version: 66.11
glider: 189
mission: 7
dive: 6
start: 9 14 112 9 12 41
data:
$ID,189
$MISSION,7
$DIVE,6
$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,-45716.07
$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
$GPS1,140912,090058,2435.934,-3801.965,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.1
$GPS2,140912,091142,2435.962,-3801.953,21,1.0,22,-14.0
$SPEED_LIMITS,0.173,0.246
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.224,0.101
$KALMAN_X,-10263.2,290.3,-147.3,10373.6,-5780.7
$KALMAN_Y,-4622.3,-1031.7,384.0,8381.5,-3162.9
$MHEAD_RNG_PITCHd_Wd,79.6,32790,-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,19,-0.86,-146.6,0.0,0.0,0,63,0.00,0.00,-41.70,0.000,2,0.000,0.000,152,2038,2336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.86,-146.6,2.2,-3.2,4,101,10.23,2.38,-16.58,0.000,4,0.230,0.075,2736,602,2929,0,0,0,0,0,0,25.96,26.22,26.60
$GC,326,-0.86,-146.6,55.4,-25.7,28,331,0.00,2.15,0.00,0.000,6,0.000,0.032,2726,2041,2932,0,0,0,0,0,0,28.83,26.48,28.83
$GC,638,-0.86,-146.6,109.9,-16.1,44,643,0.00,2.05,0.00,0.000,4,0.000,0.026,2715,3479,2934,0,0,0,0,0,0,28.83,26.59,28.83
$GC,869,-0.86,-146.6,142.9,-14.9,55,874,0.00,2.30,0.00,0.000,6,0.000,0.053,2715,2007,2934,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1180,-0.86,-146.6,184.5,-12.1,71,1186,0.00,2.10,0.00,0.000,4,0.000,0.026,2704,3479,2935,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1411,-0.86,-146.6,211.4,-13.0,82,1417,0.15,2.30,0.00,0.000,6,0.159,0.052,2743,2001,2935,0,0,0,0,0,0,26.48,26.62,28.83
$GC,1724,-0.86,-146.6,256.1,-14.4,98,1729,0.00,2.22,0.00,0.000,4,0.000,0.064,2744,596,2935,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1954,-0.86,-146.6,296.4,-17.8,109,1960,0.00,2.12,0.00,0.000,6,0.000,0.033,2734,2045,2935,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2286,-0.86,-146.6,341.0,-12.5,121,2292,0.00,2.03,0.00,0.000,4,0.000,0.027,2723,3469,2935,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2517,-0.86,-146.6,365.2,-11.3,128,2522,0.00,2.30,0.00,0.000,6,0.000,0.054,2723,1997,2934,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2829,-0.86,-146.6,410.7,-14.2,139,2834,0.00,2.10,0.00,0.000,4,0.000,0.028,2712,3465,2934,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3055,-0.86,-146.6,437.8,-12.7,146,3061,0.12,2.28,0.00,0.000,6,0.160,0.054,2743,2007,2932,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3374,-0.86,-146.6,481.2,-13.1,157,3379,0.00,2.25,0.00,0.000,4,0.000,0.066,2744,590,2930,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3605,-0.86,-146.6,515.7,-16.4,164,3610,0.00,2.15,0.00,0.000,6,0.000,0.034,2734,2049,2929,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3917,-0.86,-146.6,555.6,-11.7,175,3922,0.00,2.03,0.00,0.000,4,0.000,0.028,2724,3466,2929,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4147,-0.86,-146.6,578.3,-10.6,182,4152,0.00,2.30,0.00,0.000,6,0.000,0.055,2723,1998,2931,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4459,-0.86,-146.6,617.7,-12.0,193,4464,0.00,2.22,0.00,0.000,4,0.000,0.067,2724,597,2926,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4690,-0.86,-146.6,654.6,-18.1,200,4696,0.12,2.12,0.00,0.000,6,0.185,0.034,2742,2037,2925,0,0,0,0,0,0,26.52,26.82,28.83
$GC,5003,-0.86,-146.6,694.4,-10.8,211,5009,0.00,2.05,0.00,0.000,4,0.000,0.029,2732,3466,2924,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5234,-0.86,-146.6,716.4,-10.3,218,5239,0.00,2.30,0.00,0.000,6,0.000,0.057,2732,2003,2923,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5546,-0.86,-146.6,757.5,-12.8,229,5551,0.00,2.12,0.00,0.000,4,0.000,0.030,2721,3475,2921,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5776,-0.86,-146.6,781.8,-11.2,236,5782,0.00,2.33,0.00,0.000,6,0.000,0.057,2721,2003,2921,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6088,-0.86,-146.6,823.7,-12.9,247,6093,0.00,2.25,0.00,0.000,4,0.000,0.068,2721,594,2919,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6319,-0.86,-146.6,860.3,-17.8,254,6325,0.12,2.15,0.00,0.000,6,0.187,0.036,2740,2040,2921,0,0,0,0,0,0,26.51,26.82,28.83
$GC,6633,-0.86,-146.6,901.7,-11.6,265,6638,0.00,2.05,0.00,0.000,4,0.000,0.030,2730,3460,2917,0,0,0,0,0,0,28.83,26.80,28.83
$GC,6864,-0.86,-146.6,922.9,-9.6,272,6869,0.00,2.30,0.00,0.000,6,0.000,0.057,2730,2006,2914,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7176,-0.86,-146.6,959.0,-11.2,283,7181,0.00,2.12,0.00,0.000,4,0.000,0.030,2719,3473,2915,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7232,-0.86,-146.6,962.6,-11.1,284,7239,0.00,2.33,0.00,0.000,6,0.000,0.057,2719,2001,2914,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,7476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7476,begin apogee
$GC,7480,-0.18,0.0,992.6,-11.3,293,7607,0.73,0.00,121.82,1.694,6,0.132,0.000,2954,2001,2331,0,0,0,0,0,0,26.48,28.83,23.79
$STATE,7609,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7611,0.86,146.6,995.7,0.0,297,7750,0.98,2.33,128.93,1.649,4,0.069,0.028,3295,3460,1733,0,0,0,0,0,0,24.96,24.76,23.71
$GC,7846,0.86,146.6,968.6,16.1,305,7851,0.00,2.40,0.00,0.000,6,0.000,0.057,3306,2009,1730,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8173,0.86,146.6,908.6,18.3,316,8178,0.00,2.15,0.00,0.000,4,0.000,0.029,3306,3461,1725,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8403,0.86,146.6,874.9,15.4,323,8408,0.00,2.33,0.00,0.000,6,0.000,0.057,3316,2008,1725,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8715,0.86,146.6,815.0,18.7,334,8720,0.00,2.30,0.00,0.000,4,0.000,0.069,3327,590,1723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8891,0.86,146.6,777.5,25.4,339,8898,0.12,2.17,0.00,0.000,6,0.217,0.036,3301,2028,1721,0,0,0,0,0,0,26.26,26.54,28.83
$GC,9197,0.86,146.6,712.5,19.1,350,9202,0.00,2.10,0.00,0.000,4,0.000,0.029,3300,3473,1721,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9238,0.86,146.6,706.6,19.0,351,9243,0.00,2.35,0.00,0.000,6,0.000,0.059,3310,2004,1720,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9560,0.86,146.6,640.6,20.8,362,9565,0.00,2.28,0.00,0.000,4,0.000,0.071,3321,597,1718,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9655,0.86,146.6,617.0,24.5,365,9661,0.00,2.15,0.00,0.000,6,0.000,0.036,3321,2028,1722,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9983,0.86,146.6,547.9,19.8,376,9988,0.00,2.08,0.00,0.000,4,0.000,0.029,3321,3466,1719,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10058,0.86,146.6,536.4,18.9,378,10064,0.12,2.30,0.00,0.000,6,0.193,0.058,3303,2008,1719,0,0,0,0,0,0,26.42,26.58,28.83
$GC,10377,0.86,146.6,478.4,17.5,389,10382,0.00,2.28,0.00,0.000,4,0.000,0.071,3312,598,1719,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10438,0.86,146.6,464.9,19.2,391,10444,0.00,2.15,0.00,0.000,6,0.000,0.036,3313,2030,1718,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10771,0.86,146.6,403.8,18.1,402,10776,0.00,2.08,0.00,0.000,4,0.000,0.028,3312,3476,1718,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10791,0.86,146.6,403.8,18.1,402,10797,0.00,2.33,0.00,0.000,6,0.000,0.057,3323,2008,1715,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11104,0.86,146.6,340.6,19.5,413,11109,0.00,2.28,0.00,0.000,4,0.000,0.070,3334,594,1718,0,0,0,0,0,0,28.83,26.61,28.83
$GC,11144,0.86,146.6,333.5,20.1,414,11150,0.15,2.15,0.00,0.000,6,0.199,0.034,3299,2035,1718,0,0,0,0,0,0,26.43,26.74,28.83
$GC,11457,0.86,146.6,274.3,17.7,427,11462,0.00,2.05,0.00,0.000,4,0.000,0.028,3299,3466,1718,0,0,0,0,0,0,28.83,26.76,28.83
$GC,11502,0.86,146.6,267.4,17.3,429,11508,0.00,2.33,0.00,0.000,6,0.000,0.058,3309,1998,1718,0,0,0,0,0,0,28.83,26.64,28.83
$GC,11819,0.86,146.6,210.7,17.2,445,11824,0.00,2.25,0.00,0.000,4,0.000,0.070,3320,598,1717,0,0,0,0,0,0,28.83,26.63,28.83
$GC,11881,0.86,146.6,198.0,19.5,448,11886,0.00,2.12,0.00,0.000,6,0.000,0.034,3321,2035,1718,0,0,0,0,0,0,28.83,26.76,28.83
$GC,12202,0.86,146.6,143.5,16.6,464,12203,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2035,1717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12503,0.86,146.6,93.2,17.6,479,12509,0.00,2.33,0.00,0.000,4,0.000,0.071,3331,594,1718,0,0,0,0,0,0,28.83,26.67,28.83
$GC,12569,0.86,146.6,79.8,20.2,482,12575,0.12,2.12,0.00,0.000,6,0.191,0.033,3302,2036,1718,0,0,0,0,0,0,26.51,26.79,28.83
$GC,12876,0.86,146.6,36.2,12.3,502,12882,0.00,2.08,0.00,0.000,4,0.000,0.027,3302,3476,1718,0,0,0,0,0,0,28.83,26.79,28.83
$GC,12973,0.86,146.6,25.1,11.8,511,12979,0.00,2.33,0.00,0.000,6,0.000,0.057,3313,2001,1718,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,13138,end climb,SURFACE_DEPTH_REACHED
$STATE,13138,begin surface coast
$FINISH,0.4,1.000214
$STATE,13159,end surface coast,CONTROL_FINISHED_OK
$STATE,13159,begin surface
$SM_CCo,13175,56.47,0.134,0,0,1104,300.00
$SM_GC,1.62,8.23,0.00,56.47,0.044,0.000,0.134,154,2001,1104,-8.89,-0.25,300.00,0,0,0,0,0,0,26.77,28.83,26.40
$IRIDIUM_FIX,2429.95,-3746.26,140912,050511
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.15
$INTERNAL_PRESSURE,9.08503
$TCM_TEMP,23.50
$XPDR_PINGS,2
$SC_FREEKB,7767584
$TM_FREEKB,7876224
$24V_AH,23.7,3.811
$10V_AH,10.4,2.730
$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,21.200,119.175,250.750,56.475,0.000,30.956,40.118,330.676,0.500,0.000,23.145,2233.485,8587.629,417.827,2513.625,120.441,33.232,1421.220,0.000,1891.188,0.000,0.537,0.000
$DEVICE_MAMPS,229.500,74.970,1693.710,133.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13169.000,3315.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.708,13.618,0.000,0.000
$MEM,344892
$DATA_FILE_SIZE,13416,530
$CAP_FILE_SIZE,155245,0
$CFSIZE,260034560,256045056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140912,125422,2436.388,-3801.688,38,1.2,38,-14.0