version: 66.11
glider: 189
mission: 30
dive: 31
start: 1 21 114 20 17 56
data:
$ID,189
$MISSION,30
$DIVE,31
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$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,330
$T_MISSION,360
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,57433
$MASS_COMP,4067.7
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-58156.129
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,2486
$PITCH_DBAND,0
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$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,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.9000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-81.04335
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043091727
$SEABIRD_T_H,0.00062247959
$SEABIRD_T_I,2.1807595e-05
$SEABIRD_T_J,2.0889163e-06
$SEABIRD_C_G,-10.02883
$SEABIRD_C_H,1.1489301
$SEABIRD_C_I,-0.0012180988
$SEABIRD_C_J,0.00017992272
$GPS1,210114,201058,4750.646,-12542.896,35,0.9,35,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.2
$GPS2,210114,201655,4750.658,-12542.892,14,0.8,16,17.2
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,NITINAT
$TGT_LATLONG,4803.000,-12554.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.209,0.153
$KALMAN_X,17706.1,-645.3,-206.1,-71205.8,1132.9
$KALMAN_Y,6697.1,85.7,-19.6,86675.8,1861.8
$MHEAD_RNG_PITCHd_Wd,289.0,26676,-17.5,-10.000,-21.09,2221
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.63,-146.6,139,2072,1927,1782,0.0,0.0,0,41,0.00,0.00,-22.27,0.000,16386,0.000,0.000,139,2073,2476,2508,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.63,-146.6,139,2072,2508,2445,2.1,-4.1,2,91,7.78,2.25,-29.17,0.000,18948,0.207,0.056,2280,671,3531,3586,3476,0,0,0,0,0,0,25.87,26.05,26.32
$GC,252,-0.48,-146.6,2280,670,3603,3462,35.3,-18.6,23,261,0.15,2.25,0.00,0.000,3078,0.137,0.032,2332,2116,3532,3603,3462,0,0,0,0,0,0,26.01,26.13,28.83
$GC,560,-0.48,-146.6,2332,2116,3604,3461,75.2,-11.6,54,570,0.00,2.28,0.00,0.000,2308,0.000,0.044,2323,3527,3532,3604,3461,0,0,0,0,0,0,28.83,26.17,28.83
$GC,668,-0.48,-146.6,2323,3527,3604,3462,84.4,-7.7,62,673,0.00,2.25,0.00,0.000,3078,0.000,0.030,2323,2073,3533,3604,3462,0,0,0,0,0,0,28.83,26.22,28.83
$GC,971,-0.48,-146.6,2323,2073,3604,3462,114.8,-9.8,77,976,0.00,2.30,0.00,0.000,2308,0.000,0.041,2313,3515,3533,3604,3462,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1038,-0.48,-146.6,2312,3516,3604,3462,121.5,-10.9,80,1043,0.08,2.22,0.00,0.000,3078,0.149,0.030,2338,2072,3533,3605,3462,0,0,0,0,0,0,26.19,26.28,28.83
$GC,1343,-0.48,-146.6,2338,2071,3604,3462,151.1,-9.1,95,1347,0.00,2.15,0.00,0.000,4612,0.000,0.042,2338,668,3533,3605,3462,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1420,-0.48,-146.6,2338,668,3605,3462,159.4,-10.2,98,1426,0.00,2.25,0.00,0.000,3078,0.000,0.030,2330,2125,3533,3604,3462,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1751,-0.48,-146.6,2330,2124,3605,3462,188.4,-8.4,109,1756,0.00,2.20,0.00,0.000,2308,0.000,0.041,2320,3522,3533,3604,3462,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1788,-0.48,-146.6,2319,3522,3604,3463,190.8,-8.2,110,1793,0.05,2.22,0.00,0.000,3078,0.171,0.028,2337,2063,3533,3604,3463,0,0,0,0,0,0,26.27,26.36,28.83
$GC,2102,-0.54,-146.6,2337,2062,3605,3463,216.4,-8.3,121,2108,0.08,2.15,0.00,0.000,4612,0.109,0.041,2290,675,3533,3604,3463,0,0,0,0,0,0,26.40,26.36,28.83
$GC,2149,-0.54,-146.6,2289,675,3605,3463,219.4,-8.8,122,2154,0.10,2.25,0.00,0.000,3078,0.146,0.030,2313,2135,3534,3605,3463,0,0,0,0,0,0,26.29,26.39,28.83
$GC,2451,-0.54,-146.6,2312,2134,3605,3463,252.0,-10.2,132,2452,0.00,0.00,0.00,0.000,2054,0.000,0.000,2313,2134,3533,3604,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.54,-146.6,2312,2134,3604,3463,280.8,-9.1,142,2753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2312,2134,3534,3605,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-0.54,-146.6,2312,2134,3605,3463,306.7,-8.6,151,3057,0.00,2.33,0.00,0.000,2564,0.000,0.041,2312,654,3533,3604,3463,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3129,-0.54,-146.6,2312,654,3605,3463,311.9,-8.5,152,3133,0.00,2.30,0.00,0.000,3078,0.000,0.032,2304,2125,3533,3604,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3461,-0.54,-146.6,2304,2124,3604,3463,338.0,-7.2,158,3463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2304,2124,3533,3604,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3761,-0.54,-146.6,2304,2124,3604,3463,359.1,-7.1,163,3767,0.00,2.28,0.00,0.000,2564,0.000,0.041,2304,674,3533,3604,3463,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3839,-0.54,-146.6,2304,674,3604,3463,364.0,-7.4,164,3844,0.08,2.25,0.00,0.000,3078,0.154,0.032,2321,2131,3533,3604,3463,0,0,0,0,0,0,26.38,26.46,28.83
$GC,4173,-0.62,-146.6,2321,2131,3603,3463,387.6,-6.6,170,4174,0.10,0.00,0.00,0.000,4102,0.092,0.000,2266,2130,3533,3604,3463,0,0,0,0,0,0,26.48,28.83,28.83
$GC,4472,-0.62,-146.6,2265,2130,3602,3463,419.1,-10.9,175,4478,0.08,2.28,0.00,0.000,2564,0.158,0.041,2291,672,3533,3603,3463,0,0,0,0,0,0,26.42,26.46,28.83
$GC,4569,-0.62,-146.6,2291,672,3603,3463,425.5,-10.9,176,4573,0.00,2.25,0.00,0.000,3078,0.000,0.032,2282,2129,3533,3603,3463,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4882,-0.62,-146.6,2282,2129,3602,3463,459.6,-9.5,182,4883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2282,2129,3532,3602,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,-0.62,-146.6,2282,2129,3601,3463,488.7,-9.7,187,5188,0.00,2.30,0.00,0.000,2564,0.000,0.042,2282,674,3532,3601,3463,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5250,-0.62,-146.6,2282,674,3601,3463,494.8,-9.8,188,5255,0.05,2.25,0.00,0.000,3078,0.188,0.032,2291,2131,3532,3601,3463,0,0,0,0,0,0,26.41,26.50,28.83
$GC,5597,-0.69,-146.6,2290,2131,3601,3463,524.0,-7.8,194,5599,0.08,0.00,0.00,0.000,4102,0.110,0.000,2245,2131,3531,3601,3462,0,0,0,0,0,0,26.51,28.83,28.83
$GC,5895,-0.69,-146.6,2245,2130,3600,3462,551.8,-9.4,199,5897,0.08,0.00,0.00,0.000,2054,0.158,0.000,2269,2130,3531,3600,3463,0,0,0,0,0,0,26.44,28.83,28.83
$GC,6194,-0.69,-146.6,2269,2130,3600,3463,577.8,-8.6,204,6196,0.00,0.00,0.00,0.000,4102,0.000,0.000,2269,2130,3531,3600,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6494,-0.69,-146.6,2269,2130,3600,3463,607.5,-9.9,209,6498,0.00,2.30,0.00,0.000,4612,0.000,0.043,2269,669,3531,3600,3463,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6581,-0.69,-146.6,2269,669,3600,3462,613.6,-9.9,210,6585,0.00,2.25,0.00,0.000,3078,0.000,0.033,2261,2126,3531,3600,3462,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6903,-0.69,-146.6,2261,2126,3599,3463,648.4,-9.9,216,6909,0.00,2.30,0.00,0.000,2564,0.000,0.043,2261,674,3531,3599,3463,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6951,-0.69,-146.6,2261,673,3599,3463,648.4,-9.9,216,6955,0.05,2.25,0.00,0.000,3078,0.194,0.033,2268,2130,3530,3599,3462,0,0,0,0,0,0,26.42,26.52,28.83
$GC,7254,-0.75,-146.6,2268,2130,3599,3461,677.5,-7.9,221,7255,0.08,0.00,0.00,0.000,4102,0.112,0.000,2224,2130,3530,3599,3462,0,0,0,0,0,0,26.53,28.83,28.83
$GC,7553,-0.75,-146.6,2224,2130,3598,3461,706.5,-9.9,226,7555,0.08,0.00,0.00,0.000,2054,0.156,0.000,2249,2130,3530,3598,3462,0,0,0,0,0,0,26.46,28.83,28.83
$GC,7854,-0.75,-146.6,2249,2130,3598,3461,730.0,-7.6,231,7859,0.00,2.30,0.00,0.000,4612,0.000,0.044,2250,670,3529,3598,3460,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7891,-0.75,-146.6,2249,670,3598,3461,730.0,-7.6,231,7895,0.00,2.25,0.00,0.000,3078,0.000,0.033,2240,2127,3530,3599,3461,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8203,-0.75,-146.6,2240,2126,3597,3460,757.4,-7.8,237,8209,0.00,2.30,0.00,0.000,2564,0.000,0.044,2240,674,3529,3598,3460,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8281,-0.75,-146.6,2240,674,3597,3460,762.9,-8.1,238,8286,0.05,2.25,0.00,0.000,3078,0.186,0.033,2247,2128,3529,3598,3460,0,0,0,0,0,0,26.44,26.53,28.83
$GC,8616,-0.80,-146.6,2247,2129,3597,3460,792.6,-8.6,244,8621,0.05,2.25,0.00,0.000,4612,0.145,0.042,2212,664,3528,3597,3460,0,0,0,0,0,0,26.55,26.51,28.83
$GC,8682,-0.80,-146.6,2212,664,3597,3460,798.1,-9.1,245,8686,0.10,2.25,0.00,0.000,3078,0.148,0.032,2234,2124,3528,3597,3460,0,0,0,0,0,0,26.44,26.53,28.83
$GC,9015,-0.80,-146.6,2234,2125,3597,3459,834.1,-10.0,251,9020,0.00,2.28,0.00,0.000,4612,0.000,0.044,2235,675,3528,3597,3459,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9062,-0.80,-146.6,2235,675,3597,3459,834.1,-10.0,251,9066,0.00,2.25,0.00,0.000,3078,0.000,0.032,2226,2132,3528,3597,3459,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9366,-0.80,-146.6,2226,2132,3596,3459,868.3,-9.6,256,9370,0.00,2.25,0.00,0.000,2564,0.000,0.044,2227,667,3527,3596,3459,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9428,-0.80,-146.6,2226,666,3596,3459,874.6,-9.8,257,9432,0.05,2.20,0.00,0.000,3078,0.190,0.033,2233,2129,3527,3596,3459,0,0,0,0,0,0,26.44,26.53,28.83
$GC,9775,-0.80,-146.6,2233,2129,3596,3459,907.5,-9.4,263,9776,0.00,0.00,0.00,0.000,4102,0.000,0.000,2233,2129,3527,3596,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10076,-0.80,-146.6,2233,2129,3595,3458,935.4,-9.3,268,10080,0.00,2.30,0.00,0.000,4612,0.000,0.044,2234,674,3527,3596,3458,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10112,-0.80,-146.6,2233,673,3596,3458,935.4,-9.3,268,10116,0.00,2.25,0.00,0.000,3078,0.000,0.033,2225,2128,3527,3596,3458,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10426,-0.80,-146.6,2225,2128,3595,3457,970.5,-9.9,274,10431,0.00,2.30,0.00,0.000,2564,0.000,0.044,2225,672,3526,3596,3457,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10484,-0.80,-146.6,2225,672,3595,3457,976.5,-9.8,275,10491,0.05,2.25,0.00,0.000,3078,0.188,0.033,2232,2127,3526,3595,3458,0,0,0,0,0,0,26.44,26.53,28.83
$STATE,10663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10663,begin apogee
$GC,10668,-0.18,0.0,2232,2128,3595,3457,991.4,-8.7,278,10792,0.55,0.00,119.68,1.639,10246,0.108,0.000,2431,2128,2930,3002,2858,0,0,0,0,0,0,26.46,28.83,23.26
$STATE,10793,end apogee,CONTROL_FINISHED_OK
$STATE,10793,begin climb
$GC,10795,0.63,146.6,2430,2127,3003,2859,993.0,0.0,280,10926,0.75,0.00,126.57,1.622,10502,0.049,0.000,2709,2127,2332,2415,2250,0,0,0,0,0,0,24.36,28.83,22.92
$GC,11246,0.46,146.6,2708,2127,2408,2250,939.8,14.8,288,11251,0.28,2.35,0.00,0.000,4612,0.168,0.045,2641,678,2329,2408,2250,0,0,0,0,0,0,25.15,25.27,28.83
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$STATE,19666,end climb,SURFACE_DEPTH_REACHED
$STATE,19666,begin surface coast
$FINISH,1.9,1.024443
$STATE,19676,end surface coast,CONTROL_FINISHED_OK
$STATE,19676,begin surface
$SM_CCo,19753,0.00,0.000,0,0,1803,276.70
$SM_GC,2.06,6.97,2.25,0.00,0.047,0.031,0.000,148,2124,1803,-7.24,-0.54,276.70,0,0,0,0,0,0,26.36,26.39,28.83
$IRIDIUM_FIX,4726.11,-12534.12,210114,141458
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.92
$INTERNAL_PRESSURE,8.43396
$TCM_TEMP,17.40
$XPDR_PINGS,11
$24V_AH,22.9,7.578
$10V_AH,9.7,4.806
$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
$DEVICE_SECS,19.600,177.925,356.700,0.000,0.000,41.686,37.348,163.643,15.250,0.000,17.394,1653.296,15894.504,576.631,1761.505,217.746,33.259,1334.061,0.000,1373.211,0.000,91.600,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.659,319.625,805.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313216
$DATA_FILE_SIZE,36971,520
$CAP_FILE_SIZE,156373,0
$CFSIZE,260165632,253734912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4476.23,0x212c5c,0,24
$GPS,220114,014804,4753.360,-12546.862,28,1.0,28,17.3