version: 66.11
glider: 189
mission: 7
dive: 236
start: 11 29 112 4 19 18
data:
$ID,189
$MISSION,7
$DIVE,236
$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,-47950.543
$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
$GPS1,291112,040104,2425.655,-3822.007,23,0.9,23,-14.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-58.0
$GPS2,291112,041818,2425.571,-3822.067,16,1.6,17,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,-0.132
$KALMAN_X,77930.7,-50.9,-113.1,-111724.6,-4058.6
$KALMAN_Y,47082.3,-219.1,-431.5,-65021.2,3267.7
$MHEAD_RNG_PITCHd_Wd,144.6,12884,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-146.6,0.0,0.0,0,38,0.00,0.00,-12.00,0.000,2,0.000,0.000,152,2117,1450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.86,-146.6,2.0,0.0,1,117,9.27,2.55,-56.67,0.000,4,0.179,0.051,2721,539,2919,0,0,0,0,0,0,25.71,26.15,26.72
$GC,228,-0.74,-146.6,11.3,-9.7,20,237,0.17,2.53,0.00,0.000,6,0.136,0.024,2763,2196,2920,0,0,0,0,0,0,25.92,26.33,28.83
$GC,538,-0.69,-146.6,30.8,-5.2,51,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2197,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-0.65,-146.6,50.1,-7.1,81,847,0.00,2.47,0.00,0.000,4,0.000,0.042,2753,3759,2923,0,0,0,0,0,0,28.83,26.25,28.83
$GC,969,-0.60,-146.6,61.1,-8.9,94,978,0.10,2.45,0.00,0.000,6,0.104,0.021,2807,2098,2920,0,0,0,0,0,0,26.16,26.53,28.83
$GC,1277,-0.60,-146.6,81.1,-6.2,119,1285,0.00,2.62,0.00,0.000,4,0.000,0.041,2795,3748,2920,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1398,-0.60,-146.6,88.1,-5.9,123,1405,0.00,2.42,0.00,0.000,6,0.000,0.020,2795,2102,2920,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1728,-0.60,-146.6,103.6,-4.0,134,1735,0.00,2.60,0.00,0.000,4,0.000,0.041,2783,3745,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1967,-0.60,-146.6,115.1,-4.4,142,1975,0.00,2.45,0.00,0.000,6,0.000,0.021,2783,2099,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2298,-0.60,-146.6,132.9,-7.2,153,2305,0.00,2.60,0.00,0.000,4,0.000,0.040,2771,3749,2921,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2478,-0.60,-146.6,147.0,-7.7,159,2486,0.10,2.45,0.00,0.000,6,0.135,0.020,2806,2094,2921,0,0,0,0,0,0,26.33,26.58,28.83
$GC,2838,-0.65,-146.6,166.0,-5.0,166,2845,0.00,2.40,0.00,0.000,4,0.000,0.037,2807,550,2921,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2888,-0.70,-146.6,166.0,-5.0,166,2896,0.00,2.45,0.00,0.000,6,0.000,0.024,2797,2190,2921,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3199,-0.74,-146.6,185.4,-5.6,172,3200,0.12,0.00,0.00,0.000,6,0.076,0.000,2716,2189,2921,0,0,0,0,0,0,26.73,28.83,28.83
$GC,3502,-0.68,-146.6,202.8,-5.7,177,3507,0.17,2.53,0.00,0.000,4,0.119,0.035,2776,547,2920,0,0,0,0,0,0,26.36,26.39,28.83
$GC,3577,-0.63,-146.6,205.8,-5.5,178,3585,0.00,2.47,0.00,0.000,6,0.000,0.024,2766,2194,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3917,-0.63,-146.6,226.8,-6.3,184,3926,0.10,2.47,0.00,0.000,4,0.142,0.041,2785,3755,2920,0,0,0,0,0,0,26.60,26.33,28.83
$GC,4067,-0.63,-146.6,236.6,-7.6,186,4074,0.00,2.45,0.00,0.000,6,0.000,0.020,2785,2100,2920,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4398,-0.68,-146.6,266.5,-8.0,192,4405,0.00,2.45,0.00,0.000,4,0.000,0.037,2785,536,2920,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4537,-0.73,-146.6,274.4,-7.1,194,4545,0.00,2.50,0.00,0.000,6,0.000,0.024,2775,2198,2919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4878,-0.77,-146.6,294.6,-5.5,200,4885,0.00,2.58,0.00,0.000,4,0.000,0.037,2781,548,2919,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5058,-0.79,-146.6,304.2,-5.4,203,5066,0.00,2.45,0.00,0.000,6,0.000,0.024,2764,2185,2918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5418,-0.79,-146.6,324.1,-5.7,209,5425,0.00,2.47,0.00,0.000,4,0.000,0.042,2753,3752,2917,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5478,-0.81,-146.6,328.2,-6.2,210,5485,0.00,2.45,0.00,0.000,6,0.000,0.021,2753,2097,2917,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5838,-0.84,-146.6,354.6,-7.5,216,5845,0.00,2.42,0.00,0.000,4,0.000,0.038,2753,551,2916,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6026,-0.84,-146.6,368.5,-7.7,219,6031,0.00,2.47,0.00,0.000,6,0.000,0.024,2742,2187,2916,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6368,-0.84,-146.6,392.3,-6.7,225,6376,0.00,2.50,0.00,0.000,4,0.000,0.043,2730,3755,2915,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6610,-0.84,-146.6,406.3,-5.8,229,6616,0.00,2.40,0.00,0.000,6,0.000,0.021,2730,2104,2914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6969,-0.82,-146.6,425.3,-5.4,235,6976,0.00,2.60,0.00,0.000,4,0.000,0.041,2719,3742,2913,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7211,-0.79,-146.6,439.4,-5.8,239,7216,0.00,2.38,0.00,0.000,6,0.000,0.021,2719,2103,2912,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7569,-0.76,-146.6,462.3,-6.6,245,7577,0.12,2.62,0.00,0.000,4,0.132,0.042,2745,3741,2911,0,0,0,0,0,0,26.52,26.30,28.83
$GC,7769,-0.76,-146.6,475.2,-7.1,248,7776,0.00,2.42,0.00,0.000,6,0.000,0.021,2745,2105,2910,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8109,-0.80,-146.6,502.2,-7.5,254,8116,0.00,2.45,0.00,0.000,4,0.000,0.038,2745,549,2909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8350,-0.82,-146.6,518.9,-7.0,256,8356,0.00,2.42,0.00,0.000,6,0.000,0.025,2734,2187,2908,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8708,-0.82,-146.6,543.9,-6.9,259,8716,0.00,2.60,0.00,0.000,4,0.000,0.037,2734,549,2907,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8798,-0.82,-146.6,543.9,-6.9,259,8805,0.00,2.50,0.00,0.000,6,0.000,0.024,2723,2197,2907,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9188,-0.82,-146.6,580.8,-7.7,263,9196,0.00,2.62,0.00,0.000,4,0.000,0.037,2723,537,2905,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9308,-0.82,-146.6,590.6,-7.8,264,9316,0.00,2.50,0.00,0.000,6,0.000,0.024,2711,2186,2905,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9669,-0.80,-146.6,618.1,-7.7,267,9677,0.10,2.47,0.00,0.000,4,0.148,0.044,2729,3738,2904,0,0,0,0,0,0,26.57,26.26,28.83
$GC,9910,-0.80,-146.6,636.2,-7.6,269,9916,0.00,2.45,0.00,0.000,6,0.000,0.023,2729,2106,2904,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10269,-0.80,-146.6,662.2,-7.3,272,10276,0.00,2.45,0.00,0.000,4,0.000,0.039,2728,553,2903,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10398,-0.82,-146.6,670.5,-7.2,273,10405,0.00,2.50,0.00,0.000,6,0.000,0.025,2718,2195,2903,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10749,-0.85,-146.6,693.3,-6.5,276,10756,0.00,2.62,0.00,0.000,4,0.000,0.039,2718,546,2902,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10828,-0.87,-146.6,693.3,-6.5,276,10835,0.00,2.53,0.00,0.000,6,0.000,0.025,2706,2185,2902,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11228,-0.87,-146.6,725.5,-6.7,280,11236,0.00,2.53,0.00,0.000,4,0.000,0.044,2694,3752,2901,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11349,-0.87,-146.6,734.4,-6.9,281,11356,0.00,2.47,0.00,0.000,6,0.000,0.022,2694,2103,2900,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11709,-0.84,-146.6,762.3,-7.7,284,11717,0.12,2.65,0.00,0.000,4,0.136,0.043,2720,3752,2899,0,0,0,0,0,0,26.48,26.20,28.83
$GC,11910,-0.82,-146.6,771.1,-7.7,285,11916,0.00,2.47,0.00,0.000,6,0.000,0.023,2720,2104,2898,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12309,-0.85,-146.6,801.7,-6.4,289,12316,0.00,2.47,0.00,0.000,4,0.000,0.040,2720,546,2897,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12508,-0.88,-146.6,809.0,-6.2,290,12515,0.00,2.50,0.00,0.000,6,0.000,0.024,2709,2188,2897,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12909,-0.91,-146.6,841.3,-6.7,294,12916,0.00,2.60,0.00,0.000,4,0.000,0.040,2709,550,2896,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13148,-0.91,-146.6,859.3,-7.3,296,13156,0.00,2.50,0.00,0.000,6,0.000,0.025,2697,2186,2895,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13509,-0.91,-146.6,883.7,-6.9,299,13516,0.00,2.60,0.00,0.000,4,0.000,0.041,2697,553,2892,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13749,-0.91,-146.6,899.8,-6.7,301,13756,0.00,2.47,0.00,0.000,6,0.000,0.027,2685,2174,2893,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14109,-0.87,-146.6,922.9,-6.5,304,14117,0.12,2.53,0.00,0.000,4,0.145,0.045,2711,3747,2892,0,0,0,0,0,0,26.45,26.12,28.83
$GC,14309,-0.85,-146.6,930.4,-6.4,305,14316,0.00,2.47,0.00,0.000,6,0.000,0.024,2711,2101,2891,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14709,-0.89,-146.6,964.3,-7.1,309,14716,0.00,2.47,0.00,0.000,4,0.000,0.043,2711,551,2891,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14950,-0.93,-146.6,982.3,-7.3,311,14956,0.00,2.45,0.00,0.000,6,0.000,0.027,2700,2184,2890,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,15066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15066,begin apogee
$GC,15073,-0.29,0.0,990.8,-7.3,312,15201,0.60,0.00,123.32,1.673,6,0.097,0.000,2906,1576,2319,0,0,0,0,0,0,25.80,28.83,23.44
$STATE,15202,end apogee,CONTROL_FINISHED_OK
$STATE,15204,begin climb
$GC,15206,0.86,146.6,996.4,0.0,318,15347,1.02,2.15,130.82,1.640,4,0.061,0.049,3285,360,1723,0,0,0,0,0,0,24.98,24.32,23.01
$GC,15388,0.70,146.6,990.3,6.8,327,15392,0.22,2.05,0.00,0.000,6,0.136,0.024,3223,1652,1718,0,0,0,0,0,0,24.93,25.18,28.83
$GC,15709,0.62,146.6,967.1,7.0,333,15710,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1656,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16069,0.54,146.6,940.9,7.2,336,16071,0.17,0.00,0.00,0.000,6,0.131,0.000,3170,1653,1712,0,0,0,0,0,0,26.15,28.83,28.83
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$STATE,29193,end climb,SURFACE_DEPTH_REACHED
$STATE,29193,begin surface coast
$FINISH,1.1,1.025369
$STATE,29224,end surface coast,CONTROL_FINISHED_OK
$STATE,29224,begin surface
$SM_CCo,29245,81.20,0.123,0,0,497,446.45
$SM_GC,1.93,8.15,0.93,81.20,0.032,0.029,0.123,154,2201,497,-8.82,-0.57,446.45,0,0,0,0,0,0,26.44,26.55,25.86
$IRIDIUM_FIX,2408.65,-3822.98,291112,040430
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.32
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7679264
$TM_FREEKB,5788448
$24V_AH,23.0,45.977
$10V_AH,10.3,38.686
$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,22.150,262.475,350.450,81.200,0.000,133.090,375.529,0.000,0.000,0.000,17.442,2793.400,23302.836,906.591,2910.877,431.868,33.277,2140.371,0.000,2218.520,0.000,0.536,0.000
$DEVICE_MAMPS,179.010,96.390,1673.055,123.165,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29229.000,6197.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.916,13.531,0.000,0.000
$MEM,344692
$DATA_FILE_SIZE,16755,600
$CAP_FILE_SIZE,231083,0
$CFSIZE,260034560,229683200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291112,122904,2424.307,-3821.130,24,0.9,24,-14.1