version: 66.11
glider: 189
mission: 7
dive: 30
start: 9 20 112 22 34 21
data:
$ID,189
$MISSION,7
$DIVE,30
$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,-46209.699
$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
$GPS1,200912,220504,2430.964,-3758.976,23,0.8,23,-14.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-64.8
$GPS2,200912,223324,2430.839,-3758.935,18,0.9,18,-14.0
$SPEED_LIMITS,0.106,0.185
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.145,0.116
$KALMAN_X,369.1,99.7,82.9,4435.2,-347.7
$KALMAN_Y,22421.4,-84.9,-308.0,-30878.4,1971.2
$MHEAD_RNG_PITCHd_Wd,322.6,7806,-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,-32.97,0.000,2,0.000,0.000,163,1831,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.92,-117.3,2.5,-5.7,3,89,9.70,2.20,-13.10,0.000,4,0.216,0.054,2689,3276,2915,0,0,0,0,0,0,25.98,26.27,26.58
$GC,315,-0.75,-117.3,32.9,-12.5,28,322,0.22,2.12,0.00,0.000,6,0.146,0.026,2752,1825,2916,0,0,0,0,0,0,26.27,26.46,28.83
$GC,622,-0.67,-117.3,62.9,-7.9,59,627,0.12,2.17,0.00,0.000,4,0.158,0.037,2782,3276,2916,0,0,0,0,0,0,26.44,26.55,28.83
$GC,655,-0.61,-117.3,65.8,-8.6,62,660,0.00,2.12,0.00,0.000,6,0.000,0.025,2782,1817,2916,0,0,0,0,0,0,28.83,26.58,28.83
$GC,967,-0.57,-117.3,86.6,-6.0,84,973,0.12,2.20,0.00,0.000,4,0.145,0.037,2814,3285,2917,0,0,0,0,0,0,26.53,26.61,28.83
$GC,1200,-0.57,-117.3,96.8,-4.4,95,1205,0.00,2.12,0.00,0.000,6,0.000,0.024,2813,1819,2917,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1512,-0.57,-117.3,113.1,-5.6,111,1517,0.00,2.12,0.00,0.000,4,0.000,0.044,2813,421,2917,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1668,-0.57,-117.3,123.3,-7.5,118,1674,0.00,2.12,0.00,0.000,6,0.000,0.026,2802,1891,2917,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1974,-0.57,-117.3,144.8,-6.4,134,1979,0.00,2.05,0.00,0.000,4,0.000,0.039,2792,3276,2916,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2114,-0.57,-117.3,153.1,-6.9,139,2120,0.00,2.10,0.00,0.000,6,0.000,0.024,2792,1821,2916,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2457,-0.57,-117.3,173.4,-5.2,148,2462,0.00,2.17,0.00,0.000,4,0.000,0.039,2782,3280,2915,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2573,-0.57,-117.3,177.7,-5.2,150,2581,0.12,2.10,0.00,0.000,6,0.138,0.025,2817,1825,2915,0,0,0,0,0,0,26.64,26.78,28.83
$GC,2900,-0.61,-117.3,195.6,-5.3,159,2905,0.00,2.12,0.00,0.000,4,0.000,0.044,2817,417,2914,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3007,-0.64,-117.3,200.5,-5.7,161,3012,0.00,2.12,0.00,0.000,6,0.000,0.026,2808,1887,2914,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3344,-0.67,-117.3,221.9,-6.2,170,3349,0.00,2.08,0.00,0.000,4,0.000,0.040,2798,3285,2913,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3476,-0.70,-117.3,230.0,-6.6,173,3481,0.00,2.12,0.00,0.000,6,0.000,0.025,2798,1820,2913,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3793,-0.73,-117.3,251.8,-6.6,181,3798,0.00,2.10,0.00,0.000,4,0.000,0.044,2798,428,2911,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3910,-0.75,-117.3,256.0,-6.4,182,3916,0.00,2.12,0.00,0.000,6,0.000,0.026,2787,1896,2911,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4215,-0.75,-117.3,277.6,-5.9,188,4220,0.00,2.05,0.00,0.000,4,0.000,0.041,2777,3274,2910,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4267,-0.75,-117.3,277.6,-5.9,188,4272,0.00,2.10,0.00,0.000,6,0.000,0.025,2777,1826,2910,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4578,-0.75,-117.3,304.7,-7.8,194,4583,0.00,2.17,0.00,0.000,4,0.000,0.040,2766,3277,2908,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4640,-0.75,-117.3,309.5,-7.8,195,4645,0.00,2.10,0.00,0.000,6,0.000,0.025,2766,1828,2908,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5002,-0.75,-117.3,335.4,-6.9,201,5007,0.00,2.12,0.00,0.000,4,0.000,0.045,2766,422,2907,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5133,-0.75,-117.3,344.4,-7.0,203,5139,0.00,2.12,0.00,0.000,6,0.000,0.027,2756,1889,2906,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5485,-0.75,-117.3,367.8,-6.2,209,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1888,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-0.75,-117.3,384.3,-5.4,214,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1889,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6085,-0.75,-117.3,402.5,-6.2,219,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1889,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.75,-117.3,420.8,-6.0,224,6391,0.00,2.22,0.00,0.000,4,0.000,0.044,2756,428,2903,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6432,-0.75,-117.3,420.8,-6.0,224,6437,0.00,2.12,0.00,0.000,6,0.000,0.027,2746,1892,2903,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6749,-0.75,-117.3,442.6,-6.0,230,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1892,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7049,-0.75,-117.3,462.1,-6.5,235,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1891,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7348,-0.75,-117.3,483.5,-7.2,240,7354,0.00,2.25,0.00,0.000,4,0.000,0.046,2746,418,2900,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7399,-0.75,-117.3,483.5,-7.2,240,7405,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,1882,2903,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7712,-0.75,-117.3,513.2,-8.2,245,7717,0.00,2.22,0.00,0.000,4,0.000,0.045,2735,425,2899,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7773,-0.75,-117.3,513.2,-8.2,245,7779,0.12,2.12,0.00,0.000,6,0.151,0.028,2758,1882,2899,0,0,0,0,0,0,26.62,26.80,28.83
$GC,8196,-0.75,-117.3,548.8,-7.3,249,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8557,-0.77,-117.3,570.1,-6.0,252,8562,0.00,2.22,0.00,0.000,4,0.000,0.047,2759,429,2896,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8628,-0.80,-117.3,570.1,-6.0,252,8633,0.00,2.12,0.00,0.000,6,0.000,0.028,2750,1884,2895,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9040,-0.80,-117.3,600.2,-6.2,256,9045,0.00,2.22,0.00,0.000,4,0.000,0.046,2750,429,2894,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9136,-0.80,-117.3,600.2,-6.2,256,9141,0.00,2.12,0.00,0.000,6,0.000,0.028,2740,1882,2894,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9523,-0.80,-117.3,635.4,-7.3,260,9528,0.00,2.10,0.00,0.000,4,0.000,0.043,2729,3278,2893,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9609,-0.80,-117.3,635.4,-7.3,260,9614,0.00,2.12,0.00,0.000,6,0.000,0.028,2729,1828,2892,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10006,-0.80,-117.3,676.3,-8.4,264,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1828,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,-0.80,-117.3,709.0,-9.1,267,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1828,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10726,-0.80,-117.3,738.1,-8.3,270,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1828,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11086,-0.80,-117.3,762.8,-7.0,273,11091,0.00,2.17,0.00,0.000,4,0.000,0.049,2729,427,2888,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11231,-0.80,-117.3,771.3,-6.9,274,11237,0.00,2.12,0.00,0.000,6,0.000,0.029,2719,1880,2887,0,0,0,0,0,0,28.83,26.78,28.83
$GC,11568,-0.80,-117.3,795.4,-6.7,277,11574,0.00,2.10,0.00,0.000,4,0.000,0.043,2708,3274,2887,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11654,-0.80,-117.3,795.4,-6.7,277,11660,0.12,2.15,0.00,0.000,6,0.149,0.028,2742,1828,2886,0,0,0,0,0,0,26.56,26.75,28.83
$GC,12053,-0.82,-117.3,829.1,-7.0,281,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1828,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12412,-0.85,-117.3,854.7,-7.0,284,12418,0.00,2.20,0.00,0.000,4,0.000,0.043,2733,3274,2885,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12474,-0.88,-117.3,854.7,-7.0,284,12479,0.00,2.15,0.00,0.000,6,0.000,0.029,2733,1827,2884,0,0,0,0,0,0,28.83,26.74,28.83
$GC,12897,-0.90,-117.3,884.2,-6.1,288,12902,0.00,2.15,0.00,0.000,4,0.000,0.050,2733,430,2883,0,0,0,0,0,0,28.83,26.66,28.83
$GC,12988,-0.93,-117.3,884.2,-6.1,288,12993,0.00,2.12,0.00,0.000,6,0.000,0.028,2723,1879,2882,0,0,0,0,0,0,28.83,26.74,28.83
$GC,13380,-0.93,-117.3,911.5,-5.6,292,13386,0.00,2.12,0.00,0.000,4,0.000,0.044,2712,3285,2881,0,0,0,0,0,0,28.83,26.68,28.83
$GC,13457,-0.93,-117.3,911.5,-5.6,292,13462,0.00,2.15,0.00,0.000,6,0.000,0.028,2712,1828,2881,0,0,0,0,0,0,28.83,26.73,28.83
$GC,13864,-0.93,-117.3,946.6,-7.3,296,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1828,2880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14224,-0.93,-117.3,975.8,-8.1,299,14229,0.00,2.17,0.00,0.000,4,0.000,0.050,2712,420,2879,0,0,0,0,0,0,28.83,26.64,28.83
$GC,14270,-0.93,-117.3,975.8,-8.1,299,14275,0.00,2.15,0.00,0.000,6,0.000,0.029,2702,1881,2879,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,14465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14465,begin apogee
$GC,14470,-0.29,0.0,997.9,-8.6,301,14570,0.60,0.00,92.82,1.716,6,0.121,0.000,2901,1839,2433,0,0,0,0,0,0,26.44,28.83,23.97
$STATE,14572,end apogee,CONTROL_FINISHED_OK
$STATE,14572,begin climb
$GC,14574,0.92,117.3,997.9,0.0,301,14683,1.12,0.00,105.03,1.684,6,0.073,0.000,3293,1839,1953,0,0,0,0,0,0,25.12,28.83,23.82
$GC,14947,0.79,117.3,983.1,6.7,305,14949,0.15,0.00,0.00,0.000,6,0.160,0.000,3255,1839,1945,0,0,0,0,0,0,25.91,28.83,28.83
$GC,15307,0.68,117.3,960.1,6.5,308,15313,0.12,2.22,0.00,0.000,4,0.159,0.049,3224,431,1943,0,0,0,0,0,0,26.22,26.29,28.83
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$STATE,28036,end climb,SURFACE_DEPTH_REACHED
$STATE,28036,begin surface coast
$FINISH,0.6,0.999758
$STATE,28058,end surface coast,CONTROL_FINISHED_OK
$STATE,28058,begin surface
$SM_CCo,28135,0.00,0.000,0,0,1319,273.26
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$IRIDIUM_FIX,2432.32,-3816.63,200912,222248
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.52
$INTERNAL_PRESSURE,9.15339
$TCM_TEMP,24.70
$XPDR_PINGS,4
$SC_FREEKB,7758368
$TM_FREEKB,7658624
$24V_AH,23.8,7.963
$10V_AH,10.1,7.212
$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,22.050,185.875,338.375,0.000,0.000,146.946,150.109,738.867,1.000,0.000,18.810,2755.472,22640.465,532.232,3636.645,248.407,33.262,1778.033,0.000,2234.702,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,140.760,1715.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28094.000,6940.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.069,13.623,0.000,0.000
$MEM,344580
$DATA_FILE_SIZE,16704,575
$CAP_FILE_SIZE,240856,0
$CFSIZE,260034560,251564032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210912,062428,2433.516,-3801.812,40,0.8,40,-14.0