version: 66.11
glider: 189
mission: 7
dive: 224
start: 11 25 112 0 27 44
data:
$ID,189
$MISSION,7
$DIVE,224
$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,-47934.031
$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
$GPS1,251112,001653,2445.501,-3816.813,38,0.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-63.3
$GPS2,251112,002643,2445.471,-3816.774,19,1.2,19,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.076,0.188
$KALMAN_X,96085.4,-119.7,-54.9,-120958.5,2388.7
$KALMAN_Y,22084.9,249.7,-136.2,-3952.1,-4045.5
$MHEAD_RNG_PITCHd_Wd,352.2,3759,-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,-11.98,0.000,2,0.000,0.000,149,2123,1452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.2,0.0,1,110,9.45,2.65,-54.65,0.000,4,0.188,0.053,2710,3750,2919,0,0,0,0,0,0,25.70,26.09,26.65
$GC,338,-0.75,-146.6,22.4,-9.2,31,348,0.15,2.47,0.00,0.000,6,0.133,0.021,2756,2104,2921,0,0,0,0,0,0,26.01,26.37,28.83
$GC,648,-0.69,-146.6,46.1,-7.7,62,657,0.00,2.60,0.00,0.000,4,0.000,0.041,2745,3743,2921,0,0,0,0,0,0,28.83,26.22,28.83
$GC,810,-0.62,-146.6,59.5,-8.7,78,818,0.15,2.42,0.00,0.000,6,0.104,0.021,2799,2103,2921,0,0,0,0,0,0,26.09,26.49,28.83
$GC,1118,-0.62,-146.6,81.1,-6.7,103,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-0.62,-146.6,101.7,-6.8,113,1426,0.00,2.60,0.00,0.000,4,0.000,0.041,2788,3743,2922,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1527,-0.62,-146.6,107.3,-6.3,116,1531,0.00,2.45,0.00,0.000,6,0.000,0.020,2788,2091,2922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1828,-0.62,-146.6,122.4,-4.4,126,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2091,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,-0.62,-146.6,137.8,-5.3,136,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2091,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,-0.62,-146.6,153.7,-5.3,145,2436,0.00,2.60,0.00,0.000,4,0.000,0.040,2775,3742,2923,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2659,-0.62,-146.6,163.3,-5.3,148,2667,0.00,2.42,0.00,0.000,6,0.000,0.020,2776,2097,2923,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2968,-0.62,-146.6,181.1,-5.0,154,2976,0.00,2.60,0.00,0.000,4,0.000,0.041,2764,3753,2923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3067,-0.62,-146.6,184.9,-5.4,155,3075,0.12,2.45,0.00,0.000,6,0.127,0.020,2802,2092,2923,0,0,0,0,0,0,26.32,26.59,28.83
$GC,3389,-0.67,-146.6,208.0,-6.5,161,3396,0.00,2.40,0.00,0.000,4,0.000,0.037,2802,549,2923,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3487,-0.71,-146.6,211.4,-6.2,162,3495,0.00,2.47,0.00,0.000,6,0.000,0.024,2793,2196,2923,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3809,-0.75,-146.6,229.1,-4.8,168,3811,0.10,0.00,0.00,0.000,6,0.092,0.000,2726,2197,2923,0,0,0,0,0,0,26.74,28.83,28.83
$GC,4108,-0.70,-146.6,248.7,-6.6,173,4117,0.15,2.45,0.00,0.000,4,0.125,0.042,2762,3749,2923,0,0,0,0,0,0,26.46,26.33,28.83
$GC,4309,-0.68,-146.6,261.0,-6.8,176,4316,0.00,2.42,0.00,0.000,6,0.000,0.021,2761,2104,2922,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4648,-0.68,-146.6,285.4,-6.8,182,4656,0.00,2.60,0.00,0.000,4,0.000,0.041,2750,3746,2922,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4747,-0.68,-146.6,289.1,-6.5,183,4752,0.12,2.45,0.00,0.000,6,0.125,0.020,2787,2093,2922,0,0,0,0,0,0,26.32,26.59,28.83
$GC,5061,-0.72,-146.6,305.8,-4.5,189,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2093,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-0.79,-146.6,320.3,-4.8,194,5362,0.12,0.00,0.00,0.000,6,0.081,0.000,2712,2093,2920,0,0,0,0,0,0,26.72,28.83,28.83
$GC,5660,-0.74,-146.6,339.8,-6.6,199,5662,0.17,0.00,0.00,0.000,6,0.121,0.000,2766,2093,2919,0,0,0,0,0,0,26.39,28.83,28.83
$GC,5960,-0.74,-146.6,358.6,-6.3,204,5967,0.00,2.62,0.00,0.000,4,0.000,0.042,2755,3746,2918,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6201,-0.74,-146.6,375.4,-7.0,208,6207,0.00,2.42,0.00,0.000,6,0.000,0.021,2755,2111,2918,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6560,-0.74,-146.6,399.2,-6.6,214,6567,0.00,2.60,0.00,0.000,4,0.000,0.041,2743,3747,2917,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6668,-0.74,-146.6,403.2,-6.5,215,6673,0.00,2.45,0.00,0.000,6,0.000,0.021,2743,2105,2916,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6969,-0.74,-146.6,425.8,-6.5,220,6977,0.00,2.62,0.00,0.000,4,0.000,0.042,2731,3750,2915,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7199,-0.74,-146.6,437.7,-6.5,223,7209,0.12,2.47,0.00,0.000,6,0.126,0.021,2768,2091,2914,0,0,0,0,0,0,26.29,26.56,28.83
$GC,7511,-0.77,-146.6,457.0,-5.2,229,7517,0.00,2.62,0.00,0.000,4,0.000,0.042,2757,3745,2914,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7620,-0.80,-146.6,460.2,-5.3,230,7629,0.00,2.45,0.00,0.000,6,0.000,0.021,2757,2105,2914,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7930,-0.80,-146.6,481.1,-5.9,236,7937,0.00,2.60,0.00,0.000,4,0.000,0.041,2746,3741,2913,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8128,-0.80,-146.6,493.7,-6.8,239,8133,0.00,2.45,0.00,0.000,6,0.000,0.021,2746,2105,2914,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8461,-0.80,-146.6,518.3,-7.0,243,8468,0.00,2.62,0.00,0.000,4,0.000,0.042,2733,3748,2911,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8599,-0.80,-146.6,527.1,-7.1,244,8604,0.00,2.47,0.00,0.000,6,0.000,0.021,2733,2097,2911,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8932,-0.80,-146.6,552.2,-7.2,247,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2098,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9292,-0.80,-146.6,576.2,-6.8,250,9299,0.00,2.62,0.00,0.000,4,0.000,0.043,2722,3741,2908,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9531,-0.80,-146.6,590.0,-6.1,252,9538,0.00,2.45,0.00,0.000,6,0.000,0.021,2722,2107,2908,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9892,-0.80,-146.6,608.0,-5.1,255,9899,0.00,2.60,0.00,0.000,4,0.000,0.042,2710,3738,2906,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10090,-0.80,-146.6,614.8,-5.1,256,10099,0.12,2.45,0.00,0.000,6,0.131,0.022,2746,2105,2906,0,0,0,0,0,0,26.25,26.53,28.83
$GC,10491,-0.80,-146.6,644.8,-6.2,260,10499,0.00,2.62,0.00,0.000,4,0.000,0.043,2735,3748,2905,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10732,-0.80,-146.6,665.2,-7.7,262,10739,0.00,2.45,0.00,0.000,6,0.000,0.023,2735,2109,2904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11091,-0.80,-146.6,696.3,-8.7,265,11099,0.00,2.62,0.00,0.000,4,0.000,0.043,2724,3745,2903,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11333,-0.80,-146.6,714.9,-8.2,267,11339,0.00,2.45,0.00,0.000,6,0.000,0.023,2724,2111,2903,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11691,-0.80,-146.6,737.5,-6.6,270,11699,0.00,2.65,0.00,0.000,4,0.000,0.043,2711,3755,2902,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11934,-0.80,-146.6,751.4,-5.9,272,11940,0.10,2.42,0.00,0.000,6,0.142,0.023,2740,2104,2902,0,0,0,0,0,0,26.27,26.51,28.83
$GC,12291,-0.80,-146.6,769.3,-5.1,275,12299,0.00,2.65,0.00,0.000,4,0.000,0.044,2729,3745,2901,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12533,-0.80,-146.6,784.9,-5.7,277,12539,0.00,2.42,0.00,0.000,6,0.000,0.024,2729,2108,2900,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12891,-0.84,-146.6,812.5,-7.5,280,12899,0.00,2.65,0.00,0.000,4,0.000,0.044,2716,3748,2897,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12961,-0.87,-146.6,812.5,-7.5,280,12969,0.00,2.50,0.00,0.000,6,0.000,0.023,2717,2098,2899,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13372,-0.91,-146.6,847.2,-7.2,284,13379,0.00,2.45,0.00,0.000,4,0.000,0.041,2717,550,2897,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13592,-0.93,-146.6,855.0,-6.9,285,13599,0.00,2.47,0.00,0.000,6,0.000,0.026,2705,2181,2899,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13972,-0.93,-146.6,888.9,-7.0,289,13979,0.00,2.58,0.00,0.000,4,0.000,0.041,2705,556,2896,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14080,-0.93,-146.6,888.9,-7.0,289,14089,0.00,2.50,0.00,0.000,6,0.000,0.027,2693,2187,2896,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14451,-0.93,-146.6,931.5,-8.9,293,14459,0.00,2.53,0.00,0.000,4,0.000,0.045,2681,3749,2895,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14572,-0.91,-146.6,942.2,-9.0,294,14579,0.00,2.47,0.00,0.000,6,0.000,0.024,2681,2118,2894,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14931,-0.88,-146.6,970.5,-8.1,297,14940,0.12,2.62,0.00,0.000,4,0.145,0.044,2706,3742,2893,0,0,0,0,0,0,26.44,26.09,28.83
$GC,15081,-0.85,-146.6,978.4,-7.6,298,15089,0.00,2.50,0.00,0.000,6,0.000,0.024,2706,2098,2892,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,15249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15249,begin apogee
$GC,15255,-0.29,0.0,990.3,-5.8,303,15384,0.57,0.05,124.18,1.682,6,0.101,0.129,2897,1624,2319,0,0,0,0,0,0,25.75,24.65,23.46
$STATE,15388,end apogee,CONTROL_FINISHED_OK
$STATE,15388,begin climb
$GC,15390,0.86,146.6,994.0,0.0,309,15530,1.05,2.20,131.57,1.654,4,0.063,0.049,3286,352,1721,0,0,0,0,0,0,24.96,24.27,22.99
$GC,15661,0.69,146.6,982.2,8.7,320,15669,0.22,2.00,0.00,0.000,6,0.138,0.024,3223,1645,1714,0,0,0,0,0,0,25.43,25.72,28.83
$GC,16082,0.60,146.6,948.9,6.9,324,16083,0.12,0.00,0.00,0.000,6,0.147,0.000,3187,1647,1712,0,0,0,0,0,0,26.16,28.83,28.83
$GC,16442,0.57,169.4,930.1,5.4,327,16469,0.00,2.15,19.17,1.575,4,0.000,0.050,3196,356,1628,0,0,0,0,0,0,28.83,25.82,24.47
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$STATE,28412,end climb,SURFACE_DEPTH_REACHED
$STATE,28412,begin surface coast
$FINISH,1.1,1.003839
$STATE,28443,end surface coast,CONTROL_FINISHED_OK
$STATE,28443,begin surface
$SM_CCo,28465,8.07,0.138,0,0,1093,300.00
$SM_GC,2.91,8.15,0.80,8.07,0.034,0.034,0.138,152,2190,1093,-8.83,-0.71,300.00,0,0,0,0,0,0,26.38,26.52,25.53
$IRIDIUM_FIX,2439.44,-3858.49,241112,151516
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.86
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,7683872
$TM_FREEKB,5897920
$24V_AH,23.0,43.710
$10V_AH,10.3,36.601
$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,22.875,223.900,379.725,8.075,0.000,26.174,45.508,244.094,0.000,0.000,20.676,2558.749,22803.283,796.260,2467.672,425.644,33.268,1916.944,0.000,1994.929,0.000,0.536,0.000
$DEVICE_MAMPS,188.190,129.285,1682.235,138.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28453.000,5721.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.886,13.529,0.000,0.000
$MEM,344344
$DATA_FILE_SIZE,16751,567
$CAP_FILE_SIZE,217847,0
$CFSIZE,260034560,231104512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251112,082334,2447.043,-3816.921,40,1.1,40,-14.0