version: 66.11
glider: 189
mission: 7
dive: 285
start: 12 14 112 0 34 12
data:
$ID,189
$MISSION,7
$DIVE,285
$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,-48012.371
$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
$GPS1,141212,002328,2434.216,-3747.910,38,0.9,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-58.4
$GPS2,141212,003314,2434.195,-3747.936,22,1.2,23,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.073,0.095
$KALMAN_X,83001.7,9.0,143.6,-59640.9,1983.8
$KALMAN_Y,-38370.1,172.3,1159.3,34379.8,-6345.5
$MHEAD_RNG_PITCHd_Wd,336.4,24676,-19.9,-6.667,-29.06
$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,-97.7,0.0,0.0,0,37,0.00,0.00,-11.18,0.000,2,0.000,0.000,151,2175,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.26,-97.7,2.0,0.0,1,107,9.12,2.53,-49.67,0.000,4,0.190,0.053,2580,3749,2719,0,0,0,0,0,0,25.63,26.01,26.66
$GC,337,-1.16,-97.7,23.4,-8.8,31,346,0.12,2.47,0.00,0.000,6,0.135,0.021,2619,2082,2720,0,0,0,0,0,0,25.89,26.36,28.83
$GC,647,-1.12,-97.7,45.3,-7.3,62,656,0.00,2.65,0.00,0.000,4,0.000,0.040,2608,3746,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,887,-1.05,-97.7,64.0,-7.4,86,896,0.15,2.47,0.00,0.000,6,0.132,0.021,2657,2077,2721,0,0,0,0,0,0,25.94,26.47,28.83
$GC,1196,-1.05,-97.7,88.0,-8.5,107,1204,0.00,2.67,0.00,0.000,4,0.000,0.039,2648,3748,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1437,-1.05,-97.7,106.4,-7.7,115,1444,0.00,2.47,0.00,0.000,6,0.000,0.021,2646,2092,2724,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1767,-1.05,-97.7,137.2,-9.8,126,1774,0.00,2.65,0.00,0.000,4,0.000,0.040,2634,3751,2723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2008,-1.05,-97.7,155.4,-7.2,133,2014,0.00,2.40,0.00,0.000,6,0.000,0.021,2634,2097,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2367,-1.05,-97.7,171.0,-3.6,139,2374,0.00,2.42,0.00,0.000,4,0.000,0.037,2634,548,2724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2609,-1.02,-97.7,184.3,-5.6,143,2616,0.17,2.40,0.00,0.000,6,0.145,0.024,2671,2190,2723,0,0,0,0,0,0,26.04,26.51,28.83
$GC,2969,-1.06,-97.7,206.9,-6.3,149,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2190,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-1.10,-97.7,218.6,-3.5,154,3274,0.00,2.47,0.00,0.000,4,0.000,0.041,2661,3748,2723,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3459,-1.13,-97.7,224.1,-2.9,157,3464,0.00,2.40,0.00,0.000,6,0.000,0.021,2661,2093,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3807,-1.16,-97.7,244.2,-6.4,163,3815,0.10,2.62,0.00,0.000,4,0.100,0.040,2597,3742,2724,0,0,0,0,0,0,26.70,26.30,28.83
$GC,4049,-1.13,-97.7,264.9,-8.6,167,4055,0.12,2.40,0.00,0.000,6,0.151,0.021,2630,2089,2724,0,0,0,0,0,0,26.18,26.55,28.83
$GC,4407,-1.13,-97.7,292.8,-7.7,173,4414,0.00,2.65,0.00,0.000,4,0.000,0.040,2624,3756,2723,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4649,-1.13,-97.7,311.8,-7.9,177,4655,0.00,2.42,0.00,0.000,6,0.000,0.021,2619,2101,2722,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5007,-1.13,-97.7,339.5,-7.7,183,5014,0.00,2.60,0.00,0.000,4,0.000,0.040,2607,3742,2721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5249,-1.13,-97.7,358.8,-8.1,187,5254,0.00,2.40,0.00,0.000,6,0.000,0.021,2607,2095,2721,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5607,-1.13,-97.7,386.2,-7.6,193,5614,0.00,2.62,0.00,0.000,4,0.000,0.040,2595,3750,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5849,-1.11,-97.7,405.6,-8.1,197,5855,0.17,2.40,0.00,0.000,6,0.140,0.021,2644,2101,2719,0,0,0,0,0,0,26.06,26.55,28.83
$GC,6207,-1.14,-97.7,433.6,-7.8,203,6215,0.00,2.62,0.00,0.000,4,0.000,0.041,2633,3750,2718,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6449,-1.17,-97.7,452.3,-7.8,207,6455,0.00,2.42,0.00,0.000,6,0.000,0.021,2633,2092,2716,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6807,-1.19,-97.7,478.1,-7.1,213,6814,0.00,2.42,0.00,0.000,4,0.000,0.038,2633,550,2717,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7049,-1.19,-97.7,498.6,-8.6,217,7054,0.00,2.42,0.00,0.000,6,0.000,0.024,2620,2198,2716,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7467,-1.19,-97.7,533.0,-8.2,221,7474,0.00,2.60,0.00,0.000,4,0.000,0.037,2621,549,2715,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7586,-1.19,-97.7,542.7,-8.1,222,7594,0.00,2.47,0.00,0.000,6,0.000,0.024,2609,2189,2714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7947,-1.19,-97.7,570.1,-7.7,225,7954,0.00,2.47,0.00,0.000,4,0.000,0.043,2597,3743,2714,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8186,-1.19,-97.7,589.9,-8.0,227,8194,0.00,2.47,0.00,0.000,6,0.000,0.022,2597,2101,2714,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8547,-1.19,-97.7,616.9,-7.7,230,8554,0.00,2.62,0.00,0.000,4,0.000,0.041,2585,3739,2710,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8786,-1.19,-97.7,632.2,-6.8,232,8795,0.12,2.47,0.00,0.000,6,0.150,0.022,2617,2094,2712,0,0,0,0,0,0,26.15,26.51,28.83
$GC,9147,-1.19,-97.7,651.0,-5.4,235,9154,0.00,2.45,0.00,0.000,4,0.000,0.040,2618,545,2711,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9388,-1.19,-97.7,666.3,-5.9,237,9395,0.00,2.53,0.00,0.000,6,0.000,0.026,2607,2185,2710,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9747,-1.19,-97.7,693.9,-7.4,240,9754,0.00,2.50,0.00,0.000,4,0.000,0.044,2595,3745,2709,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9895,-1.19,-97.7,705.2,-8.1,241,9900,0.00,2.47,0.00,0.000,6,0.000,0.023,2595,2107,2708,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10218,-1.19,-97.7,737.8,-9.3,244,10225,0.00,2.62,0.00,0.000,4,0.000,0.042,2583,3748,2707,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10460,-1.19,-97.7,759.9,-9.2,246,10466,0.12,2.42,0.00,0.000,6,0.153,0.023,2615,2105,2706,0,0,0,0,0,0,26.12,26.48,28.83
$GC,10818,-1.19,-97.7,788.8,-8.2,249,10825,0.00,2.62,0.00,0.000,4,0.000,0.042,2604,3741,2705,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11060,-1.22,-97.7,809.1,-8.2,251,11065,0.00,2.42,0.00,0.000,6,0.000,0.023,2604,2096,2705,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11418,-1.25,-97.7,837.8,-8.1,254,11426,0.00,2.45,0.00,0.000,4,0.000,0.041,2604,557,2705,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11660,-1.25,-97.7,857.7,-8.1,256,11666,0.00,2.45,0.00,0.000,6,0.000,0.026,2592,2195,2703,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12018,-1.25,-97.7,884.8,-7.7,259,12025,0.00,2.47,0.00,0.000,4,0.000,0.044,2581,3741,2702,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12249,-1.25,-97.7,894.2,-7.6,260,12257,0.00,2.45,0.00,0.000,6,0.000,0.024,2581,2116,2701,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12618,-1.25,-97.7,930.6,-7.6,264,12625,0.00,2.65,0.00,0.000,4,0.000,0.044,2569,3749,2700,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12860,-1.25,-97.7,952.0,-8.3,266,12865,0.00,2.45,0.00,0.000,6,0.000,0.024,2569,2108,2699,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13218,-1.25,-97.7,986.0,-9.4,269,13225,0.00,2.65,0.00,0.000,4,0.000,0.044,2557,3743,2699,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,13275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13275,begin apogee
$GC,13285,-0.29,0.0,991.8,-9.5,272,13377,1.10,0.00,83.82,1.676,6,0.131,0.000,2899,1578,2319,0,0,0,0,0,0,25.23,28.83,23.32
$STATE,13379,end apogee,CONTROL_FINISHED_OK
$STATE,13379,begin climb
$GC,13382,1.26,97.7,996.3,0.0,277,13479,1.40,2.12,90.05,1.646,4,0.062,0.047,3411,357,1920,0,0,0,0,0,0,25.22,24.73,23.17
$GC,13707,1.10,97.7,979.1,8.2,291,13716,0.20,1.98,0.00,0.000,6,0.164,0.023,3356,1657,1909,0,0,0,0,0,0,25.70,26.15,28.83
$GC,14048,0.99,97.7,952.2,7.6,294,14056,0.12,2.10,0.00,0.000,4,0.174,0.049,3333,359,1906,0,0,0,0,0,0,26.14,26.20,28.83
$GC,14228,0.90,97.7,943.1,7.5,295,14235,0.15,1.98,0.00,0.000,6,0.154,0.025,3294,1654,1905,0,0,0,0,0,0,26.03,26.43,28.83
$GC,14648,0.88,97.7,909.8,6.9,299,14655,0.00,2.12,0.00,0.000,4,0.000,0.048,3302,352,1903,0,0,0,0,0,0,28.83,26.24,28.83
$GC,14787,0.88,97.7,901.9,6.8,300,14791,0.00,1.95,0.00,0.000,6,0.000,0.025,3302,1644,1903,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15119,0.90,115.3,882.1,5.8,303,15138,0.00,2.08,13.95,1.525,4,0.000,0.047,3312,356,1850,0,0,0,0,0,0,28.83,26.07,24.29
$GC,15300,0.91,136.5,874.9,5.7,304,15327,0.00,1.95,20.02,1.554,6,0.000,0.026,3312,1650,1763,0,0,0,0,0,0,28.83,26.32,24.07
$GC,15719,0.91,136.5,839.6,7.3,308,15720,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1650,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16079,0.91,136.5,805.7,9.2,311,16086,0.00,2.12,0.00,0.000,4,0.000,0.048,3322,350,1758,0,0,0,0,0,0,28.83,26.20,28.83
$GC,16319,0.91,136.5,782.8,9.6,313,16326,0.00,1.98,0.00,0.000,6,0.000,0.026,3322,1656,1757,0,0,0,0,0,0,28.83,26.49,28.83
$GC,16679,0.91,136.5,754.4,8.2,316,16686,0.00,2.12,0.00,0.000,4,0.000,0.048,3331,352,1756,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16868,0.91,136.5,745.9,7.6,317,16872,0.15,1.95,0.00,0.000,6,0.144,0.026,3290,1656,1756,0,0,0,0,0,0,26.10,26.51,28.83
$GC,17271,0.96,177.7,723.2,4.8,321,17312,0.00,2.22,36.45,1.517,4,0.000,0.050,3295,350,1594,0,0,0,0,0,0,28.83,25.53,23.97
$GC,17462,1.04,220.2,717.1,4.7,322,17510,0.08,1.98,38.72,1.490,6,0.057,0.026,3349,1649,1421,0,0,0,0,0,0,25.98,26.11,23.76
$GC,17863,1.04,220.2,674.2,9.0,326,17868,0.00,2.08,0.00,0.000,4,0.000,0.049,3359,353,1416,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,24880,end climb,SURFACE_DEPTH_REACHED
$STATE,24880,begin surface coast
$FINISH,1.1,1.025565
$STATE,24904,end surface coast,CONTROL_FINISHED_OK
$STATE,24904,begin surface
$SM_CCo,24926,20.17,0.135,0,0,1094,300.00
$SM_GC,1.91,8.43,0.80,20.17,0.027,0.034,0.135,152,2187,1094,-8.83,-0.54,300.00,0,0,0,0,0,0,26.36,26.44,25.63
$IRIDIUM_FIX,2432.32,-3742.93,131212,171700
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.93
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7660416
$TM_FREEKB,5401408
$24V_AH,23.2,54.210
$10V_AH,10.1,45.891
$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,22.325,199.225,298.700,20.175,0.000,28.639,41.254,227.830,0.000,0.000,23.729,2546.665,19281.033,671.320,2577.269,442.324,33.258,1811.453,0.000,2132.145,0.000,0.535,0.000
$DEVICE_MAMPS,190.485,52.785,1676.115,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24908.000,4976.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.199,13.525,0.000,0.000
$MEM,344380
$DATA_FILE_SIZE,13461,499
$CAP_FILE_SIZE,192338,0
$CFSIZE,260034560,224890880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141212,073104,2434.245,-3747.515,28,0.8,28,-13.9