version: 66.11
glider: 189
mission: 7
dive: 156
start: 10 31 112 23 24 29
data:
$ID,189
$MISSION,7
$DIVE,156
$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,-47639.086
$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
$GPS1,311012,231335,2424.450,-3748.099,28,1.3,28,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-58.1
$GPS2,311012,232329,2424.398,-3748.021,23,1.2,23,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.074,-0.172
$KALMAN_X,24902.9,140.0,-184.0,-1493.9,-946.5
$KALMAN_Y,95753.4,-206.8,392.6,-116715.7,-1652.1
$MHEAD_RNG_PITCHd_Wd,170.7,7364,-13.4,-6.111,-18.08
$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,21,begin dive
$GC,23,-0.92,-120.1,0.0,0.0,0,56,0.00,0.00,-31.33,0.000,2,0.000,0.000,159,1828,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.95,-146.6,2.1,-1.8,3,107,9.95,2.58,-28.15,0.000,4,0.216,0.050,2674,3455,2919,0,0,0,0,0,0,25.58,26.15,26.60
$GC,336,-0.77,-146.6,32.8,-11.8,31,346,0.25,2.50,0.00,0.000,6,0.135,0.023,2746,1816,2921,0,0,0,0,0,0,25.83,26.31,28.83
$GC,646,-0.70,-146.6,61.8,-9.3,62,656,0.10,2.60,0.00,0.000,4,0.164,0.036,2761,3464,2921,0,0,0,0,0,0,26.40,26.28,28.83
$GC,886,-0.66,-146.6,79.6,-7.6,83,894,0.00,2.47,0.00,0.000,6,0.000,0.022,2761,1824,2921,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1216,-0.61,-146.6,104.9,-8.0,94,1225,0.15,2.55,0.00,0.000,4,0.132,0.036,2794,3463,2922,0,0,0,0,0,0,26.37,26.36,28.83
$GC,1435,-0.61,-146.6,116.7,-5.1,101,1440,0.00,2.47,0.00,0.000,6,0.000,0.022,2794,1818,2922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1747,-0.61,-146.6,131.2,-5.8,112,1755,0.00,2.55,0.00,0.000,4,0.000,0.036,2782,3454,2922,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1886,-0.61,-146.6,140.9,-8.0,116,1890,0.00,2.45,0.00,0.000,6,0.000,0.022,2782,1822,2922,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2187,-0.61,-146.6,164.1,-7.0,123,2194,0.00,2.33,0.00,0.000,4,0.000,0.040,2782,341,2923,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2428,-0.61,-146.6,178.6,-6.0,127,2435,0.00,2.30,0.00,0.000,6,0.000,0.023,2771,1890,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2787,-0.61,-146.6,199.4,-6.1,133,2789,0.10,0.00,0.00,0.000,6,0.149,0.000,2800,1890,2922,0,0,0,0,0,0,26.59,28.83,28.83
$GC,3087,-0.65,-146.6,217.1,-5.9,138,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1890,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,-0.69,-146.6,234.2,-5.7,143,3395,0.00,2.42,0.00,0.000,4,0.000,0.038,2789,3458,2921,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3496,-0.73,-146.6,237.9,-5.8,144,3505,0.00,2.47,0.00,0.000,6,0.000,0.022,2789,1817,2921,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3808,-0.76,-146.6,257.8,-5.3,150,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1815,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-0.79,-146.6,274.9,-5.8,155,4115,0.12,2.55,0.00,0.000,4,0.080,0.037,2706,3445,2919,0,0,0,0,0,0,26.74,26.41,28.83
$GC,4236,-0.79,-146.6,285.9,-7.8,157,4241,0.15,2.45,0.00,0.000,6,0.134,0.023,2748,1820,2919,0,0,0,0,0,0,26.22,26.55,28.83
$GC,4579,-0.79,-146.6,315.9,-8.3,163,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1819,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4878,-0.79,-146.6,336.0,-6.6,168,4885,0.00,2.58,0.00,0.000,4,0.000,0.037,2737,3462,2917,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4998,-0.79,-146.6,344.1,-6.5,170,5006,0.00,2.47,0.00,0.000,6,0.000,0.023,2738,1824,2917,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5358,-0.79,-146.6,371.9,-8.0,176,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5658,-0.79,-146.6,395.4,-7.8,181,5665,0.00,2.55,0.00,0.000,4,0.000,0.037,2726,3451,2915,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5727,-0.79,-146.6,399.9,-7.5,182,5731,0.00,2.45,0.00,0.000,6,0.000,0.023,2726,1823,2915,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6069,-0.76,-146.6,421.1,-5.7,188,6077,0.00,2.30,0.00,0.000,4,0.000,0.041,2726,354,2917,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6138,-0.73,-146.6,424.8,-5.7,189,6146,0.17,2.30,0.00,0.000,6,0.135,0.023,2766,1888,2913,0,0,0,0,0,0,26.16,26.55,28.83
$GC,6490,-0.76,-146.6,441.7,-4.7,195,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1887,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6789,-0.78,-146.6,457.5,-5.3,200,6797,0.00,2.42,0.00,0.000,4,0.000,0.039,2756,3446,2911,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6869,-0.81,-146.6,461.0,-5.5,201,6876,0.00,2.47,0.00,0.000,6,0.000,0.024,2756,1816,2910,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7209,-0.81,-146.6,484.8,-6.9,207,7217,0.00,2.55,0.00,0.000,4,0.000,0.037,2744,3449,2909,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7337,-0.81,-146.6,493.7,-7.2,209,7342,0.00,2.47,0.00,0.000,6,0.000,0.024,2744,1820,2909,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7679,-0.81,-146.6,519.5,-7.4,213,7686,0.00,2.58,0.00,0.000,4,0.000,0.038,2732,3459,2908,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7790,-0.81,-146.6,519.5,-7.4,213,7798,0.00,2.47,0.00,0.000,6,0.000,0.024,2732,1826,2908,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8159,-0.81,-146.6,553.1,-7.0,217,8166,0.00,2.35,0.00,0.000,4,0.000,0.042,2732,344,2906,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8228,-0.81,-146.6,553.1,-7.0,217,8232,0.00,2.33,0.00,0.000,6,0.000,0.023,2721,1888,2906,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8630,-0.81,-146.6,586.6,-7.1,221,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1889,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8990,-0.81,-146.6,611.0,-6.8,224,8998,0.00,2.47,0.00,0.000,4,0.000,0.040,2709,3461,2903,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9058,-0.81,-146.6,611.0,-6.8,224,9063,0.00,2.50,0.00,0.000,6,0.000,0.024,2709,1819,2903,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9461,-0.79,-146.6,649.8,-8.3,228,9463,0.12,0.00,0.00,0.000,6,0.142,0.000,2744,1819,2902,0,0,0,0,0,0,26.49,28.83,28.83
$GC,9821,-0.79,-146.6,674.5,-7.3,231,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1818,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10181,-0.81,-146.6,694.0,-5.6,234,10188,0.00,2.58,0.00,0.000,4,0.000,0.040,2733,3447,2900,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10360,-0.84,-146.6,701.4,-5.6,235,10368,0.00,2.50,0.00,0.000,6,0.000,0.025,2733,1818,2899,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10780,-0.84,-146.6,737.6,-7.5,239,10787,0.00,2.60,0.00,0.000,4,0.000,0.040,2721,3452,2898,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10929,-0.84,-146.6,748.0,-8.1,240,10933,0.00,2.50,0.00,0.000,6,0.000,0.025,2721,1824,2895,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11251,-0.84,-146.6,777.0,-8.4,243,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1824,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11610,-0.84,-146.6,803.6,-7.5,246,11611,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1824,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11970,-0.84,-146.6,828.3,-6.9,249,11978,0.00,2.60,0.00,0.000,4,0.000,0.041,2709,3452,2894,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12081,-0.84,-146.6,828.3,-6.9,249,12090,0.00,2.50,0.00,0.000,6,0.000,0.026,2709,1828,2894,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12451,-0.84,-146.6,863.1,-7.3,253,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1828,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12810,-0.84,-146.6,890.6,-7.6,256,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1828,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13170,-0.84,-146.6,918.9,-7.8,259,13178,0.00,2.60,0.00,0.000,4,0.000,0.042,2697,3451,2891,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13320,-0.84,-146.6,928.1,-7.8,260,13325,0.12,2.50,0.00,0.000,6,0.138,0.027,2731,1830,2890,0,0,0,0,0,0,26.11,26.39,28.83
$GC,13642,-0.84,-146.6,952.3,-7.0,263,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1830,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13943,-0.87,-146.6,972.5,-6.6,273,13950,0.00,2.58,0.00,0.000,4,0.000,0.041,2721,3446,2888,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14022,-0.91,-146.6,976.6,-6.8,275,14026,0.00,2.50,0.00,0.000,6,0.000,0.027,2721,1827,2888,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,14231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14231,begin apogee
$GC,14236,-0.29,0.0,991.9,-6.6,282,14361,0.55,0.00,121.05,1.691,6,0.111,0.000,2903,1827,2320,0,0,0,0,0,0,25.71,28.83,23.65
$STATE,14363,end apogee,CONTROL_FINISHED_OK
$STATE,14363,begin climb
$GC,14365,0.95,146.6,994.6,0.0,286,14502,1.15,0.00,130.32,1.651,6,0.067,0.000,3307,1827,1723,0,0,0,0,0,0,24.93,28.83,23.27
$GC,14803,0.81,146.6,959.3,9.2,301,14805,0.17,0.00,0.00,0.000,6,0.148,0.000,3259,1827,1714,0,0,0,0,0,0,25.70,28.83,28.83
$GC,15163,0.72,146.6,930.4,8.0,307,15170,0.00,2.60,0.00,0.000,4,0.000,0.041,3258,3449,1712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15222,0.63,146.6,930.4,8.0,307,15230,0.22,2.53,0.00,0.000,6,0.138,0.028,3203,1830,1712,0,0,0,0,0,0,25.88,26.22,28.83
$GC,15643,0.59,146.6,898.4,6.6,311,15644,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1830,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16003,0.56,146.6,875.3,6.4,314,16010,0.00,2.58,0.00,0.000,4,0.000,0.039,3203,3453,1710,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16071,0.53,146.6,875.3,6.4,314,16077,0.15,2.53,0.00,0.000,6,0.136,0.027,3171,1823,1709,0,0,0,0,0,0,26.08,26.36,28.83
$GC,16474,0.54,156.1,847.8,5.8,318,16483,0.00,0.00,7.07,1.388,6,0.000,0.000,3171,1822,1682,0,0,0,0,0,0,28.83,28.83,24.90
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$STATE,28227,end climb,SURFACE_DEPTH_REACHED
$STATE,28227,begin surface coast
$FINISH,0.8,0.998471
$STATE,28279,end surface coast,CONTROL_FINISHED_OK
$STATE,28279,begin surface
$SM_CCo,28297,23.02,0.132,0,0,1093,300.00
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$IRIDIUM_FIX,2427.58,-3750.01,311012,141402
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.44
$INTERNAL_PRESSURE,9.11433
$TCM_TEMP,24.60
$XPDR_PINGS,1
$SC_FREEKB,7709984
$TM_FREEKB,6520032
$24V_AH,23.3,30.597
$10V_AH,10.3,25.724
$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
$DEVICE_SECS,22.325,167.450,322.150,23.025,0.000,25.887,45.867,266.983,0.250,0.000,25.111,2077.843,23891.746,699.142,1930.823,307.132,33.286,1530.425,0.000,1441.926,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.297,13.507,0.000,0.000
$MEM,344332
$DATA_FILE_SIZE,16729,579
$CAP_FILE_SIZE,188581,0
$CFSIZE,260034560,238546944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011112,071735,2420.872,-3746.608,30,0.9,30,-14.0