version: 66.11
glider: 189
mission: 7
dive: 103
start: 10 14 112 1 17 41
data:
$ID,189
$MISSION,7
$DIVE,103
$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,-47252.555
$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
$GPS1,141012,010734,2428.858,-3805.825,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-54.1
$GPS2,141012,011642,2428.893,-3805.842,17,1.3,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117,0.166
$KALMAN_X,17516.1,133.3,128.9,-24427.2,442.4
$KALMAN_Y,98817.8,229.3,-117.6,-111382.6,781.6
$MHEAD_RNG_PITCHd_Wd,49.1,11459,-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,22,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-31.73,0.000,2,0.000,0.000,160,1828,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.2,-3.4,3,115,9.82,2.58,-35.50,0.000,4,0.211,0.050,2705,3458,2919,0,0,0,0,0,0,25.81,26.24,26.62
$GC,345,-0.68,-146.6,31.7,-12.1,32,355,0.25,2.47,0.00,0.000,6,0.134,0.024,2778,1826,2920,0,0,0,0,0,0,26.03,26.39,28.83
$GC,655,-0.60,-146.6,63.8,-8.1,63,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1825,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,966,-0.52,-146.6,84.5,-5.8,84,974,0.17,2.50,0.00,0.000,4,0.132,0.037,2821,3452,2921,0,0,0,0,0,0,26.34,26.48,28.83
$GC,1074,-0.49,-146.6,88.7,-4.9,87,1079,0.00,2.45,0.00,0.000,6,0.000,0.022,2821,1821,2924,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1375,-0.49,-146.6,105.4,-5.6,97,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1821,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1675,-0.49,-146.6,124.1,-6.2,107,1679,0.00,2.30,0.00,0.000,4,0.000,0.041,2821,349,2922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1745,-0.49,-146.6,127.4,-6.2,109,1750,0.12,2.30,0.00,0.000,6,0.136,0.023,2847,1892,2922,0,0,0,0,0,0,26.40,26.64,28.83
$GC,2047,-0.52,-146.6,142.8,-4.5,119,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1892,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2347,-0.55,-146.6,156.9,-4.7,127,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1892,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,-0.59,-146.6,173.4,-5.6,132,2655,0.12,2.40,0.00,0.000,4,0.080,0.037,2760,3453,2921,0,0,0,0,0,0,26.76,26.55,28.83
$GC,2756,-0.61,-146.6,177.6,-6.0,133,2766,0.15,2.45,0.00,0.000,6,0.129,0.023,2804,1818,2921,0,0,0,0,0,0,26.39,26.64,28.83
$GC,3066,-0.61,-146.6,196.0,-4.6,139,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1819,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3366,-0.61,-146.6,210.2,-4.7,144,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1818,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3666,-0.61,-146.6,226.2,-5.5,149,3674,0.00,2.55,0.00,0.000,4,0.000,0.037,2793,3462,2919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3795,-0.61,-146.6,234.4,-6.4,151,3799,0.00,2.47,0.00,0.000,6,0.000,0.023,2794,1815,2919,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4136,-0.61,-146.6,259.1,-7.0,157,4140,0.00,2.30,0.00,0.000,4,0.000,0.041,2793,342,2918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4276,-0.61,-146.6,266.9,-6.9,159,4280,0.00,2.33,0.00,0.000,6,0.000,0.024,2781,1900,2918,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4598,-0.61,-146.6,285.8,-5.0,165,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1900,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4898,-0.61,-146.6,299.5,-4.5,170,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1900,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5198,-0.61,-146.6,312.4,-4.3,175,5205,0.00,2.45,0.00,0.000,4,0.000,0.041,2782,341,2915,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5318,-0.59,-146.6,318.6,-4.7,177,5326,0.15,2.33,0.00,0.000,6,0.132,0.024,2815,1895,2916,0,0,0,0,0,0,26.39,26.67,28.83
$GC,5678,-0.62,-146.6,335.5,-4.9,183,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1895,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5978,-0.66,-146.6,354.1,-6.4,188,5985,0.00,2.45,0.00,0.000,4,0.000,0.042,2815,342,2912,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6087,-0.69,-146.6,358.3,-6.6,189,6091,0.00,2.33,0.00,0.000,6,0.000,0.024,2806,1890,2912,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6388,-0.71,-146.6,381.5,-6.5,194,6390,0.10,0.00,0.00,0.000,6,0.092,0.000,2744,1890,2911,0,0,0,0,0,0,26.80,28.83,28.83
$GC,6688,-0.67,-146.6,407.0,-8.6,199,6690,0.15,0.00,0.00,0.000,6,0.129,0.000,2788,1890,2910,0,0,0,0,0,0,26.52,28.83,28.83
$GC,6988,-0.67,-146.6,427.2,-6.5,204,6995,0.00,2.45,0.00,0.000,4,0.000,0.040,2778,3463,2909,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7116,-0.67,-146.6,433.5,-5.7,206,7121,0.00,2.47,0.00,0.000,6,0.000,0.024,2778,1826,2908,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7458,-0.67,-146.6,452.4,-5.5,212,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1826,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7758,-0.67,-146.6,467.9,-5.1,217,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1825,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8058,-0.67,-146.6,482.7,-4.9,222,8066,0.00,2.33,0.00,0.000,4,0.000,0.044,2778,351,2906,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8167,-0.67,-146.6,486.3,-5.2,223,8171,0.00,2.33,0.00,0.000,6,0.000,0.024,2768,1895,2905,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8469,-0.67,-146.6,507.4,-6.1,227,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1895,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8828,-0.67,-146.6,527.3,-5.6,230,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1895,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9188,-0.67,-146.6,546.6,-5.3,233,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1895,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9548,-0.67,-146.6,568.9,-6.0,236,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1895,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9908,-0.67,-146.6,594.5,-7.0,239,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1899,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10268,-0.67,-146.6,621.6,-7.5,242,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1895,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10628,-0.67,-146.6,647.1,-7.2,245,10636,0.00,2.47,0.00,0.000,4,0.000,0.044,2767,347,2898,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10777,-0.67,-146.6,655.8,-7.1,246,10781,0.00,2.33,0.00,0.000,6,0.000,0.025,2756,1883,2898,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11098,-0.67,-146.6,678.1,-6.5,249,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1884,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11459,-0.67,-146.6,698.3,-5.7,252,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1884,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11819,-0.67,-146.6,719.7,-5.9,255,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1884,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12179,-0.67,-146.6,739.6,-5.6,258,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1884,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12538,-0.67,-146.6,762.6,-6.2,261,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1884,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12898,-0.67,-146.6,786.0,-6.5,264,12902,0.00,2.45,0.00,0.000,4,0.000,0.045,2756,352,2892,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13010,-0.67,-146.6,793.2,-6.5,265,13018,0.12,2.33,0.00,0.000,6,0.142,0.026,2781,1884,2892,0,0,0,0,0,0,26.31,26.59,28.83
$GC,13371,-0.70,-146.6,810.1,-5.1,268,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1883,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13730,-0.74,-146.6,826.9,-4.6,271,13738,0.00,2.45,0.00,0.000,4,0.000,0.046,2781,352,2890,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13841,-0.79,-146.6,826.9,-4.6,271,13849,0.00,2.33,0.00,0.000,6,0.000,0.027,2772,1883,2889,0,0,0,0,0,0,28.83,26.56,28.83
$GC,14210,-0.83,-146.6,853.7,-5.6,275,14212,0.12,0.00,0.00,0.000,6,0.083,0.000,2707,1883,2889,0,0,0,0,0,0,26.74,28.83,28.83
$GC,14569,-0.83,-146.6,881.9,-7.4,278,14577,0.00,2.45,0.00,0.000,4,0.000,0.046,2708,353,2888,0,0,0,0,0,0,28.83,26.35,28.83
$GC,14669,-0.83,-146.6,881.9,-7.4,278,14674,0.12,2.35,0.00,0.000,6,0.153,0.028,2729,1890,2888,0,0,0,0,0,0,26.23,26.55,28.83
$GC,15041,-0.83,-146.6,915.4,-7.0,282,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1890,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15402,-0.83,-146.6,936.1,-5.9,285,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1890,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15762,-0.83,-146.6,958.6,-6.1,288,15769,0.00,2.45,0.00,0.000,4,0.000,0.047,2730,355,2885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15850,-0.83,-146.6,958.6,-6.1,288,15854,0.00,2.35,0.00,0.000,6,0.000,0.027,2720,1891,2885,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,16230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16230,begin apogee
$GC,16234,-0.29,0.0,995.1,-7.7,292,16361,0.55,0.00,119.45,1.704,6,0.113,0.000,2906,1837,2320,0,0,0,0,0,0,25.93,28.83,23.75
$STATE,16362,end apogee,CONTROL_FINISHED_OK
$STATE,16362,begin climb
$GC,16364,0.86,146.6,999.3,0.0,293,16502,1.05,2.72,129.52,1.670,4,0.070,0.040,3275,3456,1721,0,0,0,0,0,0,25.00,24.52,23.48
$GC,16591,0.95,355.1,987.9,0.0,295,16781,0.00,2.62,182.68,1.649,6,0.000,0.028,3287,1831,872,0,0,0,0,0,0,28.83,25.40,23.33
$GC,17181,0.84,355.1,912.9,13.1,300,17189,0.00,2.42,0.00,0.000,4,0.000,0.049,3299,352,865,0,0,0,0,0,0,28.83,25.97,28.83
$GC,17281,0.74,355.1,912.9,13.1,300,17286,0.20,2.38,0.00,0.000,6,0.134,0.026,3240,1886,863,0,0,0,0,0,0,25.92,26.16,28.83
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$STATE,27047,end climb,SURFACE_DEPTH_REACHED
$STATE,27047,begin surface coast
$FINISH,1.0,1.024600
$STATE,27068,end surface coast,CONTROL_FINISHED_OK
$STATE,27070,begin surface
$SM_CCo,27147,0.00,0.000,0,0,866,356.42
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$IRIDIUM_FIX,2422.84,-3813.69,131012,161649
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.44
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.40
$XPDR_PINGS,1
$SC_FREEKB,7730336
$TM_FREEKB,6990400
$24V_AH,23.3,20.711
$10V_AH,10.4,18.186
$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
$DEVICE_SECS,22.325,154.650,431.650,0.000,0.000,28.898,43.953,244.397,0.250,0.000,18.372,1895.561,23035.242,719.277,1792.453,243.857,33.270,1512.794,0.000,1325.748,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.803,13.503,0.000,0.000
$MEM,344480
$DATA_FILE_SIZE,13417,516
$CAP_FILE_SIZE,178741,0
$CFSIZE,260034560,243847168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141012,085104,2431.925,-3802.998,25,1.1,25,-14.0