version: 66.11
glider: 189
mission: 7
dive: 163
start: 11 3 112 10 42 53
data:
$ID,189
$MISSION,7
$DIVE,163
$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,-47647.973
$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
$GPS1,031112,103235,2433.185,-3759.379,32,1.0,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-56.0
$GPS2,031112,104154,2433.147,-3759.391,17,1.3,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.176,0.069
$KALMAN_X,31480.9,75.0,-252.8,-27075.3,1295.3
$KALMAN_Y,91274.9,210.9,-73.2,-95991.3,-660.8
$MHEAD_RNG_PITCHd_Wd,305.5,4670,-13.2,-6.111,-17.93
$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,23,-0.91,-122.9,0.0,0.0,0,46,0.00,0.00,-21.60,0.000,2,0.000,0.000,163,1864,1548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.94,-146.6,2.0,0.0,2,118,9.35,2.53,-53.30,0.000,4,0.191,0.050,2683,3449,2918,0,0,0,0,0,0,25.71,26.15,26.63
$GC,256,-0.80,-146.6,12.2,-10.1,23,266,0.20,2.50,0.00,0.000,6,0.138,0.023,2742,1817,2923,0,0,0,0,0,0,25.87,26.29,28.83
$GC,566,-0.70,-146.6,42.6,-11.0,54,568,0.12,0.00,0.00,0.000,6,0.150,0.000,2775,1817,2919,0,0,0,0,0,0,26.31,28.83,28.83
$GC,866,-0.65,-146.6,69.3,-8.2,84,876,0.00,2.58,0.00,0.000,4,0.000,0.036,2764,3461,2919,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1036,-0.61,-146.6,81.5,-8.0,94,1046,0.12,2.47,0.00,0.000,6,0.132,0.022,2800,1823,2919,0,0,0,0,0,0,26.22,26.47,28.83
$GC,1347,-0.61,-146.6,99.3,-4.7,105,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1820,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1646,-0.61,-146.6,111.3,-3.7,115,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1822,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,-0.61,-146.6,123.8,-4.5,125,1954,0.00,2.55,0.00,0.000,4,0.000,0.036,2789,3462,2921,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2015,-0.61,-146.6,127.1,-5.1,127,2020,0.00,2.47,0.00,0.000,6,0.000,0.022,2788,1817,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2327,-0.61,-146.6,145.8,-6.1,138,2335,0.00,2.55,0.00,0.000,4,0.000,0.036,2776,3452,2921,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2557,-0.61,-146.6,157.5,-6.4,143,2566,0.00,2.45,0.00,0.000,6,0.000,0.022,2776,1823,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2867,-0.61,-146.6,180.7,-6.5,149,2874,0.00,2.33,0.00,0.000,4,0.000,0.041,2776,342,2921,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2987,-0.61,-146.6,189.5,-6.9,151,2995,0.12,2.33,0.00,0.000,6,0.138,0.023,2801,1898,2920,0,0,0,0,0,0,26.29,26.58,28.83
$GC,3349,-0.65,-146.6,211.0,-5.9,157,3355,0.00,2.40,0.00,0.000,4,0.000,0.038,2791,3451,2919,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3457,-0.69,-146.6,214.5,-5.8,158,3466,0.00,2.45,0.00,0.000,6,0.000,0.022,2791,1824,2919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3768,-0.71,-146.6,235.0,-5.7,164,3775,0.00,2.53,0.00,0.000,4,0.000,0.037,2779,3451,2918,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3907,-0.74,-146.6,242.0,-5.8,166,3914,0.00,2.45,0.00,0.000,6,0.000,0.022,2779,1824,2918,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4247,-0.74,-146.6,264.5,-6.3,172,4254,0.00,2.55,0.00,0.000,4,0.000,0.037,2768,3452,2917,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4396,-0.74,-146.6,272.0,-6.3,174,4400,0.00,2.47,0.00,0.000,6,0.000,0.023,2768,1816,2916,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4718,-0.74,-146.6,291.8,-5.4,180,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1815,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-0.74,-146.6,308.3,-5.6,185,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1815,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5317,-0.74,-146.6,327.2,-6.4,190,5325,0.00,2.58,0.00,0.000,4,0.000,0.037,2756,3453,2914,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5418,-0.74,-146.6,331.3,-6.6,191,5425,0.00,2.47,0.00,0.000,6,0.000,0.023,2756,1818,2913,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5738,-0.74,-146.6,356.5,-6.9,197,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1819,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6038,-0.74,-146.6,374.5,-5.9,202,6046,0.00,2.55,0.00,0.000,4,0.000,0.037,2744,3452,2911,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6117,-0.74,-146.6,378.4,-6.0,203,6121,0.00,2.47,0.00,0.000,6,0.000,0.023,2744,1818,2911,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6449,-0.74,-146.6,401.3,-6.6,209,6456,0.00,2.33,0.00,0.000,4,0.000,0.042,2744,348,2910,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6547,-0.74,-146.6,406.0,-6.9,210,6551,0.00,2.33,0.00,0.000,6,0.000,0.024,2733,1893,2909,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6859,-0.74,-146.6,434.0,-7.9,216,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1893,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7159,-0.74,-146.6,456.9,-7.5,221,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1893,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7459,-0.74,-146.6,477.8,-6.9,226,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1893,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7759,-0.74,-146.6,499.8,-7.3,231,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1893,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8059,-0.74,-146.6,523.6,-7.9,234,8066,0.00,2.45,0.00,0.000,4,0.000,0.040,2722,3450,2905,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8158,-0.74,-146.6,523.6,-7.9,234,8163,0.15,2.47,0.00,0.000,6,0.127,0.024,2766,1827,2905,0,0,0,0,0,0,26.20,26.51,28.83
$GC,8531,-0.74,-146.6,556.1,-6.8,238,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1826,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8892,-0.77,-146.6,577.1,-6.0,241,8899,0.00,2.55,0.00,0.000,4,0.000,0.040,2755,3449,2902,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9041,-0.81,-146.6,583.3,-5.7,242,9049,0.00,2.47,0.00,0.000,6,0.000,0.024,2755,1826,2902,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9372,-0.84,-146.6,599.9,-4.7,245,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1827,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9732,-0.86,-146.6,617.4,-4.7,248,9739,0.00,2.55,0.00,0.000,4,0.000,0.039,2743,3448,2899,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9821,-0.89,-146.6,617.4,-4.7,248,9828,0.00,2.47,0.00,0.000,6,0.000,0.024,2743,1827,2900,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10211,-0.89,-146.6,652.0,-7.3,252,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1827,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10571,-0.89,-146.6,679.5,-7.6,255,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1827,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10931,-0.89,-146.6,706.4,-7.5,258,10939,0.00,2.60,0.00,0.000,4,0.000,0.041,2731,3458,2897,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11040,-0.89,-146.6,706.4,-7.5,258,11044,0.00,2.50,0.00,0.000,6,0.000,0.025,2731,1826,2897,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11401,-0.89,-146.6,742.8,-7.7,261,11409,0.00,2.60,0.00,0.000,4,0.000,0.041,2720,3461,2895,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11530,-0.89,-146.6,752.4,-7.8,262,11534,0.00,2.50,0.00,0.000,6,0.000,0.025,2720,1828,2894,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11872,-0.89,-146.6,780.7,-8.0,265,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1827,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12232,-0.89,-146.6,807.9,-7.7,268,12240,0.00,2.60,0.00,0.000,4,0.000,0.041,2708,3458,2893,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12311,-0.89,-146.6,807.9,-7.7,268,12319,0.00,2.50,0.00,0.000,6,0.000,0.025,2707,1827,2893,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12712,-0.89,-146.6,842.7,-7.2,272,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1827,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13072,-0.89,-146.6,867.2,-6.9,275,13080,0.00,2.60,0.00,0.000,4,0.000,0.041,2695,3448,2891,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13211,-0.89,-146.6,875.9,-6.9,276,13215,0.00,2.50,0.00,0.000,6,0.000,0.026,2695,1825,2890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13542,-0.89,-146.6,901.6,-7.3,279,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1826,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13902,-0.89,-146.6,929.7,-7.7,282,13910,0.00,2.60,0.00,0.000,4,0.000,0.042,2683,3449,2888,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14051,-0.89,-146.6,939.7,-7.9,283,14056,0.00,2.50,0.00,0.000,6,0.000,0.026,2683,1827,2888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14373,-0.86,-146.6,968.0,-8.0,289,14375,0.12,0.00,0.00,0.000,6,0.149,0.000,2717,1826,2888,0,0,0,0,0,0,26.44,28.83,28.83
$GC,14673,-0.86,-146.6,989.5,-7.2,299,14674,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1826,2886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14701,begin apogee
$GC,14706,-0.29,0.0,991.8,-7.3,300,14832,0.55,0.00,120.72,1.679,6,0.112,0.000,2904,1826,2319,0,0,0,0,0,0,25.69,28.83,23.65
$STATE,14834,end apogee,CONTROL_FINISHED_OK
$STATE,14834,begin climb
$GC,14836,0.94,146.6,995.3,0.0,304,14973,1.12,0.00,130.27,1.652,6,0.064,0.000,3301,1826,1721,0,0,0,0,0,0,24.95,28.83,23.24
$GC,15273,0.80,146.6,961.5,9.5,319,15275,0.17,0.00,0.00,0.000,6,0.141,0.000,3253,1826,1713,0,0,0,0,0,0,25.75,28.83,28.83
$GC,15664,0.71,146.6,928.9,8.3,326,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1826,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16024,0.63,146.6,898.8,8.3,329,16032,0.17,2.60,0.00,0.000,4,0.134,0.041,3199,3446,1710,0,0,0,0,0,0,26.15,26.23,28.83
$GC,16112,0.54,146.6,898.8,8.3,329,16117,0.12,2.53,0.00,0.000,6,0.142,0.027,3175,1825,1710,0,0,0,0,0,0,26.10,26.33,28.83
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$STATE,28498,end climb,SURFACE_DEPTH_REACHED
$STATE,28498,begin surface coast
$FINISH,0.9,1.024975
$STATE,28532,end surface coast,CONTROL_FINISHED_OK
$STATE,28532,begin surface
$SM_CCo,28553,28.92,0.130,0,0,1095,300.00
$SM_GC,2.08,8.23,0.10,28.92,0.032,0.093,0.130,159,1825,1095,-8.83,0.45,300.00,0,0,0,0,0,0,26.41,26.71,25.96
$IRIDIUM_FIX,2418.11,-3735.27,031112,010120
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.19
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,7707296
$TM_FREEKB,6456832
$24V_AH,23.2,31.923
$10V_AH,10.2,26.740
$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,21.475,153.425,321.750,28.925,0.000,26.182,38.810,246.034,0.000,0.000,18.396,2056.194,24209.172,698.507,1860.085,307.357,33.258,1512.476,0.000,1406.892,0.000,0.538,0.000
$DEVICE_MAMPS,191.250,92.565,1679.175,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28532.000,5880.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.318,13.531,0.000,0.000
$MEM,344312
$DATA_FILE_SIZE,16729,596
$CAP_FILE_SIZE,186040,0
$CFSIZE,260034560,237813760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031112,184028,2434.222,-3802.240,38,0.7,38,-14.0