version: 66.11
glider: 189
mission: 7
dive: 257
start: 12 5 112 12 33 24
data:
$ID,189
$MISSION,7
$DIVE,257
$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,-47976.965
$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
$GPS1,051212,122322,2421.644,-3803.430,41,0.9,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-55.9
$GPS2,051212,123223,2421.658,-3803.414,16,0.9,17,-14.1
$SPEED_LIMITS,0.130,0.151
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.058,0.139
$KALMAN_X,35559.4,160.4,218.9,-38496.1,1550.3
$KALMAN_Y,25969.7,-47.7,167.3,-51948.8,-3377.3
$MHEAD_RNG_PITCHd_Wd,351.7,22982,-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,-11.85,0.000,2,0.000,0.000,151,2115,1449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-1.16,-146.6,2.0,0.0,1,118,8.90,2.70,-56.42,0.000,4,0.177,0.056,2615,3761,2921,0,0,0,0,0,0,25.55,26.12,26.67
$GC,159,-1.08,-146.6,4.6,-8.2,13,167,0.12,2.45,0.00,0.000,6,0.150,0.022,2647,2095,2920,0,0,0,0,0,0,25.96,26.32,28.83
$GC,468,-1.02,-146.6,33.9,-8.2,44,477,0.00,2.42,0.00,0.000,4,0.000,0.038,2647,551,2920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,708,-0.93,-146.6,61.5,-13.9,68,718,0.20,2.47,0.00,0.000,6,0.150,0.024,2697,2188,2920,0,0,0,0,0,0,25.86,26.43,28.83
$GC,1038,-0.93,-146.6,89.1,-7.3,89,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2188,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.93,-146.6,113.8,-7.1,99,1345,0.00,2.55,0.00,0.000,4,0.000,0.037,2698,553,2921,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1488,-0.90,-146.6,122.4,-5.6,104,1495,0.00,2.45,0.00,0.000,6,0.000,0.024,2687,2190,2922,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1817,-0.90,-146.6,149.6,-9.2,115,1825,0.00,2.47,0.00,0.000,4,0.000,0.041,2676,3755,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1986,-0.90,-146.6,161.0,-9.5,118,1991,0.12,2.45,0.00,0.000,6,0.137,0.020,2711,2095,2923,0,0,0,0,0,0,26.25,26.57,28.83
$GC,2288,-0.94,-146.6,190.3,-7.9,123,2295,0.00,2.60,0.00,0.000,4,0.000,0.041,2699,3742,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2530,-0.96,-146.6,204.4,-5.9,127,2535,0.00,2.40,0.00,0.000,6,0.000,0.021,2699,2088,2926,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2889,-0.98,-146.6,222.8,-5.3,133,2896,0.00,2.62,0.00,0.000,4,0.000,0.041,2687,3745,2923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3049,-1.00,-146.6,230.5,-6.0,135,3055,0.00,2.42,0.00,0.000,6,0.000,0.021,2687,2103,2923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3368,-1.00,-146.6,255.5,-7.0,141,3376,0.00,2.60,0.00,0.000,4,0.000,0.041,2675,3745,2923,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3610,-1.00,-146.6,273.5,-7.5,145,3615,0.00,2.40,0.00,0.000,6,0.000,0.021,2675,2092,2923,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3968,-1.00,-146.6,297.9,-6.7,151,3975,0.00,2.60,0.00,0.000,4,0.000,0.041,2663,3742,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4198,-1.00,-146.6,310.4,-6.9,154,4207,0.00,2.42,0.00,0.000,6,0.000,0.021,2663,2102,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4509,-1.00,-146.6,333.8,-6.4,160,4515,0.00,2.60,0.00,0.000,4,0.000,0.041,2651,3746,2922,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4749,-1.00,-146.6,350.3,-6.9,164,4755,0.00,2.42,0.00,0.000,6,0.000,0.021,2651,2107,2921,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5108,-1.00,-146.6,377.3,-7.6,170,5115,0.00,2.60,0.00,0.000,4,0.000,0.041,2639,3754,2920,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5307,-1.00,-146.6,393.1,-8.6,173,5315,0.12,2.47,0.00,0.000,6,0.139,0.021,2674,2095,2920,0,0,0,0,0,0,26.25,26.56,28.83
$GC,5648,-1.03,-146.6,423.8,-8.6,179,5655,0.00,2.62,0.00,0.000,4,0.000,0.042,2663,3743,2919,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5837,-1.03,-146.6,440.2,-9.0,182,5844,0.00,2.47,0.00,0.000,6,0.000,0.021,2663,2094,2919,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6187,-1.03,-146.6,470.6,-8.3,188,6195,0.00,2.65,0.00,0.000,4,0.000,0.041,2651,3746,2918,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6429,-1.03,-146.6,490.7,-8.4,192,6435,0.00,2.40,0.00,0.000,6,0.000,0.022,2651,2107,2916,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6787,-1.03,-146.6,518.1,-7.6,196,6795,0.00,2.62,0.00,0.000,4,0.000,0.041,2638,3749,2916,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7028,-1.03,-146.6,537.9,-7.8,198,7035,0.00,2.45,0.00,0.000,6,0.000,0.021,2639,2105,2915,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7387,-1.03,-146.6,568.0,-8.4,201,7396,0.12,2.60,0.00,0.000,4,0.142,0.041,2663,3739,2913,0,0,0,0,0,0,26.46,26.28,28.83
$GC,7597,-1.03,-146.6,578.3,-8.4,202,7604,0.00,2.47,0.00,0.000,6,0.000,0.021,2663,2095,2913,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7988,-1.06,-146.6,616.8,-8.0,206,7995,0.00,2.62,0.00,0.000,4,0.000,0.042,2651,3732,2912,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8218,-1.08,-146.6,625.7,-7.8,207,8227,0.00,2.45,0.00,0.000,6,0.000,0.022,2651,2101,2911,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8588,-1.10,-146.6,662.6,-7.7,211,8595,0.00,2.65,0.00,0.000,4,0.000,0.043,2639,3751,2909,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8716,-1.10,-146.6,673.3,-8.0,212,8721,0.00,2.47,0.00,0.000,6,0.000,0.022,2639,2107,2909,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9058,-1.10,-146.6,706.4,-9.3,215,9066,0.00,2.62,0.00,0.000,4,0.000,0.042,2627,3747,2907,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9299,-1.10,-146.6,728.5,-9.4,217,9306,0.00,2.47,0.00,0.000,6,0.000,0.022,2627,2100,2906,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9658,-1.10,-146.6,759.6,-8.7,220,9666,0.00,2.65,0.00,0.000,4,0.000,0.043,2615,3747,2905,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9899,-1.10,-146.6,780.5,-8.6,222,9906,0.00,2.45,0.00,0.000,6,0.000,0.023,2615,2116,2905,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10258,-1.10,-146.6,810.3,-8.4,225,10267,0.10,2.62,0.00,0.000,4,0.155,0.043,2629,3746,2904,0,0,0,0,0,0,26.53,26.20,28.83
$GC,10428,-1.10,-146.6,819.7,-8.2,226,10436,0.00,2.47,0.00,0.000,6,0.000,0.023,2629,2109,2904,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10739,-1.10,-146.6,843.7,-7.0,229,10746,0.00,2.62,0.00,0.000,4,0.000,0.043,2618,3739,2903,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10918,-1.10,-146.6,851.1,-6.5,230,10926,0.00,2.47,0.00,0.000,6,0.000,0.022,2617,2102,2902,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11339,-1.10,-146.6,881.4,-6.3,234,11346,0.00,2.65,0.00,0.000,4,0.000,0.044,2605,3749,2901,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11580,-1.10,-146.6,902.4,-7.7,236,11587,0.10,2.47,0.00,0.000,6,0.121,0.024,2640,2105,2900,0,0,0,0,0,0,26.11,26.47,28.83
$GC,11939,-1.10,-146.6,937.5,-9.6,239,11946,0.00,2.65,0.00,0.000,4,0.000,0.044,2629,3743,2898,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12108,-1.13,-146.6,950.8,-10.1,240,12115,0.00,2.47,0.00,0.000,6,0.000,0.023,2629,2111,2898,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,12416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12416,begin apogee
$GC,12423,-0.29,0.0,990.6,-11.1,243,12558,0.82,0.00,125.15,1.673,6,0.111,0.000,2902,1575,2320,0,0,0,0,0,0,25.62,28.83,23.38
$STATE,12559,end apogee,CONTROL_FINISHED_OK
$STATE,12561,begin climb
$GC,12564,1.16,146.6,999.2,0.0,250,12702,1.30,2.15,131.15,1.646,4,0.059,0.048,3379,358,1722,0,0,0,0,0,0,25.08,24.41,23.02
$GC,12931,1.00,146.6,980.0,9.4,266,12936,0.20,2.00,0.00,0.000,6,0.162,0.023,3326,1654,1714,0,0,0,0,0,0,25.70,26.10,28.83
$GC,13245,0.89,146.6,947.8,9.2,269,13247,0.15,0.00,0.00,0.000,6,0.155,0.000,3285,1655,1713,0,0,0,0,0,0,26.09,28.83,28.83
$GC,13604,0.84,146.6,916.5,8.8,272,13611,0.00,2.12,0.00,0.000,4,0.000,0.048,3294,351,1710,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13703,0.79,146.6,916.5,8.8,272,13708,0.15,1.98,0.00,0.000,6,0.145,0.025,3253,1652,1709,0,0,0,0,0,0,26.12,26.48,28.83
$GC,14076,0.79,146.6,877.8,8.2,276,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1652,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14436,0.79,146.6,849.6,7.9,279,14443,0.00,2.12,0.00,0.000,4,0.000,0.048,3261,348,1708,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14576,0.79,146.6,839.6,7.9,280,14583,0.00,1.95,0.00,0.000,6,0.000,0.025,3261,1644,1707,0,0,0,0,0,0,28.83,26.54,28.83
$GC,14916,0.79,146.6,811.6,7.9,283,14923,0.00,2.08,0.00,0.000,4,0.000,0.049,3270,362,1706,0,0,0,0,0,0,28.83,26.26,28.83
$GC,15044,0.79,146.6,802.6,7.7,284,15048,0.00,1.95,0.00,0.000,6,0.000,0.025,3271,1656,1707,0,0,0,0,0,0,28.83,26.54,28.83
$GC,15387,0.80,159.8,778.5,7.0,287,15404,0.00,2.12,10.02,1.421,4,0.000,0.049,3280,349,1668,0,0,0,0,0,0,28.83,26.24,24.46
$GC,15535,0.83,178.9,770.3,6.8,288,15559,0.00,1.98,18.92,1.492,6,0.000,0.025,3281,1654,1588,0,0,0,0,0,0,28.83,26.40,24.32
$GC,15857,0.86,205.1,747.5,6.6,291,15882,0.00,0.00,23.75,1.487,6,0.000,0.000,3281,1651,1483,0,0,0,0,0,0,28.83,28.83,24.20
$GC,16217,0.88,223.5,722.4,6.9,294,16240,0.00,2.17,17.88,1.452,4,0.000,0.049,3290,355,1406,0,0,0,0,0,0,28.83,25.75,24.31
$GC,16398,0.89,233.3,713.5,7.2,295,16416,0.00,1.98,9.70,1.362,6,0.000,0.025,3290,1644,1366,0,0,0,0,0,0,28.83,26.18,24.32
$GC,16808,0.89,233.3,670.9,8.9,299,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1645,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17168,0.92,233.3,637.6,9.3,302,17175,0.00,2.10,0.00,0.000,4,0.000,0.049,3300,355,1363,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,23980,end climb,SURFACE_DEPTH_REACHED
$STATE,23980,begin surface coast
$FINISH,1.4,1.025417
$STATE,24001,end surface coast,CONTROL_FINISHED_OK
$STATE,24001,begin surface
$SM_CCo,24024,19.62,0.135,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.61
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7671168
$TM_FREEKB,5623712
$24V_AH,23.0,50.182
$10V_AH,10.2,41.799
$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
$DEVICE_SECS,21.375,190.300,357.850,19.625,0.000,24.697,41.006,209.748,0.000,0.000,17.767,2241.137,19005.426,734.331,2208.830,387.498,33.252,1733.138,0.000,1797.519,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.688,13.554,0.000,0.000
$MEM,344364
$DATA_FILE_SIZE,13435,479
$CAP_FILE_SIZE,181988,0
$CFSIZE,260034560,227672064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,051212,191522,2422.925,-3803.456,36,1.2,36,-14.1