version: 66.11
glider: 189
mission: 7
dive: 261
start: 12 6 112 16 24 48
data:
$ID,189
$MISSION,7
$DIVE,261
$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,495
$T_MISSION,525
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-47982.09
$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
$GPS1,061212,161342,2425.177,-3803.452,33,0.8,33,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-52.1
$GPS2,061212,162348,2425.278,-3803.456,24,0.7,25,-14.0
$SPEED_LIMITS,0.115,0.145
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.087,0.116
$KALMAN_X,43150.3,2.2,-136.6,-45635.9,2776.8
$KALMAN_Y,19549.6,-336.2,250.7,-38607.6,-2219.8
$MHEAD_RNG_PITCHd_Wd,337.0,16339,-14.1,-6.667,-24.70
$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,-0.99,-146.6,0.0,0.0,0,47,0.00,0.00,-21.23,0.000,2,0.000,0.000,156,2130,1730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.99,-146.6,2.1,0.0,2,118,9.52,2.65,-46.92,0.000,4,0.194,0.055,2670,3755,2920,0,0,0,0,0,0,25.33,26.08,26.65
$GC,238,-0.89,-146.6,13.3,-7.6,21,247,0.12,2.50,0.00,0.000,6,0.144,0.021,2709,2088,2920,0,0,0,0,0,0,25.97,26.34,28.83
$GC,548,-0.84,-146.6,40.0,-9.5,52,557,0.00,2.42,0.00,0.000,4,0.000,0.039,2709,551,2920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,788,-0.76,-146.6,57.6,-6.8,76,798,0.15,2.47,0.00,0.000,6,0.139,0.024,2749,2188,2920,0,0,0,0,0,0,26.04,26.43,28.83
$GC,1098,-0.76,-146.6,74.6,-6.0,107,1106,0.00,2.47,0.00,0.000,4,0.000,0.041,2739,3749,2921,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1226,-0.76,-146.6,83.1,-7.3,112,1231,0.00,2.47,0.00,0.000,6,0.000,0.021,2739,2090,2921,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1538,-0.76,-146.6,110.5,-8.5,123,1546,0.00,2.42,0.00,0.000,4,0.000,0.037,2739,547,2922,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1607,-0.76,-146.6,115.6,-8.6,125,1612,0.00,2.47,0.00,0.000,6,0.000,0.024,2732,2193,2922,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1920,-0.76,-146.6,134.6,-5.0,136,1927,0.00,2.45,0.00,0.000,4,0.000,0.041,2715,3749,2923,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2160,-0.73,-146.6,147.7,-5.6,144,2168,0.12,2.45,0.00,0.000,6,0.103,0.020,2762,2085,2923,0,0,0,0,0,0,26.21,26.56,28.83
$GC,2520,-0.78,-146.6,172.1,-7.2,151,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2085,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,-0.84,-146.6,192.9,-6.8,156,2827,0.00,2.40,0.00,0.000,4,0.000,0.037,2762,549,2924,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3031,-0.88,-146.6,204.0,-6.3,159,3038,0.10,2.40,0.00,0.000,6,0.091,0.024,2690,2191,2923,0,0,0,0,0,0,26.44,26.52,28.83
$GC,3360,-0.84,-146.6,226.0,-6.2,165,3368,0.12,2.45,0.00,0.000,4,0.136,0.041,2717,3743,2923,0,0,0,0,0,0,26.48,26.32,28.83
$GC,3601,-0.84,-146.6,240.1,-5.9,169,3607,0.00,2.40,0.00,0.000,6,0.000,0.021,2717,2090,2923,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3960,-0.84,-146.6,260.0,-5.5,175,3967,0.00,2.62,0.00,0.000,4,0.000,0.041,2704,3743,2923,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4202,-0.84,-146.6,274.7,-6.2,179,4207,0.00,2.40,0.00,0.000,6,0.000,0.021,2701,2091,2923,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4560,-0.84,-146.6,299.9,-7.2,185,4567,0.00,2.42,0.00,0.000,4,0.000,0.037,2704,547,2922,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4802,-0.81,-146.6,319.5,-8.2,189,4808,0.15,2.42,0.00,0.000,6,0.134,0.024,2736,2194,2921,0,0,0,0,0,0,26.19,26.51,28.83
$GC,5160,-0.84,-146.6,344.4,-6.7,195,5167,0.00,2.45,0.00,0.000,4,0.000,0.042,2727,3740,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5402,-0.87,-146.6,359.4,-6.3,199,5407,0.00,2.40,0.00,0.000,6,0.000,0.021,2726,2095,2920,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5760,-0.90,-146.6,382.0,-6.4,205,5767,0.00,2.62,0.00,0.000,4,0.000,0.041,2714,3749,2919,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5959,-0.90,-146.6,394.7,-7.0,208,5966,0.00,2.47,0.00,0.000,6,0.000,0.021,2714,2094,2919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6299,-0.90,-146.6,419.5,-6.9,214,6307,0.00,2.65,0.00,0.000,4,0.000,0.041,2702,3752,2918,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6428,-0.90,-146.6,428.3,-7.1,216,6433,0.00,2.47,0.00,0.000,6,0.000,0.021,2702,2095,2917,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6771,-0.90,-146.6,455.9,-8.0,222,6778,0.00,2.62,0.00,0.000,4,0.000,0.042,2689,3745,2915,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7012,-0.90,-146.6,475.9,-8.3,226,7018,0.00,2.45,0.00,0.000,6,0.000,0.021,2690,2101,2916,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7371,-0.90,-146.6,503.3,-7.4,232,7378,0.00,2.62,0.00,0.000,4,0.000,0.041,2677,3751,2915,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7610,-0.90,-146.6,520.7,-7.2,234,7618,0.12,2.47,0.00,0.000,6,0.136,0.021,2713,2096,2914,0,0,0,0,0,0,26.24,26.55,28.83
$GC,7972,-0.92,-146.6,543.3,-6.4,237,7978,0.00,2.62,0.00,0.000,4,0.000,0.042,2702,3742,2913,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8070,-0.94,-146.6,543.3,-6.4,237,8077,0.00,2.45,0.00,0.000,6,0.000,0.021,2702,2104,2912,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8451,-0.97,-146.6,577.0,-7.0,241,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8811,-1.00,-146.6,605.4,-7.8,244,8818,0.00,2.45,0.00,0.000,4,0.000,0.039,2702,552,2910,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8950,-1.03,-146.6,614.7,-7.9,245,8958,0.00,2.50,0.00,0.000,6,0.000,0.024,2690,2197,2910,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9292,-1.03,-146.6,636.9,-6.5,248,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2197,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9651,-1.03,-146.6,653.4,-4.8,251,9658,0.00,2.50,0.00,0.000,4,0.000,0.044,2679,3751,2908,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9893,-1.03,-146.6,666.8,-5.0,253,9898,0.00,2.42,0.00,0.000,6,0.000,0.023,2679,2104,2907,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10251,-1.03,-146.6,692.6,-6.9,256,10258,0.00,2.65,0.00,0.000,4,0.000,0.043,2666,3749,2906,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10492,-1.03,-146.6,713.1,-8.0,258,10498,0.00,2.47,0.00,0.000,6,0.000,0.023,2666,2102,2905,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10851,-1.03,-146.6,745.1,-8.8,261,10858,0.00,2.62,0.00,0.000,4,0.000,0.043,2654,3739,2904,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11092,-1.03,-146.6,768.5,-9.4,263,11098,0.00,2.40,0.00,0.000,6,0.000,0.023,2654,2108,2904,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11451,-1.03,-146.6,802.2,-9.5,266,11458,0.00,2.62,0.00,0.000,4,0.000,0.043,2642,3743,2902,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11692,-1.01,-146.6,822.0,-8.7,268,11699,0.12,2.40,0.00,0.000,6,0.142,0.023,2676,2104,2901,0,0,0,0,0,0,26.16,26.50,28.83
$GC,12051,-1.01,-146.6,845.7,-6.9,271,12058,0.00,2.62,0.00,0.000,4,0.000,0.043,2665,3741,2901,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12139,-1.01,-146.6,845.7,-6.9,271,12143,0.00,2.47,0.00,0.000,6,0.000,0.022,2665,2104,2900,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12522,-1.01,-146.6,876.2,-6.5,275,12529,0.00,2.62,0.00,0.000,4,0.000,0.043,2653,3740,2899,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12764,-1.01,-146.6,891.1,-6.2,277,12769,0.00,2.42,0.00,0.000,6,0.000,0.024,2653,2099,2899,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13122,-1.01,-146.6,912.2,-5.9,280,13129,0.00,2.65,0.00,0.000,4,0.000,0.043,2641,3744,2898,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13364,-1.01,-146.6,927.1,-6.1,282,13370,0.12,2.42,0.00,0.000,6,0.142,0.024,2674,2101,2897,0,0,0,0,0,0,26.12,26.46,28.83
$GC,13721,-1.01,-146.6,950.4,-6.4,285,13729,0.00,2.65,0.00,0.000,4,0.000,0.043,2664,3749,2896,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13790,-1.01,-146.6,950.4,-6.4,285,13798,0.00,2.50,0.00,0.000,6,0.000,0.023,2664,2102,2895,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14202,-1.01,-146.6,989.5,-8.2,289,14209,0.00,2.62,0.00,0.000,4,0.000,0.044,2651,3736,2894,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,14219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14219,begin apogee
$GC,14228,-0.29,0.0,991.1,-8.3,290,14361,0.75,0.00,125.38,1.676,6,0.109,0.000,2900,1578,2319,0,0,0,0,0,0,25.60,28.83,23.31
$STATE,14363,end apogee,CONTROL_FINISHED_OK
$STATE,14365,begin climb
$GC,14368,0.99,146.6,998.2,0.0,297,14504,1.17,0.00,131.35,1.644,6,0.061,0.000,3322,1578,1721,0,0,0,0,0,0,25.04,28.83,22.92
$GC,14802,0.85,146.6,975.3,7.2,314,14804,0.17,0.00,0.00,0.000,6,0.149,0.000,3275,1578,1714,0,0,0,0,0,0,25.88,28.83,28.83
$GC,15162,0.75,146.6,951.0,6.8,317,15170,0.12,2.00,0.00,0.000,4,0.157,0.048,3248,348,1711,0,0,0,0,0,0,26.20,26.21,28.83
$GC,15300,0.66,146.6,942.7,6.8,318,15304,0.00,1.98,0.00,0.000,6,0.000,0.024,3248,1655,1710,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15633,0.61,146.6,918.8,6.8,321,15641,0.17,2.10,0.00,0.000,4,0.133,0.047,3202,355,1709,0,0,0,0,0,0,26.22,26.27,28.83
$GC,15811,0.56,146.6,910.9,6.8,322,15815,0.00,1.95,0.00,0.000,6,0.000,0.025,3202,1649,1708,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16224,0.57,152.2,880.4,6.5,326,16233,0.00,2.50,3.70,1.095,4,0.000,0.036,3202,3206,1698,0,0,0,0,0,0,28.83,26.40,24.23
$GC,16334,0.58,158.1,873.5,6.5,327,16346,0.00,2.53,7.22,1.387,6,0.000,0.030,3214,1587,1674,0,0,0,0,0,0,28.83,26.38,24.44
$GC,16685,0.59,167.1,851.0,6.4,330,16702,0.00,2.60,9.45,1.451,4,0.000,0.036,3214,3206,1637,0,0,0,0,0,0,28.83,26.16,24.45
$GC,16783,0.60,176.1,851.0,6.4,330,16799,0.12,2.58,9.48,1.453,6,0.142,0.029,3191,1575,1601,0,0,0,0,0,0,26.00,26.20,24.32
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$STATE,27189,end climb,SURFACE_DEPTH_REACHED
$STATE,27189,begin surface coast
$FINISH,1.1,1.010060
$STATE,27220,end surface coast,CONTROL_FINISHED_OK
$STATE,27220,begin surface
$SM_CCo,27242,25.55,0.132,0,0,1093,300.00
$SM_GC,1.95,8.27,0.93,25.55,0.035,0.034,0.132,152,2172,1093,-8.83,-0.76,300.00,0,0,0,0,0,0,26.39,26.47,25.53
$IRIDIUM_FIX,2411.01,-3718.68,061212,080856
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.00
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,7669632
$TM_FREEKB,5592384
$24V_AH,22.9,50.935
$10V_AH,10.1,42.402
$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,22.825,226.700,350.550,25.550,0.000,25.475,45.934,249.209,0.000,0.000,25.879,2644.245,21383.166,774.873,2612.631,448.926,33.262,1945.370,0.000,2131.432,0.000,0.535,0.000
$DEVICE_MAMPS,193.545,78.795,1676.115,131.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.861,13.516,0.000,0.000
$MEM,344364
$DATA_FILE_SIZE,16754,557
$CAP_FILE_SIZE,213855,0
$CFSIZE,260034560,227250176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071212,000035,2426.007,-3803.445,41,0.9,41,-14.0