version: 66.11
glider: 189
mission: 7
dive: 235
start: 11 28 112 19 55 55
data:
$ID,189
$MISSION,7
$DIVE,235
$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,-47949.285
$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
$GPS1,281112,194129,2427.589,-3822.107,36,1.0,36,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-54.2
$GPS2,281112,195453,2427.528,-3822.252,17,1.4,17,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,-0.148
$KALMAN_X,82291.9,-154.3,-156.7,-116245.3,-3395.9
$KALMAN_Y,45654.2,-77.1,-262.5,-60290.0,3206.8
$MHEAD_RNG_PITCHd_Wd,150.9,15900,-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,21,begin dive
$GC,23,-0.86,-146.6,0.0,0.0,0,56,0.00,0.00,-31.08,0.000,2,0.000,0.000,152,2133,1452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.86,-146.6,2.0,-2.2,3,130,9.23,0.00,-57.50,0.000,6,0.175,0.000,2724,2131,2917,0,0,0,0,0,0,25.69,28.83,26.61
$GC,428,-0.76,-146.6,23.7,-5.0,40,437,0.12,2.50,0.00,0.000,4,0.142,0.038,2761,550,2919,0,0,0,0,0,0,26.29,26.20,28.83
$GC,549,-0.69,-146.6,30.5,-6.1,52,556,0.00,2.42,0.00,0.000,6,0.000,0.025,2749,2189,2919,0,0,0,0,0,0,28.83,26.38,28.83
$GC,858,-0.63,-146.6,53.5,-8.9,83,867,0.15,2.47,0.00,0.000,4,0.131,0.042,2784,3752,2919,0,0,0,0,0,0,26.34,26.22,28.83
$GC,969,-0.61,-146.6,60.9,-6.2,94,976,0.00,2.40,0.00,0.000,6,0.000,0.021,2784,2104,2919,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1278,-0.59,-146.6,80.9,-6.5,119,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2103,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-0.59,-146.6,97.5,-5.2,129,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2103,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1877,-0.59,-146.6,112.6,-5.2,139,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2103,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2178,-0.59,-146.6,130.0,-5.9,149,2185,0.00,2.60,0.00,0.000,4,0.000,0.041,2772,3747,2920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2398,-0.59,-146.6,142.8,-6.0,156,2406,0.10,2.42,0.00,0.000,6,0.098,0.020,2811,2098,2920,0,0,0,0,0,0,26.29,26.59,28.83
$GC,2718,-0.64,-146.6,162.3,-6.2,164,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2098,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3017,-0.70,-146.6,183.8,-7.2,169,3026,0.12,2.42,0.00,0.000,4,0.080,0.037,2731,546,2920,0,0,0,0,0,0,26.72,26.38,28.83
$GC,3166,-0.70,-146.6,192.9,-7.3,171,3171,0.17,2.47,0.00,0.000,6,0.126,0.024,2771,2191,2920,0,0,0,0,0,0,26.17,26.54,28.83
$GC,3490,-0.70,-146.6,209.5,-4.1,177,3497,0.00,2.45,0.00,0.000,4,0.000,0.041,2762,3745,2917,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3618,-0.70,-146.6,214.0,-3.7,179,3626,0.00,2.45,0.00,0.000,6,0.000,0.021,2761,2095,2919,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3970,-0.70,-146.6,233.3,-5.9,185,3977,0.00,2.40,0.00,0.000,4,0.000,0.037,2761,548,2919,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4029,-0.70,-146.6,237.4,-6.3,186,4036,0.00,2.47,0.00,0.000,6,0.000,0.024,2750,2194,2919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4389,-0.70,-146.6,261.3,-6.8,192,4397,0.00,2.47,0.00,0.000,4,0.000,0.042,2738,3753,2918,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4631,-0.68,-146.6,277.4,-6.7,196,4637,0.15,2.40,0.00,0.000,6,0.119,0.021,2784,2090,2917,0,0,0,0,0,0,26.29,26.58,28.83
$GC,4990,-0.73,-146.6,297.5,-5.7,202,4997,0.00,2.40,0.00,0.000,4,0.000,0.037,2784,549,2917,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5170,-0.77,-146.6,308.3,-5.9,205,5177,0.00,2.45,0.00,0.000,6,0.000,0.024,2776,2183,2916,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5530,-0.83,-146.6,331.3,-6.6,211,5537,0.12,2.55,0.00,0.000,4,0.079,0.037,2704,553,2916,0,0,0,0,0,0,26.72,26.37,28.83
$GC,5730,-0.80,-146.6,345.4,-7.6,214,5738,0.12,2.45,0.00,0.000,6,0.113,0.024,2738,2185,2915,0,0,0,0,0,0,26.17,26.53,28.83
$GC,6069,-0.80,-146.6,369.4,-6.5,220,6077,0.00,2.50,0.00,0.000,4,0.000,0.043,2727,3748,2915,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6311,-0.77,-146.6,385.6,-6.8,224,6317,0.00,2.45,0.00,0.000,6,0.000,0.021,2727,2101,2914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6670,-0.74,-146.6,410.6,-7.0,230,6677,0.12,2.62,0.00,0.000,4,0.129,0.042,2754,3752,2913,0,0,0,0,0,0,26.53,26.32,28.83
$GC,6838,-0.74,-146.6,419.1,-7.0,232,6847,0.00,2.47,0.00,0.000,6,0.000,0.021,2754,2099,2912,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7150,-0.78,-146.6,445.8,-7.6,238,7157,0.00,2.42,0.00,0.000,4,0.000,0.038,2754,547,2911,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7309,-0.81,-146.6,455.1,-7.7,240,7316,0.00,2.50,0.00,0.000,6,0.000,0.024,2744,2198,2910,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7630,-0.83,-146.6,482.4,-7.5,246,7637,0.00,2.60,0.00,0.000,4,0.000,0.037,2744,547,2909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7768,-0.83,-146.6,490.4,-6.9,248,7776,0.00,2.50,0.00,0.000,6,0.000,0.024,2732,2198,2909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8170,-0.83,-146.6,513.4,-5.4,253,8177,0.00,2.45,0.00,0.000,4,0.000,0.044,2721,3739,2907,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8410,-0.83,-146.6,527.8,-5.6,255,8417,0.00,2.42,0.00,0.000,6,0.000,0.021,2720,2113,2907,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8769,-0.83,-146.6,553.2,-6.8,258,8777,0.00,2.60,0.00,0.000,4,0.000,0.043,2706,3746,2906,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9011,-0.81,-146.6,572.0,-7.6,260,9017,0.00,2.40,0.00,0.000,6,0.000,0.023,2709,2107,2905,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9370,-0.78,-146.6,599.4,-7.7,263,9378,0.15,2.62,0.00,0.000,4,0.125,0.042,2744,3749,2905,0,0,0,0,0,0,26.44,26.26,28.83
$GC,9558,-0.78,-146.6,606.9,-7.3,264,9562,0.00,2.47,0.00,0.000,6,0.000,0.022,2744,2104,2904,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9961,-0.83,-146.6,631.3,-5.2,268,9967,0.00,2.45,0.00,0.000,4,0.000,0.039,2744,551,2903,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10203,-0.87,-146.6,643.2,-4.9,270,10208,0.00,2.45,0.00,0.000,6,0.000,0.026,2733,2190,2902,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10560,-0.91,-146.6,663.5,-5.5,273,10567,0.00,2.60,0.00,0.000,4,0.000,0.039,2733,554,2901,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10792,-0.94,-146.6,671.2,-5.9,274,10799,0.00,2.42,0.00,0.000,6,0.000,0.026,2722,2189,2900,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11160,-0.94,-146.6,701.8,-6.4,278,11168,0.00,2.62,0.00,0.000,4,0.000,0.039,2722,543,2899,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11369,-0.94,-146.6,709.7,-6.4,279,11377,0.00,2.55,0.00,0.000,6,0.000,0.026,2710,2194,2898,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11760,-0.94,-146.6,745.3,-7.4,283,11767,0.00,2.62,0.00,0.000,4,0.000,0.040,2710,548,2898,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12002,-0.94,-146.6,766.1,-8.3,285,12008,0.00,2.47,0.00,0.000,6,0.000,0.026,2698,2194,2897,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12360,-0.91,-146.6,795.0,-8.3,288,12367,0.00,2.47,0.00,0.000,4,0.000,0.044,2686,3743,2896,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12602,-0.88,-146.6,811.8,-7.4,290,12608,0.10,2.42,0.00,0.000,6,0.145,0.024,2714,2097,2895,0,0,0,0,0,0,26.24,26.48,28.83
$GC,12960,-0.88,-146.6,833.0,-6.0,293,12968,0.00,2.65,0.00,0.000,4,0.000,0.044,2703,3750,2894,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12999,-0.88,-146.6,833.0,-6.0,293,13007,0.00,2.50,0.00,0.000,6,0.000,0.023,2703,2097,2894,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13321,-0.91,-146.6,856.8,-6.5,296,13327,0.00,2.45,0.00,0.000,4,0.000,0.041,2703,551,2893,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13489,-0.91,-146.6,865.1,-6.7,297,13493,0.00,2.50,0.00,0.000,6,0.000,0.026,2691,2184,2893,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13791,-0.91,-146.6,889.1,-6.9,300,13798,0.00,2.50,0.00,0.000,4,0.000,0.044,2679,3739,2892,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14032,-0.88,-146.6,905.3,-6.8,302,14039,0.08,2.45,0.00,0.000,6,0.119,0.023,2718,2104,2892,0,0,0,0,0,0,26.11,26.48,28.83
$GC,14392,-0.88,-146.6,926.1,-6.0,305,14399,0.00,2.47,0.00,0.000,4,0.000,0.041,2718,549,2891,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14500,-0.88,-146.6,926.1,-6.0,305,14509,0.00,2.50,0.00,0.000,6,0.000,0.026,2708,2186,2890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14871,-0.91,-146.6,952.8,-5.6,309,14879,0.00,2.62,0.00,0.000,4,0.000,0.041,2708,546,2888,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15114,-0.94,-146.6,967.5,-5.9,311,15119,0.00,2.47,0.00,0.000,6,0.000,0.027,2696,2184,2888,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,15468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15469,begin apogee
$GC,15475,-0.29,0.0,990.2,-6.3,314,15602,0.60,0.00,122.80,1.676,6,0.098,0.000,2903,1578,2319,0,0,0,0,0,0,25.78,28.83,23.43
$STATE,15603,end apogee,CONTROL_FINISHED_OK
$STATE,15606,begin climb
$GC,15608,0.86,146.6,994.9,0.0,320,15751,1.05,2.17,131.15,1.631,4,0.062,0.050,3287,356,1723,0,0,0,0,0,0,24.97,24.30,22.99
$GC,15980,0.69,146.6,976.3,7.9,333,15988,0.22,1.98,0.00,0.000,6,0.136,0.025,3222,1648,1715,0,0,0,0,0,0,25.70,26.05,28.83
$GC,16301,0.58,146.6,953.2,6.7,336,16303,0.12,0.00,0.00,0.000,6,0.145,0.000,3186,1650,1714,0,0,0,0,0,0,26.17,28.83,28.83
$GC,16662,0.54,152.7,932.2,5.9,339,16672,0.00,2.12,5.10,1.261,4,0.000,0.050,3194,356,1696,0,0,0,0,0,0,28.83,26.25,24.44
$GC,16790,0.51,160.2,925.5,5.9,340,16803,0.00,1.98,8.48,1.443,6,0.000,0.026,3194,1659,1665,0,0,0,0,0,0,28.83,26.40,24.53
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$STATE,28973,end climb,SURFACE_DEPTH_REACHED
$STATE,28973,begin surface coast
$FINISH,1.2,1.011655
$STATE,29006,end surface coast,CONTROL_FINISHED_OK
$STATE,29006,begin surface
$SM_CCo,29029,19.58,0.131,0,0,1093,300.00
$SM_GC,1.83,8.02,2.78,19.58,0.027,0.023,0.131,152,2171,1093,-8.82,-0.79,300.00,0,0,0,0,0,0,26.42,26.48,25.69
$IRIDIUM_FIX,2429.95,-3837.00,281112,111132
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.97
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,7679648
$TM_FREEKB,5798144
$24V_AH,23.0,45.798
$10V_AH,9.9,38.509
$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,21.900,239.800,353.475,19.575,0.000,27.599,47.106,437.457,0.000,0.000,18.693,2793.638,22819.471,820.583,2901.693,507.039,33.268,2062.934,0.000,2247.418,0.000,0.536,0.000
$DEVICE_MAMPS,175.185,69.615,1676.115,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29011.000,5830.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.903,13.538,0.000,0.000
$MEM,344332
$DATA_FILE_SIZE,16698,582
$CAP_FILE_SIZE,230534,0
$CFSIZE,260034560,229859328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291112,040104,2425.655,-3822.007,23,0.9,23,-14.1