version: 66.11
glider: 189
mission: 7
dive: 69
start: 10 2 112 13 30 16
data:
$ID,189
$MISSION,7
$DIVE,69
$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,-46961.211
$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
$GPS1,021012,132105,2436.650,-3755.554,34,0.8,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-61.8
$GPS2,021012,132917,2436.638,-3755.545,19,0.9,19,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.125,0.159
$KALMAN_X,9987.2,-129.5,-81.9,920.7,412.6
$KALMAN_Y,69403.3,-2.9,-126.0,-67378.1,1207.1
$MHEAD_RNG_PITCHd_Wd,52.2,24565,-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,22,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-22.48,0.000,2,0.000,0.000,162,1843,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.0,0.0,2,107,9.55,2.47,-39.50,0.000,4,0.202,0.051,2708,3455,2920,0,0,0,0,0,0,25.96,26.30,26.67
$GC,286,-0.68,-146.6,23.3,-13.3,26,296,0.25,2.47,0.00,0.000,6,0.133,0.024,2782,1822,2921,0,0,0,0,0,0,26.14,26.44,28.83
$GC,596,-0.60,-146.6,54.6,-9.0,57,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1822,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,896,-0.52,-146.6,73.9,-4.0,87,906,0.17,2.30,0.00,0.000,4,0.132,0.042,2836,350,2922,0,0,0,0,0,0,26.41,26.51,28.83
$GC,1086,-0.48,-146.6,83.1,-5.3,95,1093,0.00,2.30,0.00,0.000,6,0.000,0.023,2827,1890,2923,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1406,-0.48,-146.6,99.2,-4.8,106,1413,0.00,2.40,0.00,0.000,4,0.000,0.038,2820,3452,2923,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1646,-0.48,-146.6,111.1,-5.0,114,1654,0.00,2.45,0.00,0.000,6,0.000,0.023,2814,1817,2923,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1976,-0.48,-146.6,131.3,-6.1,125,1984,0.00,2.53,0.00,0.000,4,0.000,0.037,2802,3449,2923,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2115,-0.48,-146.6,139.1,-6.5,129,2120,0.15,2.45,0.00,0.000,6,0.124,0.023,2849,1816,2923,0,0,0,0,0,0,26.48,26.69,28.83
$GC,2417,-0.52,-146.6,158.1,-5.6,137,2424,0.00,2.28,0.00,0.000,4,0.000,0.043,2849,347,2923,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2626,-0.54,-146.6,167.8,-5.4,140,2633,0.00,2.30,0.00,0.000,6,0.000,0.024,2840,1890,2923,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2957,-0.57,-146.6,182.3,-3.8,146,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1890,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-0.61,-146.6,194.0,-3.8,151,3265,0.10,2.40,0.00,0.000,4,0.095,0.042,2771,352,2922,0,0,0,0,0,0,26.82,26.62,28.83
$GC,3395,-0.61,-146.6,201.0,-4.8,153,3400,0.15,2.30,0.00,0.000,6,0.135,0.024,2806,1895,2921,0,0,0,0,0,0,26.48,26.73,28.83
$GC,3727,-0.61,-146.6,224.0,-6.7,159,3735,0.00,2.42,0.00,0.000,4,0.000,0.041,2795,3461,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3936,-0.61,-146.6,236.5,-7.0,162,3940,0.00,2.47,0.00,0.000,6,0.000,0.024,2795,1816,2920,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4257,-0.61,-146.6,257.1,-5.6,168,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1816,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4557,-0.61,-146.6,272.1,-4.9,173,4564,0.00,2.30,0.00,0.000,4,0.000,0.044,2795,346,2918,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4666,-0.61,-146.6,275.4,-5.0,174,4670,0.00,2.30,0.00,0.000,6,0.000,0.024,2785,1886,2918,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4967,-0.61,-146.6,293.9,-5.1,179,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1886,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5267,-0.61,-146.6,310.0,-5.4,184,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1886,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5567,-0.61,-146.6,331.0,-7.2,189,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1886,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5867,-0.61,-146.6,353.4,-7.5,194,5871,0.00,2.42,0.00,0.000,4,0.000,0.040,2773,3449,2914,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5957,-0.61,-146.6,357.1,-7.4,195,5962,0.10,2.45,0.00,0.000,6,0.145,0.024,2801,1825,2913,0,0,0,0,0,0,26.52,26.70,28.83
$GC,6269,-0.61,-146.6,379.0,-6.0,201,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1825,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6569,-0.61,-146.6,395.3,-5.3,206,6576,0.00,2.33,0.00,0.000,4,0.000,0.044,2801,348,2912,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6728,-0.61,-146.6,402.1,-5.4,208,6732,0.00,2.33,0.00,0.000,6,0.000,0.024,2791,1897,2911,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7039,-0.61,-146.6,422.0,-5.7,214,7046,0.00,2.45,0.00,0.000,4,0.000,0.044,2792,346,2909,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7108,-0.61,-146.6,426.0,-6.0,215,7112,0.00,2.33,0.00,0.000,6,0.000,0.024,2781,1892,2908,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7449,-0.61,-146.6,447.9,-6.2,221,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1893,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-0.61,-146.6,466.9,-6.4,226,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1893,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8049,-0.61,-146.6,485.3,-6.0,231,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1893,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8409,-0.61,-146.6,507.7,-6.3,236,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1893,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8770,-0.61,-146.6,527.9,-5.7,239,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1893,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9130,-0.61,-146.6,548.1,-5.5,242,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1893,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9490,-0.61,-146.6,574.6,-7.1,245,9497,0.00,2.45,0.00,0.000,4,0.000,0.045,2781,348,2904,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9658,-0.61,-146.6,585.7,-7.8,246,9663,0.12,2.33,0.00,0.000,6,0.139,0.026,2807,1886,2903,0,0,0,0,0,0,26.46,26.70,28.83
$GC,9961,-0.64,-146.6,614.6,-8.5,249,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1886,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10321,-0.69,-146.6,638.0,-6.8,252,10328,0.00,2.42,0.00,0.000,4,0.000,0.046,2807,354,2905,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10509,-0.74,-146.6,644.4,-6.2,253,10514,0.12,2.33,0.00,0.000,6,0.081,0.026,2731,1893,2902,0,0,0,0,0,0,26.64,26.72,28.83
$GC,10912,-0.74,-146.6,669.3,-5.3,257,10919,0.00,2.45,0.00,0.000,4,0.000,0.042,2725,3461,2901,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10990,-0.74,-146.6,669.3,-5.3,257,10995,0.15,2.47,0.00,0.000,6,0.136,0.025,2764,1828,2900,0,0,0,0,0,0,26.39,26.65,28.83
$GC,11383,-0.74,-146.6,696.8,-5.8,261,11390,0.00,2.35,0.00,0.000,4,0.000,0.047,2762,346,2899,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11482,-0.74,-146.6,696.8,-5.8,261,11486,0.00,2.33,0.00,0.000,6,0.000,0.025,2753,1879,2899,0,0,0,0,0,0,28.83,26.68,28.83
$GC,11853,-0.74,-146.6,729.3,-6.9,265,11861,0.00,2.45,0.00,0.000,4,0.000,0.046,2753,345,2898,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11952,-0.74,-146.6,729.3,-6.9,265,11956,0.00,2.33,0.00,0.000,6,0.000,0.025,2738,1883,2898,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12323,-0.74,-146.6,760.2,-6.5,269,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1883,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12683,-0.74,-146.6,780.8,-5.8,272,12691,0.00,2.45,0.00,0.000,4,0.000,0.047,2738,348,2896,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12803,-0.74,-146.6,788.5,-5.8,273,12810,0.00,2.33,0.00,0.000,6,0.000,0.026,2731,1882,2896,0,0,0,0,0,0,28.83,26.66,28.83
$GC,13163,-0.74,-146.6,810.3,-6.1,276,13165,0.10,0.00,0.00,0.000,6,0.160,0.000,2757,1882,2895,0,0,0,0,0,0,26.63,28.83,28.83
$GC,13523,-0.74,-146.6,832.0,-6.0,279,13524,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1882,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13883,-0.74,-146.6,855.4,-6.5,282,13887,0.00,2.45,0.00,0.000,4,0.000,0.047,2757,352,2893,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13994,-0.74,-146.6,862.9,-6.5,283,13998,0.00,2.33,0.00,0.000,6,0.000,0.027,2748,1883,2892,0,0,0,0,0,0,28.83,26.65,28.83
$GC,14345,-0.74,-146.6,882.3,-5.8,286,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1882,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14705,-0.74,-146.6,901.2,-5.2,289,14713,0.00,2.45,0.00,0.000,4,0.000,0.048,2748,352,2892,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14834,-0.74,-146.6,909.3,-5.6,290,14838,0.00,2.33,0.00,0.000,6,0.000,0.027,2737,1882,2888,0,0,0,0,0,0,28.83,26.63,28.83
$GC,15176,-0.74,-146.6,934.1,-7.0,293,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1882,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15535,-0.74,-146.6,958.6,-7.0,296,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1882,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15896,-0.74,-146.6,979.5,-5.9,299,15903,0.00,2.45,0.00,0.000,4,0.000,0.049,2737,355,2887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,16024,-0.74,-146.6,986.5,-5.8,300,16029,0.12,2.33,0.00,0.000,6,0.148,0.027,2760,1880,2887,0,0,0,0,0,0,26.33,26.62,28.83
$STATE,16125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16125,begin apogee
$GC,16130,-0.29,0.0,991.2,-5.4,301,16256,0.40,0.00,121.22,1.737,6,0.109,0.000,2901,1839,2319,0,0,0,0,0,0,26.22,28.83,23.80
$STATE,16258,end apogee,CONTROL_FINISHED_OK
$STATE,16258,begin climb
$GC,16259,0.86,146.6,992.3,0.0,302,16394,1.08,0.00,130.73,1.705,6,0.073,0.000,3273,1839,1721,0,0,0,0,0,0,24.97,28.83,23.59
$GC,16728,0.72,146.6,948.6,10.5,306,16730,0.15,0.00,0.00,0.000,6,0.157,0.000,3233,1839,1713,0,0,0,0,0,0,25.84,28.83,28.83
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$STATE,29275,end climb,SURFACE_DEPTH_REACHED
$STATE,29276,begin surface coast
$FINISH,0.9,1.024550
$STATE,29306,end surface coast,CONTROL_FINISHED_OK
$STATE,29306,begin surface
$SM_CCo,29323,7.40,0.148,0,0,1095,300.00
$SM_GC,2.74,7.97,0.00,7.40,0.034,0.000,0.148,162,1831,1095,-8.81,-0.54,300.00,0,0,0,0,0,0,26.70,28.83,26.32
$IRIDIUM_FIX,2420.48,-3738.59,021012,040448
$TT8_MAMPS,0.027713,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,25.00
$XPDR_PINGS,12
$SC_FREEKB,7743392
$TM_FREEKB,7287424
$24V_AH,23.6,14.180
$10V_AH,10.3,13.143
$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,22.150,167.750,371.975,7.400,0.000,28.902,41.910,215.879,3.000,0.000,20.707,2146.099,24825.025,688.582,1945.236,212.340,33.274,1556.313,0.000,1512.107,0.000,0.538,0.000
$DEVICE_MAMPS,201.960,139.230,1736.550,147.645,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29212.000,5850.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.870,13.494,0.000,0.000
$MEM,344448
$DATA_FILE_SIZE,16742,560
$CAP_FILE_SIZE,194683,0
$CFSIZE,260034560,247218176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021012,214022,2439.853,-3752.748,41,1.0,41,-14.0