version: 66.11
glider: 189
mission: 7
dive: 333
start: 12 28 112 13 57 13
data:
$ID,189
$MISSION,7
$DIVE,333
$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,290
$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,100
$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,-48072.746
$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,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,281212,134734,2442.691,-3751.471,28,0.9,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-56.8
$GPS2,281212,135612,2442.686,-3751.392,16,1.1,17,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,-0.116
$KALMAN_X,189929.0,-699.9,-221.7,-171313.6,-735.1
$KALMAN_Y,-82850.5,-254.9,-653.5,96875.5,2637.7
$MHEAD_RNG_PITCHd_Wd,179.7,41705,-19.9,-6.667,-29.07
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.26,-97.7,0.0,0.0,0,33,0.00,0.00,-11.07,0.000,2,0.000,0.000,156,2106,1416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.26,-97.7,2.2,0.0,1,103,8.98,2.50,-50.03,0.000,4,0.183,0.050,2588,543,2720,0,0,0,0,0,0,25.43,26.05,26.69
$GC,116,-1.59,-97.7,1.5,-0.7,9,123,0.25,2.45,0.00,0.000,6,0.062,0.025,2478,2192,2720,0,0,0,0,0,0,26.14,26.24,28.83
$GC,423,-1.41,-97.7,31.2,-9.9,40,433,0.25,2.50,0.00,0.000,4,0.166,0.041,2534,3752,2721,0,0,0,0,0,0,25.72,26.15,28.83
$GC,723,-1.27,-97.7,59.1,-9.4,70,732,0.15,2.47,0.00,0.000,6,0.144,0.021,2581,2089,2721,0,0,0,0,0,0,25.85,26.46,28.83
$GC,1043,-1.20,-97.7,85.7,-8.3,94,1051,0.12,2.65,0.00,0.000,4,0.164,0.039,2602,3749,2722,0,0,0,0,0,0,26.32,26.22,28.83
$GC,1343,-1.14,-97.7,111.1,-8.8,104,1351,0.08,2.45,0.00,0.000,6,0.135,0.021,2628,2094,2722,0,0,0,0,0,0,26.17,26.51,28.83
$GC,1678,-1.14,-97.7,130.0,-4.2,115,1683,0.00,2.58,0.00,0.000,4,0.000,0.039,2617,3749,2723,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1974,-1.11,-97.7,148.4,-7.1,125,1980,0.00,2.45,0.00,0.000,6,0.000,0.021,2617,2096,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2303,-1.09,-97.7,174.3,-7.9,131,2311,0.12,2.62,0.00,0.000,4,0.151,0.039,2639,3744,2724,0,0,0,0,0,0,26.41,26.27,28.83
$GC,2604,-1.09,-97.7,193.2,-6.2,136,2611,0.00,2.45,0.00,0.000,6,0.000,0.021,2639,2094,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2963,-1.09,-97.7,213.0,-5.6,142,2970,0.00,2.62,0.00,0.000,4,0.000,0.039,2627,3745,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3263,-1.09,-97.7,234.5,-7.3,147,3270,0.00,2.45,0.00,0.000,6,0.000,0.021,2627,2102,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3623,-1.09,-97.7,262.9,-7.9,153,3630,0.00,2.62,0.00,0.000,4,0.000,0.040,2615,3748,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3923,-1.09,-97.7,284.3,-7.0,158,3931,0.12,2.47,0.00,0.000,6,0.145,0.021,2648,2095,2724,0,0,0,0,0,0,26.18,26.53,28.83
$GC,4284,-1.12,-97.7,305.4,-5.9,164,4290,0.00,2.45,0.00,0.000,4,0.000,0.038,2649,548,2723,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4545,-1.12,-97.7,320.8,-6.4,168,4550,0.00,2.42,0.00,0.000,6,0.000,0.024,2638,2194,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4884,-1.15,-97.7,345.0,-6.7,174,4890,0.00,2.47,0.00,0.000,4,0.000,0.041,2626,3744,2722,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5103,-1.15,-97.7,358.3,-7.3,177,5110,0.00,2.45,0.00,0.000,6,0.000,0.021,2626,2104,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5423,-1.15,-97.7,386.1,-7.8,183,5431,0.00,2.62,0.00,0.000,4,0.000,0.041,2614,3745,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5723,-1.15,-97.7,410.5,-8.2,188,5731,0.00,2.45,0.00,0.000,6,0.000,0.021,2614,2108,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6084,-1.15,-97.7,435.5,-6.6,194,6090,0.00,2.62,0.00,0.000,4,0.000,0.041,2602,3751,2719,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6384,-1.15,-97.7,455.9,-6.9,199,6390,0.00,2.45,0.00,0.000,6,0.000,0.021,2602,2111,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6743,-1.15,-97.7,485.7,-8.6,205,6751,0.10,2.47,0.00,0.000,4,0.157,0.038,2628,546,2718,0,0,0,0,0,0,26.53,26.27,28.83
$GC,7022,-1.15,-97.7,508.4,-9.4,209,7030,0.00,2.50,0.00,0.000,6,0.000,0.024,2623,2197,2717,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7343,-1.15,-97.7,537.3,-8.3,212,7350,0.00,2.47,0.00,0.000,4,0.000,0.042,2605,3738,2716,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7482,-1.15,-97.7,545.3,-7.7,213,7490,0.00,2.47,0.00,0.000,6,0.000,0.021,2605,2094,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7824,-1.15,-97.7,562.0,-5.1,216,7830,0.00,2.60,0.00,0.000,4,0.000,0.041,2593,3753,2715,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8124,-1.15,-97.7,574.5,-4.7,218,8131,0.10,2.47,0.00,0.000,6,0.124,0.022,2627,2101,2715,0,0,0,0,0,0,26.13,26.51,28.83
$GC,8544,-1.18,-97.7,614.3,-8.3,222,8550,0.00,2.62,0.00,0.000,4,0.000,0.042,2617,3757,2714,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8842,-1.22,-97.7,640.1,-10.2,224,8850,0.00,2.50,0.00,0.000,6,0.000,0.022,2617,2099,2713,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9264,-1.25,-97.7,680.5,-8.4,228,9270,0.00,2.62,0.00,0.000,4,0.000,0.042,2605,3753,2711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9302,-1.29,-97.7,680.5,-8.4,228,9310,0.00,2.50,0.00,0.000,6,0.000,0.022,2604,2099,2711,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9624,-1.32,-97.7,702.8,-6.4,231,9631,0.00,2.45,0.00,0.000,4,0.000,0.040,2604,554,2711,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9784,-1.35,-97.7,710.3,-6.2,232,9790,0.00,2.47,0.00,0.000,6,0.000,0.025,2592,2191,2709,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10104,-1.35,-97.7,734.0,-6.4,235,10110,0.00,2.50,0.00,0.000,4,0.000,0.044,2581,3748,2707,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10403,-1.35,-97.7,754.2,-7.7,237,10410,0.00,2.45,0.00,0.000,6,0.000,0.023,2581,2113,2710,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10823,-1.35,-97.7,796.8,-8.9,241,10830,0.00,2.62,0.00,0.000,4,0.000,0.042,2569,3748,2707,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11123,-1.35,-97.7,816.2,-8.4,243,11130,0.00,2.47,0.00,0.000,6,0.000,0.023,2569,2108,2706,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11544,-1.35,-97.7,847.4,-6.5,247,11550,0.00,2.62,0.00,0.000,4,0.000,0.043,2553,3743,2704,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11843,-1.35,-97.7,864.4,-6.6,249,11850,0.00,2.47,0.00,0.000,6,0.000,0.023,2557,2109,2704,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12263,-1.35,-97.7,901.7,-7.8,253,12270,0.00,2.47,0.00,0.000,4,0.000,0.041,2557,553,2702,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12462,-1.35,-97.7,913.0,-8.3,254,12471,0.00,2.50,0.00,0.000,6,0.000,0.025,2545,2187,2701,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12863,-1.32,-97.7,960.0,-9.8,258,12871,0.12,2.53,0.00,0.000,4,0.171,0.044,2566,3749,2701,0,0,0,0,0,0,26.32,26.08,28.83
$GC,13162,-1.32,-97.7,982.1,-9.5,260,13170,0.00,2.50,0.00,0.000,6,0.000,0.023,2566,2106,2699,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,13220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13220,begin apogee
$GC,13228,-0.29,0.0,992.1,-9.1,261,13317,1.08,0.05,84.82,1.664,6,0.126,0.130,2903,1621,2319,0,0,0,0,0,0,25.28,24.77,23.18
$STATE,13319,end apogee,CONTROL_FINISHED_OK
$STATE,13319,begin climb
$GC,13322,1.26,97.7,994.8,0.0,265,13422,1.40,2.20,90.97,1.641,4,0.060,0.048,3414,355,1921,0,0,0,0,0,0,25.18,24.77,23.08
$GC,13712,1.10,97.7,970.4,9.0,278,13720,0.22,1.98,0.00,0.000,6,0.159,0.024,3355,1657,1909,0,0,0,0,0,0,25.74,26.25,28.83
$GC,14054,0.99,97.7,943.4,7.9,281,14061,0.12,2.12,0.00,0.000,4,0.174,0.048,3332,353,1906,0,0,0,0,0,0,26.17,26.20,28.83
$GC,14192,0.90,97.7,935.5,7.2,282,14201,0.15,1.95,0.00,0.000,6,0.155,0.024,3293,1655,1906,0,0,0,0,0,0,26.02,26.45,28.83
$GC,14535,0.90,123.5,916.9,5.5,285,14562,0.00,2.10,21.67,1.573,4,0.000,0.048,3301,356,1816,0,0,0,0,0,0,28.83,25.79,23.99
$GC,14612,0.90,149.3,916.9,5.5,285,14642,0.00,1.98,24.67,1.568,6,0.000,0.024,3302,1641,1710,0,0,0,0,0,0,28.83,26.08,23.70
$GC,15004,0.90,149.7,883.9,6.6,288,15011,0.00,2.10,0.00,0.000,4,0.000,0.049,3311,356,1706,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15132,0.90,149.7,873.9,7.3,289,15135,0.00,1.95,0.00,0.000,6,0.000,0.025,3311,1646,1704,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15474,0.90,149.7,844.7,8.3,292,15481,0.00,2.10,0.00,0.000,4,0.000,0.048,3321,356,1703,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15554,0.90,149.7,844.7,8.3,292,15561,0.12,1.95,0.00,0.000,6,0.155,0.025,3290,1666,1702,0,0,0,0,0,0,26.11,26.48,28.83
$GC,15954,0.93,149.7,807.6,7.7,296,15961,0.00,2.12,0.00,0.000,4,0.000,0.049,3298,353,1701,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16094,0.96,149.7,798.8,7.5,297,16101,0.00,1.95,0.00,0.000,6,0.000,0.025,3298,1645,1701,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16434,0.98,149.7,774.0,7.0,300,16441,0.00,2.10,0.00,0.000,4,0.000,0.049,3308,352,1700,0,0,0,0,0,0,28.83,26.20,28.83
$GC,16643,0.98,149.7,764.7,7.0,301,16646,0.00,2.00,0.00,0.000,6,0.000,0.026,3308,1649,1700,0,0,0,0,0,0,28.83,26.50,28.83
$GC,17026,0.98,149.7,726.2,8.2,305,17032,0.00,2.10,0.00,0.000,4,0.000,0.049,3318,354,1700,0,0,0,0,0,0,28.83,26.17,28.83
$GC,17173,0.98,149.7,715.7,8.4,306,17177,0.00,1.95,0.00,0.000,6,0.000,0.026,3318,1647,1700,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17496,0.98,149.7,687.8,8.2,309,17503,0.00,2.10,0.00,0.000,4,0.000,0.048,3327,356,1700,0,0,0,0,0,0,28.83,26.15,28.83
$GC,17616,0.98,149.7,679.5,7.7,310,17623,0.00,1.92,0.00,0.000,6,0.000,0.026,3327,1648,1699,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,25775,end climb,SURFACE_DEPTH_REACHED
$STATE,25775,begin surface coast
$FINISH,1.2,1.012932
$STATE,25796,end surface coast,CONTROL_FINISHED_OK
$STATE,25797,begin surface
$SM_CCo,25819,47.03,0.127,0,0,1096,300.00
$SM_GC,1.97,8.48,0.80,47.03,0.035,0.030,0.127,159,2208,1096,-8.83,-0.45,300.00,0,0,0,0,0,0,26.48,26.52,25.58
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$TT8_MAMPS,0.026215,0.026215
$HUMID,60.31
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7641984
$TM_FREEKB,5193984
$24V_AH,23.1,60.911
$10V_AH,9.8,52.377
$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
$DEVICE_SECS,22.450,201.825,261.775,47.025,0.000,28.882,43.167,186.324,0.000,0.000,17.708,2596.481,20056.006,676.585,2522.990,519.622,33.260,1829.101,0.000,2146.370,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.243,13.470,0.000,0.000
$MEM,344416
$DATA_FILE_SIZE,13428,507
$CAP_FILE_SIZE,197864,0
$CFSIZE,260034560,220405760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281212,210934,2441.165,-3752.119,36,0.9,36,-13.9