version: 66.11
glider: 189
mission: 7
dive: 70
start: 10 2 112 21 49 59
data:
$ID,189
$MISSION,7
$DIVE,70
$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,-46962.559
$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
$GPS1,021012,214022,2439.853,-3752.748,41,1.0,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-59.5
$GPS2,021012,214900,2439.891,-3752.748,21,1.0,21,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.132,0.154
$KALMAN_X,10322.5,-11.6,126.4,4968.6,366.6
$KALMAN_Y,70487.0,-104.9,-267.8,-62196.2,1965.7
$MHEAD_RNG_PITCHd_Wd,54.6,16937,-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,-146.6,0.0,0.0,0,56,0.00,0.00,-32.30,0.000,2,0.000,0.000,162,1828,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.86,-146.6,2.1,-2.1,3,100,9.93,2.55,-25.17,0.000,4,0.216,0.050,2711,3452,2919,0,0,0,0,0,0,25.92,26.30,26.67
$GC,318,-0.68,-146.6,28.4,-13.1,29,328,0.22,2.47,0.00,0.000,6,0.135,0.024,2773,1818,2921,0,0,0,0,0,0,26.15,26.44,28.83
$GC,628,-0.59,-146.6,57.9,-8.3,60,629,0.12,0.00,0.00,0.000,6,0.149,0.000,2812,1818,2921,0,0,0,0,0,0,26.42,28.83,28.83
$GC,928,-0.55,-146.6,74.6,-5.6,90,937,0.00,2.53,0.00,0.000,4,0.000,0.037,2801,3452,2923,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1128,-0.51,-146.6,85.7,-6.5,97,1137,0.12,2.45,0.00,0.000,6,0.133,0.023,2838,1817,2923,0,0,0,0,0,0,26.43,26.63,28.83
$GC,1438,-0.51,-146.6,105.3,-5.4,108,1446,0.00,2.53,0.00,0.000,4,0.000,0.037,2827,3459,2923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1576,-0.51,-146.6,112.2,-5.7,112,1581,0.00,2.45,0.00,0.000,6,0.000,0.023,2827,1822,2923,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1877,-0.51,-146.6,131.1,-6.2,122,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1822,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2177,-0.51,-146.6,151.4,-7.0,132,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1822,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,-0.51,-146.6,167.5,-5.1,137,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1822,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2778,-0.51,-146.6,181.6,-4.9,142,2785,0.00,2.30,0.00,0.000,4,0.000,0.042,2827,347,2922,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2996,-0.51,-146.6,193.9,-6.6,145,3000,0.00,2.30,0.00,0.000,6,0.000,0.024,2815,1890,2922,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3308,-0.51,-146.6,212.2,-4.9,151,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1890,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3608,-0.51,-146.6,226.0,-4.6,156,3615,0.00,2.42,0.00,0.000,4,0.000,0.042,2815,342,2921,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3776,-0.51,-146.6,232.5,-5.0,158,3781,0.00,2.33,0.00,0.000,6,0.000,0.024,2805,1902,2920,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4078,-0.51,-146.6,253.4,-6.0,163,4080,0.10,0.00,0.00,0.000,6,0.151,0.000,2833,1902,2919,0,0,0,0,0,0,26.68,28.83,28.83
$GC,4378,-0.55,-146.6,269.5,-5.4,168,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1902,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4678,-0.60,-146.6,285.3,-5.3,173,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1901,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4978,-0.64,-146.6,301.1,-5.3,178,4986,0.12,2.42,0.00,0.000,4,0.080,0.043,2763,352,2916,0,0,0,0,0,0,26.82,26.62,28.83
$GC,5067,-0.67,-146.6,305.4,-5.6,179,5072,0.12,2.30,0.00,0.000,6,0.144,0.024,2786,1890,2916,0,0,0,0,0,0,26.49,26.73,28.83
$GC,5389,-0.67,-146.6,326.4,-5.6,185,5397,0.00,2.42,0.00,0.000,4,0.000,0.040,2776,3456,2918,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5498,-0.67,-146.6,329.5,-5.3,186,5502,0.00,2.45,0.00,0.000,6,0.000,0.024,2776,1827,2914,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5799,-0.67,-146.6,348.7,-5.6,191,5807,0.00,2.33,0.00,0.000,4,0.000,0.044,2776,341,2913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5888,-0.67,-146.6,352.8,-5.9,192,5892,0.00,2.33,0.00,0.000,6,0.000,0.024,2765,1893,2915,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6210,-0.64,-146.6,377.4,-7.1,198,6217,0.00,2.42,0.00,0.000,4,0.000,0.044,2765,349,2913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6308,-0.62,-146.6,382.0,-7.1,199,6313,0.15,2.30,0.00,0.000,6,0.135,0.024,2799,1886,2912,0,0,0,0,0,0,26.46,26.72,28.83
$GC,6621,-0.62,-146.6,401.3,-5.1,205,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1886,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6921,-0.64,-146.6,420.1,-6.4,210,6928,0.00,2.42,0.00,0.000,4,0.000,0.044,2799,349,2909,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7049,-0.64,-146.6,429.7,-7.5,212,7053,0.00,2.30,0.00,0.000,6,0.000,0.024,2790,1885,2909,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7391,-0.64,-146.6,456.0,-7.3,218,7398,0.00,2.45,0.00,0.000,4,0.000,0.041,2778,3462,2909,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7469,-0.64,-146.6,460.1,-7.0,219,7474,0.00,2.47,0.00,0.000,6,0.000,0.024,2778,1825,2908,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7801,-0.64,-146.6,481.0,-5.8,225,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1824,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8101,-0.64,-146.6,498.4,-5.9,230,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1824,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8400,-0.64,-146.6,519.3,-6.9,233,8404,0.00,2.33,0.00,0.000,4,0.000,0.045,2778,351,2906,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8480,-0.64,-146.6,519.3,-6.9,233,8485,0.00,2.33,0.00,0.000,6,0.000,0.025,2767,1897,2905,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8862,-0.64,-146.6,554.0,-7.5,237,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1896,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9222,-0.64,-146.6,576.0,-6.3,240,9229,0.00,2.45,0.00,0.000,4,0.000,0.045,2767,348,2903,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9290,-0.64,-146.6,576.0,-6.3,240,9295,0.12,2.33,0.00,0.000,6,0.143,0.025,2792,1892,2903,0,0,0,0,0,0,26.46,26.70,28.83
$GC,9693,-0.66,-146.6,603.4,-5.8,244,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1892,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10053,-0.70,-146.6,620.8,-4.8,247,10061,0.00,2.45,0.00,0.000,4,0.000,0.045,2793,349,2902,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10173,-0.73,-146.6,627.0,-4.9,248,10180,0.00,2.33,0.00,0.000,6,0.000,0.024,2783,1893,2901,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10533,-0.75,-146.6,644.1,-4.8,251,10541,0.00,2.45,0.00,0.000,4,0.000,0.045,2783,348,2900,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10632,-0.78,-146.6,644.1,-4.8,251,10636,0.00,2.33,0.00,0.000,6,0.000,0.025,2773,1890,2900,0,0,0,0,0,0,28.83,26.69,28.83
$GC,11004,-0.80,-146.6,670.3,-5.6,255,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1890,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11363,-0.80,-146.6,686.7,-4.8,258,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1890,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11724,-0.82,-146.6,704.6,-4.8,261,11726,0.12,0.00,0.00,0.000,6,0.084,0.000,2709,1890,2898,0,0,0,0,0,0,26.79,28.83,28.83
$GC,12084,-0.80,-146.6,733.1,-7.3,264,12092,0.12,2.45,0.00,0.000,4,0.147,0.046,2744,352,2896,0,0,0,0,0,0,26.57,26.51,28.83
$GC,12283,-0.77,-146.6,743.6,-8.1,265,12287,0.00,2.33,0.00,0.000,6,0.000,0.026,2734,1888,2893,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12674,-0.77,-146.6,783.3,-8.4,269,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1889,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13034,-0.77,-146.6,811.2,-7.9,272,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1888,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13394,-0.77,-146.6,834.0,-6.6,275,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1888,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13754,-0.77,-146.6,854.6,-5.8,278,13762,0.00,2.45,0.00,0.000,4,0.000,0.047,2734,355,2894,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13843,-0.77,-146.6,854.6,-5.8,278,13847,0.00,2.33,0.00,0.000,6,0.000,0.026,2724,1886,2892,0,0,0,0,0,0,28.83,26.65,28.83
$GC,14224,-0.77,-146.6,885.3,-6.5,282,14232,0.00,2.45,0.00,0.000,4,0.000,0.047,2724,351,2891,0,0,0,0,0,0,28.83,26.47,28.83
$GC,14313,-0.77,-146.6,885.3,-6.5,282,14318,0.15,2.33,0.00,0.000,6,0.142,0.026,2755,1885,2890,0,0,0,0,0,0,26.32,26.65,28.83
$GC,14695,-0.77,-146.6,916.2,-6.5,286,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1885,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15056,-0.79,-146.6,937.4,-6.0,289,15064,0.00,2.45,0.00,0.000,4,0.000,0.047,2755,356,2889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,15165,-0.81,-146.6,937.4,-6.0,289,15169,0.00,2.33,0.00,0.000,6,0.000,0.026,2746,1885,2888,0,0,0,0,0,0,28.83,26.63,28.83
$GC,15525,-0.81,-146.6,964.3,-5.7,292,15533,0.00,2.45,0.00,0.000,4,0.000,0.048,2746,355,2887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,15625,-0.81,-146.6,964.3,-5.7,292,15629,0.00,2.33,0.00,0.000,6,0.000,0.026,2735,1886,2886,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,15994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15994,begin apogee
$GC,15999,-0.29,0.0,992.8,-6.0,296,16125,0.52,0.00,120.38,1.724,6,0.109,0.000,2908,1834,2320,0,0,0,0,0,0,26.15,28.83,23.82
$STATE,16127,end apogee,CONTROL_FINISHED_OK
$STATE,16127,begin climb
$GC,16129,0.86,146.6,995.3,0.0,297,16267,1.05,2.78,130.10,1.694,4,0.070,0.041,3275,3449,1722,0,0,0,0,0,0,25.01,24.62,23.61
$GC,16355,0.96,355.1,980.9,0.0,299,16545,0.00,2.60,183.65,1.667,6,0.000,0.028,3287,1835,871,0,0,0,0,0,0,28.83,25.49,23.49
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$STATE,26617,end climb,SURFACE_DEPTH_REACHED
$STATE,26617,begin surface coast
$FINISH,0.7,1.011901
$STATE,26649,end surface coast,CONTROL_FINISHED_OK
$STATE,26649,begin surface
$SM_CCo,26725,0.00,0.000,0,0,865,356.91
$SM_GC,1.93,8.00,0.08,0.00,0.034,0.112,0.000,161,1840,865,-8.82,0.65,356.91,0,0,0,0,0,0,26.68,26.81,28.83
$IRIDIUM_FIX,2418.11,-3812.23,021012,131314
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,9.11433
$TCM_TEMP,24.70
$XPDR_PINGS,8
$SC_FREEKB,7743008
$TM_FREEKB,7279136
$24V_AH,23.5,14.404
$10V_AH,10.3,13.287
$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,22.075,182.825,434.125,0.000,0.000,28.314,37.925,238.592,2.000,0.000,22.825,2015.443,22376.361,739.848,1894.056,209.786,33.261,1580.750,0.000,1435.178,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,112.455,1723.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26555.000,5259.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.805,13.508,0.000,0.000
$MEM,344520
$DATA_FILE_SIZE,13412,517
$CAP_FILE_SIZE,187214,0
$CFSIZE,260034560,247128064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031012,051634,2442.993,-3749.490,38,0.8,39,-13.9