version: 66.11
glider: 189
mission: 7
dive: 206
start: 11 18 112 16 17 5
data:
$ID,189
$MISSION,7
$DIVE,206
$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,-47911.383
$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
$GPS1,181112,160605,2430.367,-3747.933,36,1.0,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-56.3
$GPS2,181112,161605,2430.345,-3747.969,18,1.1,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.172,0.107
$KALMAN_X,52746.5,115.7,-111.0,-29297.7,4695.8
$KALMAN_Y,51071.2,427.4,871.6,-62156.1,-3231.9
$MHEAD_RNG_PITCHd_Wd,316.0,24583,-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,-146.6,0.0,0.0,0,56,0.00,0.00,-31.40,0.000,2,0.000,0.000,163,1868,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.86,-146.6,2.1,-1.6,3,116,9.73,2.55,-35.47,0.000,4,0.201,0.049,2705,3462,2919,0,0,0,0,0,0,25.49,26.13,26.63
$GC,347,-0.73,-146.6,28.9,-9.8,32,356,0.17,2.50,0.00,0.000,6,0.130,0.023,2762,1824,2921,0,0,0,0,0,0,25.94,26.31,28.83
$GC,657,-0.66,-146.6,57.4,-9.7,63,666,0.00,2.55,0.00,0.000,4,0.000,0.036,2751,3451,2921,0,0,0,0,0,0,28.83,26.27,28.83
$GC,896,-0.60,-146.6,81.1,-9.6,83,905,0.17,2.47,0.00,0.000,6,0.122,0.023,2804,1819,2921,0,0,0,0,0,0,26.10,26.44,28.83
$GC,1228,-0.60,-146.6,100.4,-4.8,94,1235,0.00,2.55,0.00,0.000,4,0.000,0.037,2793,3450,2919,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1467,-0.60,-146.6,106.2,-1.9,102,1474,0.00,2.47,0.00,0.000,6,0.000,0.022,2793,1815,2921,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1797,-0.60,-146.6,121.9,-5.7,113,1804,0.00,2.55,0.00,0.000,4,0.000,0.036,2781,3449,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2036,-0.60,-146.6,139.2,-7.7,121,2044,0.00,2.45,0.00,0.000,6,0.000,0.022,2781,1822,2921,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2366,-0.60,-146.6,165.6,-8.0,129,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1822,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2667,-0.60,-146.6,184.2,-6.0,134,2674,0.00,2.55,0.00,0.000,4,0.000,0.036,2770,3452,2921,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2887,-0.60,-146.6,193.2,-5.0,137,2895,0.10,2.45,0.00,0.000,6,0.098,0.022,2813,1813,2921,0,0,0,0,0,0,26.27,26.53,28.83
$GC,3207,-0.63,-146.6,205.8,-3.3,143,3214,0.00,2.55,0.00,0.000,4,0.000,0.037,2798,3451,2921,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3356,-0.65,-146.6,210.2,-3.5,145,3364,0.00,2.45,0.00,0.000,6,0.000,0.022,2798,1823,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3686,-0.65,-146.6,226.2,-4.7,151,3694,0.00,2.58,0.00,0.000,4,0.000,0.037,2786,3464,2921,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3928,-0.65,-146.6,241.1,-6.2,155,3934,0.00,2.45,0.00,0.000,6,0.000,0.023,2786,1824,2920,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4286,-0.65,-146.6,265.5,-6.8,161,4294,0.00,2.58,0.00,0.000,4,0.000,0.037,2774,3462,2919,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4528,-0.65,-146.6,279.7,-5.9,165,4535,0.00,2.45,0.00,0.000,6,0.000,0.022,2774,1826,2918,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4887,-0.65,-146.6,296.6,-4.5,171,4894,0.00,2.55,0.00,0.000,4,0.000,0.037,2762,3451,2917,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5128,-0.65,-146.6,308.5,-4.9,175,5134,0.00,2.45,0.00,0.000,6,0.000,0.023,2762,1825,2917,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5487,-0.65,-146.6,333.7,-7.5,181,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1825,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-0.65,-146.6,361.1,-9.2,186,5794,0.00,2.58,0.00,0.000,4,0.000,0.037,2750,3453,2915,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6016,-0.65,-146.6,377.5,-9.2,189,6026,0.12,2.47,0.00,0.000,6,0.124,0.022,2788,1819,2915,0,0,0,0,0,0,26.29,26.53,28.83
$GC,6327,-0.68,-146.6,402.7,-6.5,195,6334,0.00,2.55,0.00,0.000,4,0.000,0.037,2777,3446,2914,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6569,-0.71,-146.6,415.6,-5.3,199,6574,0.00,2.40,0.00,0.000,6,0.000,0.023,2777,1822,2913,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6927,-0.73,-146.6,431.8,-4.4,205,6935,0.00,2.55,0.00,0.000,4,0.000,0.038,2766,3443,2912,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7169,-0.75,-146.6,443.3,-4.8,209,7174,0.00,2.40,0.00,0.000,6,0.000,0.024,2765,1822,2912,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7527,-0.75,-146.6,461.8,-5.2,215,7534,0.00,2.60,0.00,0.000,4,0.000,0.038,2753,3472,2910,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7757,-0.75,-146.6,472.4,-5.8,218,7766,0.00,2.50,0.00,0.000,6,0.000,0.024,2754,1819,2909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8067,-0.75,-146.6,496.4,-6.9,224,8074,0.00,2.58,0.00,0.000,4,0.000,0.038,2742,3449,2907,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8296,-0.75,-146.6,505.2,-7.2,226,8305,0.00,2.47,0.00,0.000,6,0.000,0.023,2742,1822,2908,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8667,-0.75,-146.6,541.2,-7.5,230,8674,0.00,2.58,0.00,0.000,4,0.000,0.038,2730,3455,2906,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8786,-0.75,-146.6,550.1,-7.4,231,8794,0.00,2.50,0.00,0.000,6,0.000,0.023,2730,1813,2906,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9147,-0.75,-146.6,572.7,-6.6,234,9154,0.00,2.60,0.00,0.000,4,0.000,0.038,2718,3457,2905,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9306,-0.73,-146.6,579.2,-6.0,235,9314,0.15,2.50,0.00,0.000,6,0.121,0.023,2764,1812,2905,0,0,0,0,0,0,26.20,26.49,28.83
$GC,9627,-0.73,-146.6,597.0,-5.0,238,9634,0.00,2.60,0.00,0.000,4,0.000,0.038,2753,3453,2904,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9836,-0.73,-146.6,603.6,-5.0,239,9844,0.00,2.50,0.00,0.000,6,0.000,0.023,2753,1815,2904,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10226,-0.73,-146.6,636.2,-6.8,243,10234,0.00,2.60,0.00,0.000,4,0.000,0.039,2741,3449,2903,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10468,-0.73,-146.6,654.4,-7.4,245,10475,0.00,2.47,0.00,0.000,6,0.000,0.024,2741,1824,2902,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10827,-0.73,-146.6,679.9,-7.2,248,10834,0.00,2.58,0.00,0.000,4,0.000,0.039,2730,3451,2901,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11068,-0.73,-146.6,695.1,-6.6,250,11075,0.12,2.42,0.00,0.000,6,0.124,0.024,2767,1822,2900,0,0,0,0,0,0,26.22,26.46,28.83
$GC,11428,-0.75,-146.6,714.6,-5.6,253,11434,0.00,2.55,0.00,0.000,4,0.000,0.040,2757,3457,2899,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11669,-0.79,-146.6,728.2,-5.5,255,11674,0.00,2.42,0.00,0.000,6,0.000,0.024,2757,1824,2899,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12027,-0.82,-146.6,747.5,-5.4,258,12035,0.00,2.58,0.00,0.000,4,0.000,0.039,2745,3448,2898,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12269,-0.85,-146.6,760.1,-5.2,260,12275,0.00,2.45,0.00,0.000,6,0.000,0.025,2745,1819,2897,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12627,-0.87,-146.6,777.9,-5.0,263,12634,0.00,2.58,0.00,0.000,4,0.000,0.040,2734,3444,2897,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12868,-0.87,-146.6,791.2,-5.3,265,12874,0.00,2.42,0.00,0.000,6,0.000,0.024,2733,1821,2896,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13226,-0.87,-146.6,815.3,-6.4,268,13234,0.00,2.62,0.00,0.000,4,0.000,0.040,2721,3457,2894,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13468,-0.87,-146.6,833.3,-7.2,270,13474,0.00,2.47,0.00,0.000,6,0.000,0.024,2722,1830,2895,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13826,-0.87,-146.6,861.4,-7.7,273,13834,0.00,2.60,0.00,0.000,4,0.000,0.040,2710,3457,2893,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14068,-0.87,-146.6,880.1,-7.8,275,14074,0.00,2.45,0.00,0.000,6,0.000,0.024,2708,1817,2892,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14426,-0.87,-146.6,906.8,-7.5,278,14434,0.00,2.62,0.00,0.000,4,0.000,0.040,2698,3453,2891,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14667,-0.87,-146.6,923.2,-7.1,280,14674,0.00,2.47,0.00,0.000,6,0.000,0.025,2698,1828,2891,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15027,-0.85,-146.6,946.3,-6.5,283,15035,0.10,2.60,0.00,0.000,4,0.145,0.041,2715,3452,2890,0,0,0,0,0,0,26.55,26.13,28.83
$GC,15267,-0.85,-146.6,960.1,-5.6,288,15274,0.00,2.50,0.00,0.000,6,0.000,0.025,2715,1820,2889,0,0,0,0,0,0,28.83,26.37,28.83
$GC,15599,-0.85,-146.6,977.4,-5.1,299,15604,0.00,2.55,0.00,0.000,4,0.000,0.041,2704,3448,2888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15836,-0.85,-146.6,989.8,-5.2,307,15844,0.00,2.50,0.00,0.000,6,0.000,0.025,2703,1827,2888,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,15864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15864,begin apogee
$GC,15869,-0.29,0.0,991.4,-5.2,308,15996,0.60,0.00,122.82,1.681,6,0.103,0.000,2906,1829,2320,0,0,0,0,0,0,25.66,28.83,23.49
$STATE,15998,end apogee,CONTROL_FINISHED_OK
$STATE,15998,begin climb
$GC,16000,0.86,146.6,993.8,0.0,312,16140,1.05,2.62,132.00,1.651,4,0.062,0.046,3289,355,1721,0,0,0,0,0,0,24.89,24.20,22.96
$GC,16249,0.69,146.6,978.9,9.0,321,16257,0.22,2.42,0.00,0.000,6,0.135,0.025,3225,1884,1715,0,0,0,0,0,0,25.22,25.50,28.83
$GC,16572,0.60,148.7,956.6,6.1,332,16578,0.12,2.45,0.00,0.000,4,0.147,0.040,3189,3449,1712,0,0,0,0,0,0,26.03,26.06,28.83
$GC,16721,0.58,185.9,948.9,5.0,337,16760,0.00,2.53,33.80,1.609,6,0.000,0.028,3200,1804,1561,0,0,0,0,0,0,28.83,26.20,24.10
$GC,17160,0.58,232.4,928.0,4.7,341,17208,0.00,2.72,41.58,1.620,4,0.000,0.038,3200,3448,1371,0,0,0,0,0,0,28.83,25.22,23.99
$GC,17269,0.59,278.9,928.0,4.7,341,17318,0.00,2.60,42.22,1.596,6,0.000,0.027,3212,1825,1182,0,0,0,0,0,0,28.83,25.70,23.75
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$STATE,28924,end climb,SURFACE_DEPTH_REACHED
$STATE,28924,begin surface coast
$FINISH,1.1,0.998788
$STATE,28955,end surface coast,CONTROL_FINISHED_OK
$STATE,28955,begin surface
$SM_CCo,29036,0.00,0.000,0,0,1083,303.44
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$TT8_MAMPS,0.026964,0.026964
$HUMID,58.26
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$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7690784
$TM_FREEKB,6066272
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$10V_AH,10.1,33.491
$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
$DEVICE_SECS,22.225,267.775,383.725,0.000,0.000,24.723,47.283,260.512,0.000,0.000,20.169,2803.615,22747.625,852.394,2777.004,437.636,33.267,2114.966,0.000,2272.094,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.860,13.522,0.000,0.000
$MEM,344340
$DATA_FILE_SIZE,16737,579
$CAP_FILE_SIZE,225902,0
$CFSIZE,260034560,233107456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191112,002204,2431.474,-3749.058,30,1.1,30,-14.0