version: 66.11
glider: 189
mission: 7
dive: 50
start: 9 27 112 14 1 45
data:
$ID,189
$MISSION,7
$DIVE,50
$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,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,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,-46936.758
$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,45
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$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,2320
$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,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270912,135304,2422.556,-3813.134,31,0.8,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-62.8
$GPS2,270912,140047,2422.561,-3813.124,16,0.9,16,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.159,0.125
$KALMAN_X,6873.6,360.3,-249.5,-25888.4,249.7
$KALMAN_Y,54791.6,122.0,-272.2,-78805.4,2060.9
$MHEAD_RNG_PITCHd_Wd,65.9,28283,-11.8,-6.111,-16.77
$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,20,begin dive
$GC,21,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-31.95,0.000,2,0.000,0.000,161,1822,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.1,-1.4,3,105,9.82,0.00,-30.65,0.000,6,0.216,0.000,2721,1825,2917,0,0,0,0,0,0,26.01,28.83,26.65
$GC,405,-0.68,-146.6,38.7,-12.5,38,407,0.20,0.00,0.00,0.000,6,0.153,0.000,2778,1825,2919,0,0,0,0,0,0,26.32,28.83,28.83
$GC,705,-0.60,-146.6,65.4,-8.6,68,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1825,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-0.52,-146.6,88.3,-7.2,86,1007,0.17,0.00,0.00,0.000,6,0.138,0.000,2831,1826,2921,0,0,0,0,0,0,26.49,28.83,28.83
$GC,1305,-0.52,-146.6,104.9,-5.2,96,1312,0.00,2.30,0.00,0.000,4,0.000,0.042,2832,351,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1455,-0.49,-146.6,115.4,-7.1,101,1462,0.00,2.30,0.00,0.000,6,0.000,0.024,2822,1890,2921,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1784,-0.49,-146.6,138.7,-7.4,112,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1890,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2114,-0.49,-146.6,162.8,-7.0,120,2119,0.00,2.40,0.00,0.000,4,0.000,0.042,2822,351,2921,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2264,-0.49,-146.6,169.9,-6.4,122,2269,0.12,2.30,0.00,0.000,6,0.135,0.024,2848,1893,2921,0,0,0,0,0,0,26.59,26.75,28.83
$GC,2577,-0.53,-146.6,183.9,-3.5,128,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1893,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-0.57,-146.6,193.5,-3.2,133,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1893,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3177,-0.61,-146.6,207.8,-5.0,138,3185,0.15,2.40,0.00,0.000,4,0.070,0.042,2763,352,2920,0,0,0,0,0,0,26.82,26.68,28.83
$GC,3305,-0.61,-146.6,218.6,-7.2,140,3310,0.17,2.30,0.00,0.000,6,0.132,0.024,2804,1895,2920,0,0,0,0,0,0,26.58,26.77,28.83
$GC,3647,-0.61,-146.6,241.4,-5.8,146,3655,0.00,2.42,0.00,0.000,4,0.000,0.042,2804,341,2919,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3836,-0.61,-146.6,250.1,-4.9,149,3840,0.00,2.33,0.00,0.000,6,0.000,0.024,2794,1896,2918,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4177,-0.61,-146.6,264.8,-4.1,155,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1896,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4477,-0.61,-146.6,277.2,-4.2,160,4485,0.00,2.42,0.00,0.000,4,0.000,0.043,2794,347,2916,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4638,-0.61,-146.6,283.5,-4.8,162,4645,0.00,2.30,0.00,0.000,6,0.000,0.025,2782,1883,2916,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4957,-0.61,-146.6,306.6,-6.8,168,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1883,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5257,-0.61,-146.6,330.4,-7.9,173,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1883,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5557,-0.61,-146.6,349.5,-6.2,178,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1883,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5857,-0.61,-146.6,364.2,-4.8,183,5865,0.00,2.40,0.00,0.000,4,0.000,0.043,2783,352,2912,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5977,-0.61,-146.6,371.3,-5.4,185,5985,0.00,2.30,0.00,0.000,6,0.000,0.026,2772,1882,2911,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6337,-0.61,-146.6,389.9,-5.0,191,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1882,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6637,-0.61,-146.6,403.4,-4.5,196,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1882,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,-0.61,-146.6,420.4,-5.8,201,6945,0.00,2.40,0.00,0.000,4,0.000,0.044,2772,354,2908,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7076,-0.59,-146.6,429.0,-6.6,203,7081,0.15,2.30,0.00,0.000,6,0.135,0.026,2807,1881,2907,0,0,0,0,0,0,26.56,26.77,28.83
$GC,7409,-0.63,-146.6,450.3,-5.9,209,7417,0.00,2.40,0.00,0.000,4,0.000,0.044,2807,354,2907,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7547,-0.65,-146.6,458.0,-6.2,211,7552,0.00,2.30,0.00,0.000,6,0.000,0.026,2797,1881,2906,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7879,-0.67,-146.6,480.4,-6.4,217,7886,0.00,2.42,0.00,0.000,4,0.000,0.041,2786,3449,2905,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8018,-0.70,-146.6,488.9,-6.8,219,8022,0.00,2.45,0.00,0.000,6,0.000,0.024,2786,1826,2905,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8409,-0.70,-146.6,514.8,-6.2,224,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1826,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8770,-0.70,-146.6,530.9,-4.8,227,8777,0.00,2.53,0.00,0.000,4,0.000,0.041,2774,3449,2902,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8889,-0.70,-146.6,535.1,-4.2,228,8897,0.00,2.45,0.00,0.000,6,0.000,0.025,2774,1828,2902,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9250,-0.70,-146.6,550.0,-3.9,231,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1828,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9609,-0.70,-146.6,574.5,-6.4,234,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1828,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9969,-0.70,-146.6,603.4,-7.9,237,9977,0.00,2.33,0.00,0.000,4,0.000,0.046,2774,352,2900,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10148,-0.70,-146.6,613.1,-8.0,238,10152,0.00,2.30,0.00,0.000,6,0.000,0.026,2763,1880,2899,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10559,-0.70,-146.6,642.4,-6.2,242,10567,0.00,2.42,0.00,0.000,4,0.000,0.045,2763,346,2898,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10698,-0.70,-146.6,649.0,-5.7,243,10702,0.00,2.33,0.00,0.000,6,0.000,0.026,2753,1884,2897,0,0,0,0,0,0,28.83,26.73,28.83
$GC,11030,-0.70,-146.6,667.3,-5.3,246,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1885,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11390,-0.70,-146.6,691.2,-6.3,249,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1885,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11749,-0.70,-146.6,717.6,-7.3,252,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1885,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12109,-0.70,-146.6,741.9,-6.9,255,12117,0.00,2.42,0.00,0.000,4,0.000,0.047,2753,355,2894,0,0,0,0,0,0,28.83,26.62,28.83
$GC,12238,-0.70,-146.6,750.6,-6.8,256,12243,0.12,2.33,0.00,0.000,6,0.147,0.027,2777,1889,2894,0,0,0,0,0,0,26.49,26.72,28.83
$GC,12580,-0.70,-146.6,772.1,-6.3,259,12581,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1889,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12940,-0.73,-146.6,792.7,-5.8,262,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1889,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13300,-0.77,-146.6,810.8,-5.2,265,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1889,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13661,-0.81,-146.6,827.4,-4.6,268,13663,0.12,0.00,0.00,0.000,6,0.081,0.000,2714,1889,2888,0,0,0,0,0,0,26.82,28.83,28.83
$GC,14020,-0.81,-146.6,853.5,-6.7,271,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1889,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14380,-0.78,-146.6,880.4,-7.5,274,14389,0.12,2.45,0.00,0.000,4,0.144,0.048,2750,352,2888,0,0,0,0,0,0,26.60,26.56,28.83
$GC,14489,-0.75,-146.6,880.4,-7.5,274,14493,0.00,2.33,0.00,0.000,6,0.000,0.028,2740,1880,2888,0,0,0,0,0,0,28.83,26.70,28.83
$GC,14850,-0.75,-146.6,906.5,-5.9,277,14858,0.00,2.47,0.00,0.000,4,0.000,0.044,2728,3456,2886,0,0,0,0,0,0,28.83,26.58,28.83
$GC,14919,-0.75,-146.6,906.5,-5.9,277,14923,0.00,2.47,0.00,0.000,6,0.000,0.027,2728,1831,2887,0,0,0,0,0,0,28.83,26.67,28.83
$GC,15321,-0.75,-146.6,930.7,-5.2,281,15322,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1830,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15680,-0.75,-146.6,954.5,-6.4,284,15685,0.10,2.55,0.00,0.000,4,0.151,0.044,2744,3448,2885,0,0,0,0,0,0,26.66,26.57,28.83
$GC,15792,-0.75,-146.6,961.9,-6.7,285,15800,0.00,2.47,0.00,0.000,6,0.000,0.028,2744,1831,2884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,16152,-0.75,-146.6,986.7,-6.8,288,16153,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1831,2884,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16271,begin apogee
$GC,16274,-0.29,0.0,994.8,-6.9,289,16402,0.50,0.00,120.45,1.747,6,0.109,0.000,2910,1831,2319,0,0,0,0,0,0,26.31,28.83,23.87
$STATE,16403,end apogee,CONTROL_FINISHED_OK
$STATE,16404,begin climb
$GC,16405,0.86,146.6,998.0,0.0,290,16540,1.05,0.00,130.80,1.716,6,0.071,0.000,3278,1831,1721,0,0,0,0,0,0,25.02,28.83,23.65
$GC,16873,0.72,146.6,960.6,9.6,294,16875,0.17,0.00,0.00,0.000,6,0.151,0.000,3230,1831,1713,0,0,0,0,0,0,25.87,28.83,28.83
$GC,17232,0.61,146.6,931.4,8.4,297,17234,0.12,0.00,0.00,0.000,6,0.157,0.000,3195,1831,1710,0,0,0,0,0,0,26.19,28.83,28.83
$GC,17593,0.56,146.6,907.0,7.1,300,17600,0.00,2.40,0.00,0.000,4,0.000,0.050,3205,355,1709,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,29530,end climb,SURFACE_DEPTH_REACHED
$STATE,29530,begin surface coast
$FINISH,0.9,1.024292
$STATE,29561,end surface coast,CONTROL_FINISHED_OK
$STATE,29562,begin surface
$SM_CCo,29579,3.10,0.172,0,0,1094,300.00
$SM_GC,2.62,8.07,0.05,3.10,0.036,0.144,0.172,160,1841,1094,-8.83,0.74,300.00,0,0,0,0,0,0,26.70,26.79,26.43
$IRIDIUM_FIX,2403.92,-3754.57,270912,050512
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.11
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.70
$XPDR_PINGS,16
$SC_FREEKB,7750688
$TM_FREEKB,7426592
$24V_AH,23.6,11.546
$10V_AH,10.3,10.883
$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,21.775,138.925,377.875,3.100,0.000,27.551,37.935,203.703,4.000,0.000,17.186,2027.156,25346.883,663.060,1812.637,189.278,33.260,1468.096,0.000,1401.952,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,143.820,1747.260,172.125,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.842,13.482,0.000,0.000
$MEM,344672
$DATA_FILE_SIZE,13417,546
$CAP_FILE_SIZE,183702,0
$CFSIZE,260034560,248827904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270912,221559,2425.270,-3809.600,37,0.9,37,-14.1