version: 66.11
glider: 189
mission: 7
dive: 51
start: 9 27 112 22 25 21
data:
$ID,189
$MISSION,7
$DIVE,51
$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,-46938.016
$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
$GPS1,270912,221559,2425.270,-3809.600,37,0.9,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-64.7
$GPS2,270912,222423,2425.263,-3809.600,17,1.0,17,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,0.146
$KALMAN_X,7563.3,76.0,119.2,-20732.0,199.5
$KALMAN_Y,55653.2,-251.9,158.1,-74728.4,1300.9
$MHEAD_RNG_PITCHd_Wd,58.1,20633,-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,20,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,-31.90,0.000,2,0.000,0.000,161,1839,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.3,-3.8,3,96,9.98,0.00,-25.42,0.000,6,0.222,0.000,2716,1839,2919,0,0,0,0,0,0,26.03,28.83,26.65
$GC,395,-0.68,-146.6,39.0,-12.6,37,405,0.20,2.35,0.00,0.000,4,0.150,0.042,2774,342,2921,0,0,0,0,0,0,26.29,26.46,28.83
$GC,625,-0.57,-146.6,61.2,-9.0,60,635,0.17,2.33,0.00,0.000,6,0.139,0.024,2815,1890,2921,0,0,0,0,0,0,26.39,26.60,28.83
$GC,945,-0.53,-146.6,82.7,-5.9,84,953,0.00,2.40,0.00,0.000,4,0.000,0.041,2816,352,2923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1104,-0.47,-146.6,91.1,-5.5,89,1109,0.15,2.30,0.00,0.000,6,0.134,0.024,2851,1891,2923,0,0,0,0,0,0,26.49,26.67,28.83
$GC,1417,-0.47,-146.6,101.5,-3.2,100,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1892,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-0.49,-146.6,117.0,-6.1,110,1724,0.00,2.40,0.00,0.000,4,0.000,0.038,2840,3455,2924,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1836,-0.51,-146.6,126.2,-7.7,114,1844,0.00,2.45,0.00,0.000,6,0.000,0.023,2840,1816,2924,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2166,-0.51,-146.6,148.7,-5.7,125,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1816,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2497,-0.54,-146.6,163.4,-4.4,131,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1816,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2796,-0.56,-146.6,182.0,-6.5,136,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1816,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3101,-0.59,-146.6,200.3,-5.9,141,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1816,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3397,-0.63,-146.6,213.0,-4.1,146,3405,0.12,2.28,0.00,0.000,4,0.082,0.043,2766,352,2922,0,0,0,0,0,0,26.82,26.70,28.83
$GC,3525,-0.63,-146.6,220.9,-5.1,148,3530,0.15,2.30,0.00,0.000,6,0.137,0.024,2798,1893,2922,0,0,0,0,0,0,26.58,26.77,28.83
$GC,3867,-0.63,-146.6,242.7,-6.1,154,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1893,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4167,-0.63,-146.6,261.7,-6.4,159,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1893,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,-0.63,-146.6,282.8,-7.1,164,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1893,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4767,-0.63,-146.6,305.6,-7.6,169,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1893,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,-0.63,-146.6,327.0,-7.1,174,5074,0.00,2.42,0.00,0.000,4,0.000,0.043,2799,344,2917,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5206,-0.63,-146.6,335.9,-7.2,176,5210,0.00,2.30,0.00,0.000,6,0.000,0.024,2789,1881,2917,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5537,-0.63,-146.6,357.0,-5.9,182,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1883,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5838,-0.63,-146.6,373.7,-5.6,187,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1884,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6137,-0.63,-146.6,393.0,-6.5,192,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1884,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6437,-0.63,-146.6,412.5,-6.4,197,6441,0.00,2.40,0.00,0.000,4,0.000,0.044,2789,352,2914,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6597,-0.63,-146.6,419.1,-6.0,199,6601,0.00,2.30,0.00,0.000,6,0.000,0.026,2777,1882,2913,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6899,-0.63,-146.6,434.5,-4.1,204,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1882,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7198,-0.63,-146.6,447.7,-4.5,209,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1882,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7498,-0.63,-146.6,465.2,-5.9,214,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1882,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,-0.63,-146.6,486.0,-7.1,219,7802,0.00,2.42,0.00,0.000,4,0.000,0.044,2777,342,2909,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7958,-0.63,-146.6,495.3,-7.8,221,7963,0.12,2.33,0.00,0.000,6,0.142,0.026,2803,1883,2909,0,0,0,0,0,0,26.55,26.76,28.83
$GC,8259,-0.63,-146.6,520.3,-7.3,224,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1884,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,-0.67,-146.6,540.9,-5.9,227,8628,0.00,2.42,0.00,0.000,4,0.000,0.044,2803,348,2906,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8689,-0.71,-146.6,540.9,-5.9,227,8693,0.00,2.33,0.00,0.000,6,0.000,0.027,2794,1886,2906,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9090,-0.74,-146.6,563.2,-4.7,231,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1886,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9450,-0.78,-146.6,578.4,-4.2,234,9452,0.12,0.00,0.00,0.000,6,0.081,0.000,2725,1886,2904,0,0,0,0,0,0,26.83,28.83,28.83
$GC,9809,-0.78,-146.6,603.9,-6.5,237,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1886,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10170,-0.73,-146.6,633.7,-8.1,240,10178,0.12,2.42,0.00,0.000,4,0.145,0.046,2760,351,2903,0,0,0,0,0,0,26.62,26.64,28.83
$GC,10360,-0.69,-146.6,643.4,-8.2,241,10367,0.00,2.33,0.00,0.000,6,0.000,0.027,2750,1888,2902,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10769,-0.69,-146.6,680.1,-7.6,245,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1887,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11129,-0.69,-146.6,705.3,-7.2,248,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1887,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11489,-0.69,-146.6,728.3,-6.5,251,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1888,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11850,-0.69,-146.6,751.0,-6.3,254,11857,0.00,2.45,0.00,0.000,4,0.000,0.046,2750,345,2898,0,0,0,0,0,0,28.83,26.61,28.83
$GC,11929,-0.69,-146.6,751.0,-6.3,254,11934,0.12,2.35,0.00,0.000,6,0.147,0.027,2774,1895,2898,0,0,0,0,0,0,26.48,26.72,28.83
$GC,12321,-0.72,-146.6,783.3,-6.8,258,12329,0.00,2.45,0.00,0.000,4,0.000,0.047,2775,351,2897,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12410,-0.75,-146.6,783.3,-6.8,258,12414,0.00,2.33,0.00,0.000,6,0.000,0.027,2766,1883,2896,0,0,0,0,0,0,28.83,26.71,28.83
$GC,12792,-0.78,-146.6,812.3,-6.1,262,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1883,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13152,-0.80,-146.6,832.1,-5.5,265,13160,0.00,2.45,0.00,0.000,4,0.000,0.047,2766,347,2895,0,0,0,0,0,0,28.83,26.58,28.83
$GC,13241,-0.83,-146.6,832.1,-5.5,265,13245,0.00,2.35,0.00,0.000,6,0.000,0.028,2756,1890,2895,0,0,0,0,0,0,28.83,26.70,28.83
$GC,13623,-0.85,-146.6,861.3,-6.2,269,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1890,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13983,-0.87,-146.6,883.5,-6.2,272,13984,0.12,0.00,0.00,0.000,6,0.083,0.000,2690,1890,2892,0,0,0,0,0,0,26.80,28.83,28.83
$GC,14343,-0.85,-146.6,913.2,-7.8,275,14345,0.12,0.00,0.00,0.000,6,0.150,0.000,2724,1890,2892,0,0,0,0,0,0,26.57,28.83,28.83
$GC,14703,-0.83,-146.6,938.9,-7.4,278,14711,0.00,2.45,0.00,0.000,4,0.000,0.048,2725,355,2891,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14802,-0.80,-146.6,938.9,-7.4,278,14806,0.00,2.33,0.00,0.000,6,0.000,0.028,2715,1882,2890,0,0,0,0,0,0,28.83,26.68,28.83
$GC,15173,-0.80,-146.6,973.6,-7.3,282,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1882,2889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15531,begin apogee
$GC,15536,-0.29,0.0,998.4,-6.9,285,15662,0.57,0.00,120.75,1.749,6,0.114,0.000,2903,1838,2319,0,0,0,0,0,0,26.27,28.83,23.87
$STATE,15664,end apogee,CONTROL_FINISHED_OK
$STATE,15664,begin climb
$GC,15666,0.86,146.6,1001.2,0.0,286,15800,1.08,0.00,130.30,1.721,6,0.073,0.000,3275,1838,1721,0,0,0,0,0,0,25.00,28.83,23.68
$GC,16133,0.72,146.6,965.1,9.0,290,16135,0.15,0.00,0.00,0.000,6,0.157,0.000,3235,1838,1713,0,0,0,0,0,0,25.90,28.83,28.83
$GC,16493,0.62,146.6,937.1,8.0,293,16502,0.12,2.58,0.00,0.000,4,0.156,0.041,3200,3450,1711,0,0,0,0,0,0,26.20,26.28,28.83
$GC,16564,0.52,146.6,937.1,8.0,293,16572,0.15,2.53,0.00,0.000,6,0.138,0.028,3168,1828,1714,0,0,0,0,0,0,26.18,26.34,28.83
$GC,16973,0.49,146.6,905.0,6.6,297,16974,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1828,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17332,0.49,146.6,881.8,6.5,300,17334,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1828,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17693,0.50,159.9,861.8,5.7,303,17705,0.00,0.00,10.18,1.525,6,0.000,0.000,3168,1828,1667,0,0,0,0,0,0,28.83,28.83,25.24
$GC,18053,0.55,201.8,844.5,4.9,306,18093,0.00,0.00,37.97,1.635,6,0.000,0.000,3168,1828,1496,0,0,0,0,0,0,28.83,28.83,24.39
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$STATE,29319,end climb,SURFACE_DEPTH_REACHED
$STATE,29319,begin surface coast
$FINISH,0.8,1.024425
$STATE,29362,end surface coast,CONTROL_FINISHED_OK
$STATE,29362,begin surface
$SM_CCo,29378,8.62,0.145,0,0,1093,300.00
$SM_GC,2.83,7.95,0.08,8.62,0.031,0.109,0.145,162,1832,1093,-8.83,0.54,300.00,0,0,0,0,0,0,26.69,26.77,26.39
$IRIDIUM_FIX,2406.29,-3819.66,270912,131303
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.55
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.70
$XPDR_PINGS,11
$SC_FREEKB,7750304
$TM_FREEKB,7417600
$24V_AH,23.7,11.732
$10V_AH,10.4,11.030
$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,22.725,109.750,366.800,8.625,0.000,28.911,37.948,238.779,2.750,0.000,18.317,1837.482,25630.756,607.014,1628.516,181.108,33.263,1300.379,0.000,1181.694,0.000,0.538,0.000
$DEVICE_MAMPS,221.850,142.290,1748.790,145.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29267.000,5730.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.846,13.500,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,13423,548
$CAP_FILE_SIZE,174681,0
$CFSIZE,260034560,248737792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280912,063627,2428.409,-3806.833,41,1.3,45,-14.1