version: 66.11
glider: 189
mission: 7
dive: 106
start: 10 14 112 21 21 40
data:
$ID,189
$MISSION,7
$DIVE,106
$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,-47256.426
$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
$GPS1,141012,211241,2436.165,-3759.986,36,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-60.3
$GPS2,141012,212041,2436.189,-3800.028,16,1.0,16,-14.0
$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,20025.7,-438.4,-443.7,-15981.9,2756.1
$KALMAN_Y,99027.0,-130.7,-58.1,-97768.6,588.1
$MHEAD_RNG_PITCHd_Wd,46.8,30114,-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,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,45,0.00,0.00,-21.65,0.000,2,0.000,0.000,161,1834,1538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.0,0.0,2,116,9.38,2.58,-52.78,0.000,4,0.193,0.050,2712,3458,2919,0,0,0,0,0,0,25.98,26.26,26.68
$GC,345,-0.69,-146.6,25.2,-12.8,32,355,0.22,2.47,0.00,0.000,6,0.134,0.024,2776,1825,2920,0,0,0,0,0,0,26.03,26.40,28.83
$GC,655,-0.60,-146.6,56.7,-9.8,63,657,0.10,0.00,0.00,0.000,6,0.159,0.000,2804,1825,2920,0,0,0,0,0,0,26.46,28.83,28.83
$GC,966,-0.56,-146.6,77.9,-7.0,92,973,0.00,2.33,0.00,0.000,4,0.000,0.041,2805,345,2922,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1145,-0.49,-146.6,91.1,-7.3,98,1153,0.15,2.33,0.00,0.000,6,0.131,0.023,2840,1902,2920,0,0,0,0,0,0,26.30,26.58,28.83
$GC,1477,-0.49,-146.6,104.5,-3.8,109,1483,0.00,2.33,0.00,0.000,4,0.000,0.037,2830,3455,2922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1634,-0.49,-146.6,112.2,-5.3,114,1638,0.00,2.45,0.00,0.000,6,0.000,0.022,2830,1821,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1946,-0.49,-146.6,128.9,-5.3,125,1953,0.00,2.30,0.00,0.000,4,0.000,0.041,2830,347,2922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2166,-0.49,-146.6,141.6,-6.0,132,2173,0.00,2.30,0.00,0.000,6,0.000,0.023,2819,1890,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2516,-0.49,-146.6,158.8,-4.6,141,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1891,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-0.49,-146.6,171.6,-4.3,146,2824,0.00,2.42,0.00,0.000,4,0.000,0.041,2819,348,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2915,-0.49,-146.6,175.0,-4.6,147,2920,0.12,2.30,0.00,0.000,6,0.132,0.023,2846,1890,2922,0,0,0,0,0,0,26.43,26.66,28.83
$GC,3228,-0.54,-146.6,193.5,-5.2,153,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1890,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3527,-0.59,-146.6,206.7,-4.3,158,3529,0.12,0.00,0.00,0.000,6,0.080,0.000,2772,1890,2920,0,0,0,0,0,0,26.77,28.83,28.83
$GC,3827,-0.56,-146.6,227.0,-7.0,163,3829,0.15,0.00,0.00,0.000,6,0.124,0.000,2818,1890,2920,0,0,0,0,0,0,26.54,28.83,28.83
$GC,4127,-0.58,-146.6,245.5,-6.1,168,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1890,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4427,-0.60,-146.6,264.1,-6.2,173,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1890,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4727,-0.63,-146.6,280.0,-5.2,178,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1891,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.66,-146.6,292.1,-3.9,183,5035,0.00,2.42,0.00,0.000,4,0.000,0.041,2818,341,2916,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5106,-0.69,-146.6,294.6,-3.7,184,5110,0.00,2.33,0.00,0.000,6,0.000,0.024,2807,1894,2915,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5438,-0.72,-146.6,310.6,-4.8,190,5440,0.12,0.00,0.00,0.000,6,0.080,0.000,2739,1895,2915,0,0,0,0,0,0,26.78,28.83,28.83
$GC,5738,-0.66,-146.6,335.7,-8.6,195,5747,0.17,2.45,0.00,0.000,4,0.125,0.042,2791,338,2913,0,0,0,0,0,0,26.46,26.51,28.83
$GC,5837,-0.61,-146.6,340.7,-8.7,196,5841,0.00,2.33,0.00,0.000,6,0.000,0.024,2781,1887,2913,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6148,-0.61,-146.6,366.8,-7.3,202,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1886,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,-0.61,-146.6,387.4,-6.9,207,6456,0.00,2.45,0.00,0.000,4,0.000,0.040,2770,3459,2911,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6517,-0.61,-146.6,391.6,-6.9,208,6522,0.12,2.47,0.00,0.000,6,0.131,0.024,2806,1818,2911,0,0,0,0,0,0,26.40,26.63,28.83
$GC,6860,-0.64,-146.6,412.8,-6.0,214,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1818,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7160,-0.67,-146.6,428.1,-5.0,219,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1818,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7460,-0.71,-146.6,442.8,-5.0,224,7462,0.10,0.00,0.00,0.000,6,0.094,0.000,2747,1818,2908,0,0,0,0,0,0,26.79,28.83,28.83
$GC,7760,-0.67,-146.6,464.0,-7.2,229,7768,0.12,2.30,0.00,0.000,4,0.135,0.043,2783,345,2907,0,0,0,0,0,0,26.58,26.49,28.83
$GC,7858,-0.64,-146.6,468.8,-7.5,230,7862,0.00,2.33,0.00,0.000,6,0.000,0.024,2773,1890,2906,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8169,-0.64,-146.6,496.3,-7.7,236,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1895,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8470,-0.64,-146.6,517.0,-7.0,239,8477,0.00,2.45,0.00,0.000,4,0.000,0.040,2762,3458,2905,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8568,-0.64,-146.6,517.0,-7.0,239,8573,0.12,2.47,0.00,0.000,6,0.131,0.024,2798,1822,2904,0,0,0,0,0,0,26.39,26.61,28.83
$GC,8942,-0.67,-146.6,538.4,-4.5,243,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1823,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9302,-0.70,-146.6,551.4,-3.6,246,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1823,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,-0.74,-146.6,567.2,-4.2,249,9663,0.12,0.00,0.00,0.000,6,0.083,0.000,2732,1822,2901,0,0,0,0,0,0,26.77,28.83,28.83
$GC,10021,-0.74,-146.6,592.4,-6.5,252,10023,0.10,0.00,0.00,0.000,6,0.150,0.000,2758,1822,2900,0,0,0,0,0,0,26.63,28.83,28.83
$GC,10381,-0.74,-146.6,618.5,-7.2,255,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1819,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10741,-0.74,-146.6,646.7,-7.8,258,10749,0.00,2.58,0.00,0.000,4,0.000,0.041,2748,3457,2899,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10840,-0.74,-146.6,646.7,-7.8,258,10844,0.00,2.47,0.00,0.000,6,0.000,0.024,2748,1828,2899,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11211,-0.74,-146.6,679.8,-7.1,262,11219,0.00,2.35,0.00,0.000,4,0.000,0.045,2748,349,2897,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11291,-0.74,-146.6,679.8,-7.1,262,11295,0.00,2.33,0.00,0.000,6,0.000,0.024,2737,1884,2897,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11682,-0.74,-146.6,707.0,-5.8,266,11690,0.00,2.45,0.00,0.000,4,0.000,0.044,2736,347,2896,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11812,-0.72,-146.6,714.2,-5.5,267,11820,0.15,2.33,0.00,0.000,6,0.138,0.025,2768,1885,2895,0,0,0,0,0,0,26.27,26.60,28.83
$GC,12162,-0.72,-146.6,731.5,-5.0,270,12170,0.00,2.47,0.00,0.000,4,0.000,0.041,2758,3463,2895,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12271,-0.72,-146.6,731.5,-5.0,270,12275,0.00,2.50,0.00,0.000,6,0.000,0.026,2758,1820,2894,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12632,-0.72,-146.6,763.8,-6.5,273,12640,0.00,2.33,0.00,0.000,4,0.000,0.045,2758,354,2896,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12711,-0.72,-146.6,763.8,-6.5,273,12715,0.00,2.33,0.00,0.000,6,0.000,0.024,2748,1887,2894,0,0,0,0,0,0,28.83,26.59,28.83
$GC,13102,-0.72,-146.6,802.6,-8.2,277,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1889,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13462,-0.72,-146.6,824.3,-6.4,280,13466,0.00,2.45,0.00,0.000,4,0.000,0.045,2748,355,2891,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13593,-0.72,-146.6,830.9,-6.0,281,13598,0.12,2.33,0.00,0.000,6,0.140,0.025,2772,1885,2891,0,0,0,0,0,0,26.29,26.56,28.83
$GC,13925,-0.72,-146.6,845.2,-4.4,284,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1885,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14286,-0.76,-146.6,860.1,-4.0,287,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1885,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14646,-0.80,-146.6,877.6,-4.8,290,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1884,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15006,-0.84,-146.6,894.0,-4.7,293,15014,0.12,2.47,0.00,0.000,4,0.085,0.047,2712,336,2887,0,0,0,0,0,0,26.74,26.32,28.83
$GC,15075,-0.88,-146.6,894.0,-4.7,293,15083,0.00,2.38,0.00,0.000,6,0.000,0.026,2700,1892,2887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,15485,-0.86,-146.6,925.0,-6.5,297,15487,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1892,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15846,-0.82,-146.6,953.2,-7.6,300,15847,0.12,0.00,0.00,0.000,6,0.153,0.000,2734,1892,2886,0,0,0,0,0,0,26.48,28.83,28.83
$GC,16205,-0.82,-146.6,982.7,-8.2,303,16213,0.00,2.47,0.00,0.000,4,0.000,0.047,2735,357,2884,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,16324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16324,begin apogee
$GC,16331,-0.29,0.0,993.8,-8.4,304,16455,0.55,0.08,120.05,1.693,6,0.112,0.101,2909,1842,2319,0,0,0,0,0,0,25.94,24.74,23.77
$STATE,16457,end apogee,CONTROL_FINISHED_OK
$STATE,16457,begin climb
$GC,16459,0.86,146.6,998.6,0.0,305,16593,1.05,0.00,129.93,1.662,6,0.070,0.000,3275,1842,1721,0,0,0,0,0,0,24.95,28.83,23.50
$GC,16926,0.72,146.6,966.8,8.7,309,16928,0.15,0.00,0.00,0.000,6,0.155,0.000,3235,1841,1713,0,0,0,0,0,0,25.79,28.83,28.83
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$STATE,30257,end climb,SURFACE_DEPTH_REACHED
$STATE,30257,begin surface coast
$FINISH,1.1,1.024637
$STATE,30278,end surface coast,CONTROL_FINISHED_OK
$STATE,30278,begin surface
$SM_CCo,30357,0.00,0.000,0,0,841,363.04
$SM_GC,1.87,7.97,0.10,0.00,0.024,0.096,0.000,163,1823,841,-8.83,0.40,363.04,0,0,0,0,0,0,26.54,26.61,28.83
$IRIDIUM_FIX,2418.11,-3839.22,141012,131335
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,9.11433
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7729184
$TM_FREEKB,6966400
$24V_AH,23.5,21.210
$10V_AH,10.4,18.581
$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,23.225,149.200,395.025,0.000,0.000,26.599,36.147,205.012,0.000,0.000,17.143,2067.098,26021.590,679.889,1811.837,249.496,33.271,1505.693,0.000,1400.253,0.000,0.537,0.000
$DEVICE_MAMPS,192.780,100.980,1692.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30186.000,6213.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.886,13.523,0.000,0.000
$MEM,344412
$DATA_FILE_SIZE,16699,574
$CAP_FILE_SIZE,195133,0
$CFSIZE,260034560,243560448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151012,054835,2439.370,-3757.100,27,1.2,27,-14.0