version: 66.11
glider: 189
mission: 7
dive: 99
start: 10 12 112 16 16 41
data:
$ID,189
$MISSION,7
$DIVE,99
$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,-47247.523
$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
$GPS1,121012,160722,2422.797,-3816.269,37,0.8,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-56.8
$GPS2,121012,161542,2422.854,-3816.321,17,0.8,17,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.174
$KALMAN_X,13982.0,122.7,438.3,-38840.3,-1116.0
$KALMAN_Y,95961.8,-220.3,-24.6,-119348.3,1276.2
$MHEAD_RNG_PITCHd_Wd,191.5,4447,-14.9,-6.111,-19.32
$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,-0.98,-101.0,0.0,0.0,0,56,0.00,0.00,-32.10,0.000,2,0.000,0.000,160,1846,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.03,-146.6,2.2,-2.1,3,107,9.70,2.38,-27.17,0.000,4,0.215,0.053,2660,356,2919,0,0,0,0,0,0,25.83,26.25,26.64
$GC,336,-0.83,-146.6,36.4,-16.2,31,346,0.28,2.33,0.00,0.000,6,0.152,0.023,2727,1891,2924,0,0,0,0,0,0,26.01,26.43,28.83
$GC,646,-0.76,-146.6,73.6,-8.8,62,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1892,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,966,-0.69,-146.6,102.7,-8.9,74,975,0.17,2.45,0.00,0.000,4,0.139,0.037,2769,3462,2922,0,0,0,0,0,0,26.34,26.48,28.83
$GC,1156,-0.69,-146.6,116.3,-7.1,80,1163,0.00,2.47,0.00,0.000,6,0.000,0.022,2769,1813,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1476,-0.69,-146.6,136.4,-5.7,91,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1813,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1776,-0.69,-146.6,156.8,-7.6,100,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1812,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,-0.69,-146.6,176.2,-6.2,105,2080,0.00,2.28,0.00,0.000,4,0.000,0.041,2769,350,2923,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2187,-0.69,-146.6,183.1,-6.0,107,2194,0.00,2.30,0.00,0.000,6,0.000,0.023,2758,1893,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2550,-0.69,-146.6,201.6,-5.0,113,2555,0.00,2.35,0.00,0.000,4,0.000,0.041,2758,347,2922,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2626,-0.69,-146.6,205.9,-5.6,114,2631,0.12,2.30,0.00,0.000,6,0.145,0.023,2782,1891,2922,0,0,0,0,0,0,26.42,26.67,28.83
$GC,2959,-0.72,-146.6,230.6,-7.0,120,2966,0.00,2.42,0.00,0.000,4,0.000,0.041,2783,341,2921,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3038,-0.75,-146.6,234.8,-6.9,121,3042,0.00,2.33,0.00,0.000,6,0.000,0.023,2772,1900,2921,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3369,-0.78,-146.6,257.3,-6.4,127,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1900,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3669,-0.81,-146.6,273.4,-5.3,132,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1900,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3969,-0.85,-146.6,291.9,-6.3,137,3971,0.12,0.00,0.00,0.000,6,0.083,0.000,2707,1901,2918,0,0,0,0,0,0,26.77,28.83,28.83
$GC,4269,-0.81,-146.6,318.3,-8.9,142,4271,0.12,0.00,0.00,0.000,6,0.145,0.000,2742,1901,2917,0,0,0,0,0,0,26.55,28.83,28.83
$GC,4569,-0.81,-146.6,341.5,-7.6,147,4576,0.00,2.42,0.00,0.000,4,0.000,0.040,2731,3459,2916,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4728,-0.81,-146.6,350.1,-7.2,149,4732,0.00,2.47,0.00,0.000,6,0.000,0.024,2731,1820,2916,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5039,-0.81,-146.6,377.0,-7.9,155,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1816,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5340,-0.81,-146.6,403.8,-9.1,160,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1819,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5639,-0.81,-146.6,427.0,-7.5,165,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1819,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-0.81,-146.6,446.1,-6.4,170,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1819,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6239,-0.81,-146.6,468.1,-7.4,175,6247,0.00,2.55,0.00,0.000,4,0.000,0.038,2720,3451,2909,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6328,-0.81,-146.6,472.5,-7.4,176,6332,0.00,2.47,0.00,0.000,6,0.000,0.024,2720,1816,2909,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6649,-0.81,-146.6,496.2,-6.6,182,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1816,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6949,-0.81,-146.6,516.7,-6.8,185,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1816,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7310,-0.81,-146.6,545.8,-7.8,188,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1816,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,-0.81,-146.6,580.1,-9.4,191,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1816,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8029,-0.81,-146.6,614.4,-9.6,194,8037,0.00,2.58,0.00,0.000,4,0.000,0.040,2708,3461,2903,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8199,-0.81,-146.6,625.7,-9.5,195,8204,0.12,2.47,0.00,0.000,6,0.140,0.025,2742,1827,2902,0,0,0,0,0,0,26.37,26.63,28.83
$GC,8502,-0.84,-146.6,653.3,-8.3,198,8509,0.00,2.35,0.00,0.000,4,0.000,0.044,2743,344,2901,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8621,-0.86,-146.6,662.7,-7.8,199,8628,0.00,2.33,0.00,0.000,6,0.000,0.025,2733,1884,2900,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8982,-0.90,-146.6,688.3,-7.3,202,8989,0.00,2.45,0.00,0.000,4,0.000,0.041,2721,3450,2897,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9110,-0.93,-146.6,696.7,-7.1,203,9114,0.00,2.47,0.00,0.000,6,0.000,0.025,2721,1826,2899,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9452,-0.95,-146.6,723.1,-7.4,206,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1826,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9812,-0.98,-146.6,752.1,-8.0,209,9814,0.10,0.00,0.00,0.000,6,0.099,0.000,2672,1826,2897,0,0,0,0,0,0,26.77,28.83,28.83
$GC,10171,-0.98,-146.6,785.4,-9.1,212,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1825,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10532,-0.95,-146.6,816.6,-8.8,215,10540,0.00,2.35,0.00,0.000,4,0.000,0.047,2672,355,2894,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10611,-0.93,-146.6,816.6,-8.8,215,10620,0.15,2.33,0.00,0.000,6,0.153,0.026,2700,1882,2895,0,0,0,0,0,0,26.23,26.60,28.83
$GC,11011,-0.93,-146.6,856.9,-8.3,219,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1882,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11371,-0.93,-146.6,888.4,-8.7,222,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1882,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11732,-0.93,-146.6,919.4,-8.6,225,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1882,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12091,-0.93,-146.6,948.7,-8.3,228,12096,0.00,2.45,0.00,0.000,4,0.000,0.047,2702,355,2889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12162,-0.93,-146.6,948.7,-8.3,228,12166,0.00,2.33,0.00,0.000,6,0.000,0.027,2691,1881,2889,0,0,0,0,0,0,28.83,26.57,28.83
$GC,12553,-0.93,-146.6,984.3,-7.7,232,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1881,2888,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12671,begin apogee
$GC,12676,-0.29,0.0,993.8,-7.7,233,12802,0.62,0.00,119.75,1.693,6,0.117,0.000,2901,1838,2318,0,0,0,0,0,0,25.98,28.83,23.80
$STATE,12804,end apogee,CONTROL_FINISHED_OK
$STATE,12804,begin climb
$GC,12806,1.03,146.6,997.0,0.0,234,12939,1.23,0.00,128.65,1.657,6,0.071,0.000,3327,1838,1721,0,0,0,0,0,0,25.01,28.83,23.59
$GC,13274,0.91,146.6,953.8,11.0,238,13276,0.15,0.00,0.00,0.000,6,0.163,0.000,3290,1838,1714,0,0,0,0,0,0,25.82,28.83,28.83
$GC,13633,0.81,146.6,917.4,10.3,241,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1838,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13993,0.72,146.6,881.4,10.1,244,14002,0.20,2.58,0.00,0.000,4,0.147,0.041,3227,3449,1710,0,0,0,0,0,0,26.13,26.32,28.83
$GC,14102,0.64,146.6,881.4,10.1,244,14107,0.12,2.53,0.00,0.000,6,0.153,0.028,3205,1824,1710,0,0,0,0,0,0,26.17,26.39,28.83
$GC,14463,0.61,146.6,848.7,7.4,247,14464,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1824,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14823,0.61,146.6,825.2,6.5,250,14827,0.00,2.38,0.00,0.000,4,0.000,0.049,3215,356,1708,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14893,0.61,146.6,825.2,6.5,250,14897,0.00,2.35,0.00,0.000,6,0.000,0.027,3215,1888,1706,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15284,0.61,146.6,791.9,7.2,254,15291,0.00,2.50,0.00,0.000,4,0.000,0.049,3227,349,1706,0,0,0,0,0,0,28.83,26.37,28.83
$GC,15404,0.61,146.6,782.3,7.4,255,15413,0.12,2.35,0.00,0.000,6,0.142,0.026,3191,1887,1705,0,0,0,0,0,0,26.29,26.54,28.83
$GC,15764,0.61,146.6,756.2,7.4,258,15766,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1887,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16124,0.63,146.6,729.2,7.5,261,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1888,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16484,0.67,146.6,704.4,7.0,264,16486,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1887,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16845,0.70,146.6,679.4,6.9,267,16846,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1887,1705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17204,0.73,146.6,652.0,7.5,270,17206,0.12,0.00,0.00,0.000,6,0.086,0.000,3252,1888,1705,0,0,0,0,0,0,26.70,28.83,28.83
$GC,17564,0.73,146.6,617.8,9.2,273,17572,0.00,2.47,0.00,0.000,4,0.000,0.048,3264,357,1705,0,0,0,0,0,0,28.83,26.37,28.83
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$STATE,25866,end climb,SURFACE_DEPTH_REACHED
$STATE,25866,begin surface coast
$FINISH,0.9,1.019808
$STATE,25908,end surface coast,CONTROL_FINISHED_OK
$STATE,25908,begin surface
$SM_CCo,25926,42.62,0.130,0,0,1094,300.00
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$IRIDIUM_FIX,2413.38,-3825.91,121012,070714
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.40
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.80
$XPDR_PINGS,3
$SC_FREEKB,7731872
$TM_FREEKB,7025472
$24V_AH,23.6,19.949
$10V_AH,10.1,17.584
$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,22.525,111.675,265.150,42.625,0.000,28.702,39.183,216.882,0.750,0.000,19.041,1775.762,22290.848,548.621,1623.000,223.576,33.266,1247.343,0.000,1203.705,0.000,0.538,0.000
$DEVICE_MAMPS,214.965,141.525,1692.945,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.752,13.496,0.000,0.000
$MEM,344548
$DATA_FILE_SIZE,13425,506
$CAP_FILE_SIZE,163139,0
$CFSIZE,260034560,244264960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121012,233034,2420.428,-3816.325,30,0.9,30,-14.1