,315.9,-8.2,184,4606,0.00,2.60,0.00,0.000,4,0.000,0.037,2743,546,3118,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4820,-0.69,-195.4,331.0,-8.4,187,4826,0.12,2.45,0.00,0.000,6,0.103,0.024,2778,2183,3117,0,0,0,0,0,0,26.22,26.53,28.83
$GC,5139,-0.74,-195.4,355.9,-6.7,193,5146,0.00,2.58,0.00,0.000,4,0.000,0.037,2779,547,3116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5298,-0.77,-195.4,364.1,-6.8,195,5305,0.00,2.47,0.00,0.000,6,0.000,0.024,2769,2188,3115,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5619,-0.82,-195.4,392.5,-8.1,201,5626,0.00,2.58,0.00,0.000,4,0.000,0.038,2769,548,3115,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5787,-0.85,-195.4,402.8,-8.4,203,5797,0.10,2.47,0.00,0.000,6,0.091,0.024,2695,2190,3114,0,0,0,0,0,0,26.45,26.53,28.83
$GC,6099,-0.78,-195.4,434.8,-8.9,209,6107,0.17,2.47,0.00,0.000,4,0.121,0.044,2739,3746,3113,0,0,0,0,0,0,26.39,26.29,28.83
$GC,6238,-0.73,-195.4,443.4,-7.8,211,6245,0.00,2.47,0.00,0.000,6,0.000,0.021,2738,2091,3113,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6579,-0.73,-195.4,468.6,-7.2,217,6586,0.00,2.42,0.00,0.000,4,0.000,0.040,2739,550,3112,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6819,-0.73,-195.4,487.5,-7.9,221,6826,0.10,2.45,0.00,0.000,6,0.102,0.025,2767,2184,3111,0,0,0,0,0,0,26.25,26.51,28.83
$GC,7239,-0.78,-195.4,518.5,-7.4,226,7246,0.00,2.47,0.00,0.000,4,0.000,0.043,2758,3741,3109,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7388,-0.83,-195.4,526.7,-7.2,227,7395,0.00,2.45,0.00,0.000,6,0.000,0.021,2758,2101,3109,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7719,-0.88,-195.4,548.9,-6.3,230,7726,0.12,2.60,0.00,0.000,4,0.081,0.042,2670,3742,3108,0,0,0,0,0,0,26.71,26.29,28.83
$GC,7960,-0.88,-195.4,565.5,-6.4,232,7967,0.15,2.40,0.00,0.000,6,0.129,0.022,2716,2098,3108,0,0,0,0,0,0,26.20,26.54,28.83
$GC,8319,-0.84,-195.4,589.2,-6.6,235,8326,0.00,2.62,0.00,0.000,4,0.000,0.043,2704,3740,3107,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8358,-0.79,-195.4,589.2,-6.6,235,8366,0.15,2.45,0.00,0.000,6,0.116,0.021,2751,2101,3106,0,0,0,0,0,0,26.25,26.55,28.83
$GC,8679,-0.82,-195.4,614.9,-7.1,238,8686,0.00,2.45,0.00,0.000,4,0.000,0.040,2751,550,3105,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8848,-0.86,-195.4,624.3,-7.3,239,8855,0.00,2.50,0.00,0.000,6,0.000,0.025,2743,2194,3105,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9159,-0.89,-195.4,654.9,-8.3,242,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2194,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9519,-0.94,-195.4,684.8,-8.4,245,9526,0.12,2.47,0.00,0.000,4,0.079,0.044,2660,3739,3102,0,0,0,0,0,0,26.71,26.25,28.83
$GC,9698,-0.94,-195.4,694.9,-8.3,246,9706,0.12,2.47,0.00,0.000,6,0.138,0.023,2695,2095,3102,0,0,0,0,0,0,26.21,26.52,28.83
$GC,10119,-0.90,-195.4,728.6,-7.0,250,10126,0.00,2.45,0.00,0.000,4,0.000,0.041,2695,549,3100,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10361,-0.88,-195.4,744.7,-6.7,252,10367,0.12,2.45,0.00,0.000,6,0.135,0.027,2722,2192,3099,0,0,0,0,0,0,26.19,26.46,28.83
$GC,10718,-0.88,-195.4,766.8,-6.2,255,10726,0.00,2.50,0.00,0.000,4,0.000,0.045,2712,3746,3098,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10867,-0.88,-195.4,775.4,-6.4,256,10871,0.00,2.47,0.00,0.000,6,0.000,0.023,2712,2104,3098,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11190,-0.90,-195.4,803.4,-7.8,259,11197,0.00,2.62,0.00,0.000,4,0.000,0.044,2700,3745,3097,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11358,-0.93,-195.4,813.8,-8.2,260,11367,0.00,2.47,0.00,0.000,6,0.000,0.023,2700,2105,3096,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11670,-0.93,-195.4,847.3,-9.2,263,11677,0.00,2.47,0.00,0.000,4,0.000,0.041,2700,544,3096,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11818,-0.93,-195.4,858.3,-9.3,264,11822,0.00,2.50,0.00,0.000,6,0.000,0.026,2689,2185,3095,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12140,-0.93,-195.4,886.0,-8.2,267,12148,0.00,2.62,0.00,0.000,4,0.000,0.040,2689,548,3094,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12382,-0.93,-195.4,902.0,-7.1,269,12388,0.00,2.45,0.00,0.000,6,0.000,0.027,2678,2194,3093,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12740,-0.93,-195.4,922.2,-5.8,272,12748,0.00,2.60,0.00,0.000,4,0.000,0.041,2678,553,3092,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12983,-0.90,-195.4,937.2,-5.9,274,12989,0.15,2.45,0.00,0.000,6,0.138,0.027,2709,2186,3091,0,0,0,0,0,0,26.04,26.41,28.83
$GC,13340,-0.90,-195.4,959.9,-6.3,277,13348,0.00,2.55,0.00,0.000,4,0.000,0.046,2699,3755,3090,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13461,-0.90,-195.4,968.7,-6.5,278,13468,0.00,2.47,0.00,0.000,6,0.000,0.024,2698,2113,3090,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,13738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13738,begin apogee
$GC,13744,-0.29,0.0,990.6,-7.9,282,13913,0.57,0.00,164.30,1.659,6,0.091,0.000,2902,1577,2320,0,0,0,0,0,0,25.91,28.83,23.27
$STATE,13917,end apogee,CONTROL_FINISHED_OK
$STATE,13917,begin climb
$GC,13919,0.79,195.4,998.9,0.0,290,14103,0.98,2.88,174.35,1.638,4,0.057,0.036,3255,3206,1522,0,0,0,0,0,0,24.84,24.20,22.82
$GC,14332,0.64,195.4,975.3,8.1,306,14340,0.17,2.58,0.00,0.000,6,0.122,0.030,3208,1584,1517,0,0,0,0,0,0,25.75,25.98,28.83
$GC,14682,0.54,195.4,951.5,6.9,309,14684,0.12,0.00,0.00,0.000,6,0.138,0.000,3171,1584,1515,0,0,0,0,0,0,26.22,28.83,28.83
$GC,15043,0.52,206.7,931.0,5.9,312,15060,0.00,2.00,9.30,1.454,4,0.000,0.050,3178,355,1478,0,0,0,0,0,0,28.83,26.14,24.51
$GC,15162,0.52,229.1,924.4,5.6,313,15190,0.00,1.92,21.98,1.582,6,0.000,0.025,3178,1642,1384,0,0,0,0,0,0,28.83,26.33,24.22
$GC,15522,0.56,259.6,905.0,5.4,316,15552,0.00,0.00,27.92,1.587,6,0.000,0.000,3179,1642,1260,0,0,0,0,0,0,28.83,28.83,24.13
$GC,15871,0.57,269.9,883.7,5.9,319,15890,0.00,2.15,9.95,1.462,4,0.000,0.050,3188,352,1218,0,0,0,0,0,0,28.83,25.94,24.41
$GC,15901,0.58,280.2,883.7,5.9,319,15920,0.00,2.00,11.00,1.470,6,0.000,0.026,3188,1656,1176,0,0,0,0,0,0,28.83,26.08,24.20
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$STATE,26335,end climb,SURFACE_DEPTH_REACHED
$STATE,26335,begin surface coast
$FINISH,1.2,1.025369
$STATE,26358,end surface coast,CONTROL_FINISHED_OK
$STATE,26358,begin surface
$SM_CCo,26379,8.85,0.138,0,0,1094,300.00
$SM_GC,2.79,8.18,1.62,8.85,0.037,0.024,0.138,156,2109,1094,-8.82,0.74,300.00,0,0,0,0,0,0,26.47,26.51,25.44
$IRIDIUM_FIX,2418.11,-3824.06,011212,181818
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.06
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,7675808
$TM_FREEKB,5711744
$24V_AH,22.8,47.892
$10V_AH,9.8,40.094
$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,22.675,232.100,418.800,8.850,0.000,28.205,44.430,226.447,0.000,0.000,18.728,2404.662,20924.646,852.590,2330.155,437.823,33.274,1934.573,0.000,1882.213,0.000,0.535,0.000
$DEVICE_MAMPS,185.130,97.155,1658.520,137.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26365.000,5486.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.816,13.543,0.000,0.000
$MEM,344392
$DATA_FILE_SIZE,16741,545
$CAP_FILE_SIZE,207554,0
$CFSIZE,260034560,228794368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,021212,093804,2418.969,-3815.460,32,0.8,32,-14.1