version: 66.11
glider: 189
mission: 7
dive: 178
start: 11 8 112 17 56 30
data:
$ID,189
$MISSION,7
$DIVE,178
$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,-47666.93
$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
$GPS1,081112,174634,2422.956,-3817.194,53,0.8,53,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-49.9
$GPS2,081112,175530,2423.017,-3817.252,16,1.5,16,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.082,-0.154
$KALMAN_X,25735.2,44.0,12.2,-51650.2,-1960.1
$KALMAN_Y,96475.0,-103.8,319.7,-120028.4,325.3
$MHEAD_RNG_PITCHd_Wd,166.0,4712,-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,-101.1,0.0,0.0,0,67,0.00,0.00,-42.30,0.000,2,0.000,0.000,167,1825,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.03,-146.6,2.2,-1.6,4,127,9.30,2.35,-40.00,0.000,4,0.194,0.052,2661,341,2917,0,0,0,0,0,0,25.62,26.10,26.63
$GC,356,-0.86,-146.6,35.1,-12.3,33,366,0.25,2.35,0.00,0.000,6,0.144,0.023,2722,1893,2919,0,0,0,0,0,0,25.79,26.35,28.83
$GC,666,-0.79,-146.6,63.2,-10.2,64,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1896,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.73,-146.6,89.6,-7.5,83,985,0.15,2.42,0.00,0.000,4,0.142,0.037,2755,3451,2919,0,0,0,0,0,0,26.34,26.31,28.83
$GC,1066,-0.71,-146.6,96.9,-8.2,86,1074,0.00,2.47,0.00,0.000,6,0.000,0.022,2756,1818,2918,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1396,-0.71,-146.6,120.4,-6.3,97,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1820,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-0.71,-146.6,135.7,-4.9,107,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1818,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,-0.71,-146.6,156.1,-7.6,116,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1818,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2296,-0.71,-146.6,178.7,-7.5,121,2304,0.00,2.55,0.00,0.000,4,0.000,0.036,2744,3449,2920,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2537,-0.71,-146.6,194.6,-6.6,125,2544,0.00,2.45,0.00,0.000,6,0.000,0.023,2744,1819,2920,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2896,-0.71,-146.6,221.6,-7.7,131,2904,0.00,2.55,0.00,0.000,4,0.000,0.036,2732,3452,2919,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3105,-0.71,-146.6,235.9,-8.0,134,3110,0.12,2.47,0.00,0.000,6,0.132,0.023,2768,1815,2919,0,0,0,0,0,0,26.27,26.55,28.83
$GC,3428,-0.75,-146.6,257.5,-5.8,140,3436,0.00,2.55,0.00,0.000,4,0.000,0.037,2757,3451,2918,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3619,-0.78,-146.6,266.5,-5.2,143,3626,0.00,2.45,0.00,0.000,6,0.000,0.022,2757,1822,2916,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3969,-0.81,-146.6,283.8,-4.9,149,3976,0.00,2.55,0.00,0.000,4,0.000,0.037,2745,3457,2916,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4098,-0.85,-146.6,290.4,-5.2,151,4105,0.00,2.47,0.00,0.000,6,0.000,0.022,2745,1817,2916,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4448,-0.87,-146.6,311.9,-6.1,157,4456,0.00,2.55,0.00,0.000,4,0.000,0.037,2733,3456,2915,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4568,-0.87,-146.6,319.5,-6.2,159,4575,0.00,2.47,0.00,0.000,6,0.000,0.023,2733,1817,2915,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4928,-0.87,-146.6,344.6,-7.1,165,4936,0.00,2.58,0.00,0.000,4,0.000,0.037,2722,3456,2913,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5037,-0.87,-146.6,349.3,-7.3,166,5041,0.00,2.47,0.00,0.000,6,0.000,0.022,2722,1820,2913,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5338,-0.87,-146.6,377.0,-7.9,171,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1820,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5638,-0.87,-146.6,400.3,-7.7,176,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1820,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5938,-0.87,-146.6,422.9,-7.4,181,5945,0.00,2.58,0.00,0.000,4,0.000,0.037,2710,3452,2910,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6017,-0.87,-146.6,427.0,-7.3,182,6021,0.00,2.47,0.00,0.000,6,0.000,0.023,2710,1822,2910,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6349,-0.87,-146.6,451.5,-6.9,188,6356,0.00,2.58,0.00,0.000,4,0.000,0.038,2698,3457,2908,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6408,-0.87,-146.6,456.0,-7.0,189,6416,0.00,2.47,0.00,0.000,6,0.000,0.023,2698,1824,2908,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6768,-0.87,-146.6,484.1,-8.0,195,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1824,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7129,-0.87,-146.6,516.0,-8.9,200,7136,0.00,2.55,0.00,0.000,4,0.000,0.039,2686,3450,2905,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7369,-0.87,-146.6,536.8,-8.9,202,7377,0.12,2.47,0.00,0.000,6,0.138,0.024,2720,1825,2905,0,0,0,0,0,0,26.21,26.50,28.83
$GC,7729,-0.87,-146.6,559.5,-6.8,205,7736,0.00,2.60,0.00,0.000,4,0.000,0.039,2711,3461,2903,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7807,-0.87,-146.6,559.5,-6.8,205,7812,0.00,2.50,0.00,0.000,6,0.000,0.024,2705,1821,2903,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8200,-0.87,-146.6,587.8,-6.0,209,8207,0.00,2.58,0.00,0.000,4,0.000,0.039,2697,3451,2902,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8289,-0.87,-146.6,587.8,-6.0,209,8296,0.00,2.47,0.00,0.000,6,0.000,0.024,2697,1825,2902,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8679,-0.87,-146.6,623.4,-7.4,213,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1825,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9039,-0.87,-146.6,654.2,-8.5,216,9047,0.00,2.60,0.00,0.000,4,0.000,0.040,2686,3460,2898,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9238,-0.87,-146.6,664.8,-8.6,217,9247,0.12,2.50,0.00,0.000,6,0.136,0.024,2721,1821,2899,0,0,0,0,0,0,26.19,26.47,28.83
$GC,9639,-0.89,-146.6,702.5,-7.8,221,9647,0.00,2.60,0.00,0.000,4,0.000,0.040,2710,3455,2898,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9718,-0.91,-146.6,702.5,-7.8,221,9723,0.00,2.50,0.00,0.000,6,0.000,0.024,2715,1818,2898,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10111,-0.94,-146.6,738.5,-7.7,225,10118,0.00,2.58,0.00,0.000,4,0.000,0.040,2698,3448,2897,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10211,-0.96,-146.6,738.5,-7.7,225,10218,0.00,2.45,0.00,0.000,6,0.000,0.024,2698,1830,2896,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10590,-0.96,-146.6,775.7,-7.8,229,10598,0.00,2.58,0.00,0.000,4,0.000,0.040,2685,3449,2895,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10711,-0.96,-146.6,785.0,-7.7,230,10718,0.00,2.50,0.00,0.000,6,0.000,0.024,2685,1815,2894,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11070,-0.96,-146.6,814.3,-8.1,233,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1815,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11430,-0.96,-146.6,842.2,-7.8,236,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1815,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11790,-0.96,-146.6,868.4,-7.3,239,11798,0.00,2.62,0.00,0.000,4,0.000,0.041,2674,3455,2891,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11959,-0.96,-146.6,877.5,-7.4,240,11963,0.00,2.50,0.00,0.000,6,0.000,0.025,2674,1827,2891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12261,-0.96,-146.6,904.2,-7.6,243,12268,0.00,2.60,0.00,0.000,4,0.000,0.041,2662,3451,2890,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12350,-0.96,-146.6,904.2,-7.6,243,12354,0.00,2.50,0.00,0.000,6,0.000,0.025,2661,1825,2889,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12732,-0.96,-146.6,942.2,-8.1,247,12740,0.12,2.60,0.00,0.000,4,0.146,0.041,2684,3454,2888,0,0,0,0,0,0,26.44,26.16,28.83
$GC,12811,-0.96,-146.6,942.2,-8.1,247,12815,0.00,2.50,0.00,0.000,6,0.000,0.025,2684,1826,2888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13113,-0.96,-146.6,967.5,-6.2,254,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1826,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13413,-0.96,-146.6,985.3,-5.9,264,13420,0.00,2.58,0.00,0.000,4,0.000,0.041,2673,3450,2888,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,13500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13500,begin apogee
$GC,13508,-0.29,0.0,990.7,-6.0,267,13633,0.70,0.00,120.90,1.684,6,0.115,0.000,2902,1822,2320,0,0,0,0,0,0,25.53,28.83,23.62
$STATE,13635,end apogee,CONTROL_FINISHED_OK
$STATE,13635,begin climb
$GC,13637,1.03,146.6,992.3,0.0,271,13772,1.23,0.00,131.40,1.643,6,0.066,0.000,3331,1822,1721,0,0,0,0,0,0,24.91,28.83,23.18
$GC,14063,0.89,146.6,954.3,10.2,286,14071,0.17,2.62,0.00,0.000,4,0.157,0.039,3285,3445,1714,0,0,0,0,0,0,25.70,25.89,28.83
$GC,14152,0.76,146.6,948.7,9.7,288,14160,0.17,2.55,0.00,0.000,6,0.149,0.026,3248,1822,1713,0,0,0,0,0,0,25.76,26.06,28.83
$GC,14543,0.70,146.6,919.8,6.8,292,14551,0.00,2.38,0.00,0.000,4,0.000,0.046,3258,356,1710,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14612,0.64,146.6,919.8,6.8,292,14620,0.17,2.35,0.00,0.000,6,0.138,0.025,3208,1893,1709,0,0,0,0,0,0,25.98,26.34,28.83
$GC,15022,0.64,146.6,889.2,6.4,296,15030,0.00,2.50,0.00,0.000,4,0.000,0.039,3207,3459,1709,0,0,0,0,0,0,28.83,26.26,28.83
$GC,15102,0.64,146.6,889.2,6.4,296,15110,0.00,2.53,0.00,0.000,6,0.000,0.027,3219,1830,1709,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15502,0.64,146.6,855.8,6.9,300,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1830,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15862,0.64,146.6,831.5,6.8,303,15870,0.00,2.40,0.00,0.000,4,0.000,0.047,3230,355,1707,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15942,0.64,146.6,831.5,6.8,303,15949,0.00,2.35,0.00,0.000,6,0.000,0.026,3230,1892,1706,0,0,0,0,0,0,28.83,26.46,28.83
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$STATE,26247,end climb,SURFACE_DEPTH_REACHED
$STATE,26248,begin surface coast
$FINISH,1.1,1.024979
$STATE,26289,end surface coast,CONTROL_FINISHED_OK
$STATE,26289,begin surface
$SM_CCo,26308,31.52,0.130,0,0,1094,300.00
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$IRIDIUM_FIX,2413.38,-3754.16,081112,090952
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,7701536
$TM_FREEKB,6320032
$24V_AH,23.2,34.732
$10V_AH,10.2,28.963
$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,21.775,174.375,308.400,31.525,0.000,27.896,39.030,219.261,0.000,0.000,17.918,2017.165,21940.252,707.892,1875.188,325.983,33.265,1545.950,0.000,1446.653,0.000,0.538,0.000
$DEVICE_MAMPS,193.545,95.625,1683.765,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26299.000,5194.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.220,13.534,0.000,0.000
$MEM,344404
$DATA_FILE_SIZE,13446,537
$CAP_FILE_SIZE,179864,0
$CFSIZE,260034560,236220416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091112,011639,2420.394,-3815.877,33,1.1,33,-14.1