version: 66.11
glider: 189
mission: 7
dive: 323
start: 12 25 112 13 40 6
data:
$ID,189
$MISSION,7
$DIVE,323
$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,-48060.172
$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
$GPS1,251212,133034,2444.837,-3745.207,24,1.6,24,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-56.7
$GPS2,251212,133906,2444.760,-3745.155,19,1.6,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.112,-0.044
$KALMAN_X,183267.2,-284.5,-615.6,-154156.1,6155.0
$KALMAN_Y,-90331.1,233.5,667.6,106349.9,-2955.9
$MHEAD_RNG_PITCHd_Wd,262.5,6092,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-11.82,0.000,2,0.000,0.000,156,2112,1439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,105,9.07,2.53,-48.70,0.000,4,0.187,0.055,2592,554,2720,0,0,0,0,0,0,25.50,25.96,26.67
$GC,395,-1.16,-97.7,27.9,-9.5,37,404,0.12,2.47,0.00,0.000,6,0.140,0.024,2621,2192,2721,0,0,0,0,0,0,25.86,26.35,28.83
$GC,705,-1.12,-97.7,54.2,-7.6,68,714,0.00,2.47,0.00,0.000,4,0.000,0.041,2611,3743,2721,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1005,-1.07,-97.7,73.1,-6.4,98,1014,0.12,2.45,0.00,0.000,6,0.128,0.021,2653,2086,2722,0,0,0,0,0,0,26.02,26.48,28.83
$GC,1318,-1.07,-97.7,97.5,-9.3,111,1323,0.00,2.62,0.00,0.000,4,0.000,0.041,2642,3757,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1615,-1.07,-97.7,124.1,-7.2,121,1622,0.00,2.45,0.00,0.000,6,0.000,0.021,2641,2101,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1945,-1.07,-97.7,135.8,-2.6,132,1952,0.00,2.60,0.00,0.000,4,0.000,0.038,2629,3743,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2245,-1.07,-97.7,146.1,-4.0,142,2252,0.00,2.45,0.00,0.000,6,0.000,0.020,2629,2098,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2605,-1.07,-97.7,163.3,-5.1,150,2612,0.00,2.62,0.00,0.000,4,0.000,0.039,2618,3749,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2905,-1.05,-97.7,184.4,-7.2,155,2913,0.12,2.45,0.00,0.000,6,0.122,0.020,2660,2083,2725,0,0,0,0,0,0,26.10,26.55,28.83
$GC,3265,-1.08,-97.7,209.7,-6.9,161,3273,0.00,2.65,0.00,0.000,4,0.000,0.039,2649,3749,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3565,-1.08,-97.7,228.3,-6.1,166,3573,0.00,2.45,0.00,0.000,6,0.000,0.020,2649,2095,2725,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3926,-1.11,-97.7,247.9,-5.4,172,3932,0.00,2.62,0.00,0.000,4,0.000,0.040,2637,3745,2725,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4225,-1.11,-97.7,268.3,-6.9,177,4232,0.00,2.42,0.00,0.000,6,0.000,0.021,2637,2108,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4585,-1.11,-97.7,298.0,-8.4,183,4592,0.00,2.47,0.00,0.000,4,0.000,0.037,2637,547,2724,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4885,-1.11,-97.7,322.2,-7.9,188,4892,0.00,2.47,0.00,0.000,6,0.000,0.024,2624,2190,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5245,-1.11,-97.7,341.1,-4.8,194,5252,0.00,2.47,0.00,0.000,4,0.000,0.041,2613,3746,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5466,-1.11,-97.7,349.0,-4.4,197,5473,0.12,2.40,0.00,0.000,6,0.144,0.021,2647,2095,2722,0,0,0,0,0,0,26.19,26.53,28.83
$GC,5785,-1.15,-97.7,364.5,-4.4,203,5792,0.00,2.65,0.00,0.000,4,0.000,0.041,2636,3752,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5945,-1.18,-97.7,371.2,-5.2,205,5952,0.00,2.45,0.00,0.000,6,0.000,0.021,2636,2106,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6265,-1.21,-97.7,397.5,-7.7,211,6272,0.00,2.62,0.00,0.000,4,0.000,0.041,2624,3748,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6564,-1.21,-97.7,424.7,-9.1,216,6572,0.00,2.47,0.00,0.000,6,0.000,0.021,2624,2099,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6925,-1.24,-97.7,454.8,-8.1,222,6932,0.00,2.62,0.00,0.000,4,0.000,0.041,2612,3748,2719,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7226,-1.24,-97.7,475.8,-6.9,227,7232,0.00,2.45,0.00,0.000,6,0.000,0.021,2612,2108,2718,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7585,-1.24,-97.7,502.0,-7.4,233,7592,0.00,2.62,0.00,0.000,4,0.000,0.041,2600,3749,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7884,-1.24,-97.7,523.0,-8.4,235,7888,0.00,2.47,0.00,0.000,6,0.000,0.021,2600,2105,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8296,-1.24,-97.7,563.9,-8.7,239,8303,0.00,2.62,0.00,0.000,4,0.000,0.041,2588,3746,2715,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8596,-1.24,-97.7,583.3,-8.3,241,8603,0.00,2.45,0.00,0.000,6,0.000,0.022,2588,2109,2715,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9016,-1.24,-97.7,619.1,-7.5,245,9023,0.00,2.62,0.00,0.000,4,0.000,0.041,2576,3746,2714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9316,-1.24,-97.7,638.6,-7.8,247,9323,0.00,2.47,0.00,0.000,6,0.000,0.021,2576,2096,2713,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9736,-1.24,-97.7,676.0,-7.8,251,9743,0.00,2.45,0.00,0.000,4,0.000,0.039,2576,556,2712,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9987,-1.21,-97.7,694.0,-7.5,253,9994,0.10,2.50,0.00,0.000,6,0.143,0.026,2613,2183,2711,0,0,0,0,0,0,25.91,26.44,28.83
$GC,10336,-1.21,-97.7,718.5,-6.9,256,10344,0.00,2.53,0.00,0.000,4,0.000,0.043,2601,3743,2710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10636,-1.24,-97.7,736.0,-7.0,258,10644,0.00,2.47,0.00,0.000,6,0.000,0.022,2601,2106,2709,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11056,-1.26,-97.7,771.8,-7.5,262,11064,0.00,2.62,0.00,0.000,4,0.000,0.041,2589,3746,2707,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11356,-1.28,-97.7,790.8,-7.7,264,11363,0.00,2.50,0.00,0.000,6,0.000,0.023,2589,2097,2706,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11776,-1.28,-97.7,831.6,-8.5,268,11783,0.00,2.67,0.00,0.000,4,0.000,0.042,2577,3745,2705,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12075,-1.28,-97.7,854.5,-9.2,270,12083,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2105,2705,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12496,-1.28,-97.7,898.8,-9.2,274,12503,0.00,2.65,0.00,0.000,4,0.000,0.043,2566,3742,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12795,-1.28,-97.7,919.8,-8.8,276,12799,0.00,2.47,0.00,0.000,6,0.000,0.023,2566,2110,2702,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13208,-1.28,-97.7,955.3,-7.5,280,13214,0.00,2.65,0.00,0.000,4,0.000,0.043,2554,3752,2701,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13506,-1.28,-97.7,972.5,-7.2,282,13514,0.12,2.50,0.00,0.000,6,0.158,0.024,2584,2104,2700,0,0,0,0,0,0,26.02,26.41,28.83
$STATE,13704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13704,begin apogee
$GC,13712,-0.29,0.0,990.0,-6.8,285,13806,1.00,0.05,84.90,1.654,6,0.124,0.130,2903,1621,2320,0,0,0,0,0,0,25.31,24.78,23.21
$STATE,13808,end apogee,CONTROL_FINISHED_OK
$STATE,13808,begin climb
$GC,13811,1.26,97.7,992.5,0.0,290,13909,1.40,2.20,90.62,1.638,4,0.060,0.047,3415,356,1920,0,0,0,0,0,0,25.26,24.79,23.13
$GC,14196,1.10,97.7,968.1,8.5,302,14204,0.22,1.95,0.00,0.000,6,0.161,0.024,3357,1650,1908,0,0,0,0,0,0,25.75,26.25,28.83
$GC,14538,0.99,97.7,944.0,7.1,305,14540,0.15,0.00,0.00,0.000,6,0.169,0.000,3318,1650,1906,0,0,0,0,0,0,26.08,28.83,28.83
$GC,14898,0.95,109.2,922.1,6.1,308,14915,0.00,2.15,9.02,1.444,4,0.000,0.049,3325,346,1873,0,0,0,0,0,0,28.83,26.15,24.18
$GC,15089,0.92,117.2,913.6,6.3,309,15106,0.08,1.95,8.35,1.418,6,0.142,0.025,3301,1653,1841,0,0,0,0,0,0,26.06,26.39,24.18
$GC,15497,0.92,117.2,879.5,7.1,313,15504,0.00,2.12,0.00,0.000,4,0.000,0.048,3309,350,1840,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15608,0.92,117.2,879.5,7.1,313,15616,0.00,1.95,0.00,0.000,6,0.000,0.025,3309,1652,1840,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15977,0.92,123.3,848.8,6.4,317,15986,0.00,0.00,6.95,1.364,6,0.000,0.000,3309,1652,1816,0,0,0,0,0,0,28.83,28.83,24.22
$GC,16337,0.95,142.1,828.1,5.8,320,16360,0.00,2.17,18.33,1.525,4,0.000,0.049,3319,356,1738,0,0,0,0,0,0,28.83,25.88,24.13
$GC,16450,0.97,158.2,820.6,5.9,321,16470,0.00,1.95,15.73,1.489,6,0.000,0.025,3319,1648,1674,0,0,0,0,0,0,28.83,26.17,23.96
$GC,16798,0.97,158.2,793.0,7.6,324,16806,0.00,2.12,0.00,0.000,4,0.000,0.048,3329,349,1675,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17008,0.97,158.2,782.3,8.1,325,17015,0.00,1.98,0.00,0.000,6,0.000,0.025,3329,1651,1670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,17399,0.97,158.2,740.1,8.8,329,17400,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1651,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17759,0.97,158.2,711.2,8.2,332,17766,0.00,2.12,0.00,0.000,4,0.000,0.047,3339,337,1669,0,0,0,0,0,0,28.83,26.22,28.83
$GC,18037,0.97,158.2,694.0,7.5,334,18041,0.00,1.98,0.00,0.000,6,0.000,0.026,3338,1648,1668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18349,0.99,174.3,674.1,5.9,337,18368,0.00,2.15,14.23,1.409,4,0.000,0.049,3349,349,1610,0,0,0,0,0,0,28.83,26.08,24.25
$GC,18581,1.01,194.5,666.7,5.7,338,18607,0.00,1.95,19.55,1.426,6,0.000,0.026,3348,1645,1527,0,0,0,0,0,0,28.83,26.34,24.08
$GC,18949,1.01,194.5,628.3,8.0,342,18956,0.00,2.12,0.00,0.000,4,0.000,0.048,3358,348,1524,0,0,0,0,0,0,28.83,26.08,28.83
$GC,19088,1.01,194.5,615.5,8.9,343,19092,0.12,2.00,0.00,0.000,6,0.151,0.026,3326,1660,1524,0,0,0,0,0,0,26.02,26.37,28.83
$GC,19421,1.01,194.5,578.5,10.6,346,19428,0.00,2.10,0.00,0.000,4,0.000,0.047,3334,358,1523,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,25612,end climb,SURFACE_DEPTH_REACHED
$STATE,25612,begin surface coast
$FINISH,1.2,1.018477
$STATE,25643,end surface coast,CONTROL_FINISHED_OK
$STATE,25643,begin surface
$SM_CCo,25665,37.20,0.129,0,0,1096,300.00
$SM_GC,2.02,8.55,0.80,37.20,0.037,0.030,0.129,153,2200,1096,-8.83,-0.57,300.00,0,0,0,0,0,0,26.39,26.53,25.48
$IRIDIUM_FIX,2427.58,-3750.01,251212,060615
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.71
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7645824
$TM_FREEKB,5235200
$24V_AH,23.1,59.510
$10V_AH,10.0,51.023
$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,21.725,189.325,287.100,37.200,0.000,27.108,35.429,186.897,0.000,0.000,21.283,2577.625,19964.125,677.474,2504.647,478.429,33.262,1806.224,0.000,2122.485,0.000,0.535,0.000
$DEVICE_MAMPS,187.425,130.050,1653.930,129.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25650.000,2705.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.243,13.467,0.000,0.000
$MEM,344356
$DATA_FILE_SIZE,13399,523
$CAP_FILE_SIZE,193117,0
$CFSIZE,260034560,221335552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251212,204936,2444.594,-3746.443,28,0.9,29,-13.9