version: 66.11
glider: 189
mission: 7
dive: 377
start: 1 11 113 1 37 57
data:
$ID,189
$MISSION,7
$DIVE,377
$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,-48128.176
$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
$GPS1,110113,012429,2433.935,-3758.678,41,0.9,42,-14.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-60.3
$GPS2,110113,013659,2433.904,-3758.622,17,1.0,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,-0.087
$KALMAN_X,208708.5,315.6,170.4,-203681.7,79.9
$KALMAN_Y,-55943.7,77.4,-110.7,52813.5,2648.8
$MHEAD_RNG_PITCHd_Wd,237.6,5693,-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,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.25,0.000,2,0.000,0.000,152,2146,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.1,0.0,1,104,9.05,2.53,-50.25,0.000,4,0.184,0.049,2590,549,2719,0,0,0,0,0,0,25.40,25.99,26.67
$GC,255,-1.17,-97.7,13.0,-9.4,23,263,0.12,2.53,0.00,0.000,6,0.142,0.024,2619,2180,2720,0,0,0,0,0,0,25.78,26.29,28.83
$GC,564,-1.14,-97.7,35.9,-7.4,54,573,0.00,2.53,0.00,0.000,4,0.000,0.041,2608,3751,2720,0,0,0,0,0,0,28.83,26.14,28.83
$GC,864,-1.09,-97.7,61.2,-8.6,84,873,0.10,2.45,0.00,0.000,6,0.127,0.021,2642,2086,2721,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1184,-1.09,-97.7,82.4,-6.0,108,1191,0.00,2.65,0.00,0.000,4,0.000,0.039,2631,3745,2721,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1484,-1.09,-97.7,100.1,-5.8,118,1491,0.00,2.42,0.00,0.000,6,0.000,0.021,2631,2107,2722,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1816,-1.09,-97.7,121.1,-6.4,129,1822,0.00,2.58,0.00,0.000,4,0.000,0.038,2617,3751,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1924,-1.09,-97.7,127.0,-6.6,132,1933,0.00,2.42,0.00,0.000,6,0.000,0.020,2619,2104,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2234,-1.09,-97.7,148.8,-6.6,143,2241,0.00,2.62,0.00,0.000,4,0.000,0.038,2607,3751,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2477,-1.06,-97.7,166.3,-7.2,148,2483,0.17,2.40,0.00,0.000,6,0.134,0.021,2656,2090,2723,0,0,0,0,0,0,26.03,26.51,28.83
$GC,2835,-1.09,-97.7,191.5,-7.1,154,2841,0.00,2.65,0.00,0.000,4,0.000,0.038,2645,3752,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2964,-1.12,-97.7,199.4,-6.9,156,2972,0.00,2.45,0.00,0.000,6,0.000,0.020,2644,2094,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3315,-1.15,-97.7,220.2,-5.7,162,3322,0.00,2.62,0.00,0.000,4,0.000,0.038,2633,3744,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3485,-1.17,-97.7,226.4,-5.2,164,3493,0.00,2.45,0.00,0.000,6,0.000,0.021,2634,2091,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3794,-1.17,-97.7,244.1,-5.0,170,3801,0.00,2.62,0.00,0.000,4,0.000,0.038,2621,3744,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3833,-1.17,-97.7,244.1,-5.0,170,3841,0.00,2.45,0.00,0.000,6,0.000,0.020,2621,2095,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4155,-1.17,-97.7,267.8,-6.9,176,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2095,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4454,-1.17,-97.7,290.8,-7.7,181,4461,0.00,2.65,0.00,0.000,4,0.000,0.039,2609,3749,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4543,-1.17,-97.7,295.6,-7.8,182,4551,0.00,2.47,0.00,0.000,6,0.000,0.020,2609,2089,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4874,-1.17,-97.7,322.3,-7.3,188,4881,0.00,2.65,0.00,0.000,4,0.000,0.039,2597,3749,2721,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5174,-1.17,-97.7,343.6,-7.1,193,5181,0.00,2.45,0.00,0.000,6,0.000,0.021,2597,2097,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5534,-1.17,-97.7,370.5,-7.7,199,5541,0.00,2.42,0.00,0.000,4,0.000,0.037,2597,549,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5814,-1.14,-97.7,391.9,-8.9,203,5822,0.17,2.47,0.00,0.000,6,0.148,0.024,2640,2193,2719,0,0,0,0,0,0,25.93,26.46,28.83
$GC,6135,-1.18,-97.7,418.0,-6.9,209,6141,0.00,2.50,0.00,0.000,4,0.000,0.041,2629,3754,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6414,-1.21,-97.7,432.1,-5.9,213,6421,0.00,2.47,0.00,0.000,6,0.000,0.021,2629,2103,2718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6735,-1.25,-97.7,451.4,-5.4,219,6741,0.00,2.40,0.00,0.000,4,0.000,0.038,2629,547,2718,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6784,-1.29,-97.7,451.4,-5.4,219,6793,0.00,2.47,0.00,0.000,6,0.000,0.023,2617,2192,2718,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7094,-1.31,-97.7,476.5,-7.2,225,7102,0.12,2.50,0.00,0.000,4,0.081,0.041,2545,3745,2717,0,0,0,0,0,0,26.65,26.22,28.83
$GC,7394,-1.25,-97.7,503.3,-9.1,230,7402,0.15,2.45,0.00,0.000,6,0.134,0.021,2592,2090,2716,0,0,0,0,0,0,25.94,26.48,28.83
$GC,7814,-1.25,-97.7,534.6,-7.4,234,7822,0.00,2.67,0.00,0.000,4,0.000,0.041,2581,3749,2715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8113,-1.25,-97.7,553.5,-7.6,236,8120,0.00,2.47,0.00,0.000,6,0.000,0.022,2581,2103,2714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8534,-1.25,-97.7,592.4,-8.1,240,8541,0.00,2.65,0.00,0.000,4,0.000,0.041,2569,3746,2713,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8833,-1.25,-97.7,613.4,-8.5,242,8840,0.00,2.47,0.00,0.000,6,0.000,0.022,2569,2104,2712,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9254,-1.25,-97.7,650.9,-7.8,246,9261,0.00,2.62,0.00,0.000,4,0.000,0.041,2557,3745,2711,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9553,-1.23,-97.7,670.2,-7.8,248,9562,0.17,2.47,0.00,0.000,6,0.143,0.022,2605,2097,2710,0,0,0,0,0,0,25.96,26.46,28.83
$GC,9974,-1.23,-97.7,708.7,-8.0,252,9981,0.00,2.67,0.00,0.000,4,0.000,0.041,2594,3749,2709,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10256,-1.25,-97.7,728.7,-8.2,254,10261,0.00,2.42,0.00,0.000,6,0.000,0.023,2594,2094,2708,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10575,-1.27,-97.7,757.0,-8.0,257,10581,0.00,2.65,0.00,0.000,4,0.000,0.041,2582,3742,2707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10734,-1.27,-97.7,766.6,-7.9,258,10741,0.00,2.47,0.00,0.000,6,0.000,0.022,2582,2101,2707,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11054,-1.27,-97.7,794.8,-7.9,261,11061,0.00,2.65,0.00,0.000,4,0.000,0.041,2570,3749,2706,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11163,-1.27,-97.7,794.8,-7.9,261,11172,0.00,2.50,0.00,0.000,6,0.000,0.022,2570,2094,2706,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11535,-1.27,-97.7,835.0,-8.4,265,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2095,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11894,-1.27,-97.7,864.3,-8.3,268,11902,0.00,2.67,0.00,0.000,4,0.000,0.041,2558,3748,2703,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12023,-1.27,-97.7,873.6,-8.0,269,12031,0.12,2.50,0.00,0.000,6,0.151,0.022,2589,2091,2703,0,0,0,0,0,0,26.04,26.42,28.83
$GC,12375,-1.30,-97.7,896.3,-6.6,272,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2091,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12734,-1.33,-97.7,921.2,-6.7,275,12742,0.00,2.67,0.00,0.000,4,0.000,0.042,2579,3738,2700,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12933,-1.37,-97.7,931.3,-7.3,276,12941,0.00,2.47,0.00,0.000,6,0.000,0.023,2578,2109,2703,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13335,-1.39,-97.7,974.8,-9.1,280,13341,0.00,2.60,0.00,0.000,4,0.000,0.042,2566,3749,2699,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,13511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13511,begin apogee
$GC,13522,-0.29,0.0,990.9,-8.9,284,13613,1.08,0.00,85.25,1.679,6,0.130,0.000,2900,1579,2320,0,0,0,0,0,0,25.14,28.83,23.06
$STATE,13615,end apogee,CONTROL_FINISHED_OK
$STATE,13615,begin climb
$GC,13619,1.26,97.7,994.8,0.0,289,13715,1.45,0.00,91.65,1.649,6,0.067,0.000,3406,1579,1920,0,0,0,0,0,0,25.21,28.83,23.05
$GC,14095,1.13,97.7,964.7,8.0,303,14097,0.17,0.00,0.00,0.000,6,0.174,0.000,3364,1579,1909,0,0,0,0,0,0,25.89,28.83,28.83
$GC,14454,1.02,97.7,940.1,7.1,306,14462,0.12,1.98,0.00,0.000,4,0.179,0.047,3340,350,1907,0,0,0,0,0,0,26.17,26.21,28.83
$GC,14604,0.93,100.1,933.4,6.6,307,14612,0.15,1.95,0.00,0.000,6,0.161,0.024,3302,1660,1905,0,0,0,0,0,0,26.00,26.48,28.83
$GC,14935,0.95,147.7,918.7,4.5,310,14981,0.00,0.00,43.65,1.618,6,0.000,0.000,3302,1660,1717,0,0,0,0,0,0,28.83,28.83,23.52
$GC,15294,1.02,198.0,902.1,4.3,313,15345,0.00,2.22,46.15,1.607,4,0.000,0.048,3311,356,1511,0,0,0,0,0,0,28.83,25.24,23.50
$GC,15394,1.08,248.4,902.1,4.3,313,15446,0.12,2.00,46.92,1.597,6,0.083,0.024,3370,1658,1307,0,0,0,0,0,0,25.75,25.84,23.40
$GC,15757,1.08,248.4,857.6,9.8,317,15762,0.00,2.08,0.00,0.000,4,0.000,0.048,3379,354,1299,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15964,1.08,248.4,842.9,10.9,318,15972,0.12,1.95,0.00,0.000,6,0.158,0.024,3350,1656,1297,0,0,0,0,0,0,26.03,26.39,28.83
$GC,16355,1.08,248.4,788.5,11.3,322,16362,0.00,2.10,0.00,0.000,4,0.000,0.049,3358,356,1295,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16656,1.08,248.4,763.7,10.6,324,16662,0.00,1.92,0.00,0.000,6,0.000,0.025,3357,1645,1294,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17076,1.08,248.4,721.6,8.8,328,17082,0.00,2.10,0.00,0.000,4,0.000,0.050,3367,356,1293,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17376,1.08,248.4,701.8,8.3,330,17382,0.00,1.92,0.00,0.000,6,0.000,0.026,3367,1652,1292,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17795,1.08,248.4,657.7,9.2,334,17802,0.00,2.10,0.00,0.000,4,0.000,0.049,3376,357,1292,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,23964,end climb,SURFACE_DEPTH_REACHED
$STATE,23964,begin surface coast
$FINISH,1.2,1.025746
$STATE,23989,end surface coast,CONTROL_FINISHED_OK
$STATE,23989,begin surface
$SM_CCo,24012,21.88,0.129,0,0,1094,300.00
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$IRIDIUM_FIX,2427.58,-3753.33,100113,181859
$TT8_MAMPS,0.026964,0.026964
$HUMID,63.86
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,7625088
$TM_FREEKB,5007072
$24V_AH,23.0,67.178
$10V_AH,10.1,58.613
$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,22.100,187.075,313.625,21.875,0.000,97.925,51.456,193.600,0.000,0.000,18.417,2284.610,18983.270,689.466,2311.817,498.984,33.268,1705.519,0.000,1850.727,0.000,0.534,0.000
$DEVICE_MAMPS,183.600,77.265,1679.175,129.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.735,13.409,0.000,0.000
$MEM,344336
$DATA_FILE_SIZE,13416,491
$CAP_FILE_SIZE,181845,0
$CFSIZE,260034560,216342528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110113,081935,2433.875,-3759.780,25,0.8,25,-14.0