version: 66.11
glider: 189
mission: 7
dive: 233
start: 11 28 112 3 39 25
data:
$ID,189
$MISSION,7
$DIVE,233
$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,-47946.77
$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
$GPS1,281112,032434,2431.288,-3821.910,38,0.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-55.3
$GPS2,281112,033823,2431.293,-3821.951,18,1.3,18,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.082,-0.186
$KALMAN_X,89351.5,-65.5,-230.6,-122816.1,-1920.4
$KALMAN_Y,41532.2,-293.1,-212.9,-49027.2,4335.4
$MHEAD_RNG_PITCHd_Wd,170.4,21770,-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,-146.6,0.0,0.0,0,67,0.00,0.00,-41.45,0.000,2,0.000,0.000,151,2131,1761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.86,-146.6,2.2,-1.0,4,130,9.82,2.58,-43.80,0.000,4,0.201,0.050,2718,546,2918,0,0,0,0,0,0,25.53,26.07,26.60
$GC,308,-0.73,-146.6,19.6,-10.1,28,318,0.17,2.50,0.00,0.000,6,0.137,0.024,2762,2184,2919,0,0,0,0,0,0,25.91,26.30,28.83
$GC,618,-0.68,-146.6,41.2,-8.1,59,627,0.00,2.47,0.00,0.000,4,0.000,0.041,2749,3748,2919,0,0,0,0,0,0,28.83,26.22,28.83
$GC,750,-0.62,-146.6,53.9,-10.0,72,758,0.10,2.42,0.00,0.000,6,0.105,0.021,2798,2105,2919,0,0,0,0,0,0,26.13,26.48,28.83
$GC,1058,-0.62,-146.6,76.8,-6.1,101,1066,0.00,2.60,0.00,0.000,4,0.000,0.041,2787,3752,2919,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1208,-0.62,-146.6,83.9,-4.7,106,1216,0.00,2.45,0.00,0.000,6,0.000,0.021,2787,2104,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1539,-0.62,-146.6,97.6,-4.0,117,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2104,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1838,-0.62,-146.6,114.3,-6.1,127,1846,0.00,2.58,0.00,0.000,4,0.000,0.041,2774,3745,2917,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2078,-0.62,-146.6,132.5,-8.2,135,2086,0.00,2.45,0.00,0.000,6,0.000,0.020,2775,2091,2919,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2408,-0.62,-146.6,158.3,-7.3,144,2416,0.00,2.62,0.00,0.000,4,0.000,0.041,2763,3753,2919,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2650,-0.62,-146.6,166.7,-3.5,148,2656,0.12,2.38,0.00,0.000,6,0.129,0.021,2799,2096,2919,0,0,0,0,0,0,26.31,26.60,28.83
$GC,3009,-0.67,-146.6,177.8,-3.9,154,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2096,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3309,-0.72,-146.6,199.3,-7.4,159,3316,0.00,2.42,0.00,0.000,4,0.000,0.038,2800,544,2919,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3509,-0.76,-146.6,213.5,-7.9,162,3516,0.08,2.45,0.00,0.000,6,0.051,0.024,2725,2188,2919,0,0,0,0,0,0,26.44,26.55,28.83
$GC,3849,-0.71,-146.6,236.2,-5.7,168,3856,0.15,2.45,0.00,0.000,4,0.127,0.041,2760,3749,2919,0,0,0,0,0,0,26.45,26.35,28.83
$GC,4088,-0.71,-146.6,248.9,-5.3,172,4096,0.00,2.45,0.00,0.000,6,0.000,0.020,2759,2100,2918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4449,-0.71,-146.6,269.8,-5.8,178,4456,0.00,2.60,0.00,0.000,4,0.000,0.041,2748,3749,2917,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4690,-0.71,-146.6,283.0,-5.5,182,4696,0.00,2.40,0.00,0.000,6,0.000,0.021,2748,2089,2916,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5048,-0.71,-146.6,304.4,-6.2,188,5056,0.00,2.65,0.00,0.000,4,0.000,0.041,2736,3758,2917,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5290,-0.69,-146.6,322.4,-7.5,192,5297,0.15,2.40,0.00,0.000,6,0.122,0.021,2781,2097,2915,0,0,0,0,0,0,26.27,26.58,28.83
$GC,5648,-0.75,-146.6,347.4,-6.9,198,5656,0.00,2.60,0.00,0.000,4,0.000,0.041,2770,3744,2913,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5810,-0.81,-146.6,354.0,-6.0,200,5816,0.00,2.42,0.00,0.000,6,0.000,0.021,2770,2107,2914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6129,-0.85,-146.6,371.2,-4.8,206,6137,0.12,2.42,0.00,0.000,4,0.081,0.037,2696,546,2913,0,0,0,0,0,0,26.71,26.36,28.83
$GC,6359,-0.82,-146.6,383.1,-6.3,209,6368,0.12,2.45,0.00,0.000,6,0.116,0.024,2730,2185,2912,0,0,0,0,0,0,26.15,26.53,28.83
$GC,6668,-0.79,-146.6,408.1,-7.0,215,6676,0.00,2.47,0.00,0.000,4,0.000,0.043,2719,3751,2911,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6910,-0.76,-146.6,426.7,-7.8,219,6917,0.12,2.40,0.00,0.000,6,0.133,0.021,2755,2095,2910,0,0,0,0,0,0,26.28,26.57,28.83
$GC,7268,-0.80,-146.6,452.9,-7.4,225,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2095,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,-0.84,-146.6,474.6,-7.2,230,7576,0.00,2.42,0.00,0.000,4,0.000,0.039,2756,550,2908,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7667,-0.88,-146.6,478.9,-7.2,231,7675,0.00,2.47,0.00,0.000,6,0.000,0.024,2746,2187,2908,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7988,-0.91,-146.6,502.8,-6.5,237,7996,0.12,2.58,0.00,0.000,4,0.080,0.038,2678,550,2906,0,0,0,0,0,0,26.71,26.34,28.83
$GC,8088,-0.94,-146.6,502.8,-6.5,237,8096,0.12,2.47,0.00,0.000,6,0.152,0.024,2699,2186,2906,0,0,0,0,0,0,26.18,26.51,28.83
$GC,8468,-0.91,-146.6,536.5,-7.0,241,8476,0.00,2.47,0.00,0.000,4,0.000,0.044,2689,3749,2905,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8710,-0.86,-146.6,553.2,-6.8,243,8717,0.12,2.40,0.00,0.000,6,0.138,0.022,2724,2098,2905,0,0,0,0,0,0,26.24,26.55,28.83
$GC,9068,-0.83,-146.6,575.0,-6.3,246,9076,0.00,2.62,0.00,0.000,4,0.000,0.043,2714,3743,2904,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9311,-0.83,-146.6,589.9,-6.0,248,9316,0.00,2.40,0.00,0.000,6,0.000,0.022,2713,2100,2903,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9668,-0.81,-146.6,615.9,-7.0,251,9676,0.00,2.62,0.00,0.000,4,0.000,0.043,2701,3748,2902,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9910,-0.78,-146.6,638.2,-8.4,253,9917,0.15,2.40,0.00,0.000,6,0.126,0.023,2746,2104,2902,0,0,0,0,0,0,26.20,26.53,28.83
$GC,10268,-0.78,-146.6,668.3,-8.7,256,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2104,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10628,-0.84,-146.6,692.5,-7.0,259,10636,0.00,2.45,0.00,0.000,4,0.000,0.040,2746,546,2899,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10838,-0.89,-146.6,700.3,-6.6,260,10845,0.00,2.50,0.00,0.000,6,0.000,0.025,2736,2190,2897,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11229,-0.94,-146.6,733.9,-7.0,264,11236,0.12,2.58,0.00,0.000,4,0.081,0.039,2670,550,2897,0,0,0,0,0,0,26.70,26.26,28.83
$GC,11378,-0.96,-146.6,745.1,-7.7,265,11386,0.12,2.53,0.00,0.000,6,0.152,0.026,2690,2193,2897,0,0,0,0,0,0,26.13,26.46,28.83
$GC,11708,-0.94,-146.6,776.3,-8.8,268,11716,0.00,2.47,0.00,0.000,4,0.000,0.044,2680,3739,2897,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11848,-0.89,-146.6,785.9,-8.5,269,11856,0.12,2.47,0.00,0.000,6,0.140,0.022,2715,2095,2896,0,0,0,0,0,0,26.17,26.50,28.83
$GC,12188,-0.89,-146.6,809.3,-6.8,272,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2095,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12549,-0.92,-146.6,829.9,-5.9,275,12556,0.00,2.45,0.00,0.000,4,0.000,0.041,2716,551,2894,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12628,-0.95,-146.6,829.9,-5.9,275,12636,0.00,2.50,0.00,0.000,6,0.000,0.025,2706,2188,2893,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13029,-0.97,-146.6,856.0,-5.4,279,13036,0.00,2.60,0.00,0.000,4,0.000,0.041,2705,550,2893,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13167,-0.97,-146.6,862.5,-5.4,280,13175,0.00,2.50,0.00,0.000,6,0.000,0.026,2693,2185,2892,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13509,-0.97,-146.6,882.3,-5.5,283,13516,0.00,2.50,0.00,0.000,4,0.000,0.045,2681,3748,2891,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13750,-0.94,-146.6,897.3,-5.9,285,13756,0.00,2.42,0.00,0.000,6,0.000,0.024,2681,2107,2891,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14109,-0.91,-146.6,922.1,-6.8,288,14116,0.00,2.62,0.00,0.000,4,0.000,0.044,2669,3739,2889,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14350,-0.87,-146.6,938.3,-6.8,290,14357,0.17,2.42,0.00,0.000,6,0.129,0.024,2721,2098,2889,0,0,0,0,0,0,26.01,26.44,28.83
$GC,14708,-0.87,-146.6,960.5,-6.2,293,14716,0.00,2.47,0.00,0.000,4,0.000,0.043,2721,549,2888,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14767,-0.87,-146.6,960.5,-6.2,293,14771,0.00,2.50,0.00,0.000,6,0.000,0.026,2711,2186,2890,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,15177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15177,begin apogee
$GC,15184,-0.29,0.0,993.3,-7.0,297,15310,0.55,0.00,122.43,1.679,6,0.096,0.000,2902,1580,2319,0,0,0,0,0,0,25.84,28.83,23.45
$STATE,15312,end apogee,CONTROL_FINISHED_OK
$STATE,15313,begin climb
$GC,15316,0.86,146.6,998.9,0.0,303,15458,1.05,2.17,131.95,1.649,4,0.063,0.049,3285,359,1721,0,0,0,0,0,0,24.95,24.28,22.99
$GC,15509,0.70,146.6,992.2,6.7,313,15517,0.20,2.05,0.00,0.000,6,0.135,0.024,3230,1654,1716,0,0,0,0,0,0,25.01,25.26,28.83
$GC,15869,0.62,146.6,969.9,6.1,321,15870,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1655,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16230,0.53,146.6,947.6,6.2,324,16237,0.20,2.12,0.00,0.000,4,0.129,0.050,3176,351,1710,0,0,0,0,0,0,26.11,26.20,28.83
$GC,16318,0.45,146.6,947.6,6.2,324,16323,0.12,1.98,0.00,0.000,6,0.133,0.027,3141,1658,1709,0,0,0,0,0,0,26.16,26.42,28.83
$GC,16702,0.51,195.7,925.4,4.7,328,16749,0.00,2.15,41.75,1.623,4,0.000,0.049,3150,358,1520,0,0,0,0,0,0,28.83,25.34,24.03
$GC,16882,0.62,245.3,919.5,4.7,329,16932,0.10,1.98,45.05,1.617,6,0.047,0.027,3220,1647,1318,0,0,0,0,0,0,25.95,26.02,23.78
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$STATE,28537,end climb,SURFACE_DEPTH_REACHED
$STATE,28538,begin surface coast
$FINISH,1.1,1.025409
$STATE,28567,end surface coast,CONTROL_FINISHED_OK
$STATE,28567,begin surface
$SM_CCo,28590,11.27,0.135,0,0,1094,300.00
$SM_GC,2.16,8.15,2.80,11.27,0.034,0.024,0.135,152,2198,1094,-8.82,-0.65,300.00,0,0,0,0,0,0,26.40,26.52,25.67
$IRIDIUM_FIX,2437.06,-3749.17,271112,191949
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.01
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,7680416
$TM_FREEKB,5816288
$24V_AH,23.0,45.421
$10V_AH,10.3,38.162
$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,23.600,237.425,366.425,11.275,0.000,26.311,38.129,469.204,0.000,0.000,19.887,2668.407,22675.166,819.121,2779.752,477.532,33.273,1994.857,0.000,2107.372,0.000,0.537,0.000
$DEVICE_MAMPS,201.195,81.090,1679.175,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28573.000,5848.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.899,13.527,0.000,0.000
$MEM,344312
$DATA_FILE_SIZE,16768,579
$CAP_FILE_SIZE,226045,0
$CFSIZE,260034560,230084608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,281112,113724,2429.413,-3822.150,40,1.0,40,-14.1