version: 66.11
glider: 189
mission: 7
dive: 366
start: 1 7 113 16 49 12
data:
$ID,189
$MISSION,7
$DIVE,366
$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,-48114.348
$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
$GPS1,070113,163928,2434.149,-3747.916,39,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-59.8
$GPS2,070113,164812,2434.155,-3747.943,18,1.0,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.089,-0.081
$KALMAN_X,198509.4,236.7,60.5,-175303.9,2117.7
$KALMAN_Y,-77071.5,18.6,-2.5,74357.4,2385.1
$MHEAD_RNG_PITCHd_Wd,241.7,23679,-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,-11.48,0.000,2,0.000,0.000,151,2117,1429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.15,2.50,-49.28,0.000,4,0.187,0.049,2595,541,2720,0,0,0,0,0,0,25.39,26.03,26.69
$GC,394,-1.16,-97.7,26.0,-9.6,37,403,0.12,2.47,0.00,0.000,6,0.142,0.024,2623,2181,2720,0,0,0,0,0,0,25.85,26.35,28.83
$GC,704,-1.14,-97.7,54.4,-9.2,68,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2186,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1015,-1.11,-97.7,77.3,-6.1,97,1021,0.00,2.50,0.00,0.000,4,0.000,0.041,2613,3742,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1314,-1.07,-97.7,95.7,-6.4,107,1322,0.10,2.45,0.00,0.000,6,0.129,0.021,2647,2087,2722,0,0,0,0,0,0,26.09,26.51,28.83
$GC,1646,-1.07,-97.7,115.7,-6.0,118,1652,0.00,2.62,0.00,0.000,4,0.000,0.039,2637,3759,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1944,-1.07,-97.7,133.5,-5.9,128,1952,0.00,2.47,0.00,0.000,6,0.000,0.020,2636,2095,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2277,-1.07,-97.7,150.9,-5.2,139,2282,0.00,2.60,0.00,0.000,4,0.000,0.039,2624,3758,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2574,-1.07,-97.7,166.9,-5.4,144,2582,0.08,2.45,0.00,0.000,6,0.127,0.020,2650,2094,2724,0,0,0,0,0,0,26.21,26.53,28.83
$GC,2935,-1.10,-97.7,182.5,-4.2,150,2941,0.00,2.60,0.00,0.000,4,0.000,0.040,2640,3757,2724,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3234,-1.10,-97.7,196.3,-4.6,155,3241,0.00,2.45,0.00,0.000,6,0.000,0.020,2640,2104,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3595,-1.12,-97.7,214.4,-5.1,161,3601,0.00,2.58,0.00,0.000,4,0.000,0.039,2627,3752,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3895,-1.12,-97.7,233.7,-6.6,166,3901,0.00,2.45,0.00,0.000,6,0.000,0.021,2627,2103,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4254,-1.12,-97.7,261.8,-8.1,172,4261,0.00,2.65,0.00,0.000,4,0.000,0.039,2615,3754,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4554,-1.12,-97.7,288.9,-9.1,177,4561,0.00,2.45,0.00,0.000,6,0.000,0.021,2615,2105,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4914,-1.12,-97.7,320.0,-8.4,183,4921,0.00,2.62,0.00,0.000,4,0.000,0.039,2603,3747,2722,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5214,-1.12,-97.7,342.8,-7.6,188,5222,0.10,2.45,0.00,0.000,6,0.122,0.021,2638,2093,2721,0,0,0,0,0,0,26.15,26.52,28.83
$GC,5574,-1.15,-97.7,368.1,-7.0,194,5581,0.00,2.65,0.00,0.000,4,0.000,0.039,2627,3741,2720,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5786,-1.18,-97.7,380.8,-7.0,197,5791,0.00,2.40,0.00,0.000,6,0.000,0.021,2627,2092,2720,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6115,-1.21,-97.7,403.5,-6.2,203,6121,0.00,2.65,0.00,0.000,4,0.000,0.041,2615,3748,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6335,-1.21,-97.7,414.6,-6.2,206,6341,0.00,2.45,0.00,0.000,6,0.000,0.021,2614,2073,2719,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6655,-1.21,-97.7,434.3,-5.3,212,6661,0.00,2.62,0.00,0.000,4,0.000,0.040,2602,3748,2718,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6885,-1.21,-97.7,443.9,-5.4,215,6893,0.00,2.42,0.00,0.000,6,0.000,0.021,2602,2101,2718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7195,-1.21,-97.7,467.3,-7.0,221,7202,0.00,2.65,0.00,0.000,4,0.000,0.041,2590,3745,2717,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7423,-1.21,-97.7,484.2,-9.0,224,7432,0.00,2.47,0.00,0.000,6,0.000,0.021,2590,2098,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7795,-1.21,-97.7,532.3,-11.6,229,7801,0.00,2.65,0.00,0.000,4,0.000,0.041,2578,3752,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8093,-1.21,-97.7,558.8,-11.4,231,8101,0.12,2.47,0.00,0.000,6,0.148,0.021,2610,2100,2714,0,0,0,0,0,0,26.14,26.50,28.83
$GC,8515,-1.21,-97.7,590.3,-6.5,235,8521,0.00,2.65,0.00,0.000,4,0.000,0.041,2599,3755,2714,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8736,-1.23,-97.7,596.1,-5.4,236,8742,0.00,2.42,0.00,0.000,6,0.000,0.021,2598,2107,2713,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9114,-1.23,-97.7,625.7,-6.2,240,9121,0.00,2.62,0.00,0.000,4,0.000,0.041,2588,3742,2712,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9293,-1.23,-97.7,634.6,-6.8,241,9301,0.00,2.47,0.00,0.000,6,0.000,0.021,2588,2094,2712,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9714,-1.23,-97.7,668.9,-7.1,245,9722,0.00,2.65,0.00,0.000,4,0.000,0.041,2576,3742,2710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9943,-1.23,-97.7,677.1,-7.0,246,9953,0.00,2.47,0.00,0.000,6,0.000,0.022,2576,2097,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10314,-1.23,-97.7,712.3,-7.3,250,10321,0.00,2.65,0.00,0.000,4,0.000,0.041,2564,3740,2709,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10614,-1.23,-97.7,733.2,-8.2,252,10622,0.10,2.45,0.00,0.000,6,0.129,0.022,2598,2099,2708,0,0,0,0,0,0,26.06,26.47,28.83
$GC,11035,-1.25,-97.7,771.8,-8.0,256,11041,0.00,2.65,0.00,0.000,4,0.000,0.042,2587,3757,2706,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11165,-1.28,-97.7,782.0,-8.1,257,11171,0.00,2.47,0.00,0.000,6,0.000,0.022,2587,2104,2706,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11515,-1.31,-97.7,811.6,-8.3,260,11521,0.00,2.62,0.00,0.000,4,0.000,0.042,2575,3754,2705,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11634,-1.31,-97.7,821.2,-8.2,261,11641,0.00,2.50,0.00,0.000,6,0.000,0.022,2574,2081,2706,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11994,-1.31,-97.7,846.5,-7.3,264,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2082,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12354,-1.31,-97.7,868.5,-6.2,267,12361,0.00,2.67,0.00,0.000,4,0.000,0.042,2563,3739,2703,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12523,-1.31,-97.7,876.1,-6.1,268,12531,0.00,2.47,0.00,0.000,6,0.000,0.023,2563,2106,2703,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12835,-1.31,-97.7,898.3,-6.2,271,12841,0.00,2.62,0.00,0.000,4,0.000,0.042,2551,3764,2701,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13133,-1.31,-97.7,915.5,-6.7,273,13141,0.00,2.53,0.00,0.000,6,0.000,0.023,2551,2099,2700,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13555,-1.31,-97.7,958.9,-9.1,277,13562,0.12,2.67,0.00,0.000,4,0.155,0.043,2572,3748,2699,0,0,0,0,0,0,26.35,26.06,28.83
$GC,13853,-1.31,-97.7,982.9,-9.8,279,13860,0.00,2.50,0.00,0.000,6,0.000,0.024,2572,2107,2699,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,13911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13911,begin apogee
$GC,13919,-0.29,0.0,994.8,-9.9,280,14014,1.05,0.03,85.07,1.674,6,0.127,0.194,2901,1622,2320,0,0,0,0,0,0,25.22,24.72,23.07
$STATE,14015,end apogee,CONTROL_FINISHED_OK
$STATE,14016,begin climb
$GC,14019,1.26,97.7,1000.4,0.0,285,14117,1.42,2.20,91.30,1.666,4,0.064,0.047,3417,353,1920,0,0,0,0,0,0,25.25,24.78,23.03
$GC,14315,1.10,97.9,990.0,6.7,300,14325,0.22,2.00,0.00,0.000,6,0.161,0.024,3360,1655,1910,0,0,0,0,0,0,25.65,26.15,28.83
$GC,14627,1.03,106.4,969.9,6.3,306,14638,0.00,2.15,6.70,1.368,4,0.000,0.049,3368,351,1886,0,0,0,0,0,0,28.83,26.10,23.96
$GC,14728,0.96,115.0,969.9,6.3,306,14745,0.17,1.92,9.73,1.466,6,0.146,0.024,3314,1649,1850,0,0,0,0,0,0,25.80,26.32,24.00
$GC,15101,0.91,122.6,940.0,6.3,310,15115,0.00,2.47,7.80,1.418,4,0.000,0.034,3314,3203,1821,0,0,0,0,0,0,28.83,26.13,24.08
$GC,15186,0.87,130.2,940.0,6.3,310,15205,0.17,2.58,9.10,1.466,6,0.164,0.031,3275,1575,1788,0,0,0,0,0,0,25.79,26.17,24.00
$GC,15578,0.90,140.9,910.3,6.2,314,15591,0.00,0.00,11.00,1.514,6,0.000,0.000,3275,1575,1744,0,0,0,0,0,0,28.83,28.83,24.09
$GC,15938,0.95,143.2,886.1,6.6,317,15944,0.00,2.62,0.00,0.000,4,0.000,0.036,3275,3196,1742,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16086,0.99,143.2,877.0,6.9,318,16094,0.00,2.55,0.00,0.000,6,0.000,0.030,3285,1579,1740,0,0,0,0,0,0,28.83,26.30,28.83
$GC,16418,1.02,143.2,847.2,8.1,321,16425,0.12,1.98,0.00,0.000,4,0.083,0.048,3356,352,1740,0,0,0,0,0,0,26.55,26.21,28.83
$GC,16577,1.02,143.2,835.8,8.6,322,16584,0.00,1.92,0.00,0.000,6,0.000,0.024,3356,1648,1740,0,0,0,0,0,0,28.83,26.50,28.83
$GC,16897,0.99,143.2,805.7,8.7,325,16899,0.15,0.00,0.00,0.000,6,0.158,0.000,3316,1648,1740,0,0,0,0,0,0,26.20,28.83,28.83
$GC,17258,0.99,143.5,782.8,6.7,328,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1648,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17617,1.00,148.6,759.3,6.4,331,17629,0.00,2.15,7.35,1.351,4,0.000,0.049,3325,349,1713,0,0,0,0,0,0,28.83,26.23,24.05
$GC,17839,1.00,148.6,751.0,6.7,332,17846,0.00,1.95,0.00,0.000,6,0.000,0.025,3325,1658,1712,0,0,0,0,0,0,28.83,26.44,28.83
$GC,18207,1.00,148.6,714.7,7.6,336,18215,0.00,2.12,0.00,0.000,4,0.000,0.048,3335,355,1712,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,26117,end climb,SURFACE_DEPTH_REACHED
$STATE,26117,begin surface coast
$FINISH,1.3,1.025760
$STATE,26142,end surface coast,CONTROL_FINISHED_OK
$STATE,26142,begin surface
$SM_CCo,26167,38.75,0.126,0,0,1096,300.00
$SM_GC,2.12,8.73,2.80,38.75,0.041,0.025,0.126,156,2186,1096,-8.81,-0.65,300.00,0,0,0,0,0,0,26.28,26.33,25.53
$IRIDIUM_FIX,2427.58,-3750.01,070113,090911
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.16
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7629312
$TM_FREEKB,5052800
$24V_AH,23.0,65.593
$10V_AH,10.1,57.053
$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,22.700,205.925,289.125,38.750,0.000,25.890,44.065,186.510,0.000,0.000,18.902,2503.587,20585.967,698.280,2416.847,512.243,33.263,1811.519,0.000,2045.967,0.000,0.535,0.000
$DEVICE_MAMPS,186.660,193.545,1673.820,126.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.769,13.466,0.000,0.000
$MEM,344340
$DATA_FILE_SIZE,13374,530
$CAP_FILE_SIZE,199458,0
$CFSIZE,260034560,217329664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080113,000705,2434.069,-3748.958,27,1.0,27,-13.9