version: 66.11
glider: 189
mission: 7
dive: 57
start: 9 29 112 18 0 15
data:
$ID,189
$MISSION,7
$DIVE,57
$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,-46945.551
$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
$GPS1,290912,175123,2432.395,-3801.552,38,0.8,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-64.1
$GPS2,290912,175917,2432.423,-3801.588,17,0.9,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.078,-0.072
$KALMAN_X,9341.0,33.2,-44.1,-8813.1,775.3
$KALMAN_Y,62315.7,-366.0,-66.6,-67791.0,2403.4
$MHEAD_RNG_PITCHd_Wd,241.5,1274,-26.9,-6.111,-30.00
$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,20,begin dive
$GC,22,-1.58,-34.0,0.0,0.0,0,55,0.00,0.00,-31.90,0.000,2,0.000,0.000,160,1838,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.62,-70.0,2.0,-1.7,3,90,9.07,2.38,-17.48,0.000,4,0.222,0.054,2472,341,2608,0,0,0,0,0,0,25.89,26.28,26.67
$GC,317,-1.44,-70.0,34.1,-16.1,29,327,0.28,2.33,0.00,0.000,6,0.187,0.024,2532,1886,2609,0,0,0,0,0,0,25.96,26.46,28.83
$GC,627,-1.38,-70.0,70.0,-7.4,60,637,0.00,2.40,0.00,0.000,4,0.000,0.040,2539,348,2609,0,0,0,0,0,0,28.83,26.47,28.83
$GC,867,-1.32,-94.8,79.0,-3.1,76,877,0.17,2.30,-0.75,0.000,6,0.183,0.023,2572,1898,2715,0,0,0,0,0,0,26.18,26.62,26.79
$GC,1198,-1.32,-94.8,105.4,-9.5,87,1205,0.00,2.42,0.00,0.000,4,0.000,0.040,2573,345,2720,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1437,-1.28,-94.8,127.8,-9.1,95,1441,0.00,2.30,0.00,0.000,6,0.000,0.024,2563,1893,2720,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1789,-1.28,-94.8,155.6,-8.5,106,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1894,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2088,-1.28,-94.8,179.3,-7.8,111,2092,0.00,2.42,0.00,0.000,4,0.000,0.040,2563,338,2720,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2321,-1.25,-94.8,196.1,-7.2,115,2328,0.15,2.30,0.00,0.000,6,0.180,0.024,2593,1892,2720,0,0,0,0,0,0,26.32,26.73,28.83
$GC,2680,-1.29,-94.8,232.3,-11.2,121,2687,0.00,2.40,0.00,0.000,4,0.000,0.038,2583,3454,2720,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2920,-1.33,-94.8,258.8,-11.1,125,2928,0.00,2.45,0.00,0.000,6,0.000,0.023,2583,1818,2720,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3280,-1.37,-94.8,292.9,-9.0,131,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1818,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-1.41,-94.8,315.6,-7.5,136,3582,0.12,0.00,0.00,0.000,6,0.092,0.000,2530,1817,2718,0,0,0,0,0,0,26.78,28.83,28.83
$GC,3879,-1.41,-94.8,348.8,-11.4,141,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1817,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-1.41,-94.8,389.8,-13.8,146,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1817,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-1.41,-94.8,424.8,-11.3,151,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1818,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-1.41,-94.8,455.4,-10.3,156,4783,0.00,2.30,0.00,0.000,4,0.000,0.043,2529,345,2714,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5011,-1.39,-94.8,484.2,-12.6,160,5019,0.12,2.30,0.00,0.000,6,0.186,0.024,2546,1886,2713,0,0,0,0,0,0,26.39,26.74,28.83
$GC,5431,-1.42,-94.8,531.5,-11.3,165,5439,0.00,2.42,0.00,0.000,4,0.000,0.042,2547,341,2712,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5670,-1.42,-94.8,561.8,-12.0,167,5674,0.00,2.33,0.00,0.000,6,0.000,0.024,2537,1889,2710,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6021,-1.42,-94.8,601.4,-11.6,170,6029,0.00,2.42,0.00,0.000,4,0.000,0.043,2537,349,2709,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6200,-1.42,-94.8,615.9,-11.5,171,6204,0.00,2.33,0.00,0.000,6,0.000,0.025,2526,1892,2708,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6611,-1.42,-94.8,669.2,-11.3,175,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1892,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,-1.45,-94.8,708.6,-11.1,178,6979,0.00,2.42,0.00,0.000,4,0.000,0.044,2526,351,2705,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7091,-1.45,-94.8,722.9,-11.1,179,7095,0.00,2.33,0.00,0.000,6,0.000,0.025,2515,1894,2704,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7441,-1.45,-94.8,763.6,-11.6,182,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1897,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7802,-1.47,-94.8,805.3,-11.6,185,7810,0.00,2.45,0.00,0.000,4,0.000,0.044,2515,345,2701,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8001,-1.47,-94.8,821.0,-11.9,186,8005,0.00,2.33,0.00,0.000,6,0.000,0.025,2503,1885,2700,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8392,-1.47,-94.8,878.5,-12.2,190,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1885,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8753,-1.50,-94.8,920.3,-11.6,193,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1884,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9112,-1.53,-94.8,964.4,-12.1,196,9120,0.00,2.45,0.00,0.000,4,0.000,0.045,2503,342,2695,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9321,-1.55,-94.8,981.3,-12.7,197,9325,0.00,2.35,0.00,0.000,6,0.000,0.026,2492,1894,2694,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,9340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9341,begin apogee
$GC,9345,-0.29,0.0,996.9,-13.3,198,9432,1.35,0.00,79.72,1.746,6,0.154,0.000,2902,1834,2321,0,0,0,0,0,0,26.07,28.83,24.01
$STATE,9433,end apogee,CONTROL_FINISHED_OK
$STATE,9433,begin climb
$GC,9435,1.65,94.8,996.9,0.0,198,9526,1.80,0.00,86.50,1.711,6,0.068,0.000,3532,1834,1932,0,0,0,0,0,0,25.20,28.83,23.87
$GC,9823,1.55,94.8,950.4,15.2,202,9825,0.15,0.00,0.00,0.000,6,0.197,0.000,3496,1834,1925,0,0,0,0,0,0,25.86,28.83,28.83
$GC,10182,1.46,94.8,898.1,14.7,205,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1834,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10542,1.39,94.8,844.4,14.8,208,10551,0.20,2.55,0.00,0.000,4,0.186,0.040,3437,3449,1918,0,0,0,0,0,0,26.14,26.43,28.83
$GC,10783,1.33,94.8,811.4,14.4,210,10791,0.00,2.50,0.00,0.000,6,0.000,0.028,3447,1825,1917,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11143,1.30,94.8,764.7,13.1,213,11145,0.12,0.00,0.00,0.000,6,0.195,0.000,3419,1825,1915,0,0,0,0,0,0,26.33,28.83,28.83
$GC,11502,1.30,94.8,718.4,13.0,216,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1825,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11862,1.30,94.8,673.4,12.5,219,11870,0.00,2.58,0.00,0.000,4,0.000,0.040,3406,3458,1913,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12031,1.30,94.8,658.5,12.5,220,12035,0.00,2.50,0.00,0.000,6,0.000,0.027,3417,1825,1914,0,0,0,0,0,0,28.83,26.62,28.83
$GC,12333,1.30,94.8,617.9,11.7,223,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1825,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12692,1.30,94.8,574.8,11.9,226,12700,0.00,2.55,0.00,0.000,4,0.000,0.040,3417,3450,1913,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12861,1.30,94.8,559.1,12.3,227,12865,0.00,2.47,0.00,0.000,6,0.000,0.027,3429,1828,1915,0,0,0,0,0,0,28.83,26.64,28.83
$GC,13163,1.30,94.8,513.7,13.0,230,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1828,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13462,1.30,94.8,477.6,12.0,234,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1828,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13762,1.30,94.8,447.1,9.9,239,13766,0.00,2.55,0.00,0.000,4,0.000,0.039,3429,3453,1913,0,0,0,0,0,0,28.83,26.58,28.83
$GC,13822,1.30,94.8,441.8,9.9,240,13826,0.00,2.47,0.00,0.000,6,0.000,0.026,3441,1828,1913,0,0,0,0,0,0,28.83,26.65,28.83
$GC,14163,1.30,94.8,403.2,11.5,246,14171,0.00,2.35,0.00,0.000,4,0.000,0.046,3453,350,1913,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14232,1.30,94.8,395.1,12.2,247,14237,0.12,2.33,0.00,0.000,6,0.175,0.024,3421,1897,1913,0,0,0,0,0,0,26.34,26.68,28.83
$GC,14575,1.34,94.8,346.6,14.2,253,14582,0.00,2.42,0.00,0.000,4,0.000,0.039,3418,3453,1913,0,0,0,0,0,0,28.83,26.59,28.83
$GC,14784,1.36,94.8,320.2,14.6,256,14788,0.00,2.47,0.00,0.000,6,0.000,0.026,3429,1824,1913,0,0,0,0,0,0,28.83,26.65,28.83
$GC,15106,1.40,94.8,281.5,10.2,262,15114,0.00,2.53,0.00,0.000,4,0.000,0.038,3429,3449,1913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,15234,1.43,94.8,268.5,10.2,264,15239,0.00,2.47,0.00,0.000,6,0.000,0.026,3440,1819,1913,0,0,0,0,0,0,28.83,26.65,28.83
$GC,15576,1.46,94.8,225.6,12.6,270,15577,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1819,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15876,1.49,94.8,187.1,13.0,275,15884,0.00,2.55,0.00,0.000,4,0.000,0.037,3441,3452,1913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16045,1.51,94.8,170.1,13.9,277,16050,0.00,2.47,0.00,0.000,6,0.000,0.025,3453,1820,1914,0,0,0,0,0,0,28.83,26.66,28.83
$GC,16346,1.54,94.8,125.9,12.3,285,16355,0.12,2.55,0.00,0.000,4,0.089,0.037,3508,3459,1914,0,0,0,0,0,0,26.76,26.60,28.83
$GC,16466,1.51,94.8,108.6,14.5,289,16474,0.12,2.47,0.00,0.000,6,0.186,0.025,3490,1822,1914,0,0,0,0,0,0,26.32,26.67,28.83
$GC,16775,1.51,94.8,60.7,14.8,304,16780,0.00,2.55,0.00,0.000,4,0.000,0.038,3489,3459,1915,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16826,1.51,94.8,53.9,13.2,309,16831,0.00,2.47,0.00,0.000,6,0.000,0.024,3499,1821,1915,0,0,0,0,0,0,28.83,26.67,28.83
$GC,17128,1.51,94.8,25.7,9.0,339,17132,0.00,2.33,0.00,0.000,4,0.000,0.044,3511,350,1916,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,17357,end climb,SURFACE_DEPTH_REACHED
$STATE,17357,begin surface coast
$FINISH,0.7,1.024317
$STATE,17378,end surface coast,CONTROL_FINISHED_OK
$STATE,17378,begin surface
$SM_CCo,17399,76.25,0.136,0,0,1092,300.00
$SM_GC,1.57,8.65,2.30,76.25,0.036,0.025,0.136,161,1886,1092,-8.81,-0.71,300.00,0,0,0,0,0,0,26.67,26.70,26.23
$IRIDIUM_FIX,2413.38,-3812.62,290912,111104
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,23.90
$XPDR_PINGS,8
$SC_FREEKB,7748000
$TM_FREEKB,7372032
$24V_AH,23.9,12.675
$10V_AH,10.5,11.783
$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,22.575,106.650,166.225,76.250,0.000,25.491,38.672,226.639,2.000,0.000,18.373,1503.464,14324.280,471.181,1499.407,148.800,33.254,1069.191,0.000,1094.951,0.000,0.538,0.000
$DEVICE_MAMPS,221.850,108.630,1745.730,136.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17361.000,3968.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.490,13.544,0.000,0.000
$MEM,344672
$DATA_FILE_SIZE,10118,364
$CAP_FILE_SIZE,127002,0
$CFSIZE,260034560,248246272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290912,225235,2431.293,-3802.878,31,0.9,31,-14.0