version: 66.11
glider: 189
mission: 7
dive: 281
start: 12 12 112 19 38 3
data:
$ID,189
$MISSION,7
$DIVE,281
$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,-48007.246
$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
$GPS1,121212,192752,2433.075,-3750.458,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-56.9
$GPS2,121212,193705,2433.021,-3750.479,14,1.5,15,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.009,0.120
$KALMAN_X,76724.2,-138.7,-149.2,-57206.2,3172.8
$KALMAN_Y,-26856.1,163.6,-11.2,21885.9,-5467.7
$MHEAD_RNG_PITCHd_Wd,18.3,27389,-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,-97.7,0.0,0.0,0,38,0.00,0.00,-11.93,0.000,2,0.000,0.000,151,2173,1442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-1.26,-97.7,2.1,0.0,1,108,8.88,2.55,-48.53,0.000,4,0.179,0.054,2578,3741,2720,0,0,0,0,0,0,25.41,26.03,26.66
$GC,338,-1.15,-97.7,23.0,-13.1,31,347,0.15,2.45,0.00,0.000,6,0.125,0.021,2627,2090,2721,0,0,0,0,0,0,25.87,26.37,28.83
$GC,648,-1.11,-97.7,59.4,-11.5,62,657,0.00,2.65,0.00,0.000,4,0.000,0.039,2616,3746,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,888,-1.03,-97.7,94.0,-13.3,77,896,0.15,2.47,0.00,0.000,6,0.127,0.021,2666,2101,2722,0,0,0,0,0,0,25.98,26.46,28.83
$GC,1219,-1.03,-97.7,120.6,-5.9,88,1225,0.00,2.58,0.00,0.000,4,0.000,0.041,2655,3750,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1387,-1.03,-97.7,129.2,-5.7,93,1396,0.00,2.47,0.00,0.000,6,0.000,0.021,2655,2092,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1698,-1.03,-97.7,148.3,-5.9,104,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2092,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-1.03,-97.7,165.0,-5.6,110,2005,0.00,2.62,0.00,0.000,4,0.000,0.039,2644,3749,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2239,-1.03,-97.7,180.6,-6.5,114,2245,0.00,2.40,0.00,0.000,6,0.000,0.021,2644,2098,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2601,-1.03,-97.7,202.7,-5.9,120,2607,0.00,2.60,0.00,0.000,4,0.000,0.041,2632,3749,2725,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2840,-1.03,-97.7,216.9,-5.9,124,2846,0.12,2.40,0.00,0.000,6,0.145,0.021,2664,2089,2724,0,0,0,0,0,0,26.20,26.54,28.83
$GC,3199,-1.06,-97.7,238.5,-6.3,130,3205,0.00,2.62,0.00,0.000,4,0.000,0.041,2655,3751,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3439,-1.09,-97.7,258.1,-8.2,134,3445,0.00,2.40,0.00,0.000,6,0.000,0.021,2653,2101,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3799,-1.12,-97.7,284.5,-7.0,140,3806,0.00,2.62,0.00,0.000,4,0.000,0.041,2641,3753,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4039,-1.12,-97.7,299.5,-6.2,144,4046,0.00,2.45,0.00,0.000,6,0.000,0.021,2641,2108,2723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4399,-1.12,-97.7,322.3,-6.6,150,4405,0.00,2.60,0.00,0.000,4,0.000,0.041,2629,3743,2722,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4639,-1.12,-97.7,342.4,-8.4,154,4645,0.00,2.42,0.00,0.000,6,0.000,0.021,2629,2108,2722,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4998,-1.12,-97.7,371.6,-8.0,160,5005,0.00,2.60,0.00,0.000,4,0.000,0.041,2617,3740,2721,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5239,-1.12,-97.7,389.5,-7.5,164,5245,0.00,2.42,0.00,0.000,6,0.000,0.021,2617,2105,2721,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5598,-1.12,-97.7,413.9,-6.7,170,5606,0.00,2.62,0.00,0.000,4,0.000,0.041,2605,3752,2719,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5839,-1.12,-97.7,429.9,-6.7,174,5846,0.08,2.47,0.00,0.000,6,0.129,0.021,2632,2090,2719,0,0,0,0,0,0,26.22,26.54,28.83
$GC,6199,-1.14,-97.7,455.6,-7.3,180,6205,0.00,2.65,0.00,0.000,4,0.000,0.041,2621,3751,2718,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6439,-1.14,-97.7,476.9,-8.9,184,6445,0.00,2.42,0.00,0.000,6,0.000,0.021,2621,2096,2718,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6858,-1.14,-97.7,514.5,-8.8,190,6865,0.00,2.65,0.00,0.000,4,0.000,0.041,2609,3752,2717,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7097,-1.14,-97.7,533.9,-8.4,192,7105,0.00,2.47,0.00,0.000,6,0.000,0.021,2609,2106,2716,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7458,-1.14,-97.7,558.5,-7.1,195,7466,0.00,2.62,0.00,0.000,4,0.000,0.041,2597,3747,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7698,-1.14,-97.7,575.2,-6.8,197,7706,0.10,2.45,0.00,0.000,6,0.126,0.022,2631,2098,2715,0,0,0,0,0,0,26.14,26.51,28.83
$GC,8058,-1.14,-97.7,603.4,-7.6,200,8065,0.00,2.65,0.00,0.000,4,0.000,0.041,2620,3742,2713,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8300,-1.17,-97.7,625.6,-8.7,202,8305,0.00,2.42,0.00,0.000,6,0.000,0.023,2620,2100,2714,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8658,-1.20,-97.7,655.8,-8.6,205,8666,0.00,2.65,0.00,0.000,4,0.000,0.042,2608,3750,2713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8901,-1.22,-97.7,673.2,-7.7,207,8906,0.00,2.42,0.00,0.000,6,0.000,0.023,2608,2105,2711,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9258,-1.22,-97.7,695.2,-6.3,210,9265,0.00,2.62,0.00,0.000,4,0.000,0.041,2596,3740,2710,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9347,-1.22,-97.7,695.2,-6.3,210,9355,0.00,2.47,0.00,0.000,6,0.000,0.021,2596,2096,2711,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9737,-1.22,-97.7,727.8,-6.8,214,9745,0.00,2.47,0.00,0.000,4,0.000,0.040,2596,546,2709,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9916,-1.22,-97.7,737.9,-7.3,215,9921,0.00,2.53,0.00,0.000,6,0.000,0.025,2584,2186,2709,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10329,-1.22,-97.7,778.9,-8.7,219,10336,0.00,2.53,0.00,0.000,4,0.000,0.044,2573,3746,2707,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10570,-1.22,-97.7,800.5,-8.8,221,10577,0.10,2.47,0.00,0.000,6,0.132,0.024,2621,2096,2706,0,0,0,0,0,0,25.95,26.47,28.83
$GC,10930,-1.24,-97.7,826.9,-7.7,224,10936,0.00,2.65,0.00,0.000,4,0.000,0.044,2610,3739,2705,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11171,-1.28,-97.7,842.9,-6.9,226,11176,0.00,2.42,0.00,0.000,6,0.000,0.024,2610,2099,2705,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11530,-1.32,-97.7,865.8,-6.3,229,11536,0.00,2.47,0.00,0.000,4,0.000,0.041,2610,544,2704,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11771,-1.34,-97.7,885.7,-7.4,231,11776,0.00,2.45,0.00,0.000,6,0.000,0.026,2598,2189,2703,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12129,-1.34,-97.7,915.9,-8.4,234,12136,0.00,2.50,0.00,0.000,4,0.000,0.044,2586,3746,2702,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12358,-1.34,-97.7,926.3,-8.4,235,12367,0.00,2.50,0.00,0.000,6,0.000,0.024,2586,2101,2701,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12729,-1.34,-97.7,965.2,-8.1,239,12736,0.00,2.65,0.00,0.000,4,0.000,0.044,2574,3749,2700,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12970,-1.34,-97.7,984.1,-7.8,241,12976,0.00,2.47,0.00,0.000,6,0.000,0.024,2574,2115,2699,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,13086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13087,begin apogee
$GC,13094,-0.29,0.0,992.9,-7.7,242,13183,1.05,0.05,83.93,1.659,6,0.129,0.129,2903,1624,2319,0,0,0,0,0,0,25.27,24.82,23.33
$STATE,13184,end apogee,CONTROL_FINISHED_OK
$STATE,13184,begin climb
$GC,13187,1.26,97.7,995.2,0.0,246,13288,1.40,2.20,90.25,1.647,4,0.060,0.047,3417,358,1920,0,0,0,0,0,0,25.16,24.69,23.13
$GC,13518,1.10,97.7,979.7,9.1,258,13526,0.22,1.98,0.00,0.000,6,0.162,0.024,3359,1645,1909,0,0,0,0,0,0,25.67,26.15,28.83
$GC,13919,1.00,97.7,944.3,7.3,262,13921,0.12,0.00,0.00,0.000,6,0.174,0.000,3327,1646,1906,0,0,0,0,0,0,26.15,28.83,28.83
$GC,14280,0.98,130.1,926.9,5.2,265,14312,0.00,2.20,27.20,1.594,4,0.000,0.050,3336,347,1788,0,0,0,0,0,0,28.83,25.64,24.06
$GC,14390,0.97,167.9,920.9,4.9,266,14430,0.00,2.00,34.67,1.602,6,0.000,0.024,3336,1647,1635,0,0,0,0,0,0,28.83,26.04,23.72
$GC,14741,0.94,167.9,896.4,6.7,269,14743,0.12,0.00,0.00,0.000,6,0.155,0.000,3303,1649,1630,0,0,0,0,0,0,26.07,28.83,28.83
$GC,15100,0.94,167.9,869.5,7.4,272,15107,0.00,2.12,0.00,0.000,4,0.000,0.050,3312,346,1627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15220,0.94,167.9,859.3,7.7,273,15227,0.00,1.98,0.00,0.000,6,0.000,0.025,3312,1652,1626,0,0,0,0,0,0,28.83,26.45,28.83
$GC,15580,0.94,167.9,827.0,8.8,276,15588,0.00,2.10,0.00,0.000,4,0.000,0.049,3322,356,1625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15709,0.94,167.9,815.3,9.2,277,15712,0.00,1.95,0.00,0.000,6,0.000,0.025,3322,1651,1625,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16050,0.94,167.9,780.7,9.8,280,16058,0.00,2.12,0.00,0.000,4,0.000,0.049,3332,347,1625,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16211,0.94,167.9,768.5,9.9,281,16218,0.08,1.92,0.00,0.000,6,0.134,0.025,3306,1649,1624,0,0,0,0,0,0,26.20,26.55,28.83
$GC,16531,0.94,167.9,736.2,9.2,284,16532,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1649,1623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16891,0.97,167.9,707.9,8.1,287,16898,0.00,2.10,0.00,0.000,4,0.000,0.049,3314,353,1623,0,0,0,0,0,0,28.83,26.20,28.83
$GC,17131,0.97,167.9,689.9,7.6,289,17138,0.00,1.95,0.00,0.000,6,0.000,0.026,3314,1647,1623,0,0,0,0,0,0,28.83,26.53,28.83
$GC,17490,0.97,167.9,664.9,7.0,292,17497,0.00,2.12,0.00,0.000,4,0.000,0.049,3325,348,1622,0,0,0,0,0,0,28.83,26.17,28.83
$GC,17660,0.97,167.9,655.6,7.1,293,17667,0.00,1.98,0.00,0.000,6,0.000,0.026,3325,1660,1622,0,0,0,0,0,0,28.83,26.52,28.83
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$STATE,25122,end climb,SURFACE_DEPTH_REACHED
$STATE,25122,begin surface coast
$FINISH,1.2,1.011499
$STATE,25147,end surface coast,CONTROL_FINISHED_OK
$STATE,25147,begin surface
$SM_CCo,25171,55.70,0.129,0,0,1096,300.00
$SM_GC,2.19,8.60,2.83,55.70,0.035,0.031,0.129,152,2169,1096,-8.83,-0.59,300.00,0,0,0,0,0,0,26.32,26.21,25.50
$IRIDIUM_FIX,2427.58,-3750.01,121212,121253
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.56
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7661952
$TM_FREEKB,5432896
$24V_AH,23.1,53.627
$10V_AH,10.2,45.327
$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,21.900,195.100,236.050,55.700,0.000,26.367,36.059,214.507,0.000,0.000,15.573,2424.803,19860.256,648.166,2392.279,442.471,33.252,1720.905,0.000,1971.249,0.000,0.536,0.000
$DEVICE_MAMPS,179.010,129.285,1658.520,128.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.161,13.522,0.000,0.000
$MEM,344324
$DATA_FILE_SIZE,13396,489
$CAP_FILE_SIZE,189843,0
$CFSIZE,260034560,225271808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131212,023934,2433.250,-3749.196,26,1.3,26,-14.0