version: 66.11
glider: 189
mission: 7
dive: 77
start: 10 5 112 5 10 17
data:
$ID,189
$MISSION,7
$DIVE,77
$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,446.44598
$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,-47219.762
$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
$GPS1,051012,045258,2432.055,-3748.304,60,0.9,60,-14.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-57.2
$GPS2,051012,050918,2432.185,-3748.335,17,1.2,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.022,-0.202
$KALMAN_X,12251.1,-38.5,-6.0,10637.4,-179.0
$KALMAN_Y,75733.3,-98.6,66.8,-82058.4,839.6
$MHEAD_RNG_PITCHd_Wd,187.9,21731,-11.8,-6.111,-16.77
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.86,-146.6,0.0,0.0,0,66,0.00,0.00,-42.72,0.000,2,0.000,0.000,161,1836,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.86,-146.6,2.5,-3.0,4,97,9.95,0.00,-15.32,0.000,6,0.219,0.000,2715,1831,2920,0,0,0,0,0,0,25.92,28.83,26.71
$GC,396,-0.68,-146.6,37.9,-12.9,37,405,0.22,2.53,0.00,0.000,4,0.147,0.038,2770,3452,2922,0,0,0,0,0,0,26.20,26.44,28.83
$GC,495,-0.58,-146.6,48.5,-9.8,47,505,0.15,2.45,0.00,0.000,6,0.137,0.023,2812,1823,2923,0,0,0,0,0,0,26.28,26.53,28.83
$GC,805,-0.54,-146.6,70.9,-5.8,78,815,0.00,2.53,0.00,0.000,4,0.000,0.037,2801,3456,2923,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1045,-0.49,-146.6,86.0,-6.4,91,1053,0.15,2.45,0.00,0.000,6,0.130,0.022,2846,1819,2924,0,0,0,0,0,0,26.39,26.62,28.83
$GC,1376,-0.49,-146.6,104.6,-5.3,102,1383,0.00,2.30,0.00,0.000,4,0.000,0.041,2846,340,2924,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1555,-0.49,-146.6,116.2,-6.5,108,1562,0.00,2.30,0.00,0.000,6,0.000,0.023,2837,1887,2924,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1886,-0.49,-146.6,133.4,-4.9,119,1893,0.00,2.40,0.00,0.000,4,0.000,0.037,2825,3452,2924,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1975,-0.49,-146.6,137.9,-5.0,122,1983,0.00,2.42,0.00,0.000,6,0.000,0.022,2825,1822,2924,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2305,-0.49,-146.6,158.4,-6.7,131,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1822,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2605,-0.49,-146.6,176.8,-5.9,136,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1822,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2905,-0.49,-146.6,191.9,-5.0,141,2912,0.00,2.30,0.00,0.000,4,0.000,0.041,2825,345,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3044,-0.49,-146.6,199.2,-5.5,143,3048,0.00,2.30,0.00,0.000,6,0.000,0.024,2814,1889,2922,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3376,-0.49,-146.6,218.9,-5.5,149,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.49,-146.6,236.9,-6.1,154,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1890,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.49,-146.6,254.9,-5.9,159,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1889,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-0.49,-146.6,268.8,-4.6,164,4283,0.00,2.42,0.00,0.000,4,0.000,0.042,2814,340,2920,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4384,-0.49,-146.6,271.9,-4.7,165,4389,0.12,2.33,0.00,0.000,6,0.135,0.024,2840,1904,2918,0,0,0,0,0,0,26.51,26.72,28.83
$GC,4685,-0.54,-146.6,286.2,-3.8,170,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1899,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4986,-0.60,-146.6,296.6,-3.5,175,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1899,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.65,-146.6,309.1,-4.3,180,5294,0.15,2.42,0.00,0.000,4,0.071,0.042,2758,352,2914,0,0,0,0,0,0,26.80,26.60,28.83
$GC,5384,-0.68,-146.6,313.2,-4.9,181,5389,0.12,2.30,0.00,0.000,6,0.145,0.024,2782,1886,2914,0,0,0,0,0,0,26.47,26.72,28.83
$GC,5697,-0.68,-146.6,334.3,-5.5,187,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1887,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5997,-0.68,-146.6,351.2,-5.8,192,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1885,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-0.68,-146.6,374.9,-8.2,197,6300,0.00,2.42,0.00,0.000,4,0.000,0.043,2783,347,2910,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6446,-0.68,-146.6,384.7,-8.7,199,6451,0.00,2.33,0.00,0.000,6,0.000,0.024,2773,1895,2910,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6758,-0.68,-146.6,408.2,-6.1,205,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1896,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7058,-0.68,-146.6,424.8,-5.6,210,7065,0.00,2.42,0.00,0.000,4,0.000,0.041,2762,3453,2908,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7137,-0.68,-146.6,428.8,-5.9,211,7141,0.00,2.45,0.00,0.000,6,0.000,0.024,2762,1827,2908,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7468,-0.66,-146.6,454.7,-7.5,217,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1827,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7768,-0.66,-146.6,474.0,-6.2,222,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1827,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,-0.66,-146.6,486.9,-4.1,227,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1827,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-0.66,-146.6,498.5,-4.0,232,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1827,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8668,-0.66,-146.6,516.0,-5.6,235,8676,0.00,2.33,0.00,0.000,4,0.000,0.044,2761,353,2902,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8789,-0.64,-146.6,525.6,-6.4,236,8797,0.15,2.30,0.00,0.000,6,0.135,0.025,2795,1883,2903,0,0,0,0,0,0,26.43,26.69,28.83
$GC,9148,-0.64,-146.6,547.7,-6.6,239,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1883,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,-0.67,-146.6,568.4,-5.7,242,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1883,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9869,-0.71,-146.6,588.1,-5.6,245,9876,0.00,2.42,0.00,0.000,4,0.000,0.045,2796,352,2900,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9938,-0.74,-146.6,588.1,-5.6,245,9942,0.00,2.33,0.00,0.000,6,0.000,0.025,2786,1893,2899,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10340,-0.77,-146.6,615.7,-5.8,249,10342,0.10,0.00,0.00,0.000,6,0.095,0.000,2728,1893,2899,0,0,0,0,0,0,26.81,28.83,28.83
$GC,10699,-0.77,-146.6,644.5,-7.6,252,10707,0.00,2.45,0.00,0.000,4,0.000,0.045,2730,348,2898,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10840,-0.74,-146.6,654.9,-8.1,253,10848,0.15,2.33,0.00,0.000,6,0.140,0.025,2760,1889,2897,0,0,0,0,0,0,26.37,26.67,28.83
$GC,11179,-0.74,-146.6,678.9,-7.1,256,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1889,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11539,-0.74,-146.6,699.2,-5.8,259,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1889,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11899,-0.74,-146.6,718.4,-5.3,262,11907,0.00,2.45,0.00,0.000,4,0.000,0.046,2760,348,2894,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12108,-0.74,-146.6,726.1,-5.6,263,12112,0.00,2.33,0.00,0.000,6,0.000,0.025,2750,1889,2893,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12489,-0.74,-146.6,756.9,-6.6,267,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1884,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12849,-0.74,-146.6,783.3,-7.2,270,12857,0.00,2.45,0.00,0.000,4,0.000,0.047,2750,348,2892,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12948,-0.74,-146.6,783.3,-7.2,270,12953,0.00,2.33,0.00,0.000,6,0.000,0.026,2739,1883,2891,0,0,0,0,0,0,28.83,26.65,28.83
$GC,13319,-0.74,-146.6,820.4,-7.9,274,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1883,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13679,-0.74,-146.6,843.9,-6.8,277,13684,0.00,2.45,0.00,0.000,4,0.000,0.047,2739,351,2890,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13791,-0.74,-146.6,851.5,-6.5,278,13799,0.12,2.33,0.00,0.000,6,0.146,0.026,2762,1881,2889,0,0,0,0,0,0,26.36,26.64,28.83
$GC,14151,-0.74,-146.6,869.3,-5.3,281,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1882,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14511,-0.77,-146.6,887.9,-5.1,284,14519,0.00,2.45,0.00,0.000,4,0.000,0.047,2763,351,2887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14632,-0.79,-146.6,895.7,-5.5,285,14639,0.00,2.30,0.00,0.000,6,0.000,0.026,2753,1878,2887,0,0,0,0,0,0,28.83,26.62,28.83
$GC,14990,-0.79,-146.6,918.5,-6.4,288,14992,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1878,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15351,-0.79,-146.6,940.1,-6.1,291,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1877,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15712,-0.81,-146.6,960.2,-5.6,294,15719,0.00,2.45,0.00,0.000,4,0.000,0.047,2753,349,2884,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15810,-0.84,-146.6,960.2,-5.6,294,15814,0.00,2.35,0.00,0.000,6,0.000,0.027,2742,1889,2884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16182,-0.84,-146.6,988.7,-6.0,298,16183,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1889,2883,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16300,begin apogee
$GC,16304,-0.29,0.0,996.0,-6.0,299,16430,0.50,0.00,120.43,1.738,6,0.106,0.000,2908,1838,2318,0,0,0,0,0,0,26.14,28.83,23.80
$STATE,16432,end apogee,CONTROL_FINISHED_OK
$STATE,16432,begin climb
$GC,16434,0.86,146.6,998.5,0.0,300,16568,1.08,0.00,129.88,1.717,6,0.070,0.000,3278,1838,1723,0,0,0,0,0,0,24.98,28.83,23.57
$GC,16903,0.72,146.6,958.5,10.2,304,16905,0.17,0.00,0.00,0.000,6,0.149,0.000,3230,1838,1715,0,0,0,0,0,0,25.82,28.83,28.83
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$STATE,30147,end climb,SURFACE_DEPTH_REACHED
$STATE,30147,begin surface coast
$FINISH,0.8,1.024533
$STATE,30178,end surface coast,CONTROL_FINISHED_OK
$STATE,30178,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.29
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$TCM_TEMP,24.80
$XPDR_PINGS,7
$SC_FREEKB,7740320
$TM_FREEKB,7219872
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$10V_AH,10.4,14.328
$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
$DEVICE_SECS,22.675,129.125,359.200,63.200,0.000,141.722,375.532,0.000,1.750,0.000,18.199,1979.500,26349.387,706.729,1985.695,208.736,33.249,1475.457,0.000,1313.722,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.845,13.526,0.000,0.000
$MEM,344908
$DATA_FILE_SIZE,16712,563
$CAP_FILE_SIZE,187175,0
$CFSIZE,260034560,246366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051012,133552,2429.012,-3747.650,40,0.9,41,-14.0