version: 66.11
glider: 189
mission: 7
dive: 274
start: 12 10 112 17 19 39
data:
$ID,189
$MISSION,7
$DIVE,274
$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,495
$T_MISSION,525
$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,100
$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,-47998.441
$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
$GPS1,101212,170905,2433.833,-3800.457,36,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-58.6
$GPS2,101212,171841,2433.743,-3800.504,14,1.7,15,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.068,0.099
$KALMAN_X,66254.6,16.1,-315.4,-63606.3,3485.5
$KALMAN_Y,-3177.6,101.8,-56.8,-340.6,-2384.0
$MHEAD_RNG_PITCHd_Wd,48.3,33948,-19.9,-6.667,-29.07
$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,-1.26,-97.7,0.0,0.0,0,47,0.00,0.00,-21.10,0.000,2,0.000,0.000,154,2106,1720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-1.26,-97.7,2.1,0.0,2,100,9.30,0.00,-36.03,0.000,6,0.197,0.000,2594,2107,2719,0,0,0,0,0,0,25.51,28.83,26.65
$GC,400,-1.18,-97.7,29.6,-9.3,37,407,0.00,2.58,0.00,0.000,4,0.000,0.041,2584,3750,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,518,-1.09,-97.7,41.2,-8.7,49,527,0.20,2.47,0.00,0.000,6,0.138,0.021,2647,2094,2721,0,0,0,0,0,0,25.76,26.41,28.83
$GC,828,-1.09,-97.7,65.2,-8.0,80,836,0.00,2.62,0.00,0.000,4,0.000,0.039,2636,3755,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,998,-1.06,-97.7,77.0,-8.1,94,1007,0.00,2.45,0.00,0.000,6,0.000,0.021,2636,2107,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1308,-1.03,-97.7,103.4,-7.8,105,1310,0.12,0.00,0.00,0.000,6,0.155,0.000,2668,2106,2723,0,0,0,0,0,0,26.37,28.83,28.83
$GC,1608,-1.03,-97.7,125.1,-7.5,115,1615,0.00,2.45,0.00,0.000,4,0.000,0.037,2669,547,2723,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1716,-1.03,-97.7,131.8,-7.4,118,1721,0.00,2.50,0.00,0.000,6,0.000,0.023,2657,2198,2726,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2018,-1.03,-97.7,154.5,-7.2,127,2025,0.00,2.45,0.00,0.000,4,0.000,0.040,2646,3755,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2260,-1.03,-97.7,169.1,-6.1,131,2265,0.00,2.40,0.00,0.000,6,0.000,0.021,2646,2092,2725,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2618,-1.03,-97.7,186.2,-4.7,137,2625,0.00,2.60,0.00,0.000,4,0.000,0.038,2634,3746,2725,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2863,-1.03,-97.7,201.0,-6.2,141,2869,0.12,2.38,0.00,0.000,6,0.147,0.021,2667,2095,2725,0,0,0,0,0,0,26.20,26.56,28.83
$GC,3218,-1.07,-97.7,222.0,-6.0,147,3225,0.00,2.62,0.00,0.000,4,0.000,0.040,2656,3750,2725,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3460,-1.09,-97.7,240.0,-7.5,151,3465,0.00,2.40,0.00,0.000,6,0.000,0.021,2656,2097,2725,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3818,-1.11,-97.7,262.7,-5.9,157,3826,0.00,2.60,0.00,0.000,4,0.000,0.040,2644,3746,2725,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4060,-1.11,-97.7,275.2,-5.2,161,4065,0.00,2.40,0.00,0.000,6,0.000,0.021,2644,2097,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4418,-1.13,-97.7,291.0,-4.4,167,4425,0.00,2.62,0.00,0.000,4,0.000,0.040,2632,3753,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4660,-1.13,-97.7,305.1,-5.9,171,4665,0.00,2.40,0.00,0.000,6,0.000,0.021,2632,2098,2723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5017,-1.13,-97.7,333.8,-8.2,177,5025,0.00,2.62,0.00,0.000,4,0.000,0.040,2620,3748,2722,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5260,-1.13,-97.7,354.3,-8.6,181,5266,0.00,2.45,0.00,0.000,6,0.000,0.021,2620,2102,2722,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5618,-1.13,-97.7,378.2,-6.3,187,5625,0.00,2.62,0.00,0.000,4,0.000,0.040,2608,3753,2721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5860,-1.13,-97.7,393.2,-6.2,191,5865,0.00,2.42,0.00,0.000,6,0.000,0.021,2608,2092,2720,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6218,-1.13,-97.7,419.3,-7.6,197,6225,0.00,2.65,0.00,0.000,4,0.000,0.040,2596,3752,2720,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6460,-1.11,-97.7,441.0,-9.1,201,6466,0.17,2.42,0.00,0.000,6,0.141,0.021,2645,2088,2719,0,0,0,0,0,0,26.07,26.54,28.83
$GC,6818,-1.15,-97.7,468.4,-7.4,207,6825,0.00,2.65,0.00,0.000,4,0.000,0.041,2633,3751,2718,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7060,-1.17,-97.7,485.7,-7.2,211,7066,0.00,2.42,0.00,0.000,6,0.000,0.021,2633,2105,2717,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7418,-1.20,-97.7,509.9,-6.7,216,7426,0.00,2.60,0.00,0.000,4,0.000,0.041,2621,3742,2717,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7660,-1.22,-97.7,526.1,-6.7,218,7666,0.00,2.40,0.00,0.000,6,0.000,0.021,2621,2099,2716,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8018,-1.22,-97.7,547.5,-6.2,221,8025,0.00,2.62,0.00,0.000,4,0.000,0.041,2610,3748,2716,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8260,-1.22,-97.7,560.6,-5.6,223,8265,0.00,2.40,0.00,0.000,6,0.000,0.022,2609,2107,2718,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8618,-1.22,-97.7,580.7,-5.5,226,8626,0.00,2.62,0.00,0.000,4,0.000,0.041,2597,3753,2713,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8858,-1.22,-97.7,600.1,-7.0,228,8865,0.00,2.45,0.00,0.000,6,0.000,0.021,2597,2108,2713,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9217,-1.22,-97.7,632.3,-8.9,231,9225,0.00,2.62,0.00,0.000,4,0.000,0.041,2585,3747,2712,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9458,-1.22,-97.7,653.0,-8.8,233,9465,0.00,2.45,0.00,0.000,6,0.000,0.021,2585,2109,2711,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9817,-1.22,-97.7,682.2,-8.2,236,9825,0.00,2.65,0.00,0.000,4,0.000,0.041,2573,3749,2708,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10058,-1.22,-97.7,702.7,-8.3,238,10066,0.12,2.50,0.00,0.000,6,0.155,0.022,2605,2090,2709,0,0,0,0,0,0,26.13,26.50,28.83
$GC,10418,-1.22,-97.7,728.0,-7.4,241,10425,0.00,2.45,0.00,0.000,4,0.000,0.040,2605,547,2708,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10659,-1.22,-97.7,744.5,-6.8,243,10665,0.00,2.45,0.00,0.000,6,0.000,0.025,2594,2200,2707,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11018,-1.22,-97.7,769.0,-6.8,246,11025,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,3748,2706,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11259,-1.22,-97.7,789.0,-7.6,248,11265,0.00,2.45,0.00,0.000,6,0.000,0.024,2583,2092,2705,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11618,-1.22,-97.7,819.1,-8.4,251,11626,0.00,2.65,0.00,0.000,4,0.000,0.043,2572,3745,2705,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11859,-1.22,-97.7,838.8,-8.2,253,11866,0.12,2.42,0.00,0.000,6,0.155,0.024,2602,2104,2702,0,0,0,0,0,0,26.08,26.46,28.83
$GC,12218,-1.22,-97.7,865.8,-7.6,256,12225,0.00,2.65,0.00,0.000,4,0.000,0.042,2591,3745,2703,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12459,-1.22,-97.7,885.6,-7.9,258,12465,0.00,2.42,0.00,0.000,6,0.000,0.024,2591,2111,2702,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12818,-1.22,-97.7,915.1,-8.2,261,12826,0.00,2.62,0.00,0.000,4,0.000,0.043,2580,3748,2701,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13059,-1.22,-97.7,935.0,-8.2,263,13065,0.00,2.42,0.00,0.000,6,0.000,0.024,2580,2111,2700,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13418,-1.22,-97.7,964.0,-8.1,266,13425,0.00,2.62,0.00,0.000,4,0.000,0.043,2568,3739,2700,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13659,-1.22,-97.7,984.9,-8.3,268,13666,0.15,2.47,0.00,0.000,6,0.149,0.024,2607,2072,2699,0,0,0,0,0,0,25.96,26.41,28.83
$STATE,13775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13775,begin apogee
$GC,13783,-0.29,0.0,995.2,-8.5,269,13870,0.90,0.00,84.00,1.668,6,0.122,0.000,2897,1572,2319,0,0,0,0,0,0,25.37,28.83,23.33
$STATE,13872,end apogee,CONTROL_FINISHED_OK
$STATE,13872,begin climb
$GC,13875,1.26,97.7,999.1,0.0,273,13974,1.42,2.12,90.65,1.636,4,0.060,0.048,3416,354,1920,0,0,0,0,0,0,25.15,24.70,23.17
$GC,14208,1.11,108.8,985.4,6.1,290,14227,0.20,1.98,8.93,1.426,6,0.164,0.023,3360,1656,1877,0,0,0,0,0,0,25.69,26.15,24.08
$GC,14588,1.04,128.7,963.2,5.7,294,14616,0.00,2.17,19.40,1.563,4,0.000,0.049,3368,356,1791,0,0,0,0,0,0,28.83,25.74,24.15
$GC,14830,0.95,128.7,942.4,7.3,296,14836,0.20,1.90,0.00,0.000,6,0.151,0.024,3309,1655,1790,0,0,0,0,0,0,25.83,26.26,28.83
$GC,15189,0.91,128.7,910.3,8.9,299,15196,0.00,2.10,0.00,0.000,4,0.000,0.048,3317,362,1788,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15297,0.86,128.7,910.3,8.9,299,15301,0.12,1.95,0.00,0.000,6,0.154,0.024,3281,1663,1788,0,0,0,0,0,0,26.11,26.46,28.83
$GC,15658,0.86,128.7,865.8,9.5,302,15665,0.00,2.15,0.00,0.000,4,0.000,0.049,3289,348,1787,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15787,0.86,128.7,855.3,9.3,303,15791,0.00,1.95,0.00,0.000,6,0.000,0.025,3289,1647,1786,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16129,0.86,128.7,828.2,8.0,306,16136,0.00,2.10,0.00,0.000,4,0.000,0.048,3299,355,1786,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16337,0.86,128.7,819.7,7.5,307,16341,0.00,1.95,0.00,0.000,6,0.000,0.025,3299,1654,1785,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16720,0.87,135.9,789.8,6.3,311,16731,0.00,2.12,5.90,1.286,4,0.000,0.050,3309,354,1765,0,0,0,0,0,0,28.83,26.33,24.29
$GC,16958,0.87,140.5,774.3,6.5,313,16969,0.00,1.95,5.78,1.287,6,0.000,0.025,3309,1651,1746,0,0,0,0,0,0,28.83,26.48,24.33
$GC,17300,0.87,140.5,749.9,6.9,316,17307,0.00,2.10,0.00,0.000,4,0.000,0.048,3319,352,1746,0,0,0,0,0,0,28.83,26.20,28.83
$GC,17488,0.87,140.5,740.9,7.1,317,17493,0.15,1.95,0.00,0.000,6,0.139,0.025,3277,1657,1746,0,0,0,0,0,0,26.10,26.49,28.83
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$STATE,26481,end climb,SURFACE_DEPTH_REACHED
$STATE,26482,begin surface coast
$FINISH,1.2,1.025454
$STATE,26513,end surface coast,CONTROL_FINISHED_OK
$STATE,26513,begin surface
$SM_CCo,26537,49.17,0.132,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,60.04
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7664640
$TM_FREEKB,5486304
$24V_AH,23.2,52.638
$10V_AH,10.2,44.357
$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
$DEVICE_SECS,22.450,199.200,261.150,49.175,0.000,24.917,37.843,235.625,0.000,0.000,15.591,2644.011,20738.979,657.196,2638.845,471.429,33.260,1827.964,0.000,2192.684,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.185,13.527,0.000,0.000
$MEM,344360
$DATA_FILE_SIZE,13428,521
$CAP_FILE_SIZE,203674,0
$CFSIZE,260034560,225943552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111212,004404,2433.645,-3758.597,40,1.1,40,-14.0