version: 66.11
glider: 189
mission: 7
dive: 76
start: 10 4 112 20 33 52
data:
$ID,189
$MISSION,7
$DIVE,76
$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,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$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,150
$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,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-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,-47218.504
$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,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$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,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,041012,202900,2435.389,-3748.259,15,1.5,15,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-53.0
$GPS2,041012,203253,2435.396,-3748.235,18,1.2,18,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.203
$KALMAN_X,12487.1,-39.7,75.8,10481.4,223.0
$KALMAN_Y,74948.7,123.7,7.6,-75491.5,663.5
$MHEAD_RNG_PITCHd_Wd,192.5,27648,-11.8,-6.111,-16.78
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-146.6,0.0,0.0,0,86,0.00,0.00,-61.75,0.000,2,0.000,0.000,161,1882,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.86,-146.6,2.4,-2.0,6,117,9.93,0.00,-15.02,0.000,6,0.219,0.000,2716,1882,2917,0,0,0,0,0,0,26.03,28.83,26.81
$GC,417,-0.68,-146.6,39.4,-12.6,39,426,0.20,2.40,0.00,0.000,4,0.144,0.039,2765,3449,2919,0,0,0,0,0,0,26.34,26.53,28.83
$GC,537,-0.57,-146.6,51.5,-9.2,51,546,0.17,2.45,0.00,0.000,6,0.132,0.023,2817,1810,2919,0,0,0,0,0,0,26.37,26.62,28.83
$GC,847,-0.53,-146.6,71.2,-6.9,82,855,0.00,2.28,0.00,0.000,4,0.000,0.041,2818,342,2916,0,0,0,0,0,0,28.83,26.58,28.83
$GC,985,-0.47,-146.6,80.3,-7.7,90,990,0.15,2.30,0.00,0.000,6,0.134,0.023,2853,1893,2919,0,0,0,0,0,0,26.46,26.70,28.83
$GC,1288,-0.47,-146.6,96.9,-5.0,100,1294,0.00,2.38,0.00,0.000,4,0.000,0.039,2842,3456,2918,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1526,-0.47,-146.6,110.1,-5.2,108,1533,0.00,2.42,0.00,0.000,6,0.000,0.022,2842,1824,2918,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1857,-0.47,-146.6,127.4,-5.0,119,1865,0.00,2.50,0.00,0.000,4,0.000,0.037,2830,3458,2917,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2067,-0.47,-146.6,137.8,-4.9,126,2074,0.00,2.42,0.00,0.000,6,0.000,0.023,2830,1822,2917,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2426,-0.47,-146.6,157.8,-6.2,136,2434,0.00,2.53,0.00,0.000,4,0.000,0.037,2818,3464,2916,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2505,-0.47,-146.6,162.2,-6.6,137,2510,0.10,2.45,0.00,0.000,6,0.142,0.023,2847,1820,2916,0,0,0,0,0,0,26.56,26.73,28.83
$GC,2838,-0.50,-146.6,184.9,-6.1,143,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1819,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3138,-0.53,-146.6,193.2,-2.6,148,3145,0.00,2.50,0.00,0.000,4,0.000,0.038,2836,3450,2913,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3328,-0.57,-146.6,200.0,-3.5,151,3335,0.00,2.45,0.00,0.000,6,0.000,0.023,2836,1812,2913,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3678,-0.59,-146.6,217.4,-5.1,157,3685,0.00,2.28,0.00,0.000,4,0.000,0.042,2836,348,2912,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3918,-0.59,-146.6,231.9,-6.1,161,3925,0.00,2.28,0.00,0.000,6,0.000,0.024,2825,1883,2911,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4278,-0.62,-146.6,249.7,-4.8,167,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1883,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4578,-0.65,-146.6,264.0,-4.8,172,4586,0.00,2.42,0.00,0.000,4,0.000,0.039,2813,3456,2908,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4657,-0.67,-146.6,267.1,-5.0,173,4665,0.00,2.45,0.00,0.000,6,0.000,0.023,2814,1821,2907,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4997,-0.67,-146.6,288.6,-6.2,179,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1821,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5297,-0.67,-146.6,309.3,-6.9,184,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1821,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,-0.69,-146.6,328.4,-6.3,189,5605,0.12,2.30,0.00,0.000,4,0.085,0.043,2746,346,2904,0,0,0,0,0,0,26.82,26.63,28.83
$GC,5686,-0.69,-146.6,333.4,-6.7,190,5691,0.15,2.30,0.00,0.000,6,0.139,0.024,2778,1886,2903,0,0,0,0,0,0,26.47,26.74,28.83
$GC,6008,-0.69,-146.6,358.5,-6.9,196,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1886,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6308,-0.69,-146.6,375.5,-5.6,201,6316,0.00,2.42,0.00,0.000,4,0.000,0.043,2778,342,2901,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6489,-0.66,-146.6,388.5,-6.8,204,6496,0.00,2.33,0.00,0.000,6,0.000,0.024,2768,1896,2900,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6848,-0.64,-146.6,415.8,-7.7,210,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1896,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7148,-0.62,-146.6,435.7,-6.4,215,7150,0.12,0.00,0.00,0.000,6,0.142,0.000,2804,1895,2899,0,0,0,0,0,0,26.63,28.83,28.83
$GC,7449,-0.65,-146.6,448.6,-4.3,220,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1896,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-0.68,-146.6,462.0,-4.5,225,7756,0.00,2.40,0.00,0.000,4,0.000,0.044,2804,357,2896,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7937,-0.68,-146.6,470.8,-4.8,228,7941,0.00,2.30,0.00,0.000,6,0.000,0.024,2795,1887,2896,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8279,-0.70,-146.6,488.3,-5.1,234,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1885,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,-0.72,-146.6,509.2,-5.9,239,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1887,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8999,-0.75,-146.6,528.1,-5.4,242,9008,0.10,2.40,0.00,0.000,4,0.098,0.044,2734,355,2892,0,0,0,0,0,0,26.82,26.59,28.83
$GC,9167,-0.75,-146.6,535.9,-5.5,243,9172,0.12,2.30,0.00,0.000,6,0.148,0.025,2757,1885,2892,0,0,0,0,0,0,26.45,26.71,28.83
$GC,9470,-0.75,-146.6,553.8,-5.4,246,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1884,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9829,-0.75,-146.6,577.8,-6.3,249,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1885,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10189,-0.75,-146.6,603.4,-7.2,252,10193,0.00,2.42,0.00,0.000,4,0.000,0.044,2759,354,2889,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10300,-0.75,-146.6,611.5,-7.1,253,10304,0.00,2.33,0.00,0.000,6,0.000,0.026,2748,1893,2888,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10652,-0.75,-146.6,636.2,-7.1,256,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1893,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11011,-0.75,-146.6,669.2,-8.8,259,11015,0.00,2.45,0.00,0.000,4,0.000,0.042,2736,3456,2886,0,0,0,0,0,0,28.83,26.57,28.83
$GC,11071,-0.75,-146.6,669.2,-8.8,259,11076,0.00,2.47,0.00,0.000,6,0.000,0.025,2736,1826,2886,0,0,0,0,0,0,28.83,26.66,28.83
$GC,11474,-0.73,-146.6,709.0,-8.7,263,11481,0.00,2.33,0.00,0.000,4,0.000,0.046,2736,354,2885,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11593,-0.69,-146.6,718.2,-8.2,264,11601,0.15,2.33,0.00,0.000,6,0.141,0.026,2772,1892,2884,0,0,0,0,0,0,26.38,26.67,28.83
$GC,11953,-0.69,-146.6,737.3,-5.8,267,11961,0.00,2.45,0.00,0.000,4,0.000,0.042,2761,3458,2883,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12062,-0.69,-146.6,737.3,-5.8,267,12066,0.00,2.47,0.00,0.000,6,0.000,0.025,2761,1828,2883,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12423,-0.69,-146.6,764.0,-5.6,270,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1828,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12783,-0.69,-146.6,785.4,-6.0,273,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1828,2881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13143,-0.69,-146.6,805.9,-5.7,276,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1828,2880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13503,-0.69,-146.6,826.2,-5.6,279,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1828,2879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13863,-0.69,-146.6,844.3,-5.2,282,13871,0.00,2.35,0.00,0.000,4,0.000,0.047,2761,355,2878,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13983,-0.69,-146.6,849.9,-4.9,283,13990,0.00,2.33,0.00,0.000,6,0.000,0.027,2751,1883,2877,0,0,0,0,0,0,28.83,26.64,28.83
$GC,14343,-0.69,-146.6,863.4,-3.9,286,14351,0.00,2.45,0.00,0.000,4,0.000,0.047,2751,351,2877,0,0,0,0,0,0,28.83,26.47,28.83
$GC,14432,-0.69,-146.6,863.4,-3.9,286,14437,0.12,2.33,0.00,0.000,6,0.145,0.026,2775,1882,2876,0,0,0,0,0,0,26.37,26.64,28.83
$GC,14815,-0.73,-146.6,889.7,-5.5,290,14816,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1882,2876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15174,-0.77,-146.6,916.4,-7.2,293,15175,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1882,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15534,-0.82,-146.6,941.3,-7.1,296,15543,0.12,2.45,0.00,0.000,4,0.083,0.047,2712,354,2874,0,0,0,0,0,0,26.78,26.44,28.83
$GC,15643,-0.86,-146.6,941.3,-7.1,296,15648,0.00,2.33,0.00,0.000,6,0.000,0.027,2701,1881,2876,0,0,0,0,0,0,28.83,26.62,28.83
$GC,16004,-0.86,-146.6,975.0,-7.1,299,16008,0.00,2.45,0.00,0.000,4,0.000,0.047,2701,354,2873,0,0,0,0,0,0,28.83,26.42,28.83
$GC,16134,-0.83,-146.6,983.2,-7.2,300,16139,0.15,2.33,0.00,0.000,6,0.150,0.027,2731,1880,2872,0,0,0,0,0,0,26.25,26.60,28.83
$STATE,16345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16345,begin apogee
$GC,16350,-0.29,0.0,996.9,-6.5,302,16475,0.50,0.00,118.18,1.754,6,0.111,0.000,2901,1839,2319,0,0,0,0,0,0,26.13,28.83,23.83
$STATE,16477,end apogee,CONTROL_FINISHED_OK
$STATE,16477,begin climb
$GC,16479,0.86,146.6,999.7,0.0,303,16613,1.08,0.00,130.50,1.721,6,0.071,0.000,3277,1839,1722,0,0,0,0,0,0,25.05,28.83,23.63
$GC,16948,0.72,146.6,966.9,8.1,307,16950,0.17,0.00,0.00,0.000,6,0.151,0.000,3230,1839,1713,0,0,0,0,0,0,25.85,28.83,28.83
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$STATE,29798,end climb,SURFACE_DEPTH_REACHED
$STATE,29798,begin surface coast
$FINISH,0.6,1.010845
$STATE,29830,end surface coast,CONTROL_FINISHED_OK
$STATE,29830,begin surface
$SM_CCo,29847,3.88,0.164,0,0,1093,300.00
$SM_GC,2.20,7.93,0.08,3.88,0.027,0.110,0.164,161,1833,1093,-8.84,0.54,300.00,0,0,0,0,0,0,26.69,26.80,26.26
$IRIDIUM_FIX,2429.95,-3758.11,041012,202028
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.30
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.70
$XPDR_PINGS,9
$SC_FREEKB,7740704
$TM_FREEKB,7228672
$24V_AH,23.6,15.620
$10V_AH,10.3,14.172
$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,22.800,172.425,375.675,3.875,0.000,0.000,0.000,0.000,2.250,0.000,18.806,2149.169,25260.918,719.814,1592.049,206.772,33.267,1588.711,0.000,1505.137,0.000,0.537,0.000
$DEVICE_MAMPS,218.790,141.525,1754.145,164.475,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29710.000,5896.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.858,13.606,0.000,0.000
$MEM,344572
$DATA_FILE_SIZE,16759,562
$CAP_FILE_SIZE,234648,0
$CFSIZE,260034560,246497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051012,045258,2432.055,-3748.304,60,0.9,60,-14.0