version: 66.11
glider: 189
mission: 7
dive: 19
start: 9 17 112 5 40 2
data:
$ID,189
$MISSION,7
$DIVE,19
$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,5
$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,120
$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,-46195.871
$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,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$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,2534
$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,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170912,052334,2438.531,-3745.588,25,0.9,26,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-55.1
$GPS2,170912,053905,2438.526,-3745.522,19,1.0,19,-13.9
$SPEED_LIMITS,0.106,0.185
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.100,-0.156
$KALMAN_X,2185.4,86.2,-390.8,25699.0,3144.8
$KALMAN_Y,10638.2,91.6,-512.8,-4828.8,3835.4
$MHEAD_RNG_PITCHd_Wd,226.6,33498,-13.6,-6.111,-18.24
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.92,-117.3,0.0,0.0,0,56,0.00,0.00,-32.60,0.000,2,0.000,0.000,165,1834,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.92,-117.3,2.0,-2.0,3,98,9.77,2.22,-23.42,0.000,4,0.221,0.054,2684,3282,3010,0,0,0,0,0,0,26.01,26.24,26.54
$GC,250,-0.75,-117.3,19.3,-13.3,22,256,0.25,2.15,0.00,0.000,6,0.148,0.027,2759,1826,3009,0,0,0,0,0,0,26.22,26.39,28.83
$GC,574,-0.66,-117.3,58.4,-13.4,51,580,0.10,2.20,0.00,0.000,4,0.171,0.041,2771,3277,3012,0,0,0,0,0,0,26.45,26.51,28.83
$GC,806,-0.62,-117.3,80.1,-7.9,62,811,0.00,2.12,0.00,0.000,6,0.000,0.026,2771,1822,3013,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1118,-0.57,-117.3,102.2,-7.6,78,1124,0.12,2.20,0.00,0.000,4,0.147,0.040,2802,3283,3014,0,0,0,0,0,0,26.55,26.63,28.83
$GC,1241,-0.57,-117.3,112.0,-8.3,84,1246,0.00,2.15,0.00,0.000,6,0.000,0.026,2801,1820,3014,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1563,-0.57,-117.3,134.2,-4.6,100,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1820,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1863,-0.57,-117.3,147.6,-4.9,115,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1820,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2163,-0.57,-117.3,168.6,-7.4,130,2168,0.00,2.10,0.00,0.000,4,0.000,0.045,2801,428,3013,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2205,-0.57,-117.3,172.0,-7.7,132,2210,0.00,2.12,0.00,0.000,6,0.000,0.028,2791,1891,3015,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2526,-0.57,-117.3,195.3,-7.1,148,2531,0.00,2.08,0.00,0.000,4,0.000,0.043,2781,3281,3014,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2591,-0.57,-117.3,199.8,-7.2,151,2598,0.12,2.12,0.00,0.000,6,0.138,0.027,2817,1826,3014,0,0,0,0,0,0,26.66,26.78,28.83
$GC,2910,-0.62,-117.3,217.5,-5.0,167,2915,0.00,2.17,0.00,0.000,4,0.000,0.042,2812,3274,3014,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2982,-0.66,-117.3,220.6,-5.2,170,2987,0.00,2.10,0.00,0.000,6,0.000,0.027,2807,1827,3014,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3294,-0.70,-117.3,238.0,-5.9,186,3300,0.00,2.20,0.00,0.000,4,0.000,0.042,2796,3277,3012,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3357,-0.74,-117.3,242.1,-6.4,189,3363,0.10,2.12,0.00,0.000,6,0.096,0.027,2741,1829,3012,0,0,0,0,0,0,26.77,26.79,28.83
$GC,3680,-0.71,-117.3,272.2,-9.9,205,3682,0.12,0.00,0.00,0.000,6,0.144,0.000,2775,1828,3011,0,0,0,0,0,0,26.72,28.83,28.83
$GC,3980,-0.71,-117.3,296.1,-7.3,220,3985,0.00,2.12,0.00,0.000,4,0.000,0.046,2776,424,3009,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4045,-0.71,-117.3,300.7,-7.3,223,4051,0.00,2.12,0.00,0.000,6,0.000,0.028,2767,1880,3009,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4373,-0.71,-117.3,321.1,-6.0,234,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1880,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4673,-0.71,-117.3,340.0,-6.3,244,4678,0.00,2.22,0.00,0.000,4,0.000,0.046,2767,420,3007,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4748,-0.71,-117.3,344.5,-6.9,246,4754,0.00,2.12,0.00,0.000,6,0.000,0.029,2757,1879,3007,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5065,-0.71,-117.3,366.9,-6.4,257,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1879,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5365,-0.71,-117.3,386.4,-6.5,267,5370,0.00,2.22,0.00,0.000,4,0.000,0.047,2758,421,3005,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5411,-0.71,-117.3,388.9,-6.9,268,5416,0.00,2.12,0.00,0.000,6,0.000,0.030,2747,1880,3004,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5728,-0.71,-117.3,414.2,-7.6,279,5733,0.00,2.10,0.00,0.000,4,0.000,0.045,2737,3277,3003,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5789,-0.71,-117.3,419.0,-7.6,281,5795,0.12,2.15,0.00,0.000,6,0.144,0.028,2770,1823,3003,0,0,0,0,0,0,26.67,26.81,28.83
$GC,6123,-0.73,-117.3,444.3,-8.0,292,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1823,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6422,-0.76,-117.3,468.0,-7.8,302,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1823,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6722,-0.79,-117.3,490.6,-7.3,312,6728,0.00,2.12,0.00,0.000,4,0.000,0.048,2771,430,3000,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6764,-0.81,-117.3,492.9,-7.2,313,6769,0.00,2.12,0.00,0.000,6,0.000,0.030,2763,1880,2999,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7086,-0.83,-117.3,514.9,-6.3,324,7092,0.00,2.10,0.00,0.000,4,0.000,0.046,2752,3272,2999,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7153,-0.85,-117.3,519.3,-6.7,326,7158,0.00,2.12,0.00,0.000,6,0.000,0.029,2752,1824,2998,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7480,-0.85,-117.3,542.9,-7.1,337,7486,0.00,2.12,0.00,0.000,4,0.000,0.049,2752,430,2998,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7551,-0.85,-117.3,547.7,-7.3,339,7557,0.00,2.12,0.00,0.000,6,0.000,0.031,2742,1879,2997,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7874,-0.85,-117.3,570.3,-6.8,350,7879,0.00,2.22,0.00,0.000,4,0.000,0.048,2742,430,2996,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7925,-0.85,-117.3,572.8,-7.1,351,7930,0.00,2.12,0.00,0.000,6,0.000,0.030,2732,1878,2996,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8236,-0.85,-117.3,597.8,-7.5,362,8241,0.00,2.10,0.00,0.000,4,0.000,0.046,2722,3273,2995,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8307,-0.85,-117.3,602.6,-7.5,364,8312,0.00,2.12,0.00,0.000,6,0.000,0.030,2722,1828,2995,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8629,-0.85,-117.3,628.0,-7.7,375,8634,0.00,2.15,0.00,0.000,4,0.000,0.049,2722,422,2994,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8752,-0.82,-117.3,638.0,-8.3,379,8757,0.00,2.15,0.00,0.000,6,0.000,0.031,2715,1878,2996,0,0,0,0,0,0,28.83,26.81,28.83
$GC,9085,-0.80,-117.3,665.1,-8.2,390,9091,0.12,2.10,0.00,0.000,4,0.155,0.044,2742,3272,2992,0,0,0,0,0,0,26.68,26.77,28.83
$GC,9142,-0.80,-117.3,667.5,-7.9,391,9148,0.00,2.12,0.00,0.000,6,0.000,0.030,2742,1829,2992,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9448,-0.80,-117.3,690.8,-7.3,402,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1829,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9748,-0.82,-117.3,714.3,-8.1,412,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1830,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10048,-0.84,-117.3,737.4,-7.4,422,10053,0.00,2.20,0.00,0.000,4,0.000,0.046,2731,3274,2989,0,0,0,0,0,0,28.83,26.76,28.83
$GC,10099,-0.86,-117.3,739.8,-7.4,423,10105,0.00,2.12,0.00,0.000,6,0.000,0.030,2731,1832,2989,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10411,-0.86,-117.3,762.7,-6.9,434,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1832,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10711,-0.86,-117.3,784.1,-7.4,444,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1832,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11011,-0.86,-117.3,808.2,-8.1,454,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1832,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11311,-0.86,-117.3,832.1,-7.9,464,11316,0.00,2.17,0.00,0.000,4,0.000,0.052,2731,421,2985,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11352,-0.86,-117.3,834.8,-8.1,465,11357,0.00,2.15,0.00,0.000,6,0.000,0.030,2721,1883,2986,0,0,0,0,0,0,28.83,26.80,28.83
$GC,11675,-0.86,-117.3,860.9,-7.9,476,11680,0.00,2.10,0.00,0.000,4,0.000,0.047,2711,3270,2984,0,0,0,0,0,0,28.83,26.74,28.83
$GC,11720,-0.86,-117.3,863.3,-7.7,477,11726,0.00,2.12,0.00,0.000,6,0.000,0.030,2711,1832,2984,0,0,0,0,0,0,28.83,26.77,28.83
$GC,12037,-0.86,-117.3,890.7,-8.7,488,12038,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1832,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12337,-0.86,-117.3,916.9,-8.9,498,12342,0.00,2.17,0.00,0.000,4,0.000,0.052,2711,423,2982,0,0,0,0,0,0,28.83,26.72,28.83
$GC,12408,-0.86,-117.3,922.9,-9.2,500,12413,0.00,2.15,0.00,0.000,6,0.000,0.030,2700,1884,2981,0,0,0,0,0,0,28.83,26.79,28.83
$GC,12731,-0.86,-117.3,951.3,-8.3,511,12736,0.00,2.10,0.00,0.000,4,0.000,0.046,2690,3272,2981,0,0,0,0,0,0,28.83,26.74,28.83
$GC,12802,-0.86,-117.3,956.4,-8.0,513,12807,0.12,2.12,0.00,0.000,6,0.151,0.031,2724,1834,2980,0,0,0,0,0,0,26.60,26.76,28.83
$GC,13125,-0.89,-117.3,978.0,-6.2,524,13126,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1833,2980,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13333,begin apogee
$GC,13337,-0.29,0.0,991.2,-6.2,531,13434,0.52,0.00,92.35,1.709,6,0.117,0.000,2902,1834,2534,0,0,0,0,0,0,26.59,28.83,23.96
$STATE,13436,end apogee,CONTROL_FINISHED_OK
$STATE,13436,begin climb
$GC,13438,0.92,117.3,992.9,0.0,534,13546,1.12,0.00,103.53,1.671,6,0.073,0.000,3293,1834,2054,0,0,0,0,0,0,25.05,28.83,23.79
$GC,13844,0.78,117.3,969.0,7.3,548,13850,0.12,2.25,0.00,0.000,4,0.166,0.051,3267,425,2046,0,0,0,0,0,0,25.96,26.04,28.83
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$STATE,26835,end climb,SURFACE_DEPTH_REACHED
$STATE,26836,begin surface coast
$FINISH,0.6,1.024686
$STATE,26898,end surface coast,CONTROL_FINISHED_OK
$STATE,26898,begin surface
$SM_CCo,26974,0.00,0.000,0,0,1277,308.34
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$TT8_MAMPS,0.026964,0.026964
$HUMID,52.08
$INTERNAL_PRESSURE,9.14363
$TCM_TEMP,24.60
$XPDR_PINGS,9
$SC_FREEKB,7762592
$TM_FREEKB,7779808
$24V_AH,23.8,5.943
$10V_AH,10.3,4.798
$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
$DEVICE_SECS,21.675,177.200,360.875,0.000,0.000,25.416,45.394,525.072,2.250,0.000,19.657,3354.461,20376.084,532.413,3399.159,227.360,33.243,1889.295,0.000,2489.918,0.000,0.538,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.790,13.647,0.000,0.000
$MEM,344808
$DATA_FILE_SIZE,29972,1073
$CAP_FILE_SIZE,264576,0
$CFSIZE,260034560,253911040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170912,131034,2436.354,-3747.692,27,0.9,27,-13.9