version: 66.11
glider: 189
mission: 7
dive: 242
start: 12 1 112 3 8 20
data:
$ID,189
$MISSION,7
$DIVE,242
$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,-47958.09
$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
$GPS1,011212,025604,2421.092,-3818.233,31,0.9,31,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-56.4
$GPS2,011212,030717,2421.139,-3818.199,16,1.3,17,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.210,-0.085
$KALMAN_X,45608.0,397.5,227.5,-73713.4,-8745.1
$KALMAN_Y,57907.0,-374.5,-422.6,-83904.0,3760.4
$MHEAD_RNG_PITCHd_Wd,126.1,2582,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.79,-195.4,0.0,0.0,0,48,0.00,0.00,-21.12,0.000,2,0.000,0.000,156,2130,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.79,-195.4,2.2,0.0,2,122,9.45,2.67,-54.33,0.000,4,0.182,0.057,2744,3752,3117,0,0,0,0,0,0,25.62,26.04,26.65
$GC,280,-0.69,-195.4,13.9,-9.7,25,290,0.12,2.47,0.00,0.000,6,0.128,0.021,2781,2104,3117,0,0,0,0,0,0,26.08,26.36,28.83
$GC,590,-0.64,-195.4,38.1,-7.4,56,599,0.00,2.62,0.00,0.000,4,0.000,0.041,2770,3755,3117,0,0,0,0,0,0,28.83,26.19,28.83
$GC,830,-0.59,-195.4,56.3,-7.7,80,840,0.15,2.47,0.00,0.000,6,0.118,0.021,2817,2092,3117,0,0,0,0,0,0,26.19,26.49,28.83
$GC,1160,-0.63,-195.4,79.0,-6.7,109,1168,0.00,2.62,0.00,0.000,4,0.000,0.041,2806,3754,3118,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1269,-0.67,-195.4,84.6,-6.3,112,1278,0.00,2.45,0.00,0.000,6,0.000,0.020,2806,2099,3117,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1580,-0.70,-195.4,107.6,-7.9,123,1588,0.00,2.45,0.00,0.000,4,0.000,0.037,2806,541,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1670,-0.70,-195.4,115.8,-9.1,126,1678,0.00,2.47,0.00,0.000,6,0.000,0.024,2795,2188,3118,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2002,-0.73,-195.4,143.2,-7.3,137,2008,0.00,2.53,0.00,0.000,4,0.000,0.037,2796,540,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2060,-0.73,-195.4,146.8,-6.5,139,2067,0.00,2.47,0.00,0.000,6,0.000,0.024,2786,2189,3116,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2421,-0.73,-195.4,166.6,-5.6,146,2428,0.00,2.55,0.00,0.000,4,0.000,0.037,2785,548,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2549,-0.73,-195.4,174.3,-6.1,148,2557,0.00,2.47,0.00,0.000,6,0.000,0.024,2775,2191,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2903,-0.73,-195.4,200.3,-7.4,154,2908,0.00,2.53,0.00,0.000,4,0.000,0.037,2774,545,3118,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3009,-0.73,-195.4,204.7,-7.3,155,3013,0.00,2.47,0.00,0.000,6,0.000,0.024,2764,2187,3118,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3311,-0.73,-195.4,225.6,-5.8,160,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2187,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.73,-195.4,242.9,-5.7,165,3618,0.00,2.55,0.00,0.000,4,0.000,0.037,2763,548,3116,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3670,-0.73,-195.4,246.5,-5.7,166,3678,0.00,2.47,0.00,0.000,6,0.000,0.024,2753,2191,3118,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4030,-0.73,-195.4,271.9,-7.5,172,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2191,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.73,-195.4,297.6,-8.6,177,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2191,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.73,-195.4,321.3,-7.8,182,4638,0.00,2.58,0.00,0.000,4,0.000,0.037,2753,553,3116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4739,-0.73,-195.4,325.6,-7.5,183,4743,0.00,2.50,0.00,0.000,6,0.000,0.026,2743,2190,3116,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5041,-0.73,-195.4,352.4,-7.8,188,5048,0.00,2.58,0.00,0.000,4,0.000,0.037,2743,553,3115,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5139,-0.73,-195.4,357.6,-8.1,189,5144,0.12,2.47,0.00,0.000,6,0.131,0.025,2769,2188,3115,0,0,0,0,0,0,26.27,26.51,28.83
$GC,5452,-0.78,-195.4,386.9,-8.3,195,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2188,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5752,-0.83,-195.4,409.7,-7.5,200,5760,0.12,2.58,0.00,0.000,4,0.079,0.037,2691,545,3115,0,0,0,0,0,0,26.72,26.34,28.83
$GC,5993,-0.75,-195.4,428.8,-7.9,204,6000,0.20,2.47,0.00,0.000,6,0.105,0.025,2759,2183,3112,0,0,0,0,0,0,26.06,26.51,28.83
$GC,6352,-0.78,-195.4,451.7,-6.5,210,6360,0.00,2.58,0.00,0.000,4,0.000,0.038,2759,546,3111,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6501,-0.81,-195.4,460.1,-6.8,212,6509,0.00,2.50,0.00,0.000,6,0.000,0.024,2750,2195,3110,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6832,-0.85,-195.4,487.3,-7.8,218,6839,0.00,2.58,0.00,0.000,4,0.000,0.038,2750,553,3109,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6892,-0.88,-195.4,492.4,-8.1,219,6899,0.00,2.47,0.00,0.000,6,0.000,0.025,2740,2185,3109,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7252,-0.88,-195.4,524.7,-9.0,223,7259,0.00,2.50,0.00,0.000,4,0.000,0.044,2728,3749,3108,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7321,-0.88,-195.4,524.7,-9.0,223,7325,0.00,2.47,0.00,0.000,6,0.000,0.021,2728,2091,3108,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7723,-0.88,-195.4,560.7,-7.6,227,7730,0.00,2.62,0.00,0.000,4,0.000,0.042,2717,3742,3107,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7811,-0.88,-195.4,560.7,-7.6,227,7816,0.00,2.45,0.00,0.000,6,0.000,0.021,2717,2104,3107,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8194,-0.88,-195.4,593.8,-7.0,231,8202,0.00,2.62,0.00,0.000,4,0.000,0.041,2704,3744,3105,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8283,-0.88,-195.4,593.8,-7.0,231,8291,0.00,2.47,0.00,0.000,6,0.000,0.021,2704,2094,3105,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8674,-0.88,-195.4,637.9,-9.2,235,8681,0.00,2.62,0.00,0.000,4,0.000,0.042,2692,3748,3104,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8743,-0.88,-195.4,637.9,-9.2,235,8747,0.00,2.47,0.00,0.000,6,0.000,0.021,2692,2098,3103,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9145,-0.85,-195.4,679.8,-8.9,239,9153,0.12,2.45,0.00,0.000,4,0.128,0.040,2731,543,3102,0,0,0,0,0,0,26.52,26.29,28.83
$GC,9254,-0.83,-195.4,679.8,-8.9,239,9263,0.00,2.53,0.00,0.000,6,0.000,0.025,2723,2187,3101,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9625,-0.83,-195.4,714.3,-7.2,243,9633,0.00,2.50,0.00,0.000,4,0.000,0.044,2711,3746,3100,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9745,-0.83,-195.4,723.0,-7.1,244,9752,0.00,2.47,0.00,0.000,6,0.000,0.023,2711,2101,3100,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10105,-0.83,-195.4,749.5,-7.3,247,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2101,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10465,-0.83,-195.4,778.8,-8.0,250,10473,0.00,2.67,0.00,0.000,4,0.000,0.044,2698,3756,3098,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10604,-0.83,-195.4,789.2,-8.3,251,10613,0.12,2.50,0.00,0.000,6,0.119,0.023,2738,2094,3097,0,0,0,0,0,0,26.26,26.51,28.83
$GC,10945,-0.87,-195.4,821.0,-8.8,254,10952,0.00,2.62,0.00,0.000,4,0.000,0.044,2728,3739,3096,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11034,-0.90,-195.4,821.0,-8.8,254,11042,0.00,2.47,0.00,0.000,6,0.000,0.023,2728,2095,3097,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11425,-0.95,-195.4,863.5,-8.9,258,11433,0.10,2.65,0.00,0.000,4,0.095,0.044,2652,3752,3094,0,0,0,0,0,0,26.72,26.17,28.83
$GC,11594,-0.97,-195.4,874.4,-8.8,259,11602,0.12,2.50,0.00,0.000,6,0.132,0.023,2688,2097,3094,0,0,0,0,0,0,26.22,26.49,28.83
$GC,11905,-0.97,-195.4,901.2,-7.8,262,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12265,-0.97,-195.4,923.0,-6.3,265,12272,0.00,2.47,0.00,0.000,4,0.000,0.041,2688,539,3092,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12507,-0.97,-195.4,936.6,-5.8,267,12512,0.00,2.47,0.00,0.000,6,0.000,0.027,2678,2192,3091,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12865,-0.97,-195.4,959.9,-6.2,270,12872,0.00,2.62,0.00,0.000,4,0.000,0.041,2678,550,3090,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13107,-0.95,-195.4,979.7,-7.4,272,13112,0.00,2.45,0.00,0.000,6,0.000,0.027,2666,2186,3089,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,13223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13223,begin apogee
$GC,13229,-0.29,0.0,990.4,-8.1,273,13398,0.70,0.00,164.52,1.685,6,0.097,0.000,2907,1575,2320,0,0,0,0,0,0,25.78,28.83,23.28
$STATE,13402,end apogee,CONTROL_FINISHED_OK
$STATE,13402,begin climb
$GC,13404,0.79,195.4,1001.1,0.0,281,13584,0.98,0.00,173.35,1.636,6,0.057,0.000,3259,1575,1521,0,0,0,0,0,0,24.82,28.83,22.87
$GC,13987,0.67,209.0,977.2,5.8,305,14002,0.15,0.00,12.20,1.502,6,0.139,0.000,3217,1575,1467,0,0,0,0,0,0,26.05,28.83,24.34
$GC,14345,0.57,217.8,955.7,5.9,308,14363,0.12,2.03,9.32,1.460,4,0.138,0.050,3187,353,1430,0,0,0,0,0,0,26.21,26.02,24.46
$GC,14435,0.48,226.6,955.7,5.9,308,14449,0.12,1.98,9.30,1.461,6,0.129,0.025,3150,1652,1395,0,0,0,0,0,0,26.02,26.22,24.37
$GC,14817,0.48,226.6,921.7,7.2,312,14825,0.00,2.12,0.00,0.000,4,0.000,0.050,3158,348,1392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14896,0.48,226.6,921.7,7.2,312,14900,0.00,1.98,0.00,0.000,6,0.000,0.026,3158,1653,1390,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15288,0.51,226.6,882.7,8.3,316,15290,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1653,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15648,0.54,226.6,855.0,7.8,319,15655,0.00,2.10,0.00,0.000,4,0.000,0.050,3168,356,1390,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,26675,end climb,SURFACE_DEPTH_REACHED
$STATE,26675,begin surface coast
$FINISH,1.2,1.025411
$STATE,26706,end surface coast,CONTROL_FINISHED_OK
$STATE,26707,begin surface
$SM_CCo,26728,0.32,0.493,0,0,1093,300.00
$SM_GC,2.42,8.05,0.80,0.32,0.032,0.037,0.493,152,2193,1093,-8.83,-0.59,300.00,0,0,0,0,0,0,26.41,26.51,25.32
$IRIDIUM_FIX,2415.74,-3745.65,301112,191909
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.55
$INTERNAL_PRESSURE,9.08503
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,7676960
$TM_FREEKB,5737280
$24V_AH,22.9,47.281
$10V_AH,10.3,39.626
$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,22.375,230.025,433.225,0.325,0.000,62.667,41.758,232.580,0.000,0.000,17.783,2237.688,21720.816,846.812,2160.790,426.135,33.273,1840.005,0.000,1681.384,0.000,0.535,0.000
$DEVICE_MAMPS,182.070,80.325,1684.530,492.660,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26712.000,5267.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.786,13.542,0.000,0.000
$MEM,344416
$DATA_FILE_SIZE,16706,560
$CAP_FILE_SIZE,206310,0
$CFSIZE,260034560,229109760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,011212,103504,2420.188,-3817.540,39,0.9,39,-14.1