version: 66.11
glider: 189
mission: 7
dive: 23
start: 9 18 112 13 28 50
data:
$ID,189
$MISSION,7
$DIVE,23
$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,250
$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,-46200.902
$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,2433
$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
$GPS1,180912,131004,2428.463,-3748.272,26,0.8,26,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.8
$GPS2,180912,132753,2428.470,-3748.162,18,0.9,18,-14.0
$SPEED_LIMITS,0.106,0.185
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.017,-0.185
$KALMAN_X,1234.8,31.2,-79.0,21942.4,-1.8
$KALMAN_Y,14211.3,-381.7,431.1,-27492.4,1108.1
$MHEAD_RNG_PITCHd_Wd,188.7,14857,-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,-32.78,0.000,2,0.000,0.000,162,1831,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.92,-117.3,2.4,-5.4,3,88,9.70,2.22,-14.20,0.000,4,0.217,0.051,2687,3287,2913,0,0,0,0,0,0,25.96,26.23,26.53
$GC,314,-0.75,-117.3,30.7,-13.5,28,322,0.25,2.17,0.00,0.000,6,0.145,0.026,2759,1827,2918,0,0,0,0,0,0,26.26,26.44,28.83
$GC,630,-0.67,-117.3,64.5,-9.5,53,635,0.00,2.17,0.00,0.000,4,0.000,0.039,2750,3276,2914,0,0,0,0,0,0,28.83,26.53,28.83
$GC,702,-0.59,-117.3,68.7,-7.2,56,707,0.20,2.12,0.00,0.000,6,0.137,0.026,2812,1820,2916,0,0,0,0,0,0,26.43,26.58,28.83
$GC,1014,-0.59,-117.3,84.8,-6.6,72,1019,0.00,2.20,0.00,0.000,4,0.000,0.039,2798,3286,2916,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1245,-0.59,-117.3,99.7,-7.4,83,1250,0.00,2.12,0.00,0.000,6,0.000,0.025,2798,1823,2917,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1557,-0.59,-117.3,124.4,-7.3,99,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1823,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.59,-117.3,140.2,-4.2,114,1863,0.00,2.12,0.00,0.000,4,0.000,0.044,2798,415,2917,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1989,-0.56,-117.3,145.6,-4.6,120,1995,0.12,2.12,0.00,0.000,6,0.148,0.027,2823,1890,2917,0,0,0,0,0,0,26.63,26.77,28.83
$GC,2303,-0.59,-117.3,155.9,-3.9,136,2308,0.00,2.08,0.00,0.000,4,0.000,0.041,2814,3285,2917,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2395,-0.62,-117.3,160.3,-5.3,140,2400,0.00,2.12,0.00,0.000,6,0.000,0.025,2813,1819,2917,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2707,-0.65,-117.3,184.5,-7.4,156,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1819,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3008,-0.68,-117.3,199.7,-3.9,171,3013,0.00,2.17,0.00,0.000,4,0.000,0.040,2803,3276,2915,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3171,-0.71,-117.3,205.4,-3.4,179,3176,0.00,2.10,0.00,0.000,6,0.000,0.026,2803,1828,2915,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3493,-0.73,-117.3,217.3,-3.6,195,3495,0.12,0.00,0.00,0.000,6,0.083,0.000,2736,1827,2917,0,0,0,0,0,0,26.85,28.83,28.83
$GC,3793,-0.68,-117.3,237.0,-7.8,210,3799,0.12,2.12,0.00,0.000,4,0.148,0.044,2776,422,2913,0,0,0,0,0,0,26.70,26.79,28.83
$GC,3870,-0.65,-117.3,242.2,-8.2,213,3877,0.00,2.12,0.00,0.000,6,0.000,0.027,2767,1890,2913,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4176,-0.65,-117.3,271.0,-9.4,229,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1890,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4476,-0.65,-117.3,294.5,-7.2,244,4482,0.00,2.22,0.00,0.000,4,0.000,0.044,2764,425,2911,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4527,-0.65,-117.3,297.6,-7.1,246,4533,0.12,2.12,0.00,0.000,6,0.150,0.027,2790,1892,2911,0,0,0,0,0,0,26.67,26.83,28.83
$GC,4862,-0.67,-117.3,317.1,-5.7,258,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1892,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5160,-0.70,-117.3,336.6,-6.6,268,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1892,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5460,-0.74,-117.3,355.5,-6.0,278,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1892,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5761,-0.77,-117.3,371.5,-4.9,288,5766,0.12,2.25,0.00,0.000,4,0.083,0.044,2719,416,2906,0,0,0,0,0,0,26.89,26.77,28.83
$GC,5802,-0.77,-117.3,373.8,-5.2,289,5808,0.15,2.12,0.00,0.000,6,0.147,0.028,2749,1882,2906,0,0,0,0,0,0,26.66,26.83,28.83
$GC,6126,-0.77,-117.3,395.3,-6.9,300,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1881,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6425,-0.77,-117.3,416.7,-7.2,310,6430,0.00,2.25,0.00,0.000,4,0.000,0.046,2750,421,2904,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6487,-0.77,-117.3,421.8,-7.7,312,6492,0.00,2.15,0.00,0.000,6,0.000,0.028,2741,1889,2904,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6820,-0.77,-117.3,447.2,-7.9,323,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1888,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7119,-0.77,-117.3,472.6,-8.8,333,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1889,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7419,-0.77,-117.3,498.9,-8.7,343,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1889,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7719,-0.77,-117.3,523.7,-8.0,353,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1889,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8019,-0.77,-117.3,547.0,-7.7,363,8024,0.00,2.25,0.00,0.000,4,0.000,0.047,2740,420,2900,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8120,-0.75,-117.3,554.5,-8.0,366,8125,0.00,2.15,0.00,0.000,6,0.000,0.029,2730,1889,2900,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8443,-0.75,-117.3,577.0,-6.2,377,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1889,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8742,-0.75,-117.3,593.3,-5.2,387,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1889,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9042,-0.75,-117.3,611.1,-6.2,397,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1889,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9342,-0.75,-117.3,631.4,-6.9,407,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1889,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9642,-0.75,-117.3,654.2,-7.8,417,9647,0.00,2.10,0.00,0.000,4,0.000,0.044,2720,3282,2895,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9698,-0.75,-117.3,656.8,-8.0,418,9705,0.12,2.12,0.00,0.000,6,0.148,0.029,2758,1832,2895,0,0,0,0,0,0,26.63,26.79,28.83
$GC,10005,-0.78,-117.3,683.1,-8.0,429,10010,0.00,2.20,0.00,0.000,4,0.000,0.044,2744,3284,2894,0,0,0,0,0,0,28.83,26.76,28.83
$GC,10071,-0.80,-117.3,688.2,-7.9,431,10077,0.00,2.15,0.00,0.000,6,0.000,0.029,2744,1825,2894,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10399,-0.80,-117.3,714.1,-7.7,442,10404,0.00,2.15,0.00,0.000,4,0.000,0.050,2745,422,2895,0,0,0,0,0,0,28.83,26.73,28.83
$GC,10510,-0.80,-117.3,721.7,-8.1,445,10515,0.00,2.15,0.00,0.000,6,0.000,0.029,2734,1885,2892,0,0,0,0,0,0,28.83,26.80,28.83
$GC,10822,-0.80,-117.3,746.2,-6.9,456,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1889,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11122,-0.80,-117.3,766.1,-6.6,466,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1889,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11422,-0.80,-117.3,786.6,-6.8,476,11427,0.00,2.25,0.00,0.000,4,0.000,0.049,2734,431,2889,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11493,-0.80,-117.3,791.3,-7.1,478,11498,0.00,2.15,0.00,0.000,6,0.000,0.029,2724,1883,2891,0,0,0,0,0,0,28.83,26.80,28.83
$GC,11816,-0.80,-117.3,813.4,-6.6,489,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1883,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12116,-0.80,-117.3,834.1,-7.0,499,12121,0.00,2.10,0.00,0.000,4,0.000,0.045,2714,3272,2888,0,0,0,0,0,0,28.83,26.74,28.83
$GC,12222,-0.80,-117.3,840.6,-7.0,502,12227,0.00,2.12,0.00,0.000,6,0.000,0.030,2714,1832,2887,0,0,0,0,0,0,28.83,26.77,28.83
$GC,12539,-0.80,-117.3,863.1,-6.6,513,12544,0.00,2.20,0.00,0.000,4,0.000,0.044,2703,3273,2886,0,0,0,0,0,0,28.83,26.74,28.83
$GC,12615,-0.80,-117.3,867.3,-6.7,515,12621,0.12,2.12,0.00,0.000,6,0.148,0.030,2737,1832,2886,0,0,0,0,0,0,26.59,26.77,28.83
$GC,12936,-0.83,-117.3,884.8,-5.0,526,12941,0.00,2.17,0.00,0.000,4,0.000,0.051,2737,423,2885,0,0,0,0,0,0,28.83,26.70,28.83
$GC,13007,-0.83,-117.3,888.3,-5.1,528,13012,0.00,2.15,0.00,0.000,6,0.000,0.029,2728,1887,2885,0,0,0,0,0,0,28.83,26.79,28.83
$GC,13331,-0.85,-117.3,904.3,-5.0,539,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1887,2884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13629,-0.87,-117.3,921.7,-6.4,549,13635,0.00,2.28,0.00,0.000,4,0.000,0.050,2730,421,2884,0,0,0,0,0,0,28.83,26.69,28.83
$GC,13766,-0.87,-117.3,931.3,-7.9,553,13771,0.00,2.15,0.00,0.000,6,0.000,0.030,2717,1883,2883,0,0,0,0,0,0,28.83,26.78,28.83
$GC,14083,-0.87,-117.3,959.0,-8.4,564,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1883,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14383,-0.87,-117.3,983.3,-7.8,574,14384,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1883,2881,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14502,begin apogee
$GC,14506,-0.29,0.0,991.8,-7.1,578,14607,0.55,0.00,93.20,1.706,6,0.118,0.000,2902,1841,2433,0,0,0,0,0,0,26.53,28.83,23.97
$STATE,14609,end apogee,CONTROL_FINISHED_OK
$STATE,14609,begin climb
$GC,14610,0.92,117.3,994.1,0.0,581,14719,1.12,0.00,104.50,1.675,6,0.074,0.000,3293,1841,1954,0,0,0,0,0,0,25.10,28.83,23.80
$GC,15013,0.79,117.3,964.2,9.3,595,15015,0.15,0.00,0.00,0.000,6,0.158,0.000,3255,1841,1946,0,0,0,0,0,0,25.96,28.83,28.83
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$STATE,27414,end climb,SURFACE_DEPTH_REACHED
$STATE,27414,begin surface coast
$FINISH,0.7,1.024597
$STATE,27444,end surface coast,CONTROL_FINISHED_OK
$STATE,27444,begin surface
$SM_CCo,27462,3.08,0.169,0,0,1409,250.21
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$TT8_MAMPS,0.026964,0.026964
$HUMID,53.03
$INTERNAL_PRESSURE,9.15339
$TCM_TEMP,24.80
$XPDR_PINGS,9
$SC_FREEKB,7761056
$TM_FREEKB,7736192
$24V_AH,23.8,6.661
$10V_AH,10.4,5.678
$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,22.175,147.750,307.650,3.075,0.000,28.515,40.453,605.135,2.250,0.000,19.212,3341.906,21013.332,484.796,3435.436,240.217,33.261,1766.953,0.000,2407.384,0.000,0.537,0.000
$DEVICE_MAMPS,217.260,143.055,1705.950,169.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27487.000,6894.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.781,13.632,0.000,0.000
$MEM,344864
$DATA_FILE_SIZE,29991,1096
$CAP_FILE_SIZE,264044,0
$CFSIZE,260034560,253059072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180912,210734,2425.415,-3747.885,25,0.8,25,-14.0