version: 66.11
glider: 189
mission: 7
dive: 104
start: 10 14 112 9 0 22
data:
$ID,189
$MISSION,7
$DIVE,104
$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,-47253.812
$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
$GPS1,141012,085104,2431.925,-3802.998,25,1.1,25,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-59.4
$GPS2,141012,085923,2431.992,-3802.989,19,0.9,19,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.004,0.106
$KALMAN_X,18992.4,98.6,-270.1,-20662.2,1790.4
$KALMAN_Y,99377.5,-145.3,56.6,-106000.1,723.8
$MHEAD_RNG_PITCHd_Wd,11.7,4075,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.58,-34.0,0.0,0.0,0,56,0.00,0.00,-32.30,0.000,2,0.000,0.000,162,1828,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.64,-82.6,2.0,-0.2,3,107,8.73,2.58,-27.62,0.000,4,0.206,0.050,2456,3457,2658,0,0,0,0,0,0,25.87,26.27,26.67
$GC,336,-1.50,-82.6,39.4,-17.8,31,346,0.22,2.47,0.00,0.000,6,0.173,0.024,2514,1824,2658,0,0,0,0,0,0,25.85,26.38,28.83
$GC,646,-1.44,-82.6,74.8,-8.1,62,655,0.00,2.53,0.00,0.000,4,0.000,0.035,2503,3454,2659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,796,-1.35,-82.6,87.0,-8.3,68,805,0.22,2.45,0.00,0.000,6,0.169,0.022,2561,1819,2659,0,0,0,0,0,0,25.96,26.51,28.83
$GC,1127,-1.35,-82.6,109.6,-6.3,79,1134,0.00,2.53,0.00,0.000,4,0.000,0.035,2550,3455,2660,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1366,-1.33,-82.6,127.5,-7.4,87,1373,0.00,2.45,0.00,0.000,6,0.000,0.022,2550,1820,2662,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1696,-1.33,-82.6,151.5,-6.9,98,1704,0.00,2.53,0.00,0.000,4,0.000,0.036,2539,3455,2660,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1937,-1.30,-82.6,169.2,-7.4,102,1945,0.12,2.42,0.00,0.000,6,0.154,0.022,2577,1820,2660,0,0,0,0,0,0,26.17,26.62,28.83
$GC,2297,-1.33,-82.6,196.8,-8.2,108,2304,0.00,2.50,0.00,0.000,4,0.000,0.037,2566,3446,2660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2537,-1.33,-82.6,218.6,-9.0,112,2544,0.00,2.42,0.00,0.000,6,0.000,0.023,2566,1818,2660,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2896,-1.33,-82.6,246.4,-7.4,118,2903,0.00,2.55,0.00,0.000,4,0.000,0.037,2554,3462,2660,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3136,-1.33,-82.6,265.2,-7.9,122,3144,0.00,2.47,0.00,0.000,6,0.000,0.023,2554,1815,2659,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3496,-1.33,-82.6,296.0,-8.6,128,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1815,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3796,-1.33,-82.6,322.5,-8.8,133,3804,0.00,2.55,0.00,0.000,4,0.000,0.037,2542,3455,2657,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4005,-1.33,-82.6,337.8,-8.5,136,4010,0.12,2.45,0.00,0.000,6,0.166,0.023,2572,1823,2656,0,0,0,0,0,0,26.29,26.64,28.83
$GC,4327,-1.37,-82.6,364.6,-7.4,142,4335,0.00,2.33,0.00,0.000,4,0.000,0.041,2572,339,2655,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4567,-1.37,-82.6,386.9,-9.3,146,4575,0.00,2.33,0.00,0.000,6,0.000,0.024,2562,1890,2654,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4927,-1.41,-82.6,423.2,-10.2,152,4935,0.00,2.42,0.00,0.000,4,0.000,0.041,2563,348,2653,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5168,-1.41,-82.6,448.9,-10.7,156,5175,0.00,2.30,0.00,0.000,6,0.000,0.024,2551,1886,2652,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5527,-1.44,-82.6,485.3,-10.1,162,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1886,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5827,-1.48,-82.6,515.5,-10.1,166,5834,0.00,2.42,0.00,0.000,4,0.000,0.042,2551,351,2650,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5976,-1.51,-82.6,529.2,-10.5,167,5980,0.00,2.33,0.00,0.000,6,0.000,0.024,2540,1898,2648,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6298,-1.53,-82.6,567.0,-10.9,170,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1898,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6658,-1.56,-82.6,607.5,-11.3,173,6659,0.12,0.00,0.00,0.000,6,0.090,0.000,2487,1899,2646,0,0,0,0,0,0,26.73,28.83,28.83
$GC,7017,-1.56,-82.6,648.9,-11.4,176,7025,0.00,2.45,0.00,0.000,4,0.000,0.042,2487,351,2645,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7259,-1.53,-82.6,679.0,-11.9,178,7266,0.08,2.30,0.00,0.000,6,0.178,0.024,2497,1886,2644,0,0,0,0,0,0,26.23,26.64,28.83
$GC,7618,-1.51,-82.6,717.6,-11.1,181,7626,0.00,2.47,0.00,0.000,4,0.000,0.041,2487,3461,2643,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7786,-1.51,-82.6,731.2,-10.8,182,7791,0.00,2.50,0.00,0.000,6,0.000,0.025,2487,1821,2643,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8088,-1.51,-82.6,771.3,-11.4,185,8092,0.00,2.33,0.00,0.000,4,0.000,0.044,2487,352,2642,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8218,-1.51,-82.6,785.5,-11.7,186,8223,0.15,2.33,0.00,0.000,6,0.183,0.024,2511,1888,2641,0,0,0,0,0,0,26.11,26.61,28.83
$GC,8550,-1.51,-82.6,826.1,-11.8,189,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1889,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8910,-1.53,-82.6,863.1,-10.5,192,8918,0.00,2.47,0.00,0.000,4,0.000,0.041,2501,3460,2638,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9009,-1.56,-82.6,863.1,-10.5,192,9013,0.00,2.50,0.00,0.000,6,0.000,0.026,2501,1826,2638,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9382,-1.58,-82.6,917.6,-11.6,196,9389,0.00,2.33,0.00,0.000,4,0.000,0.045,2501,351,2636,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9620,-1.58,-82.6,949.1,-12.5,198,9625,0.00,2.33,0.00,0.000,6,0.000,0.025,2490,1886,2635,0,0,0,0,0,0,28.83,26.59,28.83
$STATE,9970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9970,begin apogee
$GC,9975,-0.29,0.0,991.0,-12.3,201,10046,1.38,0.00,66.53,1.665,6,0.155,0.000,2900,1834,2321,0,0,0,0,0,0,25.72,28.83,24.03
$STATE,10048,end apogee,CONTROL_FINISHED_OK
$STATE,10048,begin climb
$GC,10049,1.64,82.6,991.0,0.0,201,10132,1.77,2.47,74.50,1.653,4,0.069,0.046,3535,362,1984,0,0,0,0,0,0,25.20,24.88,23.84
$GC,10214,1.56,132.9,978.2,0.0,203,10263,0.00,2.38,44.22,1.622,6,0.000,0.025,3530,1875,1777,0,0,0,0,0,0,28.83,25.67,23.95
$GC,10672,1.46,132.9,892.2,18.4,207,10674,0.22,0.00,0.00,0.000,6,0.178,0.000,3471,1877,1767,0,0,0,0,0,0,25.81,28.83,28.83
$GC,11032,1.40,132.9,833.0,16.9,210,11040,0.00,2.50,0.00,0.000,4,0.000,0.039,3468,3451,1767,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11171,1.35,132.9,813.1,16.5,211,11176,0.17,2.50,0.00,0.000,6,0.184,0.028,3435,1832,1767,0,0,0,0,0,0,25.96,26.39,28.83
$GC,11503,1.35,132.9,759.4,15.5,214,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1832,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11863,1.35,132.9,703.8,15.4,217,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1832,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,1.35,132.9,650.3,15.0,220,12231,0.00,2.58,0.00,0.000,4,0.000,0.038,3433,3456,1763,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12312,1.35,132.9,650.3,15.0,220,12316,0.00,2.50,0.00,0.000,6,0.000,0.027,3443,1829,1763,0,0,0,0,0,0,28.83,26.50,28.83
$GC,12694,1.35,132.9,584.2,14.0,224,12701,0.00,2.38,0.00,0.000,4,0.000,0.046,3455,349,1761,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12763,1.35,132.9,584.2,14.0,224,12767,0.00,2.35,0.00,0.000,6,0.000,0.024,3455,1899,1760,0,0,0,0,0,0,28.83,26.57,28.83
$GC,13164,1.35,132.9,521.2,13.4,228,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1900,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13464,1.35,132.9,474.8,14.9,231,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1899,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13765,1.35,132.9,425.0,16.7,236,13772,0.00,2.45,0.00,0.000,4,0.000,0.039,3455,3451,1760,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13873,1.35,132.9,414.5,16.9,237,13878,0.12,2.50,0.00,0.000,6,0.180,0.026,3437,1824,1760,0,0,0,0,0,0,26.17,26.53,28.83
$GC,14175,1.38,132.9,363.6,13.7,242,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1823,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14475,1.41,132.9,325.9,12.5,247,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1823,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14774,1.44,132.9,289.2,12.2,252,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1823,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15074,1.48,132.9,249.0,13.6,257,15083,0.12,2.58,0.00,0.000,4,0.090,0.037,3489,3460,1761,0,0,0,0,0,0,26.70,26.45,28.83
$GC,15223,1.48,132.9,227.6,15.9,259,15228,0.00,2.50,0.00,0.000,6,0.000,0.026,3499,1826,1760,0,0,0,0,0,0,28.83,26.54,28.83
$GC,15545,1.48,132.9,163.3,18.1,265,15549,0.00,2.35,0.00,0.000,4,0.000,0.045,3511,354,1761,0,0,0,0,0,0,28.83,26.40,28.83
$GC,15695,1.45,132.9,138.1,17.7,268,15700,0.15,2.33,0.00,0.000,6,0.170,0.024,3473,1901,1761,0,0,0,0,0,0,26.12,26.60,28.83
$GC,16009,1.48,132.9,91.4,14.3,279,16016,0.00,2.40,0.00,0.000,4,0.000,0.037,3467,3446,1765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,16248,1.50,132.9,59.8,12.4,293,16257,0.00,2.47,0.00,0.000,6,0.000,0.026,3478,1824,1762,0,0,0,0,0,0,28.83,26.55,28.83
$GC,16559,1.54,132.9,27.7,10.9,324,16568,0.00,2.33,0.00,0.000,4,0.000,0.045,3488,358,1762,0,0,0,0,0,0,28.83,26.40,28.83
$GC,16688,1.54,132.9,12.0,12.3,337,16698,0.00,2.30,0.00,0.000,6,0.000,0.024,3493,1886,1762,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,16766,end climb,SURFACE_DEPTH_REACHED
$STATE,16766,begin surface coast
$FINISH,0.8,1.024577
$STATE,16789,end surface coast,CONTROL_FINISHED_OK
$STATE,16789,begin surface
$SM_CCo,16807,62.92,0.129,0,0,1095,300.00
$SM_GC,1.58,8.65,0.08,62.92,0.037,0.106,0.129,161,1827,1095,-8.82,0.59,300.00,0,0,0,0,0,0,26.55,26.79,26.14
$IRIDIUM_FIX,2427.58,-3803.31,141012,010153
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,7729952
$TM_FREEKB,6984352
$24V_AH,23.8,20.816
$10V_AH,10.3,18.285
$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,22.375,117.025,185.250,62.925,0.000,28.875,39.117,212.876,0.000,0.000,20.430,1505.088,13610.069,497.007,1554.681,196.374,33.254,1133.101,0.000,1140.711,0.000,0.536,0.000
$DEVICE_MAMPS,205.785,108.630,1665.405,129.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16770.000,3813.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.517,13.504,0.000,0.000
$MEM,344524
$DATA_FILE_SIZE,10105,347
$CAP_FILE_SIZE,126818,0
$CFSIZE,260034560,243814400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141012,134234,2433.679,-3802.784,27,0.7,28,-14.0