version: 66.11
glider: 189
mission: 7
dive: 71
start: 10 3 112 5 25 22
data:
$ID,189
$MISSION,7
$DIVE,71
$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,-46963.816
$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
$GPS1,031012,051634,2442.993,-3749.490,38,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-59.9
$GPS2,031012,052423,2443.007,-3749.505,18,0.8,18,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,0.170
$KALMAN_X,11141.1,309.1,203.9,9209.7,-292.4
$KALMAN_Y,70995.4,-116.8,-27.2,-57158.7,1363.6
$MHEAD_RNG_PITCHd_Wd,46.8,9209,-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,19,begin dive
$GC,21,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-32.08,0.000,2,0.000,0.000,161,1838,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.1,-1.0,3,116,9.77,2.55,-36.80,0.000,4,0.211,0.051,2712,3453,2919,0,0,0,0,0,0,25.96,26.32,26.70
$GC,345,-0.69,-146.6,28.6,-12.1,32,355,0.22,2.47,0.00,0.000,6,0.135,0.024,2777,1819,2920,0,0,0,0,0,0,26.15,26.46,28.83
$GC,655,-0.59,-146.6,58.1,-8.2,63,665,0.12,2.55,0.00,0.000,4,0.150,0.037,2802,3464,2920,0,0,0,0,0,0,26.43,26.48,28.83
$GC,745,-0.54,-146.6,64.9,-7.4,72,754,0.00,2.47,0.00,0.000,6,0.000,0.023,2801,1819,2920,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1055,-0.50,-146.6,89.1,-7.3,91,1063,0.12,2.53,0.00,0.000,4,0.139,0.037,2827,3453,2921,0,0,0,0,0,0,26.51,26.55,28.83
$GC,1194,-0.50,-146.6,95.8,-5.6,95,1198,0.00,2.45,0.00,0.000,6,0.000,0.023,2827,1819,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1495,-0.50,-146.6,112.4,-5.3,105,1502,0.00,2.30,0.00,0.000,4,0.000,0.042,2827,344,2922,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1665,-0.46,-146.6,120.2,-5.1,110,1675,0.12,2.30,0.00,0.000,6,0.137,0.024,2853,1889,2923,0,0,0,0,0,0,26.46,26.69,28.83
$GC,1976,-0.49,-146.6,130.9,-3.0,121,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1889,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,-0.53,-146.6,140.6,-3.7,131,2283,0.00,2.42,0.00,0.000,4,0.000,0.042,2853,339,2923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2344,-0.56,-146.6,143.8,-4.6,133,2348,0.00,2.30,0.00,0.000,6,0.000,0.024,2845,1888,2920,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2686,-0.59,-146.6,165.8,-6.5,141,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1889,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,-0.62,-146.6,181.9,-5.2,146,2988,0.12,0.00,0.00,0.000,6,0.080,0.000,2769,1889,2921,0,0,0,0,0,0,26.81,28.83,28.83
$GC,3289,-0.58,-146.6,203.1,-7.2,151,3291,0.15,0.00,0.00,0.000,6,0.131,0.000,2814,1889,2921,0,0,0,0,0,0,26.58,28.83,28.83
$GC,3585,-0.58,-146.6,218.6,-5.0,156,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3886,-0.58,-146.6,230.1,-3.7,161,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.58,-146.6,243.7,-4.6,166,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,-0.58,-146.6,260.5,-5.7,171,4493,0.00,2.42,0.00,0.000,4,0.000,0.043,2815,347,2917,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4575,-0.58,-146.6,264.1,-5.8,172,4579,0.00,2.30,0.00,0.000,6,0.000,0.024,2804,1885,2916,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4896,-0.58,-146.6,287.5,-6.8,178,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1886,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5195,-0.58,-146.6,308.8,-7.1,183,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1886,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5496,-0.58,-146.6,324.8,-5.1,188,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1886,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5796,-0.58,-146.6,335.9,-3.6,193,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1886,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6096,-0.58,-146.6,348.6,-4.3,198,6104,0.00,2.42,0.00,0.000,4,0.000,0.044,2804,347,2911,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6245,-0.58,-146.6,355.6,-5.2,200,6249,0.00,2.33,0.00,0.000,6,0.000,0.024,2793,1897,2911,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6566,-0.58,-146.6,378.5,-6.7,206,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1897,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6866,-0.58,-146.6,400.3,-7.2,211,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1897,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7166,-0.58,-146.6,421.3,-6.9,216,7170,0.00,2.45,0.00,0.000,4,0.000,0.044,2793,347,2909,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7326,-0.58,-146.6,428.7,-6.7,218,7331,0.12,2.33,0.00,0.000,6,0.138,0.024,2819,1893,2908,0,0,0,0,0,0,26.49,26.71,28.83
$GC,7628,-0.63,-146.6,442.4,-3.3,223,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1893,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7928,-0.67,-146.6,452.2,-3.3,228,7930,0.12,0.00,0.00,0.000,6,0.082,0.000,2747,1893,2906,0,0,0,0,0,0,26.82,28.83,28.83
$GC,8228,-0.65,-146.6,470.8,-6.5,233,8230,0.15,0.00,0.00,0.000,6,0.129,0.000,2795,1893,2905,0,0,0,0,0,0,26.57,28.83,28.83
$GC,8527,-0.67,-146.6,491.0,-6.8,238,8535,0.00,2.45,0.00,0.000,4,0.000,0.044,2796,348,2904,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8596,-0.67,-146.6,495.7,-7.1,239,8600,0.00,2.33,0.00,0.000,6,0.000,0.025,2786,1887,2904,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8937,-0.67,-146.6,520.9,-7.2,243,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1888,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9297,-0.67,-146.6,542.3,-6.2,246,9301,0.00,2.42,0.00,0.000,4,0.000,0.045,2786,358,2902,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9529,-0.67,-146.6,555.6,-5.7,248,9536,0.00,2.33,0.00,0.000,6,0.000,0.025,2776,1892,2901,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9889,-0.67,-146.6,573.9,-5.2,251,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1891,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10248,-0.67,-146.6,594.2,-5.5,254,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1892,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10608,-0.67,-146.6,615.1,-5.8,257,10616,0.00,2.45,0.00,0.000,4,0.000,0.042,2765,3455,2898,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10688,-0.67,-146.6,615.1,-5.8,257,10692,0.00,2.47,0.00,0.000,6,0.000,0.025,2765,1825,2898,0,0,0,0,0,0,28.83,26.66,28.83
$GC,11079,-0.67,-146.6,646.3,-6.7,261,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1825,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11440,-0.67,-146.6,665.5,-5.6,264,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1824,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11800,-0.67,-146.6,682.4,-4.7,267,11808,0.00,2.35,0.00,0.000,4,0.000,0.047,2761,345,2895,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11999,-0.67,-146.6,688.9,-4.9,268,12003,0.00,2.33,0.00,0.000,6,0.000,0.026,2754,1883,2894,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12390,-0.67,-146.6,714.6,-5.4,272,12392,0.12,0.00,0.00,0.000,6,0.142,0.000,2790,1881,2894,0,0,0,0,0,0,26.59,28.83,28.83
$GC,12751,-0.70,-146.6,732.5,-5.1,275,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1883,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13111,-0.74,-146.6,753.3,-5.7,278,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1883,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13470,-0.80,-146.6,776.5,-6.3,281,13479,0.15,2.45,0.00,0.000,4,0.074,0.042,2705,3449,2891,0,0,0,0,0,0,26.77,26.53,28.83
$GC,13549,-0.85,-146.6,776.5,-6.3,281,13554,0.00,2.47,0.00,0.000,6,0.000,0.027,2709,1828,2891,0,0,0,0,0,0,28.83,26.62,28.83
$GC,13941,-0.82,-146.6,821.3,-9.5,285,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1827,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14301,-0.78,-146.6,855.4,-9.6,288,14309,0.15,2.35,0.00,0.000,4,0.140,0.047,2749,352,2889,0,0,0,0,0,0,26.48,26.48,28.83
$GC,14421,-0.74,-146.6,865.6,-9.3,289,14428,0.00,2.33,0.00,0.000,6,0.000,0.027,2739,1882,2888,0,0,0,0,0,0,28.83,26.64,28.83
$GC,14780,-0.74,-146.6,890.0,-7.2,292,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1882,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15141,-0.74,-146.6,909.3,-5.6,295,15149,0.00,2.45,0.00,0.000,4,0.000,0.047,2740,351,2887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15210,-0.74,-146.6,909.3,-5.6,295,15215,0.12,2.33,0.00,0.000,6,0.145,0.026,2763,1882,2887,0,0,0,0,0,0,26.36,26.63,28.83
$GC,15612,-0.77,-146.6,933.1,-5.0,299,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1882,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15972,-0.81,-146.6,956.4,-6.2,302,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1882,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16332,-0.84,-146.6,981.0,-6.8,305,16334,0.12,0.00,0.00,0.000,6,0.084,0.000,2702,1882,2884,0,0,0,0,0,0,26.77,28.83,28.83
$STATE,16450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16450,begin apogee
$GC,16454,-0.29,0.0,990.9,-7.1,306,16581,0.62,0.00,121.15,1.741,6,0.113,0.000,2906,1840,2319,0,0,0,0,0,0,26.10,28.83,23.82
$STATE,16583,end apogee,CONTROL_FINISHED_OK
$STATE,16583,begin climb
$GC,16585,0.86,146.6,994.7,0.0,307,16724,1.05,2.78,131.00,1.711,4,0.070,0.042,3273,3446,1722,0,0,0,0,0,0,25.00,24.60,23.58
$GC,16831,0.96,355.1,981.5,0.0,309,17022,0.00,2.60,184.43,1.687,6,0.000,0.028,3285,1833,871,0,0,0,0,0,0,28.83,25.53,23.47
$GC,17392,0.86,355.1,906.3,13.4,314,17393,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1833,864,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27171,end climb,SURFACE_DEPTH_REACHED
$STATE,27171,begin surface coast
$FINISH,0.9,1.024457
$STATE,27202,end surface coast,CONTROL_FINISHED_OK
$STATE,27202,begin surface
$SM_CCo,27280,0.00,0.000,0,0,865,356.91
$SM_GC,1.94,7.93,0.08,0.00,0.026,0.105,0.000,162,1828,865,-8.84,0.54,356.91,0,0,0,0,0,0,26.69,26.82,28.83
$IRIDIUM_FIX,2434.69,-3742.51,021012,212130
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.78
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.40
$XPDR_PINGS,15
$SC_FREEKB,7742624
$TM_FREEKB,7270720
$24V_AH,23.5,14.629
$10V_AH,10.4,13.429
$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,22.225,154.425,436.575,0.000,0.000,25.220,38.180,204.563,3.750,0.000,19.265,1914.604,23165.959,717.763,1744.152,198.682,33.257,1507.907,0.000,1331.647,0.000,0.538,0.000
$DEVICE_MAMPS,211.140,142.290,1741.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27108.000,5340.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.796,13.506,0.000,0.000
$MEM,344412
$DATA_FILE_SIZE,13412,524
$CAP_FILE_SIZE,179587,0
$CFSIZE,260034560,247037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031012,130104,2446.568,-3747.026,31,0.7,31,-13.9