version: 66.11
glider: 189
mission: 7
dive: 20
start: 9 17 112 13 28 26
data:
$ID,189
$MISSION,7
$DIVE,20
$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,-46197.129
$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
$GPS1,170912,131034,2436.354,-3747.692,27,0.9,27,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-59.2
$GPS2,170912,132729,2436.370,-3747.650,15,0.9,16,-13.9
$SPEED_LIMITS,0.106,0.185
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.019,-0.184
$KALMAN_X,1755.4,-80.6,-209.6,22534.7,697.3
$KALMAN_Y,11817.3,-275.6,-322.1,-9820.2,3242.6
$MHEAD_RNG_PITCHd_Wd,199.8,29403,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.92,-117.3,0.0,0.0,0,55,0.00,0.00,-32.72,0.000,2,0.000,0.000,165,1823,2264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.92,-117.3,2.3,-4.0,3,97,9.77,2.22,-22.38,0.000,4,0.221,0.051,2683,3274,3011,0,0,0,0,0,0,25.96,26.22,26.52
$GC,323,-0.75,-117.3,30.7,-14.9,29,330,0.25,2.17,0.00,0.000,6,0.145,0.027,2755,1820,3011,0,0,0,0,0,0,26.26,26.42,28.83
$GC,629,-0.68,-117.3,63.6,-8.2,53,635,0.00,2.20,0.00,0.000,4,0.000,0.040,2746,3279,3012,0,0,0,0,0,0,28.83,26.52,28.83
$GC,806,-0.60,-117.3,78.7,-9.6,61,813,0.20,2.12,0.00,0.000,6,0.133,0.026,2804,1824,3012,0,0,0,0,0,0,26.46,26.59,28.83
$GC,1111,-0.60,-117.3,105.2,-8.2,77,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1823,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1412,-0.60,-117.3,123.3,-5.3,92,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1828,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-0.60,-117.3,141.9,-7.2,107,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1824,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2012,-0.60,-117.3,162.7,-6.3,122,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1824,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-0.63,-117.3,179.1,-5.1,137,2318,0.00,2.17,0.00,0.000,4,0.000,0.041,2795,3276,3013,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2344,-0.65,-117.3,180.3,-5.2,138,2349,0.00,2.10,0.00,0.000,6,0.000,0.026,2795,1827,3013,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2656,-0.65,-117.3,199.8,-6.4,154,2661,0.00,2.12,0.00,0.000,4,0.000,0.045,2795,420,3012,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2887,-0.65,-117.3,216.2,-7.1,165,2892,0.00,2.12,0.00,0.000,6,0.000,0.028,2784,1885,3011,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3199,-0.65,-117.3,238.0,-7.4,181,3204,0.00,2.08,0.00,0.000,4,0.000,0.042,2774,3277,3010,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3250,-0.65,-117.3,241.3,-7.7,183,3255,0.00,2.10,0.00,0.000,6,0.000,0.026,2774,1830,3010,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3561,-0.65,-117.3,266.8,-7.7,199,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1830,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3862,-0.65,-117.3,286.8,-5.8,214,3868,0.00,2.12,0.00,0.000,4,0.000,0.046,2774,427,3007,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3918,-0.65,-117.3,289.7,-6.2,216,3925,0.00,2.12,0.00,0.000,6,0.000,0.028,2764,1888,3007,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4235,-0.65,-117.3,309.8,-6.3,230,4240,0.00,2.22,0.00,0.000,4,0.000,0.045,2764,425,3006,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4270,-0.65,-117.3,312.3,-6.6,231,4276,0.12,2.12,0.00,0.000,6,0.150,0.028,2787,1882,3006,0,0,0,0,0,0,26.68,26.82,28.83
$GC,4599,-0.68,-117.3,333.5,-6.6,242,4604,0.00,2.10,0.00,0.000,4,0.000,0.044,2778,3283,3005,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4675,-0.71,-117.3,337.7,-6.7,244,4681,0.00,2.12,0.00,0.000,6,0.000,0.028,2778,1827,3005,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4993,-0.74,-117.3,360.4,-6.7,255,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1827,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,-0.76,-117.3,379.9,-6.5,265,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1826,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5593,-0.79,-117.3,400.2,-6.8,275,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1826,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,-0.82,-117.3,421.1,-7.2,285,5894,0.12,0.00,0.00,0.000,6,0.085,0.000,2714,1826,3000,0,0,0,0,0,0,26.86,28.83,28.83
$GC,6193,-0.78,-117.3,448.6,-9.1,295,6199,0.12,2.12,0.00,0.000,4,0.146,0.046,2755,430,2999,0,0,0,0,0,0,26.70,26.77,28.83
$GC,6240,-0.75,-117.3,451.5,-9.0,296,6245,0.00,2.12,0.00,0.000,6,0.000,0.028,2746,1884,2999,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6556,-0.75,-117.3,475.1,-6.5,307,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1884,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6857,-0.75,-117.3,494.3,-6.6,317,6862,0.00,2.10,0.00,0.000,4,0.000,0.044,2736,3283,2995,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6912,-0.75,-117.3,496.7,-6.8,318,6919,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,1826,2996,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7218,-0.75,-117.3,522.2,-8.3,329,7224,0.00,2.20,0.00,0.000,4,0.000,0.043,2725,3276,2995,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7311,-0.75,-117.3,530.3,-8.7,332,7317,0.12,2.12,0.00,0.000,6,0.145,0.028,2759,1824,2995,0,0,0,0,0,0,26.68,26.81,28.83
$GC,7644,-0.77,-117.3,556.2,-7.5,343,7649,0.00,2.20,0.00,0.000,4,0.000,0.044,2750,3280,2994,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7701,-0.79,-117.3,558.6,-7.5,344,7707,0.00,2.12,0.00,0.000,6,0.000,0.028,2750,1829,2992,0,0,0,0,0,0,28.83,26.80,28.83
$GC,8006,-0.79,-117.3,581.0,-6.5,355,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1829,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8306,-0.79,-117.3,598.9,-6.2,365,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1829,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8606,-0.79,-117.3,620.7,-7.7,375,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1829,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8907,-0.81,-117.3,645.3,-8.1,385,8912,0.00,2.15,0.00,0.000,4,0.000,0.049,2750,425,2989,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8988,-0.81,-117.3,650.5,-8.3,387,8993,0.00,2.12,0.00,0.000,6,0.000,0.029,2740,1879,2989,0,0,0,0,0,0,28.83,26.82,28.83
$GC,9299,-0.81,-117.3,674.8,-6.9,398,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1879,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9599,-0.81,-117.3,694.4,-6.5,408,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1879,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9899,-0.81,-117.3,714.2,-6.4,418,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1879,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10200,-0.83,-117.3,733.3,-6.2,428,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1879,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10500,-0.86,-117.3,753.2,-7.0,438,10505,0.00,2.25,0.00,0.000,4,0.000,0.050,2740,424,2985,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10611,-0.86,-117.3,761.0,-8.3,441,10616,0.00,2.15,0.00,0.000,6,0.000,0.030,2729,1885,2984,0,0,0,0,0,0,28.83,26.81,28.83
$GC,10923,-0.86,-117.3,789.7,-8.9,452,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1885,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11223,-0.86,-117.3,816.4,-8.8,462,11228,0.00,2.25,0.00,0.000,4,0.000,0.050,2729,429,2983,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11315,-0.86,-117.3,825.2,-9.3,465,11320,0.00,2.12,0.00,0.000,6,0.000,0.031,2719,1876,2982,0,0,0,0,0,0,28.83,26.81,28.83
$GC,11648,-0.86,-117.3,852.9,-8.2,476,11653,0.00,2.12,0.00,0.000,4,0.000,0.046,2709,3279,2981,0,0,0,0,0,0,28.83,26.75,28.83
$GC,11709,-0.86,-117.3,857.9,-8.0,478,11714,0.00,2.15,0.00,0.000,6,0.000,0.031,2709,1825,2980,0,0,0,0,0,0,28.83,26.78,28.83
$GC,12042,-0.86,-117.3,884.9,-8.0,489,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1825,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12341,-0.86,-117.3,908.8,-7.9,499,12347,0.00,2.15,0.00,0.000,4,0.000,0.052,2709,431,2979,0,0,0,0,0,0,28.83,26.72,28.83
$GC,12403,-0.86,-117.3,914.0,-8.2,501,12408,0.00,2.12,0.00,0.000,6,0.000,0.030,2698,1877,2979,0,0,0,0,0,0,28.83,26.80,28.83
$GC,12736,-0.86,-117.3,940.0,-7.7,512,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1877,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13035,-0.86,-117.3,963.1,-7.7,522,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1877,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13335,-0.86,-117.3,985.7,-7.5,532,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1877,2976,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13394,begin apogee
$GC,13397,-0.29,0.0,990.1,-7.4,534,13495,0.60,0.00,91.70,1.709,6,0.121,0.000,2899,1878,2534,0,0,0,0,0,0,26.59,28.83,23.96
$STATE,13497,end apogee,CONTROL_FINISHED_OK
$STATE,13497,begin climb
$GC,13498,0.92,117.3,992.2,0.0,537,13607,1.15,0.00,104.12,1.678,6,0.073,0.000,3298,1878,2055,0,0,0,0,0,0,25.08,28.83,23.80
$GC,13905,0.78,117.3,966.0,8.0,551,13911,0.15,2.17,0.00,0.000,4,0.160,0.043,3254,3274,2047,0,0,0,0,0,0,25.97,26.08,28.83
$GC,13958,0.64,117.3,963.5,7.8,552,13964,0.20,2.20,0.00,0.000,6,0.151,0.032,3208,1836,2047,0,0,0,0,0,0,26.02,26.14,28.83
$GC,14272,0.61,134.6,944.6,5.5,563,14295,0.00,2.35,14.12,1.569,4,0.000,0.054,3218,424,1984,0,0,0,0,0,0,28.83,25.87,24.94
$GC,14341,0.58,151.5,941.2,5.5,565,14364,0.12,2.22,16.08,1.590,6,0.148,0.030,3185,1887,1915,0,0,0,0,0,0,25.95,26.06,24.59
$GC,14662,0.60,168.0,923.4,5.5,576,14679,0.00,0.00,14.95,1.577,6,0.000,0.000,3184,1887,1848,0,0,0,0,0,0,28.83,28.83,24.79
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$STATE,27059,end climb,SURFACE_DEPTH_REACHED
$STATE,27059,begin surface coast
$FINISH,0.6,1.002521
$STATE,27100,end surface coast,CONTROL_FINISHED_OK
$STATE,27100,begin surface
$SM_CCo,27117,23.83,0.131,0,0,1310,300.00
$SM_GC,1.45,7.97,0.00,23.83,0.033,0.000,0.131,163,1824,1310,-8.84,-0.74,300.00,0,0,0,0,0,0,26.81,28.83,26.55
$IRIDIUM_FIX,2422.84,-3738.16,170912,050547
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.96
$INTERNAL_PRESSURE,9.15339
$TCM_TEMP,24.90
$XPDR_PINGS,10
$SC_FREEKB,7762208
$TM_FREEKB,7769248
$24V_AH,23.8,6.122
$10V_AH,10.1,5.012
$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,21.500,146.950,306.625,23.825,0.000,25.230,37.141,583.820,2.500,0.000,17.137,3310.529,20695.607,515.556,3379.632,238.472,33.243,1793.484,0.000,2398.061,0.000,0.538,0.000
$DEVICE_MAMPS,221.085,54.315,1709.010,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27137.000,6724.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.813,13.660,0.000,0.000
$MEM,344876
$DATA_FILE_SIZE,30061,1087
$CAP_FILE_SIZE,259703,0
$CFSIZE,260034560,253706240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170912,210158,2433.309,-3748.028,37,0.8,37,-13.9