version: 66.11
glider: 189
mission: 7
dive: 302
start: 12 19 112 4 44 7
data:
$ID,189
$MISSION,7
$DIVE,302
$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,-48033.758
$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
$GPS1,191212,043423,2437.913,-3744.653,36,0.9,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-61.0
$GPS2,191212,044307,2437.825,-3744.675,21,0.8,22,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.046,0.111
$KALMAN_X,125368.6,-362.1,-106.0,-95883.8,4503.6
$KALMAN_Y,-69083.3,-95.3,63.6,73214.6,-3200.1
$MHEAD_RNG_PITCHd_Wd,351.5,18399,-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,-11.85,0.000,2,0.000,0.000,151,2124,1438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.10,2.50,-49.20,0.000,4,0.188,0.053,2589,550,2720,0,0,0,0,0,0,25.50,26.03,26.67
$GC,394,-1.15,-97.7,26.7,-9.1,37,403,0.15,2.47,0.00,0.000,6,0.138,0.024,2625,2187,2721,0,0,0,0,0,0,25.80,26.35,28.83
$GC,704,-1.12,-97.7,52.7,-9.0,68,713,0.00,2.58,0.00,0.000,4,0.000,0.037,2626,550,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,814,-1.06,-97.7,62.9,-9.3,79,823,0.10,2.45,0.00,0.000,6,0.137,0.024,2649,2184,2722,0,0,0,0,0,0,26.01,26.43,28.83
$GC,1144,-1.06,-97.7,88.1,-7.1,100,1151,0.00,2.50,0.00,0.000,4,0.000,0.041,2638,3748,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1444,-1.04,-97.7,107.4,-6.2,110,1451,0.00,2.45,0.00,0.000,6,0.000,0.021,2639,2102,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1775,-1.04,-97.7,126.1,-5.4,121,1781,0.00,2.60,0.00,0.000,4,0.000,0.040,2626,3745,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2074,-1.01,-97.7,145.1,-6.6,131,2082,0.12,2.45,0.00,0.000,6,0.125,0.021,2668,2081,2724,0,0,0,0,0,0,26.08,26.53,28.83
$GC,2405,-1.04,-97.7,164.6,-5.7,138,2411,0.00,2.60,0.00,0.000,4,0.000,0.039,2657,3759,2725,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2513,-1.07,-97.7,167.8,-5.5,139,2522,0.00,2.47,0.00,0.000,6,0.000,0.020,2657,2098,2725,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2825,-1.09,-97.7,187.0,-5.5,145,2831,0.00,2.58,0.00,0.000,4,0.000,0.040,2645,3758,2725,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3124,-1.09,-97.7,201.8,-4.8,150,3131,0.00,2.47,0.00,0.000,6,0.000,0.021,2645,2093,2725,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3485,-1.09,-97.7,218.5,-4.9,156,3491,0.00,2.62,0.00,0.000,4,0.000,0.040,2633,3748,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3783,-1.09,-97.7,239.0,-7.0,161,3791,0.00,2.47,0.00,0.000,6,0.000,0.021,2633,2094,2725,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4144,-1.09,-97.7,266.4,-7.7,167,4151,0.00,2.62,0.00,0.000,4,0.000,0.040,2621,3744,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4443,-1.09,-97.7,289.4,-7.6,172,4451,0.00,2.47,0.00,0.000,6,0.000,0.021,2620,2091,2725,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4805,-1.09,-97.7,313.7,-6.7,178,4811,0.00,2.65,0.00,0.000,4,0.000,0.040,2608,3755,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5103,-1.09,-97.7,335.1,-7.2,183,5112,0.15,2.47,0.00,0.000,6,0.142,0.021,2650,2095,2723,0,0,0,0,0,0,26.13,26.54,28.83
$GC,5465,-1.13,-97.7,360.3,-7.0,189,5471,0.00,2.45,0.00,0.000,4,0.000,0.038,2650,544,2723,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5753,-1.13,-97.7,378.3,-7.5,193,5757,0.00,2.50,0.00,0.000,6,0.000,0.024,2639,2199,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6055,-1.16,-97.7,403.3,-7.1,198,6061,0.00,2.45,0.00,0.000,4,0.000,0.041,2627,3741,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6353,-1.16,-97.7,424.0,-6.9,203,6361,0.00,2.45,0.00,0.000,6,0.000,0.021,2627,2104,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6715,-1.18,-97.7,448.1,-6.7,209,6721,0.00,2.58,0.00,0.000,4,0.000,0.041,2615,3751,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7014,-1.18,-97.7,468.8,-6.9,214,7021,0.00,2.45,0.00,0.000,6,0.000,0.021,2615,2106,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7374,-1.18,-97.7,492.9,-6.7,220,7381,0.00,2.60,0.00,0.000,4,0.000,0.041,2603,3742,2718,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7673,-1.18,-97.7,509.4,-6.9,223,7677,0.00,2.45,0.00,0.000,6,0.000,0.021,2603,2105,2717,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8086,-1.18,-97.7,539.8,-6.4,227,8092,0.00,2.62,0.00,0.000,4,0.000,0.041,2591,3745,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8385,-1.18,-97.7,556.9,-6.8,229,8392,0.00,2.45,0.00,0.000,6,0.000,0.022,2591,2109,2715,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8806,-1.18,-97.7,594.6,-7.8,233,8812,0.00,2.47,0.00,0.000,4,0.000,0.039,2591,548,2714,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9105,-1.18,-97.7,616.8,-8.8,235,9113,0.10,2.47,0.00,0.000,6,0.135,0.024,2619,2191,2714,0,0,0,0,0,0,26.06,26.46,28.83
$GC,9526,-1.18,-97.7,657.8,-8.5,239,9532,0.00,2.50,0.00,0.000,4,0.000,0.043,2602,3753,2713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9823,-1.18,-97.7,677.2,-8.2,241,9828,0.00,2.50,0.00,0.000,6,0.000,0.022,2602,2105,2712,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10236,-1.18,-97.7,711.3,-7.2,245,10243,0.00,2.65,0.00,0.000,4,0.000,0.041,2591,3750,2710,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10535,-1.18,-97.7,730.1,-7.5,247,10539,0.00,2.50,0.00,0.000,6,0.000,0.022,2590,2099,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10948,-1.18,-97.7,767.6,-7.9,251,10955,0.00,2.65,0.00,0.000,4,0.000,0.042,2579,3744,2708,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11246,-1.18,-97.7,788.3,-8.4,253,11255,0.15,2.47,0.00,0.000,6,0.145,0.022,2618,2104,2707,0,0,0,0,0,0,26.04,26.48,28.83
$GC,11668,-1.22,-97.7,824.8,-7.6,257,11675,0.00,2.47,0.00,0.000,4,0.000,0.040,2619,553,2706,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11877,-1.26,-97.7,833.9,-7.5,258,11885,0.00,2.50,0.00,0.000,6,0.000,0.024,2608,2191,2706,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12268,-1.29,-97.7,868.6,-7.2,262,12275,0.00,2.50,0.00,0.000,4,0.000,0.044,2596,3746,2705,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12567,-1.32,-97.7,888.6,-7.7,264,12575,0.00,2.50,0.00,0.000,6,0.000,0.024,2597,2112,2704,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12988,-1.35,-97.7,929.1,-8.4,268,12995,0.00,2.65,0.00,0.000,4,0.000,0.043,2585,3749,2703,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13287,-1.37,-97.7,948.9,-8.3,270,13294,0.00,2.53,0.00,0.000,6,0.000,0.024,2585,2099,2702,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13707,-1.37,-97.7,983.1,-7.1,274,13715,0.00,2.50,0.00,0.000,4,0.000,0.042,2585,551,2700,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,13825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13825,begin apogee
$GC,13833,-0.29,0.0,992.0,-7.0,275,13928,1.02,0.10,84.65,1.672,6,0.125,0.089,2900,1587,2320,0,0,0,0,0,0,25.32,24.89,23.25
$STATE,13929,end apogee,CONTROL_FINISHED_OK
$STATE,13929,begin climb
$GC,13932,1.26,97.7,994.4,0.0,280,14031,1.40,2.78,90.68,1.646,4,0.060,0.036,3403,3206,1920,0,0,0,0,0,0,25.24,24.77,23.12
$GC,14158,1.12,97.7,983.4,8.6,291,14167,0.22,2.60,0.00,0.000,6,0.168,0.030,3358,1582,1915,0,0,0,0,0,0,25.53,25.89,28.83
$GC,14540,1.03,97.7,954.8,7.1,295,14546,0.00,1.98,0.00,0.000,4,0.000,0.048,3365,359,1907,0,0,0,0,0,0,28.83,26.18,28.83
$GC,14618,0.94,97.7,954.8,7.1,295,14626,0.22,1.95,0.00,0.000,6,0.154,0.024,3303,1658,1906,0,0,0,0,0,0,25.86,26.42,28.83
$GC,15020,0.92,108.1,924.9,6.2,299,15032,0.00,2.15,7.75,1.413,4,0.000,0.048,3312,350,1878,0,0,0,0,0,0,28.83,26.20,24.21
$GC,15270,0.90,113.6,909.0,6.4,301,15281,0.00,1.98,6.80,1.379,6,0.000,0.024,3312,1658,1855,0,0,0,0,0,0,28.83,26.42,24.22
$GC,15601,0.87,113.6,885.0,6.9,304,15608,0.12,2.10,0.00,0.000,4,0.155,0.047,3288,356,1854,0,0,0,0,0,0,26.23,26.20,28.83
$GC,15780,0.85,113.6,877.6,6.7,305,15787,0.00,1.95,0.00,0.000,6,0.000,0.024,3289,1650,1853,0,0,0,0,0,0,28.83,26.47,28.83
$GC,16200,0.88,138.9,851.1,5.5,309,16229,0.00,2.17,23.67,1.577,4,0.000,0.049,3298,350,1751,0,0,0,0,0,0,28.83,25.77,24.08
$GC,16290,0.91,164.3,851.1,5.5,309,16320,0.00,2.00,24.17,1.545,6,0.000,0.024,3298,1654,1648,0,0,0,0,0,0,28.83,26.07,23.78
$GC,16680,0.91,164.3,815.6,7.4,313,16688,0.00,2.12,0.00,0.000,4,0.000,0.048,3308,356,1643,0,0,0,0,0,0,28.83,26.10,28.83
$GC,16779,0.91,164.3,815.6,7.4,313,16783,0.00,1.98,0.00,0.000,6,0.000,0.025,3308,1659,1643,0,0,0,0,0,0,28.83,26.36,28.83
$GC,17151,0.91,164.3,775.9,8.4,317,17159,0.00,2.12,0.00,0.000,4,0.000,0.048,3318,350,1642,0,0,0,0,0,0,28.83,26.20,28.83
$GC,17411,0.91,164.3,755.5,8.5,319,17418,0.00,1.95,0.00,0.000,6,0.000,0.025,3318,1648,1640,0,0,0,0,0,0,28.83,26.49,28.83
$GC,17751,0.91,164.3,732.9,6.8,322,17758,0.00,2.10,0.00,0.000,4,0.000,0.049,3328,350,1641,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17960,0.93,178.4,726.4,6.0,323,17979,0.00,1.95,12.68,1.436,6,0.000,0.026,3328,1649,1591,0,0,0,0,0,0,28.83,26.52,24.34
$GC,18351,0.97,209.3,701.1,5.2,327,18388,0.00,2.20,28.42,1.482,4,0.000,0.050,3338,347,1466,0,0,0,0,0,0,28.83,25.61,24.01
$GC,18660,0.97,209.3,681.3,6.8,329,18663,0.00,2.00,0.00,0.000,6,0.000,0.026,3338,1660,1462,0,0,0,0,0,0,28.83,26.25,28.83
$GC,19062,0.97,209.3,632.3,10.4,333,19069,0.00,2.15,0.00,0.000,4,0.000,0.049,3348,346,1461,0,0,0,0,0,0,28.83,26.15,28.83
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$GC,20142,1.11,209.3,540.0,7.3,342,20149,0.00,2.12,0.00,0.000,4,0.000,0.048,3332,349,1459,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,25663,end climb,SURFACE_DEPTH_REACHED
$STATE,25663,begin surface coast
$FINISH,1.2,1.025663
$STATE,25683,end surface coast,CONTROL_FINISHED_OK
$STATE,25683,begin surface
$SM_CCo,25704,39.22,0.132,0,0,1096,300.00
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$IRIDIUM_FIX,2422.84,-3914.36,181212,212121
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.90
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7653888
$TM_FREEKB,5322080
$24V_AH,23.1,56.559
$10V_AH,9.8,48.190
$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,21.800,202.650,278.825,39.225,0.000,26.657,40.875,199.378,0.000,0.000,22.958,2565.915,20020.869,695.362,2529.629,443.647,33.255,1830.716,0.000,2134.706,0.000,0.535,0.000
$DEVICE_MAMPS,188.190,88.740,1671.525,131.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.207,13.425,0.000,0.000
$MEM,344384
$DATA_FILE_SIZE,13437,501
$CAP_FILE_SIZE,192768,0
$CFSIZE,260034560,223281152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191212,115429,2437.996,-3744.170,40,0.7,40,-13.9