version: 66.11
glider: 189
mission: 7
dive: 363
start: 1 6 113 19 15 36
data:
$ID,189
$MISSION,7
$DIVE,363
$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,-48110.48
$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
$GPS1,060113,190528,2432.574,-3745.471,39,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-61.7
$GPS2,060113,191436,2432.623,-3745.500,18,1.0,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.081,-0.088
$KALMAN_X,193059.3,213.9,191.0,-165846.2,1641.4
$KALMAN_Y,-82799.7,116.4,26.7,77121.8,2695.1
$MHEAD_RNG_PITCHd_Wd,236.4,27909,-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,-11.38,0.000,2,0.000,0.000,151,2119,1427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.30,2.50,-49.05,0.000,4,0.193,0.050,2591,544,2722,0,0,0,0,0,0,25.36,26.00,26.67
$GC,394,-1.15,-97.7,27.0,-8.6,37,403,0.12,2.47,0.00,0.000,6,0.140,0.024,2620,2187,2721,0,0,0,0,0,0,25.84,26.34,28.83
$GC,704,-1.12,-97.7,51.2,-7.8,68,713,0.00,2.50,0.00,0.000,4,0.000,0.041,2610,3745,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,847,-1.07,-97.7,62.3,-8.3,82,854,0.15,2.42,0.00,0.000,6,0.149,0.021,2649,2091,2722,0,0,0,0,0,0,26.00,26.46,28.83
$GC,1154,-1.07,-97.7,89.3,-9.5,103,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2091,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1454,-1.07,-97.7,114.9,-7.6,113,1461,0.00,2.65,0.00,0.000,4,0.000,0.039,2639,3743,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1667,-1.07,-97.7,126.6,-4.8,120,1672,0.00,2.38,0.00,0.000,6,0.000,0.021,2639,2101,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1996,-1.07,-97.7,142.8,-6.0,131,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2101,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,-1.07,-97.7,164.2,-7.2,138,2301,0.00,2.62,0.00,0.000,4,0.000,0.039,2626,3743,2724,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2546,-1.07,-97.7,181.2,-7.1,142,2552,0.00,2.42,0.00,0.000,6,0.000,0.021,2626,2104,2728,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2894,-1.07,-97.7,205.2,-6.7,148,2902,0.00,2.62,0.00,0.000,4,0.000,0.038,2615,3751,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2964,-1.07,-97.7,208.6,-6.4,149,2972,0.10,2.45,0.00,0.000,6,0.123,0.020,2649,2087,2725,0,0,0,0,0,0,26.13,26.53,28.83
$GC,3315,-1.10,-97.7,221.1,-3.3,155,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2087,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-1.13,-97.7,236.8,-5.6,160,3621,0.00,2.62,0.00,0.000,4,0.000,0.040,2638,3758,2725,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3876,-1.13,-97.7,255.1,-7.7,164,3881,0.00,2.42,0.00,0.000,6,0.000,0.021,2638,2094,2725,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4214,-1.15,-97.7,283.7,-7.8,170,4221,0.00,2.65,0.00,0.000,4,0.000,0.040,2626,3749,2724,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4354,-1.15,-97.7,292.7,-7.5,172,4361,0.00,2.47,0.00,0.000,6,0.000,0.021,2626,2091,2724,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4694,-1.15,-97.7,317.5,-6.9,178,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2091,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4994,-1.15,-97.7,339.2,-7.3,183,5002,0.00,2.65,0.00,0.000,4,0.000,0.040,2614,3745,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5294,-1.15,-97.7,363.2,-8.1,188,5302,0.00,2.47,0.00,0.000,6,0.000,0.021,2614,2094,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5654,-1.15,-97.7,392.1,-7.9,194,5661,0.00,2.65,0.00,0.000,4,0.000,0.040,2602,3753,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5824,-1.15,-97.7,401.4,-7.8,196,5833,0.00,2.47,0.00,0.000,6,0.000,0.021,2602,2095,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6135,-1.15,-97.7,424.6,-6.1,202,6141,0.00,2.62,0.00,0.000,4,0.000,0.041,2590,3745,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6377,-1.15,-97.7,436.5,-4.9,206,6383,0.15,2.40,0.00,0.000,6,0.140,0.022,2630,2095,2720,0,0,0,0,0,0,26.10,26.51,28.83
$GC,6735,-1.18,-97.7,449.0,-3.5,212,6741,0.00,2.65,0.00,0.000,4,0.000,0.041,2620,3740,2719,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6904,-1.21,-97.7,454.7,-4.1,214,6913,0.00,2.42,0.00,0.000,6,0.000,0.021,2619,2106,2719,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7214,-1.24,-97.7,480.3,-7.8,220,7221,0.00,2.65,0.00,0.000,4,0.000,0.041,2607,3752,2719,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7424,-1.24,-97.7,498.2,-9.7,223,7431,0.00,2.47,0.00,0.000,6,0.000,0.021,2607,2104,2718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7814,-1.24,-97.7,537.4,-9.4,227,7821,0.00,2.65,0.00,0.000,4,0.000,0.041,2596,3744,2716,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8075,-1.24,-97.7,554.3,-7.9,229,8081,0.00,2.45,0.00,0.000,6,0.000,0.021,2596,2106,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8415,-1.24,-97.7,574.4,-5.8,232,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2106,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,-1.24,-97.7,599.2,-6.5,235,8782,0.00,2.65,0.00,0.000,4,0.000,0.041,2584,3751,2714,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8934,-1.24,-97.7,609.6,-7.3,236,8941,0.00,2.45,0.00,0.000,6,0.000,0.021,2584,2107,2714,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9254,-1.24,-97.7,640.1,-8.5,239,9261,0.00,2.65,0.00,0.000,4,0.000,0.041,2572,3752,2713,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9544,-1.24,-97.7,659.7,-8.3,241,9552,0.08,2.45,0.00,0.000,6,0.132,0.022,2597,2105,2712,0,0,0,0,0,0,26.15,26.48,28.83
$GC,9855,-1.24,-97.7,687.1,-7.7,244,9862,0.00,2.65,0.00,0.000,4,0.000,0.041,2586,3752,2711,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9933,-1.24,-97.7,687.1,-7.7,244,9941,0.00,2.47,0.00,0.000,6,0.000,0.021,2586,2106,2711,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10334,-1.24,-97.7,722.3,-7.4,248,10342,0.00,2.62,0.00,0.000,4,0.000,0.041,2575,3741,2710,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10586,-1.24,-97.7,740.6,-7.4,250,10591,0.00,2.40,0.00,0.000,6,0.000,0.022,2574,2101,2709,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10934,-1.24,-97.7,766.4,-7.3,253,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2101,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11295,-1.24,-97.7,792.6,-7.3,256,11301,0.00,2.65,0.00,0.000,4,0.000,0.042,2562,3745,2705,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11493,-1.24,-97.7,802.2,-7.4,257,11501,0.15,2.47,0.00,0.000,6,0.145,0.023,2602,2105,2707,0,0,0,0,0,0,26.01,26.44,28.83
$GC,11895,-1.27,-97.7,836.6,-7.1,261,11901,0.00,2.47,0.00,0.000,4,0.000,0.041,2602,545,2705,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11974,-1.31,-97.7,836.6,-7.1,261,11981,0.00,2.50,0.00,0.000,6,0.000,0.024,2592,2185,2706,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12375,-1.35,-97.7,875.0,-8.0,265,12381,0.00,2.60,0.00,0.000,4,0.000,0.041,2592,551,2705,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12514,-1.38,-97.7,885.8,-8.3,266,12521,0.00,2.47,0.00,0.000,6,0.000,0.025,2580,2189,2704,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12855,-1.40,-97.7,916.9,-8.7,269,12861,0.00,2.62,0.00,0.000,4,0.000,0.040,2580,549,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12963,-1.43,-97.7,916.9,-8.7,269,12972,0.00,2.50,0.00,0.000,6,0.000,0.025,2568,2187,2703,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13335,-1.43,-97.7,956.4,-8.3,273,13342,0.00,2.60,0.00,0.000,4,0.000,0.041,2569,551,2702,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13383,-1.43,-97.7,956.4,-8.3,273,13390,0.00,2.50,0.00,0.000,6,0.000,0.025,2556,2190,2701,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13694,-1.43,-97.7,982.5,-7.4,276,13701,0.00,2.50,0.00,0.000,4,0.000,0.044,2545,3748,2700,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,13811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13811,begin apogee
$GC,13822,-0.29,0.0,991.2,-7.2,277,13913,1.15,0.00,85.55,1.664,6,0.133,0.000,2899,1581,2320,0,0,0,0,0,0,25.12,28.83,23.08
$STATE,13915,end apogee,CONTROL_FINISHED_OK
$STATE,13915,begin climb
$GC,13918,1.26,97.7,994.0,0.0,282,14017,1.42,2.12,91.53,1.648,4,0.065,0.048,3415,357,1920,0,0,0,0,0,0,25.19,24.78,23.03
$GC,14135,1.10,97.7,984.7,8.4,292,14143,0.22,1.98,0.00,0.000,6,0.160,0.023,3357,1656,1914,0,0,0,0,0,0,25.53,25.99,28.83
$GC,14526,1.01,97.7,954.4,7.2,296,14533,0.12,2.45,0.00,0.000,4,0.175,0.037,3325,3201,1907,0,0,0,0,0,0,26.12,26.22,28.83
$GC,14615,0.92,97.7,954.4,7.2,296,14623,0.12,2.55,0.00,0.000,6,0.148,0.031,3297,1577,1907,0,0,0,0,0,0,25.89,26.27,28.83
$GC,15006,0.94,142.3,932.1,4.6,300,15047,0.00,0.00,39.17,1.617,6,0.000,0.000,3297,1577,1737,0,0,0,0,0,0,28.83,28.83,23.60
$GC,15366,0.98,171.7,911.8,5.3,303,15398,0.00,2.08,26.65,1.598,4,0.000,0.050,3307,349,1619,0,0,0,0,0,0,28.83,25.51,23.75
$GC,15455,1.02,201.0,911.8,5.3,303,15488,0.00,2.00,28.20,1.580,6,0.000,0.024,3305,1649,1499,0,0,0,0,0,0,28.83,25.97,23.57
$GC,15828,1.04,201.0,875.7,7.9,307,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1649,1494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16187,1.09,201.0,848.0,7.8,310,16194,0.12,2.50,0.00,0.000,4,0.083,0.037,3369,3201,1492,0,0,0,0,0,0,26.50,26.27,28.83
$GC,16236,1.13,201.0,848.0,7.8,310,16244,0.00,2.55,0.00,0.000,6,0.000,0.031,3381,1582,1492,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16546,1.13,201.0,816.1,8.6,313,16553,0.00,2.00,0.00,0.000,4,0.000,0.049,3390,353,1490,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,25428,end climb,SURFACE_DEPTH_REACHED
$STATE,25428,begin surface coast
$FINISH,1.3,0.998310
$STATE,25459,end surface coast,CONTROL_FINISHED_OK
$STATE,25460,begin surface
$SM_CCo,25486,43.15,0.127,0,0,1093,300.00
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$IRIDIUM_FIX,2429.95,-3830.33,060113,121209
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.41
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7630464
$TM_FREEKB,5064672
$24V_AH,23.0,65.133
$10V_AH,10.1,56.622
$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,22.250,201.325,271.100,43.150,0.000,28.665,43.683,198.932,0.000,0.000,19.000,2285.982,20384.402,691.720,2195.121,507.034,33.263,1698.345,0.000,1799.628,0.000,0.535,0.000
$DEVICE_MAMPS,192.780,95.625,1663.875,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.789,13.452,0.000,0.000
$MEM,344376
$DATA_FILE_SIZE,13427,511
$CAP_FILE_SIZE,187769,0
$CFSIZE,260034560,217612288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070113,022222,2431.877,-3746.543,36,0.8,37,-13.9