version: 66.11
glider: 189
mission: 7
dive: 226
start: 11 25 112 17 10 55
data:
$ID,189
$MISSION,7
$DIVE,226
$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,-47936.551
$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
$GPS1,251112,165629,2444.833,-3818.253,38,1.2,38,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-63.0
$GPS2,251112,170954,2444.973,-3818.260,15,1.7,15,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,-0.198
$KALMAN_X,98709.9,-27.0,-542.1,-125677.4,1935.6
$KALMAN_Y,19313.4,853.7,1290.7,-4180.5,-4306.6
$MHEAD_RNG_PITCHd_Wd,206.2,45388,-11.8,-6.111,-16.78
$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,-146.4,0.0,0.0,0,37,0.00,0.00,-12.02,0.000,2,0.000,0.000,152,2169,1449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.1,0.0,1,116,9.68,2.62,-55.03,0.000,4,0.197,0.049,2716,549,2919,0,0,0,0,0,0,25.66,26.12,26.63
$GC,197,-0.71,-146.6,8.2,-7.3,17,206,0.17,2.47,0.00,0.000,6,0.118,0.024,2765,2187,2920,0,0,0,0,0,0,25.86,26.29,28.83
$GC,507,-0.65,-146.6,29.1,-6.9,48,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2187,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,807,-0.60,-146.6,49.8,-6.8,78,809,0.12,0.00,0.00,0.000,6,0.138,0.000,2803,2187,2920,0,0,0,0,0,0,26.41,28.83,28.83
$GC,1107,-0.60,-146.6,66.6,-5.2,108,1116,0.00,2.45,0.00,0.000,4,0.000,0.041,2793,3740,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1286,-0.60,-146.6,76.3,-5.5,125,1294,0.00,2.45,0.00,0.000,6,0.000,0.020,2793,2094,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1616,-0.60,-146.6,95.8,-6.2,136,1625,0.00,2.62,0.00,0.000,4,0.000,0.041,2781,3748,2920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1706,-0.60,-146.6,101.8,-6.5,139,1714,0.00,2.45,0.00,0.000,6,0.000,0.020,2780,2097,2921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2039,-0.60,-146.6,119.9,-5.0,150,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2097,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.60,-146.6,135.7,-6.1,160,2344,0.00,2.62,0.00,0.000,4,0.000,0.040,2768,3753,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2576,-0.60,-146.6,151.9,-6.9,168,2585,0.12,2.45,0.00,0.000,6,0.124,0.021,2807,2096,2922,0,0,0,0,0,0,26.34,26.60,28.83
$GC,2938,-0.63,-146.6,171.9,-5.3,174,2944,0.00,2.60,0.00,0.000,4,0.000,0.041,2796,3744,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3097,-0.66,-146.6,178.6,-5.3,176,3104,0.00,2.45,0.00,0.000,6,0.000,0.020,2796,2089,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3420,-0.70,-146.6,200.6,-6.3,182,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2090,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,-0.75,-146.6,217.8,-5.6,187,3725,0.12,2.40,0.00,0.000,4,0.079,0.037,2717,544,2921,0,0,0,0,0,0,26.72,26.41,28.83
$GC,3957,-0.68,-146.6,235.1,-7.3,191,3965,0.22,2.47,0.00,0.000,6,0.122,0.024,2779,2192,2921,0,0,0,0,0,0,26.12,26.55,28.83
$GC,4316,-0.68,-146.6,259.4,-6.8,197,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2192,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-0.73,-146.6,275.8,-5.2,202,4624,0.00,2.53,0.00,0.000,4,0.000,0.037,2780,546,2920,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4786,-0.75,-146.6,280.8,-4.5,204,4795,0.00,2.47,0.00,0.000,6,0.000,0.024,2769,2190,2919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5098,-0.75,-146.6,298.2,-5.1,210,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2190,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5396,-0.75,-146.6,318.1,-6.8,215,5404,0.00,2.50,0.00,0.000,4,0.000,0.042,2757,3758,2918,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5495,-0.75,-146.6,322.5,-7.0,216,5500,0.00,2.47,0.00,0.000,6,0.000,0.021,2754,2095,2918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5807,-0.75,-146.6,347.3,-6.9,222,5815,0.00,2.65,0.00,0.000,4,0.000,0.041,2746,3757,2917,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6049,-0.75,-146.6,362.9,-6.6,226,6055,0.00,2.42,0.00,0.000,6,0.000,0.021,2745,2092,2916,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6408,-0.75,-146.6,382.9,-5.5,232,6416,0.00,2.62,0.00,0.000,4,0.000,0.041,2733,3750,2915,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6557,-0.75,-146.6,389.7,-5.5,234,6565,0.00,2.47,0.00,0.000,6,0.000,0.021,2733,2091,2915,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6888,-0.72,-146.6,411.4,-6.2,240,6896,0.12,2.62,0.00,0.000,4,0.129,0.041,2760,3745,2914,0,0,0,0,0,0,26.53,26.34,28.83
$GC,7047,-0.72,-146.6,418.9,-6.3,242,7055,0.00,2.45,0.00,0.000,6,0.000,0.021,2760,2105,2914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7367,-0.72,-146.6,442.4,-6.6,248,7375,0.00,2.62,0.00,0.000,4,0.000,0.041,2748,3747,2913,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7587,-0.72,-146.6,455.3,-7.1,251,7594,0.00,2.47,0.00,0.000,6,0.000,0.021,2749,2093,2912,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7907,-0.72,-146.6,480.8,-7.0,257,7915,0.00,2.65,0.00,0.000,4,0.000,0.042,2736,3755,2912,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8097,-0.72,-146.6,493.8,-7.2,260,8105,0.12,2.47,0.00,0.000,6,0.125,0.021,2774,2099,2911,0,0,0,0,0,0,26.32,26.58,28.83
$GC,8449,-0.77,-146.6,516.6,-6.4,264,8455,0.00,2.45,0.00,0.000,4,0.000,0.039,2774,547,2909,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8537,-0.81,-146.6,516.6,-6.4,264,8544,0.00,2.47,0.00,0.000,6,0.000,0.024,2766,2187,2909,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8929,-0.87,-146.6,541.5,-5.1,268,8936,0.12,2.58,0.00,0.000,4,0.079,0.038,2688,550,2907,0,0,0,0,0,0,26.72,26.34,28.83
$GC,9170,-0.87,-146.6,557.1,-5.6,270,9176,0.15,2.42,0.00,0.000,6,0.140,0.025,2719,2190,2907,0,0,0,0,0,0,26.15,26.51,28.83
$GC,9528,-0.82,-146.6,581.5,-6.8,273,9535,0.00,2.47,0.00,0.000,4,0.000,0.044,2708,3748,2906,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9667,-0.78,-146.6,590.9,-7.0,274,9675,0.15,2.47,0.00,0.000,6,0.124,0.022,2754,2094,2905,0,0,0,0,0,0,26.23,26.54,28.83
$GC,10008,-0.78,-146.6,617.2,-7.4,277,10015,0.00,2.62,0.00,0.000,4,0.000,0.043,2743,3744,2905,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10177,-0.78,-146.6,625.6,-7.2,278,10184,0.00,2.47,0.00,0.000,6,0.000,0.022,2743,2101,2904,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10488,-0.78,-146.6,648.3,-6.5,281,10495,0.00,2.62,0.00,0.000,4,0.000,0.043,2731,3742,2904,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10697,-0.78,-146.6,655.2,-6.2,282,10705,0.00,2.47,0.00,0.000,6,0.000,0.022,2731,2102,2903,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11088,-0.78,-146.6,680.4,-5.2,286,11095,0.00,2.65,0.00,0.000,4,0.000,0.043,2719,3749,2902,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11329,-0.78,-146.6,695.9,-5.8,288,11336,0.10,2.47,0.00,0.000,6,0.137,0.023,2748,2102,2901,0,0,0,0,0,0,26.32,26.53,28.83
$GC,11688,-0.80,-146.6,721.3,-7.0,291,11695,0.00,2.62,0.00,0.000,4,0.000,0.043,2737,3738,2900,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11767,-0.82,-146.6,721.3,-7.0,291,11775,0.00,2.45,0.00,0.000,6,0.000,0.021,2738,2105,2900,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12168,-0.88,-146.6,755.6,-7.1,295,12175,0.00,2.45,0.00,0.000,4,0.000,0.041,2737,553,2899,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12410,-0.92,-146.6,771.9,-6.8,297,12415,0.00,2.42,0.00,0.000,6,0.000,0.026,2726,2185,2898,0,0,0,0,0,0,28.83,26.47,28.83
$GC,12768,-0.95,-146.6,797.5,-7.0,300,12775,0.00,2.62,0.00,0.000,4,0.000,0.040,2726,545,2897,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12977,-0.97,-146.6,806.7,-7.3,301,12984,0.00,2.53,0.00,0.000,6,0.000,0.025,2715,2184,2897,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13367,-0.97,-146.6,843.9,-7.7,305,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2184,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13728,-0.97,-146.6,869.2,-7.3,308,13735,0.00,2.50,0.00,0.000,4,0.000,0.044,2703,3736,2895,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13969,-0.97,-146.6,883.4,-6.3,310,13975,0.00,2.45,0.00,0.000,6,0.000,0.024,2703,2085,2895,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14328,-0.97,-146.6,903.0,-5.5,313,14335,0.00,2.67,0.00,0.000,4,0.000,0.044,2691,3743,2893,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14569,-0.97,-146.6,918.1,-5.8,315,14575,0.00,2.47,0.00,0.000,6,0.000,0.024,2690,2107,2892,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14928,-0.97,-146.6,941.4,-6.5,318,14935,0.00,2.62,0.00,0.000,4,0.000,0.044,2678,3741,2891,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15170,-0.95,-146.6,958.0,-6.7,320,15175,0.00,2.42,0.00,0.000,6,0.000,0.024,2678,2100,2891,0,0,0,0,0,0,28.83,26.45,28.83
$GC,15528,-0.91,-146.6,984.4,-7.3,323,15535,0.00,2.65,0.00,0.000,4,0.000,0.044,2666,3742,2890,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,15645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15645,begin apogee
$GC,15654,-0.29,0.0,993.6,-7.4,324,15781,0.70,0.00,123.05,1.675,6,0.110,0.000,2900,1581,2320,0,0,0,0,0,0,25.60,28.83,23.48
$STATE,15783,end apogee,CONTROL_FINISHED_OK
$STATE,15785,begin climb
$GC,15787,0.86,146.6,998.2,0.0,330,15927,1.08,2.10,131.52,1.646,4,0.063,0.047,3290,355,1721,0,0,0,0,0,0,24.97,24.29,23.03
$GC,16027,0.69,146.6,987.5,8.0,342,16031,0.25,2.03,0.00,0.000,6,0.133,0.024,3219,1657,1715,0,0,0,0,0,0,25.30,25.59,28.83
$GC,16408,0.60,146.6,961.8,6.5,346,16415,0.00,2.45,0.00,0.000,4,0.000,0.036,3219,3198,1712,0,0,0,0,0,0,28.83,26.16,28.83
$GC,16517,0.50,146.6,961.8,6.5,346,16526,0.22,2.55,0.00,0.000,6,0.130,0.030,3163,1581,1711,0,0,0,0,0,0,25.96,26.24,28.83
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$STATE,29529,end climb,SURFACE_DEPTH_REACHED
$STATE,29529,begin surface coast
$FINISH,1.0,1.009942
$STATE,29570,end surface coast,CONTROL_FINISHED_OK
$STATE,29570,begin surface
$SM_CCo,29591,24.40,0.129,0,0,1096,300.00
$SM_GC,2.02,8.15,1.67,24.40,0.035,0.031,0.129,152,2121,1096,-8.84,0.54,300.00,0,0,0,0,0,0,26.40,26.42,25.66
$IRIDIUM_FIX,2441.81,-3811.03,251112,171743
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.26
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7683104
$TM_FREEKB,5879392
$24V_AH,23.0,44.082
$10V_AH,10.2,36.954
$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,22.400,250.650,339.900,24.400,0.000,52.875,79.654,327.776,0.000,0.000,17.056,2783.372,23495.477,823.519,2845.779,459.158,33.271,2056.492,0.000,2220.021,0.000,0.536,0.000
$DEVICE_MAMPS,196.605,103.275,1675.350,128.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29575.000,6079.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.943,13.547,0.000,0.000
$MEM,344268
$DATA_FILE_SIZE,16713,607
$CAP_FILE_SIZE,228965,0
$CFSIZE,260034560,230871040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,261112,012534,2443.299,-3818.913,27,0.9,27,-14.1