version: 66.11
glider: 189
mission: 7
dive: 232
start: 11 27 112 19 19 54
data:
$ID,189
$MISSION,7
$DIVE,232
$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,446.44598
$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,-47945.512
$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
$GPS1,271112,190134,2433.142,-3821.769,30,0.8,30,-14.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-60.9
$GPS2,271112,191853,2433.173,-3821.875,19,0.9,20,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.075,-0.188
$KALMAN_X,91890.5,-131.7,-122.7,-125268.8,-1495.9
$KALMAN_Y,38950.0,7.6,-535.9,-42943.6,3513.6
$MHEAD_RNG_PITCHd_Wd,172.4,24960,-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,-11.68,0.000,2,0.000,0.000,152,2123,1435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.1,0.0,1,117,9.32,2.53,-57.28,0.000,4,0.182,0.051,2718,551,2919,0,0,0,0,0,0,25.76,26.13,26.72
$GC,347,-0.73,-146.6,21.1,-8.1,32,356,0.15,2.47,0.00,0.000,6,0.114,0.024,2758,2190,2919,0,0,0,0,0,0,25.94,26.36,28.83
$GC,657,-0.67,-146.6,47.5,-7.5,63,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2189,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-0.63,-146.6,71.2,-7.8,93,959,0.12,0.00,0.00,0.000,6,0.138,0.000,2796,2190,2919,0,0,0,0,0,0,26.44,28.83,28.83
$GC,1258,-0.63,-146.6,90.5,-6.4,107,1265,0.00,2.45,0.00,0.000,4,0.000,0.043,2785,3745,2920,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1386,-0.63,-146.6,97.9,-6.1,111,1393,0.00,2.45,0.00,0.000,6,0.000,0.021,2785,2094,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1707,-0.63,-146.6,118.8,-6.5,122,1715,0.00,2.40,0.00,0.000,4,0.000,0.037,2785,551,2920,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1857,-0.59,-146.6,128.7,-6.5,127,1865,0.08,2.47,0.00,0.000,6,0.111,0.024,2804,2197,2920,0,0,0,0,0,0,26.27,26.51,28.83
$GC,2189,-0.64,-146.6,148.0,-6.1,138,2194,0.00,2.53,0.00,0.000,4,0.000,0.037,2804,542,2920,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2286,-0.67,-146.6,151.7,-6.1,140,2294,0.00,2.47,0.00,0.000,6,0.000,0.024,2794,2188,2920,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2607,-0.67,-146.6,168.8,-4.3,146,2614,0.00,2.47,0.00,0.000,4,0.000,0.041,2779,3755,2920,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2766,-0.67,-146.6,173.2,-3.7,148,2770,0.00,2.47,0.00,0.000,6,0.000,0.021,2780,2083,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3078,-0.67,-146.6,190.9,-5.3,154,3085,0.00,2.62,0.00,0.000,4,0.000,0.041,2770,3753,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3319,-0.67,-146.6,206.4,-6.4,158,3325,0.00,2.40,0.00,0.000,6,0.000,0.021,2770,2088,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3677,-0.67,-146.6,230.2,-6.5,164,3686,0.00,2.65,0.00,0.000,4,0.000,0.040,2758,3758,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3847,-0.67,-146.6,238.2,-6.6,166,3856,0.00,2.47,0.00,0.000,6,0.000,0.020,2758,2093,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4158,-0.67,-146.6,260.1,-5.8,172,4166,0.00,2.62,0.00,0.000,4,0.000,0.040,2746,3752,2919,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4400,-0.67,-146.6,272.0,-5.0,176,4406,0.12,2.40,0.00,0.000,6,0.126,0.021,2783,2095,2919,0,0,0,0,0,0,26.31,26.58,28.83
$GC,4758,-0.72,-146.6,290.0,-5.4,182,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2095,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5058,-0.77,-146.6,307.2,-5.6,187,5065,0.00,2.42,0.00,0.000,4,0.000,0.038,2783,541,2917,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5158,-0.82,-146.6,310.2,-5.4,188,5166,0.08,2.45,0.00,0.000,6,0.053,0.024,2709,2184,2917,0,0,0,0,0,0,26.45,26.53,28.83
$GC,5478,-0.77,-146.6,331.3,-6.1,194,5486,0.15,2.47,0.00,0.000,4,0.128,0.042,2744,3749,2916,0,0,0,0,0,0,26.44,26.32,28.83
$GC,5558,-0.73,-146.6,335.4,-6.5,195,5565,0.00,2.45,0.00,0.000,6,0.000,0.021,2744,2101,2916,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5898,-0.73,-146.6,364.0,-8.2,201,5905,0.00,2.60,0.00,0.000,4,0.000,0.041,2732,3743,2914,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6139,-0.73,-146.6,383.4,-8.1,205,6146,0.12,2.38,0.00,0.000,6,0.127,0.021,2768,2099,2914,0,0,0,0,0,0,26.29,26.58,28.83
$GC,6498,-0.77,-146.6,404.4,-5.7,211,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2100,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6798,-0.83,-146.6,423.0,-6.3,216,6806,0.12,2.42,0.00,0.000,4,0.080,0.038,2693,550,2912,0,0,0,0,0,0,26.72,26.35,28.83
$GC,7038,-0.77,-146.6,442.7,-8.3,220,7046,0.20,2.47,0.00,0.000,6,0.111,0.025,2751,2188,2912,0,0,0,0,0,0,26.04,26.51,28.83
$GC,7397,-0.77,-146.6,469.6,-7.6,226,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2188,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7698,-0.80,-146.6,492.9,-7.7,231,7705,0.00,2.60,0.00,0.000,4,0.000,0.037,2751,543,2910,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7939,-0.80,-146.6,509.9,-7.1,234,7945,0.00,2.47,0.00,0.000,6,0.000,0.025,2741,2184,2909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8298,-0.80,-146.6,533.5,-6.7,237,8306,0.00,2.60,0.00,0.000,4,0.000,0.038,2741,543,2907,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8486,-0.80,-146.6,540.9,-6.5,238,8491,0.00,2.50,0.00,0.000,6,0.000,0.025,2729,2190,2906,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8889,-0.80,-146.6,565.8,-5.3,242,8896,0.00,2.47,0.00,0.000,4,0.000,0.044,2718,3743,2905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9131,-0.80,-146.6,578.7,-5.2,244,9136,0.00,2.40,0.00,0.000,6,0.000,0.022,2718,2100,2906,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9489,-0.80,-146.6,600.5,-5.9,247,9497,0.00,2.62,0.00,0.000,4,0.000,0.042,2705,3749,2905,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9731,-0.78,-146.6,618.8,-7.0,249,9737,0.15,2.40,0.00,0.000,6,0.125,0.023,2750,2104,2903,0,0,0,0,0,0,26.19,26.53,28.83
$GC,10089,-0.80,-146.6,645.9,-7.6,252,10096,0.00,2.45,0.00,0.000,4,0.000,0.039,2750,552,2902,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10188,-0.83,-146.6,645.9,-7.6,252,10196,0.00,2.53,0.00,0.000,6,0.000,0.026,2741,2197,2902,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10569,-0.87,-146.6,677.5,-6.6,256,10576,0.00,2.60,0.00,0.000,4,0.000,0.039,2741,551,2901,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10811,-0.91,-146.6,693.1,-6.3,258,10816,0.00,2.42,0.00,0.000,6,0.000,0.026,2731,2185,2901,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11169,-0.94,-146.6,717.4,-6.7,261,11177,0.00,2.50,0.00,0.000,4,0.000,0.044,2719,3751,2900,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11390,-0.97,-146.6,726.2,-6.9,262,11397,0.00,2.45,0.00,0.000,6,0.000,0.023,2719,2116,2899,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11769,-0.99,-146.6,763.4,-7.7,266,11777,0.12,2.47,0.00,0.000,4,0.083,0.041,2655,544,2898,0,0,0,0,0,0,26.70,26.24,28.83
$GC,11967,-0.99,-146.6,774.3,-8.0,267,11972,0.15,2.50,0.00,0.000,6,0.147,0.025,2682,2184,2897,0,0,0,0,0,0,26.04,26.44,28.83
$GC,12361,-0.94,-146.6,808.0,-7.1,271,12368,0.00,2.50,0.00,0.000,4,0.000,0.045,2673,3746,2896,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12581,-0.90,-146.6,816.0,-6.6,272,12589,0.10,2.45,0.00,0.000,6,0.118,0.024,2708,2107,2896,0,0,0,0,0,0,26.12,26.48,28.83
$GC,12961,-0.90,-146.6,847.3,-6.5,276,12968,0.00,2.62,0.00,0.000,4,0.000,0.044,2697,3737,2894,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13201,-0.90,-146.6,864.5,-6.9,278,13208,0.00,2.45,0.00,0.000,6,0.000,0.024,2697,2111,2894,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13561,-0.90,-146.6,889.0,-6.9,281,13568,0.00,2.62,0.00,0.000,4,0.000,0.044,2685,3747,2894,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13802,-0.88,-146.6,905.0,-6.8,283,13809,0.12,2.42,0.00,0.000,6,0.135,0.024,2721,2104,2892,0,0,0,0,0,0,26.14,26.45,28.83
$GC,14161,-0.88,-146.6,923.3,-5.3,286,14168,0.00,2.47,0.00,0.000,4,0.000,0.041,2721,544,2892,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14219,-0.88,-146.6,923.3,-5.3,286,14227,0.00,2.50,0.00,0.000,6,0.000,0.026,2712,2183,2891,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14641,-0.92,-146.6,948.2,-5.2,290,14648,0.00,2.60,0.00,0.000,4,0.000,0.041,2711,556,2888,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14883,-0.95,-146.6,963.5,-5.9,292,14888,0.00,2.45,0.00,0.000,6,0.000,0.027,2700,2189,2890,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15240,-0.97,-146.6,988.7,-6.9,295,15248,0.00,2.62,0.00,0.000,4,0.000,0.041,2700,551,2888,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,15258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15258,begin apogee
$GC,15266,-0.29,0.0,990.2,-7.1,296,15393,0.62,0.10,123.28,1.682,6,0.105,0.090,2902,1586,2317,0,0,0,0,0,0,25.68,24.71,23.44
$STATE,15397,end apogee,CONTROL_FINISHED_OK
$STATE,15397,begin climb
$GC,15399,0.86,146.6,995.9,0.0,302,15539,1.05,2.78,131.55,1.650,4,0.063,0.035,3275,3199,1721,0,0,0,0,0,0,24.97,24.32,22.99
$GC,15769,0.70,146.6,981.5,7.0,317,15778,0.22,2.60,0.00,0.000,6,0.145,0.030,3224,1575,1715,0,0,0,0,0,0,25.68,25.95,28.83
$GC,16191,0.62,161.0,953.9,5.7,321,16206,0.00,0.00,12.40,1.520,6,0.000,0.000,3224,1575,1662,0,0,0,0,0,0,28.83,28.83,24.49
$GC,16551,0.55,161.0,928.3,6.9,324,16559,0.15,2.00,0.00,0.000,4,0.137,0.050,3187,351,1660,0,0,0,0,0,0,26.15,26.17,28.83
$GC,16630,0.48,161.0,928.3,6.9,324,16638,0.12,1.98,0.00,0.000,6,0.134,0.025,3152,1659,1659,0,0,0,0,0,0,26.13,26.39,28.83
$GC,17031,0.48,161.0,897.7,6.4,328,17038,0.00,2.12,0.00,0.000,4,0.000,0.048,3160,353,1658,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,28858,end climb,SURFACE_DEPTH_REACHED
$STATE,28858,begin surface coast
$FINISH,1.1,1.011382
$STATE,28919,end surface coast,CONTROL_FINISHED_OK
$STATE,28919,begin surface
$SM_CCo,28940,65.28,0.123,0,0,498,446.45
$SM_GC,1.90,8.07,0.80,65.28,0.031,0.035,0.123,152,2196,498,-8.83,-0.48,446.45,0,0,0,0,0,0,26.41,26.50,25.80
$IRIDIUM_FIX,2429.95,-3827.00,271112,191901
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.74
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,7680800
$TM_FREEKB,5825472
$24V_AH,23.0,45.221
$10V_AH,10.2,37.990
$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,23.175,225.150,383.800,65.275,0.000,137.803,375.530,0.000,0.000,0.000,21.332,2717.913,23167.805,845.385,2869.659,430.126,33.271,2046.105,0.000,2170.004,0.000,0.537,0.000
$DEVICE_MAMPS,182.070,96.390,1682.235,123.165,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28927.000,5748.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.844,13.543,0.000,0.000
$MEM,344820
$DATA_FILE_SIZE,16753,574
$CAP_FILE_SIZE,222086,0
$CFSIZE,260034560,230137856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,281112,032434,2431.288,-3821.910,38,0.9,38,-14.1