version: 66.11
glider: 189
mission: 7
dive: 237
start: 11 29 112 12 49 43
data:
$ID,189
$MISSION,7
$DIVE,237
$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,200
$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,-47951.801
$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
$GPS1,291112,122904,2424.307,-3821.130,24,0.9,24,-14.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-52.3
$GPS2,291112,124841,2424.389,-3821.196,15,1.1,15,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,-0.126
$KALMAN_X,73947.8,69.9,225.6,-106744.9,-4706.2
$KALMAN_Y,48606.8,-273.0,137.7,-69257.3,2709.8
$MHEAD_RNG_PITCHd_Wd,137.9,10290,-9.7,-6.111,-15.10
$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,-0.79,-195.4,0.0,0.0,0,56,0.00,0.00,-31.05,0.000,2,0.000,0.000,153,2122,1454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.79,-195.4,2.0,-1.8,3,141,9.30,2.55,-65.07,0.000,4,0.177,0.048,2741,538,3117,0,0,0,0,0,0,25.66,26.11,26.63
$GC,319,-0.67,-195.4,18.1,-10.3,29,329,0.15,2.53,0.00,0.000,6,0.132,0.025,2780,2196,3117,0,0,0,0,0,0,25.99,26.32,28.83
$GC,629,-0.62,-195.4,42.1,-7.0,60,638,0.00,2.47,0.00,0.000,4,0.000,0.043,2770,3746,3117,0,0,0,0,0,0,28.83,26.24,28.83
$GC,729,-0.55,-195.4,49.3,-6.6,70,739,0.17,2.47,0.00,0.000,6,0.113,0.021,2830,2087,3117,0,0,0,0,0,0,26.15,26.48,28.83
$GC,1039,-0.61,-195.4,69.1,-7.1,101,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2089,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-0.66,-195.4,89.6,-6.9,117,1343,0.12,0.00,0.00,0.000,6,0.076,0.000,2748,2088,3116,0,0,0,0,0,0,26.67,28.83,28.83
$GC,1640,-0.59,-195.4,112.7,-7.4,127,1647,0.20,2.60,0.00,0.000,4,0.110,0.042,2796,3738,3116,0,0,0,0,0,0,26.36,26.34,28.83
$GC,1879,-0.59,-195.4,128.4,-6.5,135,1886,0.00,2.45,0.00,0.000,6,0.000,0.021,2800,2087,3116,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2211,-0.62,-195.4,149.0,-6.0,146,2217,0.00,2.60,0.00,0.000,4,0.000,0.041,2789,3759,3116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2319,-0.64,-195.4,152.5,-5.9,148,2328,0.00,2.47,0.00,0.000,6,0.000,0.021,2788,2085,3116,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2630,-0.67,-195.4,176.6,-6.8,154,2637,0.00,2.38,0.00,0.000,4,0.000,0.037,2789,551,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2708,-0.67,-195.4,180.8,-7.0,155,2712,0.00,2.47,0.00,0.000,6,0.000,0.024,2778,2200,3116,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3040,-0.67,-195.4,205.0,-6.9,161,3047,0.00,2.42,0.00,0.000,4,0.000,0.042,2766,3742,3116,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3109,-0.67,-195.4,208.8,-6.8,162,3113,0.00,2.45,0.00,0.000,6,0.000,0.021,2767,2084,3116,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3451,-0.67,-195.4,233.7,-7.3,168,3458,0.00,2.40,0.00,0.000,4,0.000,0.037,2767,547,3115,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3560,-0.67,-195.4,238.4,-7.5,169,3569,0.00,2.47,0.00,0.000,6,0.000,0.024,2757,2193,3115,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3871,-0.67,-195.4,268.1,-8.3,175,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2193,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4170,-0.67,-195.4,290.4,-7.2,180,4178,0.00,2.60,0.00,0.000,4,0.000,0.036,2756,537,3114,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4330,-0.67,-195.4,298.4,-6.9,182,4338,0.15,2.50,0.00,0.000,6,0.120,0.025,2791,2194,3113,0,0,0,0,0,0,26.27,26.53,28.83
$GC,4651,-0.73,-195.4,320.0,-6.1,188,4658,0.00,2.58,0.00,0.000,4,0.000,0.037,2791,550,3113,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4720,-0.78,-195.4,324.1,-6.3,189,4729,0.12,2.50,0.00,0.000,6,0.077,0.025,2703,2194,3113,0,0,0,0,0,0,26.48,26.53,28.83
$GC,5071,-0.71,-195.4,354.7,-8.8,195,5079,0.22,2.45,0.00,0.000,4,0.109,0.043,2765,3739,3114,0,0,0,0,0,0,26.34,26.34,28.83
$GC,5220,-0.67,-195.4,364.3,-8.5,197,5227,0.00,2.45,0.00,0.000,6,0.000,0.021,2765,2093,3112,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5551,-0.70,-195.4,392.8,-7.9,203,5558,0.00,2.42,0.00,0.000,4,0.000,0.038,2765,541,3110,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5731,-0.73,-195.4,406.1,-7.4,206,5739,0.00,2.50,0.00,0.000,6,0.000,0.025,2756,2195,3109,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6092,-0.76,-195.4,427.9,-5.8,212,6098,0.00,2.58,0.00,0.000,4,0.000,0.037,2755,553,3109,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6180,-0.79,-195.4,431.5,-5.8,213,6188,0.00,2.47,0.00,0.000,6,0.000,0.025,2745,2186,3108,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6511,-0.79,-195.4,453.6,-6.3,219,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2186,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6811,-0.82,-195.4,476.8,-7.9,224,6818,0.00,2.58,0.00,0.000,4,0.000,0.037,2745,548,3106,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6890,-0.84,-195.4,482.0,-8.2,225,6898,0.00,2.50,0.00,0.000,6,0.000,0.025,2735,2198,3105,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7231,-0.84,-195.4,515.4,-9.4,230,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2198,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7590,-0.84,-195.4,546.0,-8.8,233,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2198,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7951,-0.87,-195.4,568.4,-6.6,236,7959,0.00,2.60,0.00,0.000,4,0.000,0.037,2735,547,3102,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8010,-0.89,-195.4,568.4,-6.6,236,8018,0.00,2.50,0.00,0.000,6,0.000,0.026,2724,2189,3102,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8431,-0.89,-195.4,595.6,-5.6,240,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2189,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8790,-0.89,-195.4,624.8,-7.7,243,8798,0.00,2.62,0.00,0.000,4,0.000,0.039,2724,545,3099,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9031,-0.89,-195.4,647.7,-9.1,245,9038,0.00,2.50,0.00,0.000,6,0.000,0.026,2713,2185,3098,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9391,-0.89,-195.4,680.8,-9.3,248,9398,0.00,2.60,0.00,0.000,4,0.000,0.040,2713,548,3097,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9491,-0.89,-195.4,680.8,-9.3,248,9498,0.00,2.47,0.00,0.000,6,0.000,0.025,2701,2181,3096,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9871,-0.89,-195.4,716.8,-7.5,252,9878,0.00,2.62,0.00,0.000,4,0.000,0.040,2701,541,3095,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9991,-0.86,-195.4,725.2,-7.1,253,9999,0.08,2.53,0.00,0.000,6,0.122,0.027,2718,2180,3095,0,0,0,0,0,0,26.20,26.46,28.83
$GC,10350,-0.86,-195.4,749.1,-6.7,256,10358,0.00,2.60,0.00,0.000,4,0.000,0.040,2718,550,3093,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10450,-0.86,-195.4,749.1,-6.7,256,10458,0.00,2.50,0.00,0.000,6,0.000,0.026,2709,2187,3093,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10830,-0.86,-195.4,783.9,-7.2,260,10838,0.00,2.62,0.00,0.000,4,0.000,0.040,2709,549,3092,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11072,-0.86,-195.4,801.4,-7.2,262,11078,0.00,2.50,0.00,0.000,6,0.000,0.027,2697,2185,3090,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11431,-0.81,-195.4,825.0,-6.7,265,11439,0.15,2.53,0.00,0.000,4,0.128,0.046,2733,3749,3089,0,0,0,0,0,0,26.42,26.18,28.83
$GC,11580,-0.78,-195.4,832.6,-6.5,266,11588,0.00,2.50,0.00,0.000,6,0.000,0.024,2733,2098,3089,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11911,-0.80,-195.4,856.9,-6.6,269,11919,0.00,2.65,0.00,0.000,4,0.000,0.045,2725,3742,3089,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12031,-0.84,-195.4,865.4,-6.8,270,12038,0.00,2.47,0.00,0.000,6,0.000,0.024,2725,2107,3088,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12391,-0.88,-195.4,892.1,-7.3,273,12399,0.00,2.47,0.00,0.000,4,0.000,0.042,2725,556,3087,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12570,-0.92,-195.4,901.5,-7.5,274,12577,0.00,2.50,0.00,0.000,6,0.000,0.026,2715,2186,3087,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12991,-0.94,-195.4,937.9,-7.6,278,12998,0.00,2.50,0.00,0.000,4,0.000,0.046,2703,3741,3086,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13130,-0.97,-195.4,947.2,-7.6,279,13138,0.00,2.47,0.00,0.000,6,0.000,0.024,2701,2108,3085,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13471,-0.99,-195.4,975.4,-7.8,282,13478,0.00,2.62,0.00,0.000,4,0.000,0.045,2691,3737,3083,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13600,-0.99,-195.4,985.3,-8.0,283,13609,0.00,2.47,0.00,0.000,6,0.000,0.024,2691,2106,3083,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,13649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13649,begin apogee
$GC,13655,-0.29,0.0,990.3,-8.3,286,13825,0.60,0.05,162.82,1.670,6,0.093,0.128,2901,1618,2321,0,0,0,0,0,0,25.87,24.52,23.32
$STATE,13827,end apogee,CONTROL_FINISHED_OK
$STATE,13827,begin climb
$GC,13829,0.79,195.4,999.0,0.0,294,14009,0.98,0.00,173.98,1.628,6,0.059,0.000,3253,1618,1522,0,0,0,0,0,0,24.86,28.83,22.92
$GC,14381,0.66,195.4,964.7,8.0,312,14383,0.15,0.00,0.00,0.000,6,0.138,0.000,3211,1618,1514,0,0,0,0,0,0,26.02,28.83,28.83
$GC,14741,0.56,195.4,936.0,8.0,315,14748,0.00,2.08,0.00,0.000,4,0.000,0.048,3219,348,1512,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14840,0.46,195.4,936.0,8.0,315,14844,0.22,1.98,0.00,0.000,6,0.117,0.025,3149,1658,1511,0,0,0,0,0,0,26.10,26.44,28.83
$GC,15213,0.46,195.4,902.6,7.0,319,15220,0.00,2.12,0.00,0.000,4,0.000,0.048,3158,354,1510,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15401,0.46,195.4,895.6,6.5,320,15405,0.00,1.95,0.00,0.000,6,0.000,0.025,3158,1647,1509,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15803,0.49,214.3,868.9,5.7,324,15820,0.00,0.00,15.50,1.530,6,0.000,0.000,3158,1647,1446,0,0,0,0,0,0,28.83,28.83,24.58
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$STATE,27631,end climb,SURFACE_DEPTH_REACHED
$STATE,27631,begin surface coast
$FINISH,1.2,1.024152
$STATE,27682,end surface coast,CONTROL_FINISHED_OK
$STATE,27682,begin surface
$SM_CCo,27763,0.00,0.000,0,0,1029,316.68
$SM_GC,2.01,8.07,0.93,0.00,0.029,0.033,0.000,153,2193,1029,-8.83,-0.54,316.68,0,0,0,0,0,0,26.36,26.44,28.83
$IRIDIUM_FIX,2429.95,-3803.31,291112,121226
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.70
$INTERNAL_PRESSURE,9.08503
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,7678880
$TM_FREEKB,5779168
$24V_AH,22.9,46.194
$10V_AH,10.2,38.852
$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,21.675,231.475,412.750,0.000,0.000,82.713,187.506,488.444,0.000,0.000,16.544,2359.393,22556.303,870.295,2669.451,469.053,33.279,1914.157,0.000,1785.174,0.000,0.537,0.000
$DEVICE_MAMPS,176.715,127.755,1669.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27691.000,5931.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.903,13.524,0.000,0.000
$MEM,344380
$DATA_FILE_SIZE,16717,589
$CAP_FILE_SIZE,214512,0
$CFSIZE,260034560,229646336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291112,203334,2423.402,-3820.717,35,0.8,35,-14.1