version: 66.11
glider: 189
mission: 7
dive: 360
start: 1 5 113 21 22 53
data:
$ID,189
$MISSION,7
$DIVE,360
$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,-48106.707
$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
$GPS1,050113,211300,2430.994,-3742.905,40,1.5,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-62.2
$GPS2,050113,212153,2431.093,-3742.874,20,0.9,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.095,-0.073
$KALMAN_X,188835.1,-43.6,-90.8,-156641.4,3133.1
$KALMAN_Y,-89841.4,446.6,-123.6,81125.5,2122.0
$MHEAD_RNG_PITCHd_Wd,246.3,32662,-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,-11.52,0.000,2,0.000,0.000,151,2134,1429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.32,2.53,-48.85,0.000,4,0.194,0.053,2590,551,2718,0,0,0,0,0,0,25.38,26.01,26.69
$GC,394,-1.16,-97.7,26.7,-9.2,37,403,0.12,2.50,0.00,0.000,6,0.142,0.024,2619,2182,2720,0,0,0,0,0,0,25.84,26.35,28.83
$GC,704,-1.13,-97.7,55.1,-9.2,68,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2182,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-1.09,-97.7,79.9,-7.3,94,1011,0.00,2.50,0.00,0.000,4,0.000,0.041,2610,3748,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1283,-1.05,-97.7,98.3,-6.8,103,1291,0.17,2.47,0.00,0.000,6,0.141,0.021,2658,2085,2721,0,0,0,0,0,0,26.00,26.49,28.83
$GC,1606,-1.05,-97.7,117.2,-5.7,114,1612,0.00,2.62,0.00,0.000,4,0.000,0.039,2647,3758,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1764,-1.05,-97.7,125.5,-5.5,119,1771,0.00,2.45,0.00,0.000,6,0.000,0.020,2647,2097,2722,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2084,-1.05,-97.7,139.2,-3.7,130,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2098,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2385,-1.05,-97.7,154.5,-5.7,139,2391,0.00,2.58,0.00,0.000,4,0.000,0.038,2635,3749,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2564,-1.05,-97.7,167.9,-7.1,142,2571,0.00,2.45,0.00,0.000,6,0.000,0.020,2634,2100,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2924,-1.05,-97.7,196.3,-7.7,148,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2100,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-1.05,-97.7,217.5,-7.0,153,3231,0.00,2.65,0.00,0.000,4,0.000,0.039,2623,3755,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3524,-1.05,-97.7,238.9,-7.2,158,3532,0.10,2.47,0.00,0.000,6,0.123,0.020,2657,2084,2723,0,0,0,0,0,0,26.15,26.53,28.83
$GC,3885,-1.09,-97.7,256.9,-4.6,164,3891,0.00,2.62,0.00,0.000,4,0.000,0.039,2646,3754,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4185,-1.12,-97.7,270.0,-4.5,169,4191,0.00,2.45,0.00,0.000,6,0.000,0.021,2646,2104,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4544,-1.15,-97.7,293.1,-6.9,175,4551,0.00,2.62,0.00,0.000,4,0.000,0.039,2634,3754,2722,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4844,-1.17,-97.7,320.1,-9.2,180,4851,0.00,2.45,0.00,0.000,6,0.000,0.021,2634,2107,2722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5204,-1.20,-97.7,351.5,-8.4,186,5212,0.00,2.62,0.00,0.000,4,0.000,0.039,2621,3741,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5384,-1.20,-97.7,364.5,-7.3,189,5391,0.00,2.42,0.00,0.000,6,0.000,0.020,2622,2107,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5744,-1.20,-97.7,386.1,-5.8,195,5751,0.00,2.62,0.00,0.000,4,0.000,0.040,2610,3748,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6045,-1.20,-97.7,403.5,-5.9,200,6051,0.00,2.45,0.00,0.000,6,0.000,0.021,2610,2099,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6404,-1.20,-97.7,428.9,-7.4,206,6411,0.00,2.62,0.00,0.000,4,0.000,0.040,2598,3744,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6704,-1.20,-97.7,454.0,-8.4,211,6711,0.00,2.47,0.00,0.000,6,0.000,0.021,2598,2094,2717,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7064,-1.20,-97.7,481.9,-7.6,217,7071,0.00,2.65,0.00,0.000,4,0.000,0.040,2586,3750,2716,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7364,-1.20,-97.7,503.2,-7.0,222,7371,0.00,2.47,0.00,0.000,6,0.000,0.021,2586,2102,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7784,-1.20,-97.7,529.0,-6.1,226,7791,0.00,2.65,0.00,0.000,4,0.000,0.040,2574,3746,2715,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8083,-1.20,-97.7,544.6,-6.2,228,8091,0.15,2.47,0.00,0.000,6,0.143,0.021,2614,2093,2717,0,0,0,0,0,0,26.08,26.50,28.83
$GC,8504,-1.20,-97.7,579.4,-7.2,232,8511,0.00,2.65,0.00,0.000,4,0.000,0.040,2603,3744,2714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8804,-1.22,-97.7,601.3,-8.5,234,8811,0.00,2.45,0.00,0.000,6,0.000,0.021,2603,2106,2712,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9224,-1.24,-97.7,642.8,-8.6,238,9231,0.00,2.62,0.00,0.000,4,0.000,0.041,2591,3747,2711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9524,-1.24,-97.7,662.8,-8.3,240,9531,0.00,2.45,0.00,0.000,6,0.000,0.022,2591,2112,2711,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9944,-1.24,-97.7,703.6,-8.5,244,9951,0.00,2.65,0.00,0.000,4,0.000,0.041,2580,3746,2709,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10244,-1.24,-97.7,725.4,-9.0,246,10251,0.00,2.45,0.00,0.000,6,0.000,0.023,2580,2110,2708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10665,-1.24,-97.7,760.2,-7.2,250,10671,0.00,2.65,0.00,0.000,4,0.000,0.041,2568,3749,2706,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10963,-1.24,-97.7,776.8,-6.8,252,10971,0.12,2.47,0.00,0.000,6,0.150,0.022,2600,2103,2706,0,0,0,0,0,0,26.09,26.46,28.83
$GC,11385,-1.27,-97.7,813.1,-7.5,256,11391,0.00,2.60,0.00,0.000,4,0.000,0.042,2590,3747,2705,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11583,-1.30,-97.7,823.7,-8.0,257,11591,0.00,2.47,0.00,0.000,6,0.000,0.023,2591,2109,2705,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11985,-1.33,-97.7,862.6,-8.1,261,11991,0.00,2.62,0.00,0.000,4,0.000,0.042,2577,3741,2703,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12104,-1.35,-97.7,871.6,-7.8,262,12111,0.00,2.45,0.00,0.000,6,0.000,0.023,2577,2108,2703,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12464,-1.35,-97.7,894.8,-6.7,265,12471,0.00,2.62,0.00,0.000,4,0.000,0.042,2565,3738,2702,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12684,-1.35,-97.7,902.2,-6.3,266,12691,0.00,2.45,0.00,0.000,6,0.000,0.023,2565,2111,2700,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13064,-1.35,-97.7,934.9,-6.8,270,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2111,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13424,-1.35,-97.7,966.4,-8.5,273,13431,0.00,2.62,0.00,0.000,4,0.000,0.043,2554,3741,2699,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,13664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13664,begin apogee
$GC,13674,-0.29,0.0,991.7,-9.8,275,13764,1.12,0.05,85.25,1.665,6,0.130,0.129,2903,1623,2320,0,0,0,0,0,0,25.17,24.75,23.09
$STATE,13766,end apogee,CONTROL_FINISHED_OK
$STATE,13766,begin climb
$GC,13770,1.26,97.7,998.3,0.0,280,13872,1.40,2.20,91.57,1.651,4,0.065,0.047,3411,353,1919,0,0,0,0,0,0,25.20,24.80,23.04
$GC,14085,1.15,133.3,990.6,5.0,296,14124,0.12,1.95,31.70,1.603,6,0.148,0.024,3374,1651,1776,0,0,0,0,0,0,25.77,26.19,23.61
$GC,14427,1.06,133.3,967.2,7.1,303,14432,0.12,2.08,0.00,0.000,4,0.175,0.047,3346,348,1770,0,0,0,0,0,0,25.99,26.12,28.83
$GC,14504,0.98,133.3,967.2,7.1,303,14511,0.00,2.00,0.00,0.000,6,0.000,0.024,3347,1647,1769,0,0,0,0,0,0,28.83,26.35,28.83
$GC,14905,0.93,133.3,925.8,8.6,307,14912,0.17,2.08,0.00,0.000,4,0.154,0.049,3308,360,1767,0,0,0,0,0,0,26.09,26.22,28.83
$GC,15013,0.87,133.3,925.8,8.6,307,15022,0.00,1.95,0.00,0.000,6,0.000,0.025,3308,1657,1766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15385,0.87,133.3,887.6,8.0,311,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1657,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15744,0.88,138.5,865.4,6.4,314,15750,0.00,0.00,3.95,1.131,6,0.000,0.000,3308,1657,1753,0,0,0,0,0,0,28.83,28.83,23.98
$GC,16104,0.90,158.9,844.8,5.7,317,16132,0.00,2.55,20.15,1.564,4,0.000,0.037,3308,3200,1672,0,0,0,0,0,0,28.83,25.88,23.97
$GC,16174,0.93,179.4,844.8,5.7,317,16202,0.00,2.55,20.62,1.534,6,0.000,0.030,3320,1590,1586,0,0,0,0,0,0,28.83,25.99,23.70
$GC,16584,0.93,179.4,808.3,7.6,321,16591,0.00,2.00,0.00,0.000,4,0.000,0.049,3330,352,1582,0,0,0,0,0,0,28.83,26.10,28.83
$GC,16753,0.93,179.4,798.0,8.0,322,16757,0.12,1.98,0.00,0.000,6,0.149,0.025,3297,1669,1580,0,0,0,0,0,0,26.06,26.39,28.83
$GC,17057,0.96,179.4,767.2,8.7,325,17063,0.00,2.15,0.00,0.000,4,0.000,0.048,3306,349,1580,0,0,0,0,0,0,28.83,26.17,28.83
$GC,17205,0.99,179.4,755.8,8.9,326,17212,0.00,1.95,0.00,0.000,6,0.000,0.025,3305,1647,1580,0,0,0,0,0,0,28.83,26.48,28.83
$GC,17537,1.03,179.4,722.4,9.3,329,17543,0.00,2.45,0.00,0.000,4,0.000,0.037,3305,3211,1579,0,0,0,0,0,0,28.83,26.27,28.83
$GC,17586,1.06,179.4,722.4,9.3,329,17593,0.00,2.55,0.00,0.000,6,0.000,0.031,3318,1580,1579,0,0,0,0,0,0,28.83,26.33,28.83
$GC,17896,1.10,179.4,692.3,8.5,332,17904,0.10,1.98,0.00,0.000,4,0.096,0.049,3380,350,1578,0,0,0,0,0,0,26.63,26.17,28.83
$GC,18127,1.10,179.4,681.5,8.5,333,18135,0.00,1.92,0.00,0.000,6,0.000,0.026,3380,1651,1578,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18496,1.05,179.4,639.2,8.8,337,18498,0.15,0.00,0.00,0.000,6,0.152,0.000,3340,1647,1578,0,0,0,0,0,0,26.25,28.83,28.83
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$GC,21467,1.12,186.5,385.4,6.4,372,21478,0.00,1.98,6.30,1.089,6,0.000,0.024,3346,1649,1558,0,0,0,0,0,0,28.83,26.48,24.04
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$STATE,25675,end climb,SURFACE_DEPTH_REACHED
$STATE,25675,begin surface coast
$FINISH,1.3,1.013440
$STATE,25717,end surface coast,CONTROL_FINISHED_OK
$STATE,25717,begin surface
$SM_CCo,25740,49.28,0.129,0,0,1093,300.00
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$IRIDIUM_FIX,2425.21,-3759.98,050113,131328
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.45
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7631616
$TM_FREEKB,5076928
$24V_AH,23.0,64.704
$10V_AH,9.9,56.194
$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,22.075,195.325,263.400,49.275,0.000,25.796,38.220,197.329,0.000,0.000,21.357,2396.946,20446.283,678.136,2296.538,490.889,33.266,1732.386,0.000,1917.275,0.000,0.535,0.000
$DEVICE_MAMPS,194.310,128.520,1664.640,128.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25725.000,2547.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.811,13.451,0.000,0.000
$MEM,344356
$DATA_FILE_SIZE,13419,525
$CAP_FILE_SIZE,190890,0
$CFSIZE,260034560,217878528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060113,043359,2430.973,-3744.031,36,1.0,36,-13.9