version: 66.11
glider: 189
mission: 7
dive: 291
start: 12 15 112 20 3 43
data:
$ID,189
$MISSION,7
$DIVE,291
$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,290
$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,-48019.918
$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,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,151212,195434,2435.949,-3746.028,34,0.8,34,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-59.0
$GPS2,151212,200243,2435.985,-3746.017,17,1.3,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,0.117
$KALMAN_X,99450.2,-92.8,-142.9,-72466.0,4134.8
$KALMAN_Y,-48002.3,920.5,359.1,47386.9,-4099.7
$MHEAD_RNG_PITCHd_Wd,0.5,21412,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.45,0.000,2,0.000,0.000,152,2167,1426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.1,0.0,1,104,9.20,2.55,-48.97,0.000,4,0.192,0.054,2578,3758,2720,0,0,0,0,0,0,25.46,26.03,26.67
$GC,394,-1.16,-97.7,28.2,-9.5,37,403,0.12,2.50,0.00,0.000,6,0.134,0.021,2619,2092,2722,0,0,0,0,0,0,25.88,26.36,28.83
$GC,704,-1.12,-97.7,55.9,-9.2,68,713,0.00,2.65,0.00,0.000,4,0.000,0.040,2609,3747,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1004,-1.06,-97.7,84.9,-9.4,92,1012,0.12,2.45,0.00,0.000,6,0.129,0.021,2651,2090,2722,0,0,0,0,0,0,26.01,26.48,28.83
$GC,1335,-1.06,-97.7,111.4,-8.6,103,1341,0.00,2.40,0.00,0.000,4,0.000,0.038,2651,537,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1634,-1.04,-97.7,132.9,-6.7,113,1641,0.00,2.47,0.00,0.000,6,0.000,0.024,2640,2189,2724,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1964,-1.04,-97.7,151.4,-5.5,124,1972,0.00,2.47,0.00,0.000,4,0.000,0.041,2628,3746,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2243,-1.04,-97.7,165.4,-5.8,128,2251,0.12,2.47,0.00,0.000,6,0.145,0.021,2662,2086,2725,0,0,0,0,0,0,26.17,26.53,28.83
$GC,2565,-1.06,-97.7,187.2,-6.2,134,2571,0.00,2.62,0.00,0.000,4,0.000,0.040,2651,3740,2726,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2814,-1.06,-97.7,204.0,-7.0,138,2821,0.00,2.42,0.00,0.000,6,0.000,0.021,2651,2108,2728,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3165,-1.06,-97.7,223.9,-5.3,144,3171,0.00,2.60,0.00,0.000,4,0.000,0.040,2639,3742,2726,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3464,-1.06,-97.7,240.4,-5.6,149,3471,0.00,2.42,0.00,0.000,6,0.000,0.021,2639,2107,2726,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3824,-1.06,-97.7,261.6,-5.9,155,3831,0.00,2.62,0.00,0.000,4,0.000,0.040,2627,3753,2726,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4124,-1.06,-97.7,280.6,-6.3,160,4132,0.08,2.47,0.00,0.000,6,0.126,0.021,2653,2084,2725,0,0,0,0,0,0,26.22,26.54,28.83
$GC,4484,-1.09,-97.7,303.3,-6.5,166,4491,0.00,2.65,0.00,0.000,4,0.000,0.041,2642,3746,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4784,-1.11,-97.7,326.1,-7.8,171,4791,0.00,2.45,0.00,0.000,6,0.000,0.021,2641,2098,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5144,-1.14,-97.7,350.1,-6.4,177,5151,0.00,2.65,0.00,0.000,4,0.000,0.041,2630,3751,2723,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5444,-1.14,-97.7,366.5,-5.4,182,5451,0.00,2.47,0.00,0.000,6,0.000,0.021,2630,2106,2722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5804,-1.14,-97.7,384.3,-5.1,188,5812,0.00,2.62,0.00,0.000,4,0.000,0.041,2618,3745,2719,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6082,-1.14,-97.7,400.6,-6.8,192,6087,0.00,2.47,0.00,0.000,6,0.000,0.021,2618,2107,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6395,-1.14,-97.7,425.6,-7.2,198,6402,0.00,2.62,0.00,0.000,4,0.000,0.041,2606,3746,2720,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6604,-1.14,-97.7,439.9,-7.8,201,6612,0.00,2.47,0.00,0.000,6,0.000,0.021,2606,2101,2719,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6934,-1.14,-97.7,469.4,-8.2,207,6942,0.00,2.65,0.00,0.000,4,0.000,0.041,2594,3748,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7164,-1.14,-97.7,484.9,-8.5,210,7173,0.15,2.47,0.00,0.000,6,0.139,0.021,2636,2098,2718,0,0,0,0,0,0,26.11,26.51,28.83
$GC,7475,-1.17,-97.7,512.1,-7.4,215,7482,0.00,2.65,0.00,0.000,4,0.000,0.042,2624,3749,2717,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7766,-1.20,-97.7,529.9,-7.3,217,7772,0.00,2.45,0.00,0.000,6,0.000,0.022,2624,2113,2717,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8076,-1.23,-97.7,555.7,-7.2,220,8082,0.00,2.62,0.00,0.000,4,0.000,0.041,2613,3752,2716,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8373,-1.23,-97.7,571.8,-6.8,222,8378,0.00,2.50,0.00,0.000,6,0.000,0.022,2612,2095,2715,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8787,-1.23,-97.7,602.1,-6.4,226,8793,0.00,2.65,0.00,0.000,4,0.000,0.043,2600,3752,2715,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9086,-1.23,-97.7,621.4,-7.4,228,9093,0.00,2.45,0.00,0.000,6,0.000,0.022,2600,2114,2714,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9506,-1.23,-97.7,656.5,-7.3,232,9513,0.00,2.62,0.00,0.000,4,0.000,0.042,2588,3753,2712,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9804,-1.23,-97.7,672.9,-6.9,234,9809,0.00,2.50,0.00,0.000,6,0.000,0.022,2588,2098,2712,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10217,-1.23,-97.7,703.0,-6.4,238,10224,0.00,2.65,0.00,0.000,4,0.000,0.043,2577,3748,2710,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10515,-1.23,-97.7,722.0,-7.2,240,10524,0.12,2.50,0.00,0.000,6,0.152,0.022,2608,2094,2710,0,0,0,0,0,0,26.10,26.47,28.83
$GC,10937,-1.25,-97.7,762.8,-8.5,244,10944,0.00,2.65,0.00,0.000,4,0.000,0.043,2597,3748,2708,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11236,-1.27,-97.7,783.4,-8.6,246,11243,0.00,2.50,0.00,0.000,6,0.000,0.023,2598,2098,2707,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11657,-1.27,-97.7,819.3,-7.4,250,11664,0.00,2.45,0.00,0.000,4,0.000,0.041,2597,554,2706,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11945,-1.27,-97.7,839.9,-7.9,252,11950,0.00,2.50,0.00,0.000,6,0.000,0.026,2586,2188,2705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12248,-1.27,-97.7,869.0,-8.4,255,12255,0.00,2.53,0.00,0.000,4,0.000,0.044,2574,3745,2705,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12546,-1.27,-97.7,891.0,-8.7,257,12551,0.00,2.50,0.00,0.000,6,0.000,0.024,2574,2112,2704,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12959,-1.27,-97.7,931.1,-8.5,261,12966,0.00,2.65,0.00,0.000,4,0.000,0.043,2562,3738,2703,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13199,-1.27,-97.7,950.7,-8.2,263,13206,0.00,2.47,0.00,0.000,6,0.000,0.024,2562,2108,2702,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13559,-1.27,-97.7,978.1,-7.7,266,13567,0.12,2.65,0.00,0.000,4,0.160,0.044,2583,3739,2701,0,0,0,0,0,0,26.35,26.06,28.83
$STATE,13738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13739,begin apogee
$GC,13748,-0.29,0.0,991.2,-7.3,270,13838,1.00,0.00,84.53,1.669,6,0.124,0.000,2899,1574,2320,0,0,0,0,0,0,25.29,28.83,23.25
$STATE,13840,end apogee,CONTROL_FINISHED_OK
$STATE,13840,begin climb
$GC,13843,1.26,97.7,993.9,0.0,275,13940,1.40,2.12,90.55,1.643,4,0.062,0.048,3411,353,1921,0,0,0,0,0,0,25.17,24.69,23.08
$GC,14058,1.10,97.7,984.7,8.7,285,14066,0.22,2.00,0.00,0.000,6,0.160,0.023,3349,1659,1912,0,0,0,0,0,0,25.48,25.90,28.83
$GC,14389,1.00,97.7,958.1,7.4,288,14396,0.00,2.12,0.00,0.000,4,0.000,0.048,3358,350,1908,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14468,0.89,97.7,958.1,7.4,288,14476,0.25,1.95,0.00,0.000,6,0.148,0.024,3286,1656,1907,0,0,0,0,0,0,25.85,26.37,28.83
$GC,14869,0.88,105.6,927.6,6.3,292,14879,0.00,2.15,5.53,1.298,4,0.000,0.049,3295,352,1889,0,0,0,0,0,0,28.83,26.24,24.18
$GC,14929,0.87,113.4,927.6,6.3,292,14942,0.00,1.98,8.73,1.441,6,0.000,0.024,3295,1655,1858,0,0,0,0,0,0,28.83,26.39,24.22
$GC,15330,0.88,119.1,898.1,6.4,296,15342,0.00,2.15,6.85,1.379,4,0.000,0.048,3305,353,1834,0,0,0,0,0,0,28.83,26.15,24.25
$GC,15551,0.88,122.9,890.3,6.5,297,15561,0.00,1.95,5.10,1.260,6,0.000,0.025,3305,1651,1817,0,0,0,0,0,0,28.83,26.39,24.20
$GC,15910,0.88,122.9,853.1,7.9,301,15917,0.00,2.12,0.00,0.000,4,0.000,0.048,3314,349,1816,0,0,0,0,0,0,28.83,26.21,28.83
$GC,16019,0.88,122.9,853.1,7.9,301,16029,0.12,1.98,0.00,0.000,6,0.155,0.025,3283,1661,1816,0,0,0,0,0,0,26.10,26.46,28.83
$GC,16390,0.88,122.9,813.6,8.2,305,16397,0.00,2.12,0.00,0.000,4,0.000,0.047,3291,352,1815,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16519,0.88,122.9,804.6,7.9,306,16523,0.00,1.95,0.00,0.000,6,0.000,0.025,3291,1645,1814,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16861,0.89,129.2,783.5,6.4,309,16872,0.00,2.12,6.60,1.336,4,0.000,0.049,3300,350,1792,0,0,0,0,0,0,28.83,26.29,24.28
$GC,16961,0.90,135.4,783.5,6.4,309,16973,0.00,1.95,7.28,1.367,6,0.000,0.026,3300,1651,1768,0,0,0,0,0,0,28.83,26.43,24.28
$GC,17322,0.93,161.2,758.1,5.5,313,17351,0.00,2.17,24.52,1.515,4,0.000,0.049,3311,356,1662,0,0,0,0,0,0,28.83,25.69,24.09
$GC,17470,0.95,181.4,750.5,5.7,314,17494,0.00,1.98,19.08,1.474,6,0.000,0.025,3311,1645,1580,0,0,0,0,0,0,28.83,26.12,23.96
$GC,17903,0.98,181.4,712.3,8.1,318,17909,0.00,2.10,0.00,0.000,4,0.000,0.049,3321,353,1576,0,0,0,0,0,0,28.83,26.11,28.83
$GC,18121,1.00,181.4,701.6,8.4,319,18125,0.00,1.98,0.00,0.000,6,0.000,0.026,3320,1657,1574,0,0,0,0,0,0,28.83,26.40,28.83
$GC,18494,1.02,181.4,666.1,7.5,323,18500,0.00,2.10,0.00,0.000,4,0.000,0.049,3330,362,1573,0,0,0,0,0,0,28.83,26.21,28.83
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$GC,22146,1.10,183.3,349.7,6.6,368,22150,0.00,1.98,0.00,0.000,6,0.000,0.025,3364,1649,1573,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,25886,end climb,SURFACE_DEPTH_REACHED
$STATE,25886,begin surface coast
$FINISH,1.1,1.018631
$STATE,25908,end surface coast,CONTROL_FINISHED_OK
$STATE,25908,begin surface
$SM_CCo,25932,41.38,0.133,0,0,1095,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,60.08
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7658112
$TM_FREEKB,5368640
$24V_AH,23.1,55.051
$10V_AH,10.2,46.717
$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,22.150,215.250,278.375,41.375,0.000,25.605,36.509,181.311,0.000,0.000,18.686,2609.686,20171.414,706.584,2521.765,441.131,33.259,1854.385,0.000,2149.183,0.000,0.536,0.000
$DEVICE_MAMPS,192.015,53.550,1669.230,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.231,13.447,0.000,0.000
$MEM,344340
$DATA_FILE_SIZE,13394,515
$CAP_FILE_SIZE,198973,0
$CFSIZE,260034560,224301056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161212,031756,2436.620,-3744.964,41,1.2,41,-13.9