version: 66.11
glider: 189
mission: 7
dive: 379
start: 1 11 113 15 56 59
data:
$ID,189
$MISSION,7
$DIVE,379
$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,-48130.691
$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
$GPS1,110113,154704,2433.909,-3800.801,38,0.8,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-60.5
$GPS2,110113,155559,2433.939,-3800.788,19,0.8,19,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.082,-0.088
$KALMAN_X,211215.0,-305.0,351.2,-209389.2,1436.7
$KALMAN_Y,-51249.6,-259.5,-381.8,48782.5,3865.6
$MHEAD_RNG_PITCHd_Wd,236.8,2044,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,43,0.00,0.00,-20.42,0.000,2,0.000,0.000,154,2131,1691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.26,-97.7,2.2,0.0,2,103,9.40,0.00,-39.50,0.000,6,0.197,0.000,2588,2129,2719,0,0,0,0,0,0,25.30,28.83,26.68
$GC,406,-1.19,-97.7,22.9,-8.3,38,413,0.00,2.58,0.00,0.000,4,0.000,0.040,2579,3754,2720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,684,-1.11,-97.7,50.5,-10.2,66,694,0.17,2.45,0.00,0.000,6,0.129,0.021,2636,2092,2721,0,0,0,0,0,0,25.83,26.44,28.83
$GC,1004,-1.11,-97.7,77.2,-6.9,96,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2092,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-1.11,-97.7,98.1,-7.2,106,1311,0.00,2.65,0.00,0.000,4,0.000,0.039,2625,3749,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1605,-1.09,-97.7,120.2,-7.5,116,1611,0.00,2.45,0.00,0.000,6,0.000,0.021,2625,2096,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1935,-1.09,-97.7,144.5,-7.2,127,1942,0.00,2.65,0.00,0.000,4,0.000,0.038,2613,3748,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2223,-1.06,-97.7,162.2,-7.6,133,2233,0.17,2.45,0.00,0.000,6,0.138,0.020,2660,2094,2723,0,0,0,0,0,0,26.02,26.51,28.83
$GC,2535,-1.09,-97.7,191.0,-7.9,139,2541,0.00,2.60,0.00,0.000,4,0.000,0.038,2650,3751,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2804,-1.12,-97.7,207.4,-6.8,143,2811,0.00,2.47,0.00,0.000,6,0.000,0.021,2650,2087,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3136,-1.15,-97.7,225.7,-5.0,149,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2087,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3435,-1.19,-97.7,242.4,-5.7,154,3441,0.00,2.42,0.00,0.000,4,0.000,0.037,2650,544,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3495,-1.22,-97.7,246.1,-5.8,155,3501,0.00,2.45,0.00,0.000,6,0.000,0.023,2638,2193,2723,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3855,-1.25,-97.7,268.3,-6.3,161,3862,0.12,2.42,0.00,0.000,4,0.083,0.040,2561,3748,2723,0,0,0,0,0,0,26.66,26.25,28.83
$GC,4155,-1.18,-97.7,290.8,-7.5,166,4162,0.15,2.45,0.00,0.000,6,0.129,0.021,2610,2092,2723,0,0,0,0,0,0,25.98,26.51,28.83
$GC,4514,-1.18,-97.7,314.5,-6.4,172,4522,0.00,2.67,0.00,0.000,4,0.000,0.040,2599,3752,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4814,-1.16,-97.7,336.2,-7.3,177,4822,0.00,2.45,0.00,0.000,6,0.000,0.021,2599,2107,2722,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5174,-1.16,-97.7,364.9,-8.1,183,5181,0.00,2.62,0.00,0.000,4,0.000,0.040,2587,3742,2721,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5474,-1.13,-97.7,388.3,-7.8,188,5482,0.12,2.42,0.00,0.000,6,0.123,0.021,2630,2098,2720,0,0,0,0,0,0,26.06,26.51,28.83
$GC,5835,-1.16,-97.7,410.0,-5.9,194,5841,0.00,2.65,0.00,0.000,4,0.000,0.041,2618,3773,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6057,-1.19,-97.7,422.2,-6.6,197,6062,0.00,2.47,0.00,0.000,6,0.000,0.021,2619,2089,2719,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6374,-1.21,-97.7,449.6,-7.8,203,6381,0.00,2.65,0.00,0.000,4,0.000,0.040,2607,3744,2718,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6463,-1.24,-97.7,454.4,-7.9,204,6471,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2102,2718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6795,-1.24,-97.7,485.4,-8.7,210,6801,0.00,2.62,0.00,0.000,4,0.000,0.040,2595,3748,2717,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6883,-1.24,-97.7,490.9,-8.8,211,6891,0.00,2.47,0.00,0.000,6,0.000,0.021,2599,2091,2717,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7214,-1.24,-97.7,520.9,-8.3,215,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2091,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7575,-1.24,-97.7,545.9,-7.1,218,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2091,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7934,-1.24,-97.7,570.4,-6.7,221,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2091,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-1.24,-97.7,597.0,-7.3,224,8301,0.00,2.70,0.00,0.000,4,0.000,0.041,2583,3754,2714,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8403,-1.24,-97.7,597.0,-7.3,224,8414,0.00,2.47,0.00,0.000,6,0.000,0.021,2582,2106,2713,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8775,-1.24,-97.7,637.8,-8.5,228,8781,0.00,2.47,0.00,0.000,4,0.000,0.039,2582,544,2712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8923,-1.24,-97.7,648.2,-8.6,229,8931,0.12,2.50,0.00,0.000,6,0.162,0.024,2601,2196,2712,0,0,0,0,0,0,26.03,26.43,28.83
$GC,9255,-1.24,-97.7,673.7,-7.4,232,9261,0.00,2.60,0.00,0.000,4,0.000,0.038,2602,551,2711,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9343,-1.24,-97.7,673.7,-7.4,232,9351,0.00,2.50,0.00,0.000,6,0.000,0.024,2591,2198,2710,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9735,-1.26,-97.7,702.7,-6.0,236,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2198,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10095,-1.28,-97.7,728.3,-6.8,239,10101,0.00,2.58,0.00,0.000,4,0.000,0.038,2591,545,2709,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10214,-1.28,-97.7,738.8,-7.5,240,10221,0.00,2.47,0.00,0.000,6,0.000,0.024,2579,2179,2708,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10574,-1.28,-97.7,772.4,-9.2,243,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2180,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10935,-1.28,-97.7,803.6,-8.9,246,10941,0.00,2.60,0.00,0.000,4,0.000,0.040,2579,552,2706,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10993,-1.28,-97.7,803.6,-8.9,246,11001,0.00,2.50,0.00,0.000,6,0.000,0.025,2567,2187,2706,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11414,-1.28,-97.7,841.2,-7.8,250,11421,0.00,2.53,0.00,0.000,4,0.000,0.044,2556,3737,2704,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11463,-1.28,-97.7,841.2,-7.8,250,11471,0.12,2.47,0.00,0.000,6,0.152,0.023,2587,2095,2704,0,0,0,0,0,0,26.04,26.44,28.83
$GC,11776,-1.31,-97.7,871.3,-8.2,253,11781,0.00,2.42,0.00,0.000,4,0.000,0.041,2587,542,2702,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11825,-1.33,-97.7,871.3,-8.2,253,11831,0.00,2.50,0.00,0.000,6,0.000,0.026,2577,2191,2703,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12135,-1.36,-97.7,904.0,-9.0,256,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2191,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12494,-1.39,-97.7,934.4,-8.6,259,12502,0.00,2.60,0.00,0.000,4,0.000,0.040,2577,554,2701,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12614,-1.41,-97.7,943.6,-8.2,260,12621,0.00,2.47,0.00,0.000,6,0.000,0.026,2565,2187,2700,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12975,-1.41,-97.7,968.5,-7.1,263,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2187,2700,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13271,begin apogee
$GC,13279,-0.29,0.0,991.0,-7.7,268,13373,1.08,0.00,85.55,1.671,6,0.129,0.000,2899,1577,2319,0,0,0,0,0,0,25.20,28.83,23.02
$STATE,13375,end apogee,CONTROL_FINISHED_OK
$STATE,13375,begin climb
$GC,13378,1.26,97.7,995.2,0.0,273,13477,1.42,2.12,91.80,1.654,4,0.067,0.048,3414,356,1920,0,0,0,0,0,0,25.22,24.80,23.01
$GC,13526,1.14,132.0,992.2,5.1,281,13565,0.12,1.98,31.58,1.603,6,0.154,0.023,3378,1645,1781,0,0,0,0,0,0,25.32,25.68,23.34
$GC,13889,1.06,132.0,966.2,7.2,289,13895,0.12,2.45,0.00,0.000,4,0.176,0.035,3341,3205,1773,0,0,0,0,0,0,25.98,26.17,28.83
$GC,13935,0.98,132.0,966.2,7.2,289,13943,0.10,2.58,0.00,0.000,6,0.157,0.031,3321,1573,1773,0,0,0,0,0,0,25.88,26.22,28.83
$GC,14246,0.93,132.0,942.4,6.7,292,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1573,1772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14606,0.94,139.7,920.0,6.3,295,14617,0.00,2.00,6.18,1.342,4,0.000,0.050,3329,352,1750,0,0,0,0,0,0,28.83,26.22,23.96
$GC,14716,0.93,148.5,913.1,6.3,296,14734,0.08,1.98,9.80,1.463,6,0.145,0.025,3305,1658,1713,0,0,0,0,0,0,26.07,26.41,24.00
$GC,15078,0.94,154.1,889.8,6.4,299,15093,0.00,2.15,6.68,1.368,4,0.000,0.048,3313,353,1690,0,0,0,0,0,0,28.83,26.13,24.03
$GC,15205,0.94,154.8,881.0,6.6,300,15212,0.00,1.98,0.00,0.000,6,0.000,0.024,3313,1659,1689,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15556,0.94,154.8,853.8,7.5,303,15563,0.00,2.10,0.00,0.000,4,0.000,0.047,3323,356,1688,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15665,0.94,154.8,853.8,7.5,303,15673,0.00,1.95,0.00,0.000,6,0.000,0.024,3323,1651,1688,0,0,0,0,0,0,28.83,26.47,28.83
$GC,16035,0.94,154.8,818.2,7.4,307,16043,0.00,2.47,0.00,0.000,4,0.000,0.036,3323,3205,1688,0,0,0,0,0,0,28.83,26.28,28.83
$GC,16114,0.94,154.8,818.2,7.4,307,16123,0.12,2.55,0.00,0.000,6,0.163,0.031,3304,1580,1688,0,0,0,0,0,0,26.01,26.33,28.83
$GC,16516,0.94,156.5,786.3,6.6,311,16517,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1580,1687,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25670,end climb,SURFACE_DEPTH_REACHED
$STATE,25670,begin surface coast
$FINISH,1.1,1.014929
$STATE,25701,end surface coast,CONTROL_FINISHED_OK
$STATE,25701,begin surface
$SM_CCo,25725,50.78,0.127,0,0,1093,300.00
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$IRIDIUM_FIX,2432.32,-3752.92,110113,080802
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.04
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7624320
$TM_FREEKB,4998624
$24V_AH,23.0,67.456
$10V_AH,10.0,58.895
$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,22.350,192.825,264.875,50.775,0.000,27.537,41.908,193.897,0.000,0.000,20.150,2200.807,20841.295,673.234,2066.597,515.598,33.264,1638.810,0.000,1690.109,0.000,0.536,0.000
$DEVICE_MAMPS,196.605,97.155,1670.760,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.777,13.429,0.000,0.000
$MEM,344356
$DATA_FILE_SIZE,13422,520
$CAP_FILE_SIZE,188147,0
$CFSIZE,260034560,216154112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110113,230757,2433.466,-3802.078,39,2.0,43,-14.0