version: 66.11
glider: 189
mission: 7
dive: 205
start: 11 18 112 7 34 5
data:
$ID,189
$MISSION,7
$DIVE,205
$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,-47910.129
$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
$GPS1,181112,072304,2428.444,-3747.207,37,0.9,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-56.9
$GPS2,181112,073303,2428.430,-3747.257,19,1.2,19,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.180,0.094
$KALMAN_X,48433.1,-296.1,-6.3,-23473.3,4269.1
$KALMAN_Y,51499.5,311.2,16.8,-65153.9,-2403.7
$MHEAD_RNG_PITCHd_Wd,311.7,26890,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-146.6,0.0,0.0,0,37,0.00,0.00,-11.68,0.000,2,0.000,0.000,161,1877,1446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.2,0.0,1,117,9.48,2.55,-56.28,0.000,4,0.190,0.050,2707,3458,2919,0,0,0,0,0,0,25.69,26.10,26.63
$GC,346,-0.73,-146.6,24.5,-11.1,32,356,0.20,2.50,0.00,0.000,6,0.132,0.023,2764,1824,2920,0,0,0,0,0,0,25.85,26.29,28.83
$GC,657,-0.68,-146.6,45.1,-6.3,63,666,0.00,2.58,0.00,0.000,4,0.000,0.037,2754,3452,2920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,896,-0.62,-146.6,62.3,-8.6,87,906,0.15,2.47,0.00,0.000,6,0.123,0.023,2797,1823,2921,0,0,0,0,0,0,26.10,26.40,28.83
$GC,1206,-0.62,-146.6,87.7,-8.3,108,1214,0.00,2.58,0.00,0.000,4,0.000,0.037,2783,3459,2921,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1448,-0.62,-146.6,108.1,-8.2,116,1454,0.00,2.45,0.00,0.000,6,0.000,0.022,2786,1825,2920,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1776,-0.62,-146.6,128.6,-6.2,127,1784,0.00,2.55,0.00,0.000,4,0.000,0.036,2775,3452,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2016,-0.62,-146.6,141.4,-4.8,135,2024,0.00,2.47,0.00,0.000,6,0.000,0.022,2775,1814,2922,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2347,-0.62,-146.6,156.2,-4.5,144,2354,0.00,2.58,0.00,0.000,4,0.000,0.036,2763,3455,2923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2588,-0.62,-146.6,172.6,-6.9,148,2595,0.08,2.45,0.00,0.000,6,0.106,0.022,2794,1819,2922,0,0,0,0,0,0,26.27,26.51,28.83
$GC,2946,-0.62,-146.6,198.1,-7.1,154,2954,0.00,2.58,0.00,0.000,4,0.000,0.037,2782,3458,2922,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3188,-0.62,-146.6,212.4,-5.9,158,3194,0.00,2.40,0.00,0.000,6,0.000,0.022,2783,1821,2922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3546,-0.62,-146.6,227.5,-4.2,164,3554,0.00,2.58,0.00,0.000,4,0.000,0.037,2771,3460,2922,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3788,-0.62,-146.6,239.7,-5.1,168,3794,0.00,2.45,0.00,0.000,6,0.000,0.022,2771,1824,2922,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4146,-0.62,-146.6,258.6,-5.1,174,4154,0.00,2.58,0.00,0.000,4,0.000,0.037,2759,3461,2920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4388,-0.62,-146.6,270.1,-4.8,178,4395,0.10,2.45,0.00,0.000,6,0.097,0.022,2799,1825,2920,0,0,0,0,0,0,26.25,26.52,28.83
$GC,4747,-0.65,-146.6,285.9,-4.6,184,4754,0.00,2.55,0.00,0.000,4,0.000,0.037,2788,3450,2920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4989,-0.68,-146.6,298.7,-5.3,188,4994,0.00,2.40,0.00,0.000,6,0.000,0.023,2788,1824,2918,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5347,-0.70,-146.6,317.6,-5.1,194,5354,0.00,2.55,0.00,0.000,4,0.000,0.037,2776,3449,2918,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5589,-0.73,-146.6,329.8,-5.1,198,5594,0.00,2.40,0.00,0.000,6,0.000,0.023,2776,1823,2917,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5947,-0.73,-146.6,350.3,-5.8,204,5954,0.00,2.58,0.00,0.000,4,0.000,0.037,2764,3453,2916,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6188,-0.73,-146.6,365.4,-6.3,208,6194,0.00,2.45,0.00,0.000,6,0.000,0.023,2764,1826,2915,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6546,-0.73,-146.6,389.7,-6.7,214,6554,0.00,2.58,0.00,0.000,4,0.000,0.038,2753,3452,2915,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6788,-0.73,-146.6,403.9,-5.9,218,6794,0.00,2.45,0.00,0.000,6,0.000,0.024,2753,1827,2914,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7147,-0.73,-146.6,421.7,-4.8,224,7154,0.00,2.58,0.00,0.000,4,0.000,0.037,2741,3457,2913,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7388,-0.73,-146.6,434.7,-5.4,228,7394,0.00,2.42,0.00,0.000,6,0.000,0.022,2741,1820,2912,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7746,-0.73,-146.6,459.0,-7.1,234,7754,0.00,2.60,0.00,0.000,4,0.000,0.037,2730,3465,2911,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7988,-0.70,-146.6,477.4,-7.7,238,7995,0.10,2.47,0.00,0.000,6,0.101,0.024,2768,1827,2911,0,0,0,0,0,0,26.21,26.49,28.83
$GC,8347,-0.70,-146.6,499.6,-6.0,244,8354,0.00,2.55,0.00,0.000,4,0.000,0.038,2758,3449,2910,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8588,-0.70,-146.6,513.0,-5.6,247,8594,0.00,2.45,0.00,0.000,6,0.000,0.024,2758,1803,2909,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8947,-0.70,-146.6,530.1,-4.9,250,8954,0.00,2.62,0.00,0.000,4,0.000,0.038,2746,3468,2907,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9188,-0.70,-146.6,541.2,-4.6,252,9194,0.00,2.47,0.00,0.000,6,0.000,0.024,2752,1828,2907,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9547,-0.70,-146.6,561.4,-5.4,255,9554,0.00,2.58,0.00,0.000,4,0.000,0.038,2734,3450,2906,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9786,-0.70,-146.6,578.4,-6.5,257,9795,0.12,2.50,0.00,0.000,6,0.125,0.024,2771,1815,2906,0,0,0,0,0,0,26.22,26.46,28.83
$GC,10146,-0.70,-146.6,604.0,-7.1,260,10154,0.00,2.60,0.00,0.000,4,0.000,0.038,2761,3455,2905,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10388,-0.73,-146.6,620.8,-7.1,262,10394,0.00,2.47,0.00,0.000,6,0.000,0.024,2761,1793,2904,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10747,-0.76,-146.6,642.6,-6.3,265,10754,0.00,2.62,0.00,0.000,4,0.000,0.039,2749,3450,2903,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10988,-0.79,-146.6,654.5,-5.4,267,10994,0.00,2.47,0.00,0.000,6,0.000,0.024,2749,1825,2903,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11347,-0.79,-146.6,671.1,-4.6,270,11354,0.00,2.58,0.00,0.000,4,0.000,0.039,2737,3453,2902,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11588,-0.79,-146.6,682.8,-4.7,272,11594,0.00,2.47,0.00,0.000,6,0.000,0.024,2737,1830,2901,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11947,-0.79,-146.6,702.7,-5.4,275,11954,0.00,2.58,0.00,0.000,4,0.000,0.039,2726,3452,2900,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12188,-0.79,-146.6,717.5,-5.9,277,12194,0.00,2.47,0.00,0.000,6,0.000,0.024,2726,1826,2900,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12547,-0.79,-146.6,739.7,-6.1,280,12554,0.00,2.58,0.00,0.000,4,0.000,0.039,2714,3456,2899,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12787,-0.79,-146.6,755.8,-6.5,282,12795,0.08,2.47,0.00,0.000,6,0.109,0.024,2744,1827,2898,0,0,0,0,0,0,26.17,26.42,28.83
$GC,13147,-0.79,-146.6,776.0,-5.8,285,13154,0.00,2.58,0.00,0.000,4,0.000,0.039,2733,3446,2898,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13388,-0.79,-146.6,787.7,-5.2,287,13394,0.00,2.47,0.00,0.000,6,0.000,0.025,2732,1825,2897,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13747,-0.79,-146.6,805.3,-4.9,290,13754,0.00,2.58,0.00,0.000,4,0.000,0.040,2721,3442,2896,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13988,-0.79,-146.6,818.0,-5.1,292,13994,0.00,2.45,0.00,0.000,6,0.000,0.025,2721,1815,2895,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14347,-0.79,-146.6,837.5,-5.4,295,14354,0.00,2.60,0.00,0.000,4,0.000,0.039,2709,3445,2894,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14588,-0.79,-146.6,852.1,-5.8,297,14595,0.08,2.47,0.00,0.000,6,0.110,0.025,2740,1828,2894,0,0,0,0,0,0,26.12,26.39,28.83
$GC,14947,-0.79,-146.6,875.3,-6.4,300,14955,0.00,2.58,0.00,0.000,4,0.000,0.040,2729,3448,2893,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15188,-0.81,-146.6,892.6,-6.9,302,15194,0.00,2.47,0.00,0.000,6,0.000,0.026,2728,1830,2893,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15547,-0.81,-146.6,918.0,-7.1,305,15554,0.00,2.58,0.00,0.000,4,0.000,0.041,2717,3445,2892,0,0,0,0,0,0,28.83,26.11,28.83
$GC,15788,-0.81,-146.6,933.5,-6.7,307,15794,0.00,2.47,0.00,0.000,6,0.000,0.026,2717,1830,2891,0,0,0,0,0,0,28.83,26.35,28.83
$GC,16147,-0.81,-146.6,954.9,-6.0,310,16154,0.00,2.58,0.00,0.000,4,0.000,0.041,2705,3446,2890,0,0,0,0,0,0,28.83,26.08,28.83
$GC,16386,-0.81,-146.6,968.4,-5.6,318,16395,0.12,2.50,0.00,0.000,6,0.131,0.026,2741,1828,2888,0,0,0,0,0,0,26.06,26.32,28.83
$GC,16720,-0.84,-146.6,984.6,-5.0,329,16725,0.00,2.55,0.00,0.000,4,0.000,0.041,2730,3448,2892,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,16834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16834,begin apogee
$GC,16842,-0.29,0.0,990.6,-5.0,333,16970,0.50,0.00,123.80,1.695,6,0.102,0.000,2901,1828,2319,0,0,0,0,0,0,25.72,28.83,23.45
$STATE,16971,end apogee,CONTROL_FINISHED_OK
$STATE,16971,begin climb
$GC,16974,0.86,146.6,993.7,0.0,337,17111,1.05,0.00,132.75,1.655,6,0.064,0.000,3272,1828,1721,0,0,0,0,0,0,24.85,28.83,22.92
$GC,17397,0.71,146.6,962.0,9.2,352,17399,0.15,0.00,0.00,0.000,6,0.151,0.000,3232,1828,1714,0,0,0,0,0,0,25.76,28.83,28.83
$GC,17787,0.62,146.6,931.4,7.7,359,17795,0.12,2.60,0.00,0.000,4,0.150,0.040,3195,3443,1711,0,0,0,0,0,0,26.15,26.17,28.83
$GC,17856,0.52,146.6,931.4,7.7,359,17864,0.12,2.53,0.00,0.000,6,0.142,0.027,3172,1825,1711,0,0,0,0,0,0,26.04,26.26,28.83
$GC,18267,0.49,146.6,902.0,6.1,363,18274,0.00,2.38,0.00,0.000,4,0.000,0.047,3182,357,1710,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,30537,end climb,SURFACE_DEPTH_REACHED
$STATE,30537,begin surface coast
$FINISH,1.2,1.024708
$STATE,30568,end surface coast,CONTROL_FINISHED_OK
$STATE,30568,begin surface
$SM_CCo,30651,0.00,0.000,0,0,921,343.17
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$IRIDIUM_FIX,2422.84,-3822.20,171112,222235
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,7691168
$TM_FREEKB,6075104
$24V_AH,22.9,40.113
$10V_AH,10.1,33.318
$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,21.875,277.300,414.025,0.000,0.000,28.757,35.505,251.062,0.250,0.000,20.970,3039.303,23889.266,900.062,2973.374,434.126,33.294,2237.478,0.000,2469.548,0.000,0.536,0.000
$DEVICE_MAMPS,189.720,139.230,1695.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.909,13.491,0.000,0.000
$MEM,344368
$DATA_FILE_SIZE,16764,608
$CAP_FILE_SIZE,238977,0
$CFSIZE,260034560,233209856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181112,160605,2430.367,-3747.933,36,1.0,36,-14.0