version: 66.11
glider: 189
mission: 7
dive: 344
start: 12 31 112 22 51 24
data:
$ID,189
$MISSION,7
$DIVE,344
$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,-48086.582
$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
$GPS1,311212,224127,2429.266,-3750.374,37,1.5,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-63.5
$GPS2,311212,225023,2429.266,-3750.399,18,1.0,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.097,-0.070
$KALMAN_X,168630.9,584.9,-316.5,-149549.6,-2009.4
$KALMAN_Y,-84540.2,-220.2,-546.1,73558.7,-508.9
$MHEAD_RNG_PITCHd_Wd,139.9,17130,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.26,-97.7,0.0,0.0,0,33,0.00,0.00,-11.18,0.000,2,0.000,0.000,151,2125,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.26,-97.7,2.2,0.0,1,103,9.20,2.50,-49.40,0.000,4,0.191,0.051,2588,549,2720,0,0,0,0,0,0,25.47,26.01,26.68
$GC,213,-1.15,-97.7,11.3,-10.1,19,222,0.15,2.47,0.00,0.000,6,0.141,0.024,2625,2188,2720,0,0,0,0,0,0,25.73,26.29,28.83
$GC,523,-1.13,-97.7,40.7,-9.1,50,532,0.00,2.47,0.00,0.000,4,0.000,0.041,2615,3741,2721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,753,-1.07,-97.7,62.5,-8.4,73,762,0.10,2.45,0.00,0.000,6,0.130,0.021,2648,2084,2722,0,0,0,0,0,0,26.05,26.46,28.83
$GC,1063,-1.07,-97.7,86.8,-7.7,94,1070,0.00,2.65,0.00,0.000,4,0.000,0.038,2637,3746,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1363,-1.07,-97.7,111.1,-7.8,104,1370,0.00,2.47,0.00,0.000,6,0.000,0.021,2636,2094,2721,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1696,-1.07,-97.7,130.7,-5.6,115,1701,0.00,2.62,0.00,0.000,4,0.000,0.039,2625,3760,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1982,-1.07,-97.7,147.0,-5.8,124,1991,0.00,2.47,0.00,0.000,6,0.000,0.020,2625,2098,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2324,-1.07,-97.7,168.9,-6.2,131,2331,0.12,2.65,0.00,0.000,4,0.149,0.040,2647,3746,2724,0,0,0,0,0,0,26.41,26.26,28.83
$GC,2623,-1.07,-97.7,187.0,-6.0,136,2630,0.00,2.45,0.00,0.000,6,0.000,0.021,2647,2094,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2984,-1.09,-97.7,205.1,-5.1,142,2990,0.00,2.60,0.00,0.000,4,0.000,0.039,2635,3756,2724,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3204,-1.09,-97.7,216.9,-6.3,145,3210,0.00,2.45,0.00,0.000,6,0.000,0.021,2635,2098,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3523,-1.09,-97.7,243.3,-7.4,151,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2103,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-1.09,-97.7,264.9,-7.2,156,3830,0.00,2.62,0.00,0.000,4,0.000,0.040,2622,3745,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4022,-1.09,-97.7,277.4,-7.0,159,4029,0.00,2.45,0.00,0.000,6,0.000,0.021,2623,2104,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4364,-1.09,-97.7,300.1,-6.2,165,4370,0.00,2.58,0.00,0.000,4,0.000,0.040,2611,3758,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4663,-1.09,-97.7,319.2,-6.3,170,4671,0.10,2.45,0.00,0.000,6,0.122,0.020,2645,2098,2722,0,0,0,0,0,0,26.15,26.53,28.83
$GC,5024,-1.13,-97.7,338.5,-5.3,176,5030,0.00,2.60,0.00,0.000,4,0.000,0.040,2634,3758,2721,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5324,-1.13,-97.7,356.3,-6.0,181,5330,0.00,2.45,0.00,0.000,6,0.000,0.020,2634,2101,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5683,-1.16,-97.7,380.8,-7.1,187,5690,0.00,2.62,0.00,0.000,4,0.000,0.040,2621,3745,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5983,-1.16,-97.7,405.6,-8.3,192,5990,0.00,2.45,0.00,0.000,6,0.000,0.021,2622,2099,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6343,-1.18,-97.7,431.0,-6.7,198,6350,0.00,2.65,0.00,0.000,4,0.000,0.041,2610,3748,2718,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6643,-1.18,-97.7,448.7,-5.8,203,6650,0.00,2.45,0.00,0.000,6,0.000,0.021,2610,2106,2718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7003,-1.18,-97.7,469.4,-5.9,209,7010,0.00,2.62,0.00,0.000,4,0.000,0.040,2598,3741,2716,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7245,-1.18,-97.7,486.9,-7.3,213,7250,0.00,2.40,0.00,0.000,6,0.000,0.021,2598,2098,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7663,-1.18,-97.7,521.2,-8.3,218,7670,0.00,2.65,0.00,0.000,4,0.000,0.041,2586,3744,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7934,-1.18,-97.7,542.3,-8.5,220,7941,0.12,2.40,0.00,0.000,6,0.148,0.022,2618,2100,2714,0,0,0,0,0,0,26.13,26.51,28.83
$GC,8263,-1.18,-97.7,572.2,-8.5,223,8270,0.00,2.65,0.00,0.000,4,0.000,0.041,2607,3752,2714,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8563,-1.20,-97.7,590.1,-7.8,225,8570,0.00,2.47,0.00,0.000,6,0.000,0.021,2607,2103,2714,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8984,-1.22,-97.7,619.2,-6.0,229,8990,0.00,2.65,0.00,0.000,4,0.000,0.041,2595,3749,2712,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9283,-1.22,-97.7,634.4,-6.0,231,9290,0.00,2.50,0.00,0.000,6,0.000,0.021,2595,2093,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9703,-1.22,-97.7,670.7,-7.6,235,9710,0.00,2.65,0.00,0.000,4,0.000,0.041,2583,3738,2710,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10002,-1.22,-97.7,691.0,-8.2,237,10010,0.00,2.47,0.00,0.000,6,0.000,0.022,2583,2097,2709,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10423,-1.22,-97.7,729.6,-8.0,241,10431,0.00,2.65,0.00,0.000,4,0.000,0.042,2571,3745,2708,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10722,-1.22,-97.7,749.0,-8.1,243,10730,0.12,2.47,0.00,0.000,6,0.154,0.022,2602,2105,2707,0,0,0,0,0,0,26.08,26.46,28.83
$GC,11144,-1.25,-97.7,784.9,-7.4,247,11150,0.00,2.62,0.00,0.000,4,0.000,0.042,2592,3739,2706,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11442,-1.28,-97.7,804.6,-7.8,249,11450,0.00,2.47,0.00,0.000,6,0.000,0.021,2592,2097,2705,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11864,-1.31,-97.7,842.6,-7.9,253,11871,0.00,2.65,0.00,0.000,4,0.000,0.042,2580,3744,2705,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12162,-1.33,-97.7,862.0,-7.9,255,12170,0.00,2.47,0.00,0.000,6,0.000,0.023,2580,2110,2703,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12583,-1.33,-97.7,900.0,-7.9,259,12591,0.00,2.65,0.00,0.000,4,0.000,0.042,2568,3747,2702,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12882,-1.33,-97.7,919.0,-7.8,261,12890,0.00,2.50,0.00,0.000,6,0.000,0.023,2568,2105,2698,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13303,-1.33,-97.7,956.0,-7.7,265,13311,0.00,2.65,0.00,0.000,4,0.000,0.043,2556,3739,2699,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13602,-1.33,-97.7,973.1,-7.2,267,13610,0.00,2.50,0.00,0.000,6,0.000,0.023,2556,2097,2697,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,13780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13781,begin apogee
$GC,13789,-0.29,0.0,990.2,-7.1,269,13883,1.10,0.03,85.45,1.658,6,0.130,0.073,2898,1612,2320,0,0,0,0,0,0,25.17,24.46,23.07
$STATE,13884,end apogee,CONTROL_FINISHED_OK
$STATE,13885,begin climb
$GC,13887,1.26,97.7,993.6,0.0,274,13986,1.42,2.20,91.62,1.640,4,0.064,0.047,3413,347,1921,0,0,0,0,0,0,25.22,24.79,23.05
$GC,14274,1.10,97.7,974.2,6.8,287,14282,0.20,2.00,0.00,0.000,6,0.161,0.024,3361,1655,1909,0,0,0,0,0,0,25.75,26.25,28.83
$GC,14616,1.02,122.8,955.5,5.5,290,14640,0.12,0.00,21.42,1.579,6,0.174,0.000,3329,1656,1819,0,0,0,0,0,0,26.15,28.83,23.90
$GC,14975,1.00,144.9,934.6,5.6,293,15003,0.00,2.12,20.98,1.578,4,0.000,0.050,3337,356,1728,0,0,0,0,0,0,28.83,25.67,23.89
$GC,15207,0.97,157.7,926.2,6.1,294,15224,0.00,1.92,12.70,1.520,6,0.000,0.025,3337,1641,1676,0,0,0,0,0,0,28.83,26.25,23.97
$GC,15567,0.93,157.7,891.3,7.4,298,15573,0.12,2.08,0.00,0.000,4,0.161,0.047,3315,347,1673,0,0,0,0,0,0,26.15,26.14,28.83
$GC,15654,0.90,157.7,891.3,7.4,298,15661,0.00,1.98,0.00,0.000,6,0.000,0.025,3315,1657,1672,0,0,0,0,0,0,28.83,26.40,28.83
$GC,16044,0.90,157.7,854.2,7.7,302,16052,0.00,2.12,0.00,0.000,4,0.000,0.048,3324,355,1672,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16143,0.90,157.7,854.2,7.7,302,16148,0.12,1.95,0.00,0.000,6,0.156,0.025,3293,1659,1671,0,0,0,0,0,0,26.12,26.48,28.83
$GC,16517,0.93,157.7,817.8,7.7,306,16524,0.00,2.45,0.00,0.000,4,0.000,0.036,3292,3204,1670,0,0,0,0,0,0,28.83,26.30,28.83
$GC,16555,0.95,157.7,817.8,7.7,306,16563,0.00,2.55,0.00,0.000,6,0.000,0.030,3303,1575,1670,0,0,0,0,0,0,28.83,26.35,28.83
$GC,16876,0.98,157.7,788.3,8.1,309,16883,0.00,1.98,0.00,0.000,4,0.000,0.048,3312,353,1669,0,0,0,0,0,0,28.83,26.21,28.83
$GC,16936,1.01,157.7,788.3,8.1,309,16943,0.00,1.95,0.00,0.000,6,0.000,0.025,3313,1650,1669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17356,1.01,157.7,748.2,8.4,313,17363,0.00,2.12,0.00,0.000,4,0.000,0.047,3323,346,1669,0,0,0,0,0,0,28.83,26.19,28.83
$GC,17627,1.01,157.7,730.3,7.8,315,17634,0.00,1.95,0.00,0.000,6,0.000,0.026,3323,1651,1668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17956,1.02,160.3,707.4,6.5,318,17964,0.00,2.12,0.00,0.000,4,0.000,0.047,3332,349,1668,0,0,0,0,0,0,28.83,26.16,28.83
$GC,18025,1.02,162.9,707.4,6.5,318,18035,0.00,1.98,4.62,1.161,6,0.000,0.025,3332,1662,1657,0,0,0,0,0,0,28.83,26.51,23.99
$GC,18437,1.02,162.9,672.0,7.4,322,18443,0.00,2.10,0.00,0.000,4,0.000,0.047,3342,360,1655,0,0,0,0,0,0,28.83,26.15,28.83
$GC,18735,1.02,162.9,650.3,8.4,324,18739,0.00,1.95,0.00,0.000,6,0.000,0.025,3342,1656,1655,0,0,0,0,0,0,28.83,26.47,28.83
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$STATE,26368,end climb,SURFACE_DEPTH_REACHED
$STATE,26368,begin surface coast
$FINISH,1.2,1.025538
$STATE,26399,end surface coast,CONTROL_FINISHED_OK
$STATE,26400,begin surface
$SM_CCo,26423,54.20,0.125,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.06
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7637760
$TM_FREEKB,5145536
$24V_AH,23.0,62.428
$10V_AH,10.1,53.899
$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
$DEVICE_SECS,22.050,198.500,252.175,54.200,0.000,26.306,49.894,195.706,0.000,0.000,19.289,2609.519,20671.203,679.968,2547.460,493.689,33.265,1826.271,0.000,2147.323,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.237,13.447,0.000,0.000
$MEM,344316
$DATA_FILE_SIZE,13398,525
$CAP_FILE_SIZE,197471,0
$CFSIZE,260034560,219373568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010113,061358,2427.617,-3749.708,36,0.7,36,-14.0