version: 66.11
glider: 189
mission: 7
dive: 48
start: 9 26 112 21 19 18
data:
$ID,189
$MISSION,7
$DIVE,48
$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,5
$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,-46934.242
$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,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$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,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260912,211430,2423.707,-3818.033,16,0.9,16,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.8
$GPS2,260912,211819,2423.711,-3818.059,19,1.3,19,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.055,-0.195
$KALMAN_X,6217.2,293.0,115.4,-33836.3,-432.3
$KALMAN_Y,53105.6,-11.9,-277.9,-74859.7,2418.5
$MHEAD_RNG_PITCHd_Wd,178.4,6293,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,5139,-0.55,-146.6,309.8,-5.3,176,5144,0.00,2.22,0.00,0.000,4,0.000,0.043,2795,427,2905,0,0,0,0,0,0,28.83,26.68,28.83
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$GC,15621,-0.78,-146.6,921.6,-7.6,289,15626,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,1885,2875,0,0,0,0,0,0,28.83,26.67,28.83
$GC,15948,-0.78,-146.6,947.7,-7.3,292,15953,0.00,2.10,0.00,0.000,4,0.000,0.042,2725,3273,2874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16064,-0.78,-146.6,947.7,-7.3,292,16071,0.00,2.15,0.00,0.000,6,0.000,0.028,2725,1822,2875,0,0,0,0,0,0,28.83,26.63,28.83
$GC,16430,-0.78,-146.6,979.0,-6.5,296,16435,0.00,2.22,0.00,0.000,4,0.000,0.042,2714,3280,2874,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16487,-0.78,-146.6,979.0,-6.5,296,16492,0.12,2.15,0.00,0.000,6,0.143,0.028,2748,1829,2873,0,0,0,0,0,0,26.38,26.63,28.83
$STATE,16673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16674,begin apogee
$GC,16678,-0.29,0.0,992.8,-5.9,298,16800,0.45,0.00,117.20,1.750,6,0.112,0.000,2902,1829,2319,0,0,0,0,0,0,26.25,28.83,23.87
$STATE,16802,end apogee,CONTROL_FINISHED_OK
$STATE,16802,begin climb
$GC,16804,0.86,146.6,994.6,0.0,299,16939,1.08,0.00,129.95,1.714,6,0.074,0.000,3274,1829,1720,0,0,0,0,0,0,25.00,28.83,23.68
$GC,17275,0.72,146.6,954.3,9.8,303,17277,0.15,0.00,0.00,0.000,6,0.156,0.000,3234,1829,1713,0,0,0,0,0,0,25.91,28.83,28.83
$GC,17635,0.62,146.6,924.0,8.7,306,17641,0.12,2.25,0.00,0.000,4,0.155,0.041,3192,3283,1711,0,0,0,0,0,0,26.19,26.29,28.83
$GC,17687,0.51,146.6,924.0,8.7,306,17693,0.12,2.20,0.00,0.000,6,0.145,0.030,3167,1825,1710,0,0,0,0,0,0,26.19,26.34,28.83
$GC,18002,0.47,146.6,901.5,6.6,309,18007,0.00,2.20,0.00,0.000,4,0.000,0.050,3177,423,1709,0,0,0,0,0,0,28.83,26.36,28.83
$GC,18048,0.43,146.6,901.5,6.6,309,18054,0.15,2.17,0.00,0.000,6,0.132,0.028,3136,1886,1708,0,0,0,0,0,0,26.28,26.47,28.83
$GC,18366,0.48,184.9,884.1,5.0,312,18400,0.00,0.00,32.15,1.691,6,0.000,0.000,3133,1886,1565,0,0,0,0,0,0,28.83,28.83,24.53
$GC,18727,0.55,223.0,865.7,5.0,315,18764,0.15,0.00,35.08,1.659,6,0.074,0.000,3206,1886,1408,0,0,0,0,0,0,26.26,28.83,24.27
$GC,19086,0.55,223.0,833.9,8.1,318,19087,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1886,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19446,0.52,223.0,801.8,9.0,321,19452,0.12,2.30,0.00,0.000,4,0.138,0.049,3174,432,1402,0,0,0,0,0,0,26.28,26.32,28.83
$GC,19483,0.49,223.0,801.8,9.0,321,19488,0.00,2.17,0.00,0.000,6,0.000,0.029,3174,1886,1401,0,0,0,0,0,0,28.83,26.41,28.83
$GC,19810,0.49,223.0,774.4,7.8,324,19812,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1886,1401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20170,0.49,223.0,747.5,7.5,327,20175,0.00,2.30,0.00,0.000,4,0.000,0.050,3185,431,1401,0,0,0,0,0,0,28.83,26.47,28.83
$GC,20211,0.49,223.0,747.5,7.5,327,20216,0.00,2.15,0.00,0.000,6,0.000,0.028,3184,1882,1400,0,0,0,0,0,0,28.83,26.56,28.83
$GC,20534,0.49,223.0,725.4,6.3,330,20539,0.00,2.12,0.00,0.000,4,0.000,0.041,3185,3274,1403,0,0,0,0,0,0,28.83,26.54,28.83
$GC,20575,0.49,223.0,725.4,6.3,330,20581,0.12,2.15,0.00,0.000,6,0.137,0.029,3160,1831,1400,0,0,0,0,0,0,26.44,26.58,28.83
$GC,20899,0.52,249.2,706.0,5.3,333,20922,0.00,0.00,21.80,1.538,6,0.000,0.000,3160,1831,1303,0,0,0,0,0,0,28.83,28.83,24.96
$GC,21258,0.56,249.2,680.4,6.8,336,21259,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1831,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21618,0.59,249.2,655.7,7.1,339,21619,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1831,1301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21978,0.69,295.1,640.0,4.8,342,22022,0.17,0.00,40.95,1.536,6,0.068,0.000,3245,1831,1116,0,0,0,0,0,0,26.57,28.83,24.46
$GC,22337,0.69,295.1,608.1,7.7,345,22343,0.00,2.22,0.00,0.000,4,0.000,0.050,3256,430,1113,0,0,0,0,0,0,28.83,26.11,28.83
$GC,22394,0.69,295.1,608.1,7.7,345,22399,0.12,2.17,0.00,0.000,6,0.138,0.028,3221,1882,1112,0,0,0,0,0,0,26.09,26.22,28.83
$GC,22702,0.66,295.1,565.3,11.5,348,22703,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1883,1111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23061,0.66,295.1,525.4,11.3,351,23066,0.00,2.30,0.00,0.000,4,0.000,0.049,3231,431,1111,0,0,0,0,0,0,28.83,26.41,28.83
$GC,23107,0.66,295.1,525.4,11.3,351,23112,0.00,2.15,0.00,0.000,6,0.000,0.028,3230,1883,1110,0,0,0,0,0,0,28.83,26.51,28.83
$GC,23424,0.66,295.1,491.1,9.7,354,23430,0.00,2.28,0.00,0.000,4,0.000,0.049,3242,424,1109,0,0,0,0,0,0,28.83,26.48,28.83
$GC,23470,0.66,295.1,491.1,9.7,354,23476,0.00,2.15,0.00,0.000,6,0.000,0.028,3242,1883,1110,0,0,0,0,0,0,28.83,26.57,28.83
$GC,23788,0.64,295.1,459.0,8.8,360,23790,0.12,0.00,0.00,0.000,6,0.135,0.000,3205,1883,1110,0,0,0,0,0,0,26.51,28.83,28.83
$GC,24088,0.66,295.1,437.0,7.3,365,24089,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1883,1111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24388,0.68,295.1,413.4,7.9,370,24393,0.00,2.28,0.00,0.000,4,0.000,0.049,3215,426,1110,0,0,0,0,0,0,28.83,26.56,28.83
$GC,24474,0.70,295.1,407.8,8.3,371,24480,0.00,2.15,0.00,0.000,6,0.000,0.028,3215,1884,1110,0,0,0,0,0,0,28.83,26.65,28.83
$GC,24811,0.70,295.1,374.9,9.1,377,24812,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1880,1110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25112,0.70,295.1,348.8,8.6,382,25117,0.00,2.28,0.00,0.000,4,0.000,0.049,3226,421,1110,0,0,0,0,0,0,28.83,26.59,28.83
$GC,25148,0.70,295.1,348.8,8.6,382,25153,0.00,2.15,0.00,0.000,6,0.000,0.027,3226,1885,1110,0,0,0,0,0,0,28.83,26.69,28.83
$GC,25475,0.70,295.1,316.8,8.9,388,25476,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1885,1110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25775,0.70,295.1,286.9,10.1,393,25780,0.00,2.28,0.00,0.000,4,0.000,0.048,3238,426,1110,0,0,0,0,0,0,28.83,26.61,28.83
$GC,25856,0.70,295.1,280.4,10.2,394,25861,0.00,2.15,0.00,0.000,6,0.000,0.027,3237,1891,1110,0,0,0,0,0,0,28.83,26.70,28.83
$GC,26202,0.70,295.1,248.8,8.2,400,26203,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1891,1110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26498,0.70,295.1,226.1,7.6,405,26503,0.00,2.08,0.00,0.000,4,0.000,0.040,3237,3274,1110,0,0,0,0,0,0,28.83,26.66,28.83
$GC,26529,0.70,295.1,226.1,7.6,405,26535,0.00,2.12,0.00,0.000,6,0.000,0.028,3248,1830,1110,0,0,0,0,0,0,28.83,26.69,28.83
$GC,26862,0.70,295.1,194.3,8.9,411,26867,0.00,2.15,0.00,0.000,4,0.000,0.048,3259,430,1110,0,0,0,0,0,0,28.83,26.63,28.83
$GC,26943,0.70,295.1,189.2,8.5,412,26949,0.12,2.12,0.00,0.000,6,0.129,0.026,3221,1888,1111,0,0,0,0,0,0,26.55,26.73,28.83
$GC,27287,0.74,295.1,166.2,6.3,418,27292,0.00,2.08,0.00,0.000,4,0.000,0.039,3223,3276,1111,0,0,0,0,0,0,28.83,26.67,28.83
$GC,27349,0.78,295.1,161.1,6.8,419,27355,0.00,2.12,0.00,0.000,6,0.000,0.028,3229,1828,1111,0,0,0,0,0,0,28.83,26.70,28.83
$GC,27683,0.81,295.1,132.0,9.1,427,27688,0.00,2.15,0.00,0.000,4,0.000,0.047,3245,426,1114,0,0,0,0,0,0,28.83,26.63,28.83
$GC,27729,0.84,295.1,128.8,9.2,428,27734,0.00,2.12,0.00,0.000,6,0.000,0.026,3240,1885,1112,0,0,0,0,0,0,28.83,26.74,28.83
$GC,28047,0.87,295.1,97.1,8.9,439,28053,0.12,2.25,0.00,0.000,4,0.080,0.046,3332,426,1112,0,0,0,0,0,0,26.79,26.64,28.83
$GC,28090,0.87,295.1,93.3,9.3,440,28095,0.17,2.12,0.00,0.000,6,0.127,0.025,3279,1888,1110,0,0,0,0,0,0,26.54,26.74,28.83
$GC,28402,0.87,295.1,60.7,9.6,460,28407,0.00,2.25,0.00,0.000,4,0.000,0.046,3289,425,1112,0,0,0,0,0,0,28.83,26.65,28.83
$GC,28469,0.85,295.1,55.2,9.2,466,28475,0.00,2.12,0.00,0.000,6,0.000,0.026,3289,1885,1112,0,0,0,0,0,0,28.83,26.74,28.83
$GC,28774,0.85,295.1,29.0,7.8,497,28780,0.00,2.25,0.00,0.000,4,0.000,0.047,3300,422,1113,0,0,0,0,0,0,28.83,26.67,28.83
$GC,28817,0.85,295.1,25.5,8.3,501,28822,0.00,2.12,0.00,0.000,6,0.000,0.025,3300,1883,1113,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,29077,end climb,SURFACE_DEPTH_REACHED
$STATE,29077,begin surface coast
$FINISH,0.7,1.023589
$STATE,29108,end surface coast,CONTROL_FINISHED_OK
$STATE,29108,begin surface
$SM_CCo,29127,1.65,0.207,0,0,1095,300.00
$SM_GC,2.68,8.10,0.05,1.65,0.037,0.143,0.207,161,1836,1095,-8.84,0.76,300.00,0,0,0,0,0,0,26.75,26.84,26.44
$IRIDIUM_FIX,2420.48,-3810.36,260912,212100
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.17
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.60
$XPDR_PINGS,14
$SC_FREEKB,7751456
$TM_FREEKB,7443744
$24V_AH,23.7,11.157
$10V_AH,10.4,10.583
$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,23.125,186.575,377.125,1.650,0.000,0.000,0.000,0.000,3.500,0.000,20.522,2740.576,23330.119,596.424,2358.160,181.182,33.258,1851.878,0.000,2238.604,0.000,0.538,0.000
$DEVICE_MAMPS,216.495,143.055,1749.555,207.315,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28988.000,7199.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.822,13.509,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,13404,530
$CAP_FILE_SIZE,252805,0
$CFSIZE,260034560,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270912,052558,2420.426,-3817.139,37,0.8,37,-14.1