version: 66.11
glider: 189
mission: 7
dive: 251
start: 12 3 112 20 4 48
data:
$ID,189
$MISSION,7
$DIVE,251
$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,440
$T_MISSION,480
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-47969.41
$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
$GPS1,031212,195452,2416.229,-3807.366,41,0.8,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-56.3
$GPS2,031212,200347,2416.243,-3807.368,19,1.0,20,-14.1
$SPEED_LIMITS,0.130,0.151
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,0.150
$KALMAN_X,24048.9,306.0,355.1,-33939.5,-236.8
$KALMAN_Y,38079.8,66.2,477.2,-74521.0,-6515.6
$MHEAD_RNG_PITCHd_Wd,7.3,34107,-17.1,-7.500,-26.45
$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,-1.16,-146.6,0.0,0.0,0,38,0.00,0.00,-11.85,0.000,2,0.000,0.000,152,2123,1448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-1.16,-146.6,2.1,0.0,1,118,9.12,2.65,-56.47,0.000,4,0.186,0.054,2612,3747,2919,0,0,0,0,0,0,25.63,26.08,26.67
$GC,348,-1.05,-146.6,26.4,-11.4,32,357,0.15,2.47,0.00,0.000,6,0.150,0.021,2657,2102,2921,0,0,0,0,0,0,25.95,26.38,28.83
$GC,658,-0.99,-146.6,54.6,-7.9,63,667,0.00,2.60,0.00,0.000,4,0.000,0.041,2647,3748,2921,0,0,0,0,0,0,28.83,26.22,28.83
$GC,898,-0.93,-146.6,74.7,-8.7,87,907,0.17,2.47,0.00,0.000,6,0.135,0.021,2699,2088,2921,0,0,0,0,0,0,26.04,26.48,28.83
$GC,1207,-0.93,-146.6,101.3,-9.3,98,1215,0.00,2.62,0.00,0.000,4,0.000,0.041,2688,3748,2922,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1357,-0.93,-146.6,115.2,-9.2,103,1365,0.00,2.45,0.00,0.000,6,0.000,0.021,2691,2100,2922,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1687,-0.93,-146.6,143.3,-8.3,114,1695,0.00,2.62,0.00,0.000,4,0.000,0.040,2676,3758,2923,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1816,-0.93,-146.6,152.8,-8.0,118,1821,0.00,2.47,0.00,0.000,6,0.000,0.021,2676,2091,2923,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2159,-0.93,-146.6,177.5,-6.8,124,2166,0.00,2.60,0.00,0.000,4,0.000,0.041,2666,3746,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2339,-0.93,-146.6,188.9,-6.4,127,2347,0.10,2.42,0.00,0.000,6,0.118,0.021,2699,2095,2926,0,0,0,0,0,0,26.22,26.59,28.83
$GC,2700,-0.96,-146.6,206.8,-4.8,133,2706,0.00,2.58,0.00,0.000,4,0.000,0.041,2689,3755,2924,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2898,-0.96,-146.6,219.2,-6.5,136,2906,0.00,2.47,0.00,0.000,6,0.000,0.021,2688,2090,2924,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3239,-0.96,-146.6,247.9,-8.0,142,3246,0.00,2.62,0.00,0.000,4,0.000,0.041,2677,3752,2924,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3398,-0.96,-146.6,256.8,-7.6,144,3405,0.00,2.45,0.00,0.000,6,0.000,0.021,2676,2103,2924,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3719,-0.96,-146.6,283.1,-7.3,150,3726,0.00,2.60,0.00,0.000,4,0.000,0.041,2664,3746,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3960,-0.96,-146.6,302.2,-8.0,154,3966,0.00,2.40,0.00,0.000,6,0.000,0.021,2664,2091,2923,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4319,-0.96,-146.6,326.8,-6.5,160,4326,0.00,2.62,0.00,0.000,4,0.000,0.041,2652,3745,2922,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4528,-0.96,-146.6,337.6,-6.0,163,4536,0.15,2.45,0.00,0.000,6,0.132,0.021,2694,2101,2921,0,0,0,0,0,0,26.20,26.56,28.83
$GC,4859,-1.00,-146.6,360.4,-6.7,169,4866,0.00,2.62,0.00,0.000,4,0.000,0.043,2684,3752,2920,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5008,-1.04,-146.6,370.8,-7.9,171,5015,0.00,2.47,0.00,0.000,6,0.000,0.021,2684,2095,2920,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5340,-1.07,-146.6,405.4,-9.7,177,5346,0.00,2.62,0.00,0.000,4,0.000,0.042,2672,3750,2920,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5580,-1.09,-146.6,428.4,-9.6,181,5586,0.00,2.45,0.00,0.000,6,0.000,0.021,2672,2075,2919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5939,-1.12,-146.6,457.7,-8.0,187,5946,0.00,2.65,0.00,0.000,4,0.000,0.042,2660,3743,2918,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6180,-1.12,-146.6,475.6,-7.5,191,6186,0.00,2.45,0.00,0.000,6,0.000,0.021,2660,2096,2917,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6539,-1.12,-146.6,502.7,-7.8,197,6546,0.00,2.62,0.00,0.000,4,0.000,0.043,2647,3745,2915,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6778,-1.12,-146.6,524.9,-8.9,199,6786,0.00,2.47,0.00,0.000,6,0.000,0.021,2648,2094,2916,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7139,-1.12,-146.6,558.2,-9.3,202,7146,0.00,2.62,0.00,0.000,4,0.000,0.043,2635,3744,2914,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7378,-1.12,-146.6,577.3,-8.5,204,7386,0.00,2.47,0.00,0.000,6,0.000,0.022,2635,2098,2914,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7739,-1.12,-146.6,598.0,-6.2,207,7746,0.00,2.62,0.00,0.000,4,0.000,0.043,2623,3746,2913,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7947,-1.12,-146.6,605.0,-5.7,208,7955,0.00,2.47,0.00,0.000,6,0.000,0.022,2623,2103,2912,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8339,-1.12,-146.6,639.8,-7.2,212,8346,0.00,2.62,0.00,0.000,4,0.000,0.043,2611,3743,2911,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8579,-1.12,-146.6,663.2,-9.0,214,8586,0.00,2.47,0.00,0.000,6,0.000,0.022,2611,2101,2910,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8938,-1.12,-146.6,698.6,-9.9,217,8946,0.00,2.65,0.00,0.000,4,0.000,0.044,2599,3746,2909,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9168,-1.09,-146.6,710.8,-9.9,218,9178,0.17,2.47,0.00,0.000,6,0.138,0.023,2649,2105,2908,0,0,0,0,0,0,26.06,26.51,28.83
$GC,9538,-1.09,-146.6,750.8,-8.2,222,9546,0.00,2.65,0.00,0.000,4,0.000,0.043,2638,3746,2907,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9781,-1.12,-146.6,768.2,-7.4,224,9787,0.00,2.42,0.00,0.000,6,0.000,0.023,2638,2108,2906,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10139,-1.12,-146.6,791.1,-6.6,227,10146,0.00,2.62,0.00,0.000,4,0.000,0.044,2625,3744,2906,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10381,-1.12,-146.6,808.4,-6.7,229,10386,0.00,2.42,0.00,0.000,6,0.000,0.023,2626,2100,2904,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10738,-1.12,-146.6,838.9,-8.2,232,10746,0.00,2.65,0.00,0.000,4,0.000,0.044,2613,3746,2903,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10978,-1.12,-146.6,863.6,-9.5,234,10986,0.00,2.47,0.00,0.000,6,0.000,0.024,2613,2112,2902,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11339,-1.12,-146.6,903.9,-11.1,237,11346,0.00,2.62,0.00,0.000,4,0.000,0.044,2602,3739,2900,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11549,-1.12,-146.6,917.5,-11.2,238,11557,0.10,2.45,0.00,0.000,6,0.124,0.023,2635,2107,2900,0,0,0,0,0,0,26.09,26.47,28.83
$GC,11939,-1.14,-146.6,959.9,-8.8,242,11946,0.00,2.65,0.00,0.000,4,0.000,0.045,2625,3748,2899,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12158,-1.17,-146.6,968.6,-8.0,243,12166,0.00,2.50,0.00,0.000,6,0.000,0.023,2625,2099,2898,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,12416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12416,begin apogee
$GC,12424,-0.29,0.0,992.4,-6.8,246,12558,0.85,0.00,125.47,1.665,6,0.116,0.000,2902,1577,2319,0,0,0,0,0,0,25.54,28.83,23.41
$STATE,12560,end apogee,CONTROL_FINISHED_OK
$STATE,12561,begin climb
$GC,12564,1.16,146.6,995.5,0.0,253,12702,1.33,2.15,130.75,1.640,4,0.060,0.047,3382,358,1723,0,0,0,0,0,0,25.07,24.39,23.03
$GC,12792,1.00,146.6,982.7,10.0,264,12800,0.22,2.00,0.00,0.000,6,0.158,0.023,3325,1652,1718,0,0,0,0,0,0,25.29,25.65,28.83
$GC,13133,0.88,146.6,954.4,8.0,267,13135,0.15,0.00,0.00,0.000,6,0.158,0.000,3284,1653,1715,0,0,0,0,0,0,26.03,28.83,28.83
$GC,13494,0.88,187.4,933.7,6.1,270,13534,0.00,2.20,35.47,1.606,4,0.000,0.049,3293,351,1556,0,0,0,0,0,0,28.83,25.44,24.06
$GC,13643,0.89,234.6,926.5,5.8,271,13691,0.00,1.98,43.20,1.594,6,0.000,0.024,3292,1645,1362,0,0,0,0,0,0,28.83,26.05,23.78
$GC,14073,0.89,234.6,888.9,8.0,275,14080,0.00,2.08,0.00,0.000,4,0.000,0.048,3302,355,1355,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14181,0.89,234.6,888.9,8.0,275,14185,0.00,1.95,0.00,0.000,6,0.000,0.025,3302,1644,1354,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14542,0.89,234.6,841.9,9.8,278,14549,0.00,2.10,0.00,0.000,4,0.000,0.049,3317,351,1353,0,0,0,0,0,0,28.83,26.26,28.83
$GC,14641,0.89,234.6,841.9,9.8,278,14645,0.00,1.95,0.00,0.000,6,0.000,0.025,3312,1645,1353,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15013,0.89,234.6,788.4,11.3,282,15014,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1645,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15373,0.89,234.6,746.9,11.5,285,15380,0.00,2.10,0.00,0.000,4,0.000,0.049,3322,355,1350,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15432,0.89,234.6,746.9,11.5,285,15436,0.12,1.95,0.00,0.000,6,0.146,0.026,3289,1655,1351,0,0,0,0,0,0,26.20,26.53,28.83
$GC,15845,0.89,234.6,703.5,9.2,289,15852,0.00,2.12,0.00,0.000,4,0.000,0.049,3297,351,1350,0,0,0,0,0,0,28.83,26.27,28.83
$GC,16053,0.89,234.6,693.8,8.5,290,16057,0.00,1.95,0.00,0.000,6,0.000,0.025,3297,1648,1349,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16435,0.89,235.3,658.6,7.5,294,16443,0.00,2.08,0.00,0.000,4,0.000,0.049,3306,359,1350,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16524,0.89,236.0,658.6,7.5,294,16527,0.00,1.95,0.00,0.000,6,0.000,0.026,3306,1657,1349,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16905,0.89,236.0,614.7,9.3,298,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1657,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17265,0.89,236.0,577.4,10.3,301,17273,0.00,2.12,0.00,0.000,4,0.000,0.048,3320,346,1349,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,23187,end climb,SURFACE_DEPTH_REACHED
$STATE,23187,begin surface coast
$FINISH,1.1,0.998332
$STATE,23218,end surface coast,CONTROL_FINISHED_OK
$STATE,23218,begin surface
$SM_CCo,23242,5.53,0.145,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.01
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7673504
$TM_FREEKB,5667200
$24V_AH,23.0,49.091
$10V_AH,10.2,40.958
$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,21.500,186.725,380.150,5.525,0.000,25.922,39.616,202.312,0.000,0.000,21.342,2176.558,18325.438,725.816,2167.530,379.014,33.258,1707.592,0.000,1756.911,0.000,0.535,0.000
$DEVICE_MAMPS,185.895,96.390,1665.405,144.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23221.000,4604.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.708,13.515,0.000,0.000
$MEM,344392
$DATA_FILE_SIZE,13400,468
$CAP_FILE_SIZE,175762,0
$CFSIZE,260034560,228245504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,041212,023329,2417.653,-3806.676,37,0.9,37,-14.1