version: 66.11
glider: 189
mission: 7
dive: 220
start: 11 23 112 14 56 17
data:
$ID,189
$MISSION,7
$DIVE,220
$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,-47928.996
$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,2150
$C_ROLL_CLIMB,1600
$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
$GPS1,231112,144534,2439.896,-3813.629,27,0.9,27,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-62.4
$GPS2,231112,145517,2439.865,-3813.637,18,0.9,19,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.126,0.159
$KALMAN_X,89216.1,-108.9,-332.3,-108534.7,3364.1
$KALMAN_Y,34873.3,20.6,-125.5,-26899.0,-3270.1
$MHEAD_RNG_PITCHd_Wd,335.7,15132,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-146.6,0.0,0.0,0,38,0.00,0.00,-12.10,0.000,2,0.000,0.000,151,2114,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.86,-146.6,2.1,0.0,1,118,9.57,2.53,-55.75,0.000,4,0.193,0.051,2720,547,2918,0,0,0,0,0,0,25.69,26.13,26.65
$GC,338,-0.72,-146.6,21.6,-9.7,31,347,0.15,2.47,0.00,0.000,6,0.118,0.024,2761,2180,2919,0,0,0,0,0,0,25.93,26.34,28.83
$GC,648,-0.66,-146.6,45.2,-7.2,62,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2179,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.60,-146.6,65.8,-6.8,92,950,0.15,0.00,0.00,0.000,6,0.134,0.000,2806,2180,2920,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1268,-0.60,-146.6,83.7,-5.7,114,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2180,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1568,-0.60,-146.6,99.2,-4.8,124,1575,0.00,2.58,0.00,0.000,4,0.000,0.037,2807,543,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1687,-0.60,-146.6,106.6,-6.2,128,1695,0.00,2.50,0.00,0.000,6,0.000,0.024,2796,2198,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2019,-0.60,-146.6,127.2,-5.6,139,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2199,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-0.60,-146.6,140.4,-4.1,149,2325,0.00,2.47,0.00,0.000,4,0.000,0.042,2786,3758,2921,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2408,-0.60,-146.6,144.3,-4.3,152,2415,0.00,2.47,0.00,0.000,6,0.000,0.021,2785,2092,2921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2738,-0.60,-146.6,161.3,-5.5,160,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2092,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3038,-0.60,-146.6,178.2,-5.6,165,3045,0.00,2.60,0.00,0.000,4,0.000,0.041,2772,3743,2921,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3137,-0.60,-146.6,181.5,-5.5,166,3145,0.12,2.45,0.00,0.000,6,0.127,0.020,2810,2087,2921,0,0,0,0,0,0,26.32,26.60,28.83
$GC,3461,-0.65,-146.6,204.3,-6.8,172,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2087,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-0.72,-146.6,226.3,-7.2,177,3766,0.12,2.40,0.00,0.000,4,0.080,0.037,2734,548,2921,0,0,0,0,0,0,26.72,26.39,28.83
$GC,3947,-0.72,-146.6,240.0,-7.5,180,3955,0.15,2.47,0.00,0.000,6,0.133,0.024,2766,2194,2921,0,0,0,0,0,0,26.22,26.55,28.83
$GC,4298,-0.72,-146.6,261.6,-5.8,186,4305,0.00,2.47,0.00,0.000,4,0.000,0.041,2755,3756,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4447,-0.72,-146.6,268.5,-5.7,188,4455,0.00,2.45,0.00,0.000,6,0.000,0.020,2755,2102,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4778,-0.72,-146.6,286.6,-4.9,194,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2102,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.72,-146.6,300.7,-4.7,199,5085,0.00,2.60,0.00,0.000,4,0.000,0.041,2744,3742,2919,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5207,-0.72,-146.6,307.0,-4.9,201,5215,0.00,2.45,0.00,0.000,6,0.000,0.021,2744,2100,2919,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5558,-0.70,-146.6,329.2,-6.4,207,5566,0.12,2.60,0.00,0.000,4,0.129,0.041,2770,3744,2918,0,0,0,0,0,0,26.53,26.34,28.83
$GC,5697,-0.70,-146.6,337.3,-6.7,209,5704,0.00,2.45,0.00,0.000,6,0.000,0.021,2770,2101,2918,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6037,-0.70,-146.6,362.9,-7.2,215,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2101,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6337,-0.70,-146.6,385.1,-7.4,220,6345,0.00,2.62,0.00,0.000,4,0.000,0.041,2757,3745,2916,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6579,-0.70,-146.6,403.5,-7.7,224,6586,0.00,2.45,0.00,0.000,6,0.000,0.021,2757,2104,2915,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6938,-0.70,-146.6,426.6,-6.2,230,6945,0.00,2.60,0.00,0.000,4,0.000,0.041,2746,3738,2915,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7137,-0.70,-146.6,436.3,-5.5,233,7145,0.00,2.45,0.00,0.000,6,0.000,0.021,2746,2104,2914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7478,-0.70,-146.6,453.1,-4.6,239,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2104,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7778,-0.70,-146.6,469.1,-5.5,244,7785,0.00,2.60,0.00,0.000,4,0.000,0.041,2734,3742,2912,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7998,-0.70,-146.6,481.2,-6.5,247,8006,0.10,2.42,0.00,0.000,6,0.105,0.021,2772,2106,2912,0,0,0,0,0,0,26.27,26.58,28.83
$GC,8378,-0.72,-146.6,509.1,-6.6,253,8386,0.00,2.60,0.00,0.000,4,0.000,0.041,2761,3739,2910,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8577,-0.75,-146.6,517.5,-6.7,254,8585,0.00,2.45,0.00,0.000,6,0.000,0.021,2758,2104,2910,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8978,-0.79,-146.6,548.8,-6.5,258,8985,0.00,2.47,0.00,0.000,4,0.000,0.038,2761,541,2908,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9220,-0.83,-146.6,564.5,-6.4,260,9225,0.00,2.45,0.00,0.000,6,0.000,0.025,2750,2195,2907,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9577,-0.83,-146.6,587.6,-6.5,263,9585,0.00,2.50,0.00,0.000,4,0.000,0.044,2738,3756,2906,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9657,-0.83,-146.6,587.6,-6.5,263,9664,0.00,2.47,0.00,0.000,6,0.000,0.021,2738,2105,2906,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10058,-0.83,-146.6,619.5,-6.6,267,10066,0.00,2.62,0.00,0.000,4,0.000,0.042,2727,3743,2905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10206,-0.83,-146.6,627.8,-6.7,268,10211,0.00,2.47,0.00,0.000,6,0.000,0.021,2726,2095,2905,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10528,-0.83,-146.6,650.4,-6.6,271,10536,0.00,2.67,0.00,0.000,4,0.000,0.042,2714,3756,2904,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10770,-0.83,-146.6,664.4,-6.0,273,10776,0.00,2.42,0.00,0.000,6,0.000,0.023,2714,2104,2903,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11128,-0.83,-146.6,684.1,-5.5,276,11136,0.00,2.62,0.00,0.000,4,0.000,0.042,2702,3745,2902,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11370,-0.81,-146.6,700.6,-6.2,278,11377,0.10,2.45,0.00,0.000,6,0.109,0.023,2740,2108,2902,0,0,0,0,0,0,26.20,26.52,28.83
$GC,11728,-0.81,-146.6,727.7,-7.4,281,11736,0.00,2.62,0.00,0.000,4,0.000,0.043,2729,3750,2900,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11969,-0.81,-146.6,748.8,-8.3,283,11976,0.00,2.45,0.00,0.000,6,0.000,0.022,2729,2114,2900,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12328,-0.81,-146.6,779.2,-8.6,286,12336,0.00,2.62,0.00,0.000,4,0.000,0.043,2717,3745,2899,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12569,-0.81,-146.6,798.8,-8.2,288,12576,0.00,2.45,0.00,0.000,6,0.000,0.023,2717,2111,2898,0,0,0,0,0,0,28.83,26.50,28.83
$GC,12928,-0.81,-146.6,825.8,-7.6,291,12936,0.00,2.65,0.00,0.000,4,0.000,0.044,2704,3749,2897,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13170,-0.81,-146.6,843.7,-7.5,293,13177,0.08,2.47,0.00,0.000,6,0.114,0.024,2734,2107,2896,0,0,0,0,0,0,26.20,26.48,28.83
$GC,13529,-0.81,-146.6,866.2,-6.5,296,13536,0.00,2.65,0.00,0.000,4,0.000,0.044,2723,3746,2896,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13770,-0.81,-146.6,880.7,-6.1,298,13776,0.00,2.42,0.00,0.000,6,0.000,0.024,2724,2110,2894,0,0,0,0,0,0,28.83,26.48,28.83
$GC,14128,-0.81,-146.6,900.3,-5.6,301,14136,0.00,2.62,0.00,0.000,4,0.000,0.044,2711,3744,2893,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14370,-0.81,-146.6,913.0,-5.3,303,14376,0.00,2.42,0.00,0.000,6,0.000,0.024,2711,2110,2893,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14728,-0.81,-146.6,932.7,-5.4,306,14736,0.00,2.62,0.00,0.000,4,0.000,0.044,2699,3742,2892,0,0,0,0,0,0,28.83,26.12,28.83
$GC,14959,-0.81,-146.6,940.2,-5.6,307,14968,0.10,2.45,0.00,0.000,6,0.109,0.024,2737,2111,2891,0,0,0,0,0,0,26.12,26.44,28.83
$GC,15329,-0.84,-146.6,972.7,-6.8,311,15336,0.00,2.47,0.00,0.000,4,0.000,0.041,2737,556,2891,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15478,-0.89,-146.6,982.2,-7.1,312,15485,0.00,2.53,0.00,0.000,6,0.000,0.026,2728,2196,2890,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,15566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15566,begin apogee
$GC,15573,-0.29,0.0,991.6,-7.5,313,15700,0.50,0.05,123.03,1.689,6,0.094,0.129,2903,1618,2320,0,0,0,0,0,0,25.89,24.64,23.48
$STATE,15703,end apogee,CONTROL_FINISHED_OK
$STATE,15704,begin climb
$GC,15706,0.86,146.6,998.3,0.0,319,15847,1.05,2.75,131.32,1.652,4,0.063,0.037,3279,3198,1722,0,0,0,0,0,0,24.94,24.29,23.00
$GC,15999,0.69,146.6,986.1,6.9,334,16007,0.20,2.60,0.00,0.000,6,0.131,0.030,3227,1580,1717,0,0,0,0,0,0,25.47,25.74,28.83
$GC,16379,0.61,158.6,964.1,5.8,338,16393,0.12,0.00,10.65,1.493,6,0.149,0.000,3191,1579,1671,0,0,0,0,0,0,26.13,28.83,24.49
$GC,16739,0.57,175.0,944.1,5.6,341,16756,0.00,0.00,15.62,1.561,6,0.000,0.000,3191,1579,1604,0,0,0,0,0,0,28.83,28.83,24.47
$GC,17099,0.54,179.1,922.1,6.0,344,17105,0.00,0.00,4.72,1.243,6,0.000,0.000,3191,1577,1588,0,0,0,0,0,0,28.83,28.83,24.44
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$STATE,29482,end climb,SURFACE_DEPTH_REACHED
$STATE,29482,begin surface coast
$FINISH,1.1,1.010791
$STATE,29523,end surface coast,CONTROL_FINISHED_OK
$STATE,29523,begin surface
$SM_CCo,29543,16.08,0.132,0,0,1094,300.00
$SM_GC,1.95,8.15,0.93,16.08,0.034,0.031,0.132,153,2194,1094,-8.81,-0.62,300.00,0,0,0,0,0,0,26.37,26.51,25.82
$IRIDIUM_FIX,2422.84,-3817.02,231112,060637
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.13
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7685408
$TM_FREEKB,5934336
$24V_AH,23.0,42.954
$10V_AH,9.9,35.915
$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,22.625,217.725,363.150,16.075,0.000,27.602,38.476,244.244,0.000,0.000,20.383,2626.361,23762.551,795.702,2509.889,435.710,33.266,1938.834,0.000,2036.162,0.000,0.535,0.000
$DEVICE_MAMPS,192.780,128.520,1689.120,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29529.000,6157.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.940,13.525,0.000,0.000
$MEM,344372
$DATA_FILE_SIZE,16689,602
$CAP_FILE_SIZE,219282,0
$CFSIZE,260034560,231555072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231112,231004,2441.311,-3814.903,31,0.9,31,-14.1