version: 66.11
glider: 189
mission: 7
dive: 325
start: 12 26 112 4 1 47
data:
$ID,189
$MISSION,7
$DIVE,325
$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,-48062.688
$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
$GPS1,261212,035159,2445.223,-3745.838,45,0.9,45,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-55.9
$GPS2,261212,040047,2445.206,-3745.819,17,0.8,17,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.116,-0.031
$KALMAN_X,186760.2,182.3,-105.2,-159749.3,3675.8
$KALMAN_Y,-89168.5,-404.8,-119.0,107451.8,485.5
$MHEAD_RNG_PITCHd_Wd,268.8,4810,-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,-11.50,0.000,2,0.000,0.000,151,2111,1430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.1,0.0,1,104,8.90,2.50,-49.45,0.000,4,0.177,0.054,2590,550,2720,0,0,0,0,0,0,25.48,26.03,26.68
$GC,394,-1.15,-97.7,21.0,-9.5,37,403,0.12,2.47,0.00,0.000,6,0.140,0.024,2619,2187,2720,0,0,0,0,0,0,25.86,26.36,28.83
$GC,704,-1.11,-97.7,42.4,-5.9,68,713,0.00,2.47,0.00,0.000,4,0.000,0.040,2608,3739,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,824,-1.06,-97.7,51.5,-8.5,80,834,0.12,2.42,0.00,0.000,6,0.127,0.020,2651,2094,2721,0,0,0,0,0,0,26.01,26.48,28.83
$GC,1154,-1.06,-97.7,77.5,-7.4,111,1161,0.00,2.62,0.00,0.000,4,0.000,0.039,2640,3746,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1454,-1.06,-97.7,99.8,-7.3,121,1461,0.00,2.47,0.00,0.000,6,0.000,0.021,2640,2089,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1786,-1.06,-97.7,120.6,-5.7,132,1792,0.00,2.60,0.00,0.000,4,0.000,0.039,2627,3758,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1986,-1.04,-97.7,129.7,-5.0,138,1993,0.15,2.40,0.00,0.000,6,0.139,0.021,2668,2094,2723,0,0,0,0,0,0,26.13,26.53,28.83
$GC,2296,-1.07,-97.7,143.8,-4.7,149,2301,0.00,2.58,0.00,0.000,4,0.000,0.039,2658,3749,2723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2573,-1.07,-97.7,158.0,-6.1,155,2580,0.00,2.47,0.00,0.000,6,0.000,0.020,2658,2094,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2895,-1.10,-97.7,179.9,-6.1,161,2901,0.00,2.62,0.00,0.000,4,0.000,0.039,2646,3749,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3194,-1.10,-97.7,197.6,-5.8,166,3201,0.00,2.45,0.00,0.000,6,0.000,0.021,2645,2101,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3554,-1.10,-97.7,217.0,-5.3,172,3561,0.00,2.62,0.00,0.000,4,0.000,0.039,2634,3746,2722,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3786,-1.10,-97.7,228.1,-6.1,175,3793,0.00,2.42,0.00,0.000,6,0.000,0.021,2634,2096,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4094,-1.10,-97.7,251.9,-6.7,181,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2096,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4394,-1.10,-97.7,271.9,-6.6,186,4401,0.00,2.62,0.00,0.000,4,0.000,0.040,2621,3743,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4694,-1.10,-97.7,291.9,-6.6,191,4701,0.00,2.45,0.00,0.000,6,0.000,0.021,2621,2098,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5054,-1.10,-97.7,316.5,-7.0,197,5061,0.00,2.62,0.00,0.000,4,0.000,0.040,2609,3746,2723,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5354,-1.10,-97.7,337.9,-7.1,202,5362,0.15,2.45,0.00,0.000,6,0.139,0.021,2651,2099,2722,0,0,0,0,0,0,26.15,26.54,28.83
$GC,5714,-1.14,-97.7,361.4,-6.6,208,5722,0.00,2.62,0.00,0.000,4,0.000,0.041,2640,3745,2722,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6014,-1.17,-97.7,382.7,-7.2,213,6022,0.00,2.45,0.00,0.000,6,0.000,0.021,2640,2098,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6375,-1.20,-97.7,407.5,-6.7,219,6381,0.00,2.40,0.00,0.000,4,0.000,0.038,2640,544,2720,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6643,-1.20,-97.7,424.5,-7.1,223,6651,0.00,2.50,0.00,0.000,6,0.000,0.024,2628,2199,2720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6974,-1.23,-97.7,451.9,-7.7,229,6981,0.00,2.47,0.00,0.000,4,0.000,0.042,2617,3746,2719,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7243,-1.23,-97.7,472.6,-8.6,233,7250,0.00,2.47,0.00,0.000,6,0.000,0.021,2617,2101,2718,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7574,-1.23,-97.7,500.3,-7.6,239,7581,0.00,2.62,0.00,0.000,4,0.000,0.041,2605,3744,2717,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7874,-1.23,-97.7,517.1,-7.2,241,7881,0.00,2.45,0.00,0.000,6,0.000,0.021,2605,2109,2716,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8295,-1.23,-97.7,546.5,-6.1,245,8301,0.00,2.62,0.00,0.000,4,0.000,0.041,2592,3749,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8595,-1.23,-97.7,563.7,-6.7,247,8601,0.00,2.45,0.00,0.000,6,0.000,0.022,2592,2111,2715,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9014,-1.23,-97.7,606.0,-8.8,251,9021,0.00,2.47,0.00,0.000,4,0.000,0.039,2592,555,2714,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9305,-1.23,-97.7,630.0,-9.6,253,9312,0.00,2.45,0.00,0.000,6,0.000,0.024,2581,2187,2713,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9614,-1.23,-97.7,659.8,-8.7,256,9621,0.00,2.47,0.00,0.000,4,0.000,0.042,2569,3740,2712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9913,-1.23,-97.7,675.9,-7.2,258,9921,0.12,2.47,0.00,0.000,6,0.152,0.022,2601,2103,2711,0,0,0,0,0,0,26.13,26.50,28.83
$GC,10334,-1.23,-97.7,699.1,-4.8,262,10341,0.00,2.62,0.00,0.000,4,0.000,0.042,2590,3740,2710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10633,-1.23,-97.7,711.8,-4.8,264,10641,0.00,2.47,0.00,0.000,6,0.000,0.022,2590,2106,2709,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11054,-1.23,-97.7,749.6,-7.9,268,11061,0.00,2.47,0.00,0.000,4,0.000,0.040,2590,549,2707,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11244,-1.23,-97.7,762.4,-9.0,269,11251,0.00,2.47,0.00,0.000,6,0.000,0.024,2578,2188,2706,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11654,-1.23,-97.7,809.1,-9.7,273,11661,0.00,2.53,0.00,0.000,4,0.000,0.044,2567,3751,2705,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11955,-1.23,-97.7,826.7,-8.2,275,11962,0.10,2.47,0.00,0.000,6,0.130,0.024,2599,2101,2705,0,0,0,0,0,0,26.05,26.46,28.83
$GC,12375,-1.25,-97.7,854.4,-5.7,279,12381,0.00,2.47,0.00,0.000,4,0.000,0.041,2599,547,2704,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12675,-1.25,-97.7,871.4,-6.4,281,12681,0.00,2.45,0.00,0.000,6,0.000,0.026,2589,2188,2703,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13094,-1.27,-97.7,915.7,-9.3,285,13101,0.00,2.53,0.00,0.000,4,0.000,0.044,2578,3744,2701,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13395,-1.27,-97.7,939.3,-9.9,287,13401,0.00,2.47,0.00,0.000,6,0.000,0.024,2578,2107,2700,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13814,-1.27,-97.7,978.6,-8.2,291,13821,0.00,2.67,0.00,0.000,4,0.000,0.044,2565,3755,2699,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,13971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13971,begin apogee
$GC,13981,-0.29,0.0,990.9,-7.6,294,14074,1.08,0.03,84.72,1.657,6,0.127,0.079,2903,1617,2321,0,0,0,0,0,0,25.28,24.53,23.21
$STATE,14075,end apogee,CONTROL_FINISHED_OK
$STATE,14076,begin climb
$GC,14079,1.26,97.7,994.2,0.0,299,14177,1.40,2.20,91.00,1.636,4,0.062,0.048,3415,352,1920,0,0,0,0,0,0,25.25,24.79,23.13
$GC,14466,1.10,97.7,973.9,8.3,311,14474,0.22,1.98,0.00,0.000,6,0.160,0.024,3356,1655,1908,0,0,0,0,0,0,25.74,26.24,28.83
$GC,14886,1.01,97.7,941.2,6.8,315,14894,0.12,2.10,0.00,0.000,4,0.175,0.048,3333,362,1905,0,0,0,0,0,0,26.18,26.20,28.83
$GC,15016,0.95,108.2,934.6,6.2,316,15028,0.00,1.95,7.65,1.402,6,0.000,0.024,3333,1657,1879,0,0,0,0,0,0,28.83,26.46,24.15
$GC,15357,0.94,145.9,917.9,4.9,319,15395,0.12,0.00,35.85,1.600,6,0.160,0.000,3302,1657,1724,0,0,0,0,0,0,26.22,28.83,23.76
$GC,15717,0.96,164.3,895.7,5.8,322,15739,0.00,2.20,17.20,1.554,4,0.000,0.050,3311,349,1649,0,0,0,0,0,0,28.83,25.75,24.03
$GC,15947,0.96,164.3,877.8,7.1,324,15954,0.00,1.98,0.00,0.000,6,0.000,0.024,3311,1645,1643,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16308,0.96,164.3,850.1,7.8,327,16315,0.00,2.10,0.00,0.000,4,0.000,0.048,3320,353,1644,0,0,0,0,0,0,28.83,26.19,28.83
$GC,16436,0.96,164.3,839.9,7.9,328,16440,0.00,1.95,0.00,0.000,6,0.000,0.025,3320,1652,1644,0,0,0,0,0,0,28.83,26.46,28.83
$GC,16778,0.96,164.3,811.9,8.1,331,16786,0.00,2.12,0.00,0.000,4,0.000,0.048,3330,350,1643,0,0,0,0,0,0,28.83,26.23,28.83
$GC,16878,0.96,164.3,811.9,8.1,331,16885,0.00,1.98,0.00,0.000,6,0.000,0.025,3330,1661,1643,0,0,0,0,0,0,28.83,26.50,28.83
$GC,17258,0.96,164.3,775.3,7.6,335,17266,0.00,2.12,0.00,0.000,4,0.000,0.048,3340,353,1642,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17418,0.96,164.3,765.5,7.6,336,17426,0.12,1.95,0.00,0.000,6,0.152,0.025,3307,1660,1642,0,0,0,0,0,0,26.15,26.52,28.83
$GC,17738,0.96,164.3,737.6,7.8,339,17745,0.00,2.10,0.00,0.000,4,0.000,0.047,3316,356,1641,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17959,0.96,164.3,727.5,7.9,340,17966,0.00,1.92,0.00,0.000,6,0.000,0.025,3316,1648,1641,0,0,0,0,0,0,28.83,26.52,28.83
$GC,18339,0.96,164.3,686.7,8.5,344,18345,0.00,2.10,0.00,0.000,4,0.000,0.047,3325,356,1641,0,0,0,0,0,0,28.83,26.19,28.83
$GC,18477,0.96,164.3,676.5,8.5,345,18481,0.00,1.95,0.00,0.000,6,0.000,0.025,3326,1654,1640,0,0,0,0,0,0,28.83,26.52,28.83
$GC,18809,0.96,164.3,648.1,8.2,348,18816,0.00,2.12,0.00,0.000,4,0.000,0.047,3335,353,1640,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,26631,end climb,SURFACE_DEPTH_REACHED
$STATE,26631,begin surface coast
$FINISH,1.3,1.025508
$STATE,26663,end surface coast,CONTROL_FINISHED_OK
$STATE,26663,begin surface
$SM_CCo,26687,58.53,0.126,0,0,1093,300.00
$SM_GC,1.94,8.60,2.80,58.53,0.040,0.024,0.126,152,2196,1093,-8.83,-0.54,300.00,0,0,0,0,0,0,26.35,26.38,25.38
$IRIDIUM_FIX,2429.95,-3754.79,251212,202032
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.23
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7645056
$TM_FREEKB,5226784
$24V_AH,23.1,59.788
$10V_AH,10.0,51.297
$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,21.625,209.875,236.425,58.525,0.000,25.473,38.577,199.152,0.000,0.000,18.258,2714.897,20709.504,697.086,2633.885,506.774,33.260,1882.145,0.000,2238.257,0.000,0.535,0.000
$DEVICE_MAMPS,177.480,96.390,1656.990,126.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26669.000,2946.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.292,13.465,0.000,0.000
$MEM,344316
$DATA_FILE_SIZE,16749,545
$CAP_FILE_SIZE,200941,0
$CFSIZE,260034560,221134848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261212,112854,2445.456,-3747.069,41,1.0,41,-13.9