version: 66.11
glider: 189
mission: 7
dive: 5
start: 9 14 112 5 26 22
data:
$ID,189
$MISSION,7
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,15
$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,330
$T_MISSION,400
$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,-45714.816
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$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,2331
$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
$GPS1,140912,052123,2435.670,-3801.979,11,1.6,12,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.3
$GPS2,140912,052523,2435.674,-3801.972,17,0.9,18,-14.0
$SPEED_LIMITS,0.173,0.246
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.203,0.139
$KALMAN_X,-5953.3,-110.5,-55.4,6347.4,-3419.3
$KALMAN_Y,-2673.2,-130.3,-242.0,5632.7,-2227.7
$MHEAD_RNG_PITCHd_Wd,69.6,33164,-19.1,-10.000,-22.15
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.86,-146.6,0.0,0.0,0,74,0.00,0.00,-52.38,0.000,2,0.000,0.000,155,2031,2681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.86,-146.6,2.7,-4.0,5,99,10.15,2.38,-6.07,0.000,4,0.228,0.074,2742,594,2931,0,0,0,0,0,0,26.05,26.35,26.73
$GC,324,-0.86,-146.6,54.0,-24.0,28,331,0.00,2.15,0.00,0.000,6,0.000,0.032,2732,2049,2932,0,0,0,0,0,0,28.83,26.58,28.83
$GC,631,-0.86,-146.6,101.0,-13.4,44,636,0.00,2.30,0.00,0.000,4,0.000,0.062,2732,597,2934,0,0,0,0,0,0,28.83,26.52,28.83
$GC,657,-0.86,-146.6,104.4,-14.0,45,662,0.00,2.12,0.00,0.000,6,0.000,0.031,2721,2046,2934,0,0,0,0,0,0,28.83,26.66,28.83
$GC,974,-0.86,-146.6,153.6,-17.2,61,979,0.00,2.03,0.00,0.000,4,0.000,0.026,2710,3472,2934,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1205,-0.86,-146.6,188.0,-15.2,72,1211,0.12,2.30,0.00,0.000,6,0.168,0.052,2740,1993,2934,0,0,0,0,0,0,26.45,26.62,28.83
$GC,1517,-0.86,-146.6,236.8,-15.0,88,1522,0.00,2.20,0.00,0.000,4,0.000,0.063,2744,596,2934,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1750,-0.86,-146.6,276.4,-18.0,99,1755,0.00,2.12,0.00,0.000,6,0.000,0.033,2731,2047,2934,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2073,-0.86,-146.6,319.4,-12.9,113,2079,0.00,2.30,0.00,0.000,4,0.000,0.063,2731,596,2934,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2094,-0.86,-146.6,319.4,-12.9,113,2099,0.00,2.12,0.00,0.000,6,0.000,0.032,2720,2043,2934,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2406,-0.86,-146.6,365.1,-13.1,124,2411,0.00,2.03,0.00,0.000,4,0.000,0.028,2709,3466,2935,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2637,-0.86,-146.6,390.6,-12.1,131,2643,0.12,2.28,0.00,0.000,6,0.164,0.055,2740,2006,2932,0,0,0,0,0,0,26.53,26.68,28.83
$GC,2950,-0.86,-146.6,432.1,-12.5,142,2955,0.00,2.25,0.00,0.000,4,0.000,0.065,2740,586,2931,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3181,-0.86,-146.6,469.5,-18.5,149,3186,0.00,2.15,0.00,0.000,6,0.000,0.034,2731,2047,2929,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3493,-0.86,-146.6,516.5,-13.9,160,3498,0.00,2.03,0.00,0.000,4,0.000,0.028,2720,3466,2928,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3723,-0.86,-146.6,543.1,-12.3,167,3729,0.00,2.30,0.00,0.000,6,0.000,0.056,2720,1999,2927,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4035,-0.86,-146.6,586.5,-13.1,178,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1998,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4335,-0.86,-146.6,625.4,-12.7,188,4340,0.00,2.22,0.00,0.000,4,0.000,0.067,2720,597,2923,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4536,-0.86,-146.6,656.4,-17.6,194,4542,0.12,2.15,0.00,0.000,6,0.190,0.034,2738,2047,2922,0,0,0,0,0,0,26.48,26.82,28.83
$GC,4849,-0.86,-146.6,697.1,-11.8,205,4854,0.00,2.05,0.00,0.000,4,0.000,0.029,2728,3475,2920,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5079,-0.86,-146.6,720.8,-11.1,212,5084,0.00,2.33,0.00,0.000,6,0.000,0.057,2728,1999,2919,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5391,-0.86,-146.6,765.5,-14.1,223,5396,0.00,2.25,0.00,0.000,4,0.000,0.069,2729,591,2917,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5622,-0.86,-146.6,804.0,-18.3,230,5627,0.00,2.17,0.00,0.000,6,0.000,0.035,2717,2043,2915,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5934,-0.86,-146.6,849.9,-13.1,241,5939,0.00,2.05,0.00,0.000,4,0.000,0.030,2706,3465,2916,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6165,-0.86,-146.6,873.9,-11.0,248,6170,0.12,2.30,0.00,0.000,6,0.160,0.058,2738,2009,2913,0,0,0,0,0,0,26.51,26.65,28.83
$GC,6477,-0.86,-146.6,909.5,-10.6,259,6483,0.00,2.12,0.00,0.000,4,0.000,0.031,2729,3474,2912,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6583,-0.86,-146.6,918.1,-9.5,262,6589,0.00,2.33,0.00,0.000,6,0.000,0.058,2729,2003,2911,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6900,-0.86,-146.6,952.6,-10.8,273,6905,0.00,2.28,0.00,0.000,4,0.000,0.070,2729,587,2909,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7131,-0.86,-146.6,984.8,-15.9,280,7136,0.00,2.17,0.00,0.000,6,0.000,0.037,2718,2033,2908,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,7171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7172,begin apogee
$GC,7175,-0.18,0.0,993.3,-15.0,282,7302,0.73,0.00,121.18,1.688,6,0.134,0.000,2953,2033,2329,0,0,0,0,0,0,26.41,28.83,23.77
$STATE,7304,end apogee,CONTROL_FINISHED_OK
$STATE,7304,begin climb
$GC,7306,0.86,146.6,997.5,0.0,286,7445,0.98,2.53,128.95,1.651,4,0.071,0.069,3305,597,1734,0,0,0,0,0,0,25.00,24.75,23.72
$GC,7491,0.86,146.6,979.4,13.7,292,7496,0.00,2.25,0.00,0.000,6,0.000,0.034,3305,2029,1730,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7808,0.86,146.6,913.6,19.3,303,7813,0.00,2.12,0.00,0.000,4,0.000,0.029,3305,3466,1726,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7854,0.86,146.6,907.5,19.1,304,7859,0.00,2.38,0.00,0.000,6,0.000,0.059,3317,2003,1725,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8171,0.86,146.6,843.8,19.3,315,8176,0.00,2.30,0.00,0.000,4,0.000,0.070,3327,589,1723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8242,0.86,146.6,829.0,21.3,317,8248,0.12,2.20,0.00,0.000,6,0.217,0.036,3302,2032,1722,0,0,0,0,0,0,26.18,26.47,28.83
$GC,8565,0.86,146.6,767.5,17.5,328,8570,0.00,2.10,0.00,0.000,4,0.000,0.030,3302,3476,1721,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8597,0.86,146.6,762.0,17.2,329,8602,0.00,2.35,0.00,0.000,6,0.000,0.059,3312,2006,1721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8929,0.86,146.6,702.5,17.9,340,8934,0.00,2.28,0.00,0.000,4,0.000,0.070,3323,600,1721,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9160,0.86,146.6,653.1,23.4,347,9165,0.00,2.17,0.00,0.000,6,0.000,0.037,3323,2038,1718,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9472,0.86,146.6,587.8,19.3,358,9477,0.00,2.35,0.00,0.000,4,0.000,0.070,3334,587,1718,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9703,0.86,146.6,533.9,26.3,365,9709,0.15,2.17,0.00,0.000,6,0.202,0.036,3298,2033,1716,0,0,0,0,0,0,26.37,26.69,28.83
$GC,10016,0.86,146.6,471.0,17.7,376,10021,0.00,2.08,0.00,0.000,4,0.000,0.029,3299,3471,1717,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10097,0.86,146.6,461.6,16.3,378,10103,0.00,2.33,0.00,0.000,6,0.000,0.058,3308,2007,1717,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10409,0.86,146.6,407.2,16.7,389,10414,0.00,2.28,0.00,0.000,4,0.000,0.071,3319,594,1717,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10465,0.86,146.6,401.3,17.2,390,10472,0.00,2.15,0.00,0.000,6,0.000,0.035,3320,2033,1717,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10771,0.86,146.6,341.6,18.0,401,10776,0.00,2.08,0.00,0.000,4,0.000,0.028,3320,3478,1717,0,0,0,0,0,0,28.83,26.75,28.83
$GC,10842,0.86,146.6,330.8,17.8,403,10848,0.12,2.33,0.00,0.000,6,0.187,0.058,3301,2010,1717,0,0,0,0,0,0,26.46,26.63,28.83
$GC,11155,0.86,146.6,271.5,18.8,416,11160,0.00,2.28,0.00,0.000,4,0.000,0.070,3311,596,1718,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11196,0.86,146.6,262.3,19.9,418,11201,0.00,2.15,0.00,0.000,6,0.000,0.034,3311,2040,1717,0,0,0,0,0,0,28.83,26.75,28.83
$GC,11518,0.86,146.6,202.8,16.7,434,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2040,1717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11818,0.86,146.6,154.5,15.9,449,11824,0.00,2.33,0.00,0.000,4,0.000,0.071,3322,599,1717,0,0,0,0,0,0,28.83,26.63,28.83
$GC,11949,0.86,146.6,129.7,20.4,455,11954,0.00,2.12,0.00,0.000,6,0.000,0.034,3322,2034,1717,0,0,0,0,0,0,28.83,26.78,28.83
$GC,12261,0.86,146.6,74.8,16.5,471,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2034,1717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12561,0.86,146.6,31.1,13.7,493,12566,0.00,2.33,0.00,0.000,4,0.000,0.070,3333,597,1718,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,12722,end climb,SURFACE_DEPTH_REACHED
$STATE,12722,begin surface coast
$FINISH,0.3,0.998548
$STATE,12733,end surface coast,CONTROL_FINISHED_OK
$STATE,12733,begin surface
$SM_CCo,12751,56.55,0.133,0,0,1104,300.00
$SM_GC,1.60,8.35,2.20,56.55,0.048,0.034,0.133,152,2037,1104,-8.90,-0.57,300.00,0,0,0,0,0,0,26.77,26.79,26.39
$IRIDIUM_FIX,2432.32,-3804.77,140912,050552
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.17
$INTERNAL_PRESSURE,9.08503
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,7767968
$TM_FREEKB,7881504
$24V_AH,23.7,3.667
$10V_AH,10.3,2.606
$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,21.100,115.300,250.125,56.550,0.000,0.000,0.000,0.000,0.000,0.000,19.373,2107.557,8403.761,412.962,1867.263,91.106,33.261,1355.190,0.000,1776.421,0.000,0.539,0.000
$DEVICE_MAMPS,227.970,74.205,1687.590,133.110,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12705.000,3064.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.602,13.955,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,13437,510
$CAP_FILE_SIZE,159530,0
$CFSIZE,260034560,256172032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140912,090058,2435.934,-3801.965,37,0.8,37,-14.0