version: 66.11
glider: 189
mission: 7
dive: 58
start: 9 29 112 23 0 53
data:
$ID,189
$MISSION,7
$DIVE,58
$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,-46946.809
$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
$GPS1,290912,225235,2431.293,-3802.878,31,0.9,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-63.6
$GPS2,290912,225954,2431.323,-3802.888,21,0.9,21,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.063,-0.085
$KALMAN_X,9721.3,-196.2,123.0,-11311.6,1335.2
$KALMAN_Y,62736.2,-369.3,-335.0,-69969.9,3300.8
$MHEAD_RNG_PITCHd_Wd,157.3,3447,-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,21,begin dive
$GC,23,-1.58,-34.0,0.0,0.0,0,56,0.00,0.00,-31.85,0.000,2,0.000,0.000,157,1836,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.59,-45.0,2.4,-4.8,3,87,9.10,2.38,-13.70,0.000,4,0.223,0.055,2481,344,2505,0,0,0,0,0,0,25.92,26.29,26.65
$GC,316,-1.42,-45.0,27.9,-12.9,29,325,0.28,2.33,0.00,0.000,6,0.190,0.024,2540,1887,2508,0,0,0,0,0,0,25.94,26.45,28.83
$GC,626,-1.36,-45.0,53.0,-6.7,60,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1887,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,926,-1.37,-95.2,58.7,-0.0,90,936,0.00,2.40,-1.65,0.000,4,0.000,0.054,2549,352,2714,0,0,0,0,0,0,28.83,26.53,26.86
$GC,1027,-1.30,-95.2,65.2,-9.5,100,1036,0.12,2.30,0.00,0.000,6,0.167,0.024,2575,1896,2715,0,0,0,0,0,0,26.22,26.63,28.83
$GC,1345,-1.30,-95.2,95.0,-9.1,118,1350,0.00,2.40,0.00,0.000,4,0.000,0.038,2565,3450,2717,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1426,-1.30,-95.2,101.8,-8.6,121,1431,0.00,2.45,0.00,0.000,6,0.000,0.023,2566,1812,2718,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1747,-1.30,-95.2,128.8,-9.2,132,1751,0.00,2.28,0.00,0.000,4,0.000,0.041,2565,353,2718,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1978,-1.26,-95.2,152.1,-10.0,140,1987,0.15,2.30,0.00,0.000,6,0.177,0.024,2591,1900,2718,0,0,0,0,0,0,26.31,26.70,28.83
$GC,2339,-1.29,-95.2,178.9,-7.3,146,2347,0.00,2.42,0.00,0.000,4,0.000,0.041,2591,346,2719,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2582,-1.29,-95.2,205.1,-11.0,150,2587,0.00,2.25,0.00,0.000,6,0.000,0.024,2581,1902,2719,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2939,-1.33,-95.2,241.1,-9.8,156,2946,0.00,2.42,0.00,0.000,4,0.000,0.041,2581,344,2719,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3059,-1.35,-95.2,253.8,-10.1,158,3067,0.00,2.30,0.00,0.000,6,0.000,0.024,2570,1890,2719,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3419,-1.38,-95.2,292.5,-10.8,164,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1890,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3719,-1.41,-95.2,323.5,-10.4,169,3726,0.00,2.40,0.00,0.000,4,0.000,0.041,2570,351,2717,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3959,-1.41,-95.2,348.2,-10.3,173,3966,0.00,2.30,0.00,0.000,6,0.000,0.024,2558,1892,2716,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4319,-1.44,-95.2,382.1,-9.1,179,4327,0.00,2.42,0.00,0.000,4,0.000,0.041,2559,341,2715,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4559,-1.44,-95.2,407.2,-10.5,183,4567,0.00,2.33,0.00,0.000,6,0.000,0.024,2547,1894,2715,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4919,-1.47,-95.2,439.1,-8.8,189,4927,0.00,2.42,0.00,0.000,4,0.000,0.042,2547,347,2713,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5159,-1.47,-95.2,467.7,-11.9,193,5166,0.00,2.33,0.00,0.000,6,0.000,0.025,2536,1896,2712,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5579,-1.49,-95.2,518.8,-12.2,199,5586,0.00,2.42,0.00,0.000,4,0.000,0.042,2536,351,2711,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5788,-1.49,-95.2,534.7,-12.6,200,5792,0.00,2.30,0.00,0.000,6,0.000,0.025,2525,1885,2710,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6169,-1.49,-95.2,592.9,-12.3,204,6173,0.00,2.42,0.00,0.000,4,0.000,0.043,2525,344,2708,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6319,-1.49,-95.2,607.8,-12.2,205,6323,0.00,2.33,0.00,0.000,6,0.000,0.025,2514,1889,2707,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6630,-1.49,-95.2,651.3,-12.6,208,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1890,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,-1.49,-95.2,696.2,-12.5,211,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1890,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7350,-1.49,-95.2,736.4,-11.5,214,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1890,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,-1.51,-95.2,772.1,-10.0,217,7718,0.00,2.42,0.00,0.000,4,0.000,0.044,2513,354,2702,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7869,-1.51,-95.2,784.6,-10.0,218,7873,0.00,2.33,0.00,0.000,6,0.000,0.025,2502,1894,2700,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8180,-1.51,-95.2,822.9,-10.8,221,8187,0.00,2.45,0.00,0.000,4,0.000,0.044,2502,346,2699,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8369,-1.51,-95.2,838.0,-11.3,222,8373,0.00,2.33,0.00,0.000,6,0.000,0.025,2491,1885,2699,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8771,-1.51,-95.2,896.0,-12.3,226,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1885,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9130,-1.51,-95.2,942.3,-12.7,229,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1885,2696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9489,begin apogee
$GC,9493,-0.29,0.0,990.2,-13.2,232,9579,1.35,0.00,79.72,1.715,6,0.155,0.000,2900,1833,2318,0,0,0,0,0,0,26.04,28.83,24.01
$STATE,9581,end apogee,CONTROL_FINISHED_OK
$STATE,9581,begin climb
$GC,9582,1.65,95.2,990.2,0.0,232,9680,1.80,2.72,86.30,1.713,4,0.069,0.041,3532,3446,1930,0,0,0,0,0,0,25.18,24.85,23.84
$GC,9829,1.59,145.6,980.7,0.0,234,9880,0.15,2.58,43.88,1.668,6,0.207,0.028,3510,1826,1725,0,0,0,0,0,0,25.62,25.86,24.03
$GC,10211,1.50,145.6,900.9,16.6,238,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1826,1719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10570,1.43,145.6,837.4,17.5,241,10579,0.17,2.58,0.00,0.000,4,0.192,0.041,3453,3450,1716,0,0,0,0,0,0,26.08,26.34,28.83
$GC,10650,1.36,145.6,837.4,17.5,241,10655,0.10,2.50,0.00,0.000,6,0.203,0.028,3443,1831,1715,0,0,0,0,0,0,26.16,26.40,28.83
$GC,11042,1.36,145.6,756.9,17.1,245,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1831,1713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11401,1.36,145.6,702.0,15.5,248,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1831,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11761,1.36,145.6,652.2,14.0,251,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1831,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12121,1.36,145.6,600.3,14.2,254,12126,0.00,2.55,0.00,0.000,4,0.000,0.040,3437,3450,1711,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12202,1.36,145.6,600.3,14.2,254,12206,0.00,2.50,0.00,0.000,6,0.000,0.027,3448,1819,1710,0,0,0,0,0,0,28.83,26.60,28.83
$GC,12583,1.36,145.6,527.2,15.9,258,12591,0.00,2.58,0.00,0.000,4,0.000,0.040,3453,3456,1710,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12703,1.36,145.6,508.0,15.8,259,12707,0.00,2.50,0.00,0.000,6,0.000,0.027,3460,1821,1711,0,0,0,0,0,0,28.83,26.62,28.83
$GC,13054,1.36,145.6,457.7,14.0,264,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1821,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13354,1.36,145.6,409.7,16.3,269,13358,0.00,2.58,0.00,0.000,4,0.000,0.040,3460,3461,1710,0,0,0,0,0,0,28.83,26.56,28.83
$GC,13494,1.36,145.6,390.1,17.3,271,13499,0.12,2.50,0.00,0.000,6,0.179,0.027,3442,1822,1710,0,0,0,0,0,0,26.34,26.64,28.83
$GC,13817,1.39,145.6,330.6,16.9,277,13824,0.00,2.35,0.00,0.000,4,0.000,0.046,3452,345,1710,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13885,1.42,145.6,320.0,17.2,278,13889,0.00,2.33,0.00,0.000,6,0.000,0.025,3449,1882,1709,0,0,0,0,0,0,28.83,26.67,28.83
$GC,14227,1.45,145.6,264.6,15.2,284,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1884,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14527,1.49,145.6,217.4,16.0,289,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1884,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14827,1.53,145.6,168.8,16.0,294,14829,0.12,0.00,0.00,0.000,6,0.091,0.000,3501,1884,1709,0,0,0,0,0,0,26.74,28.83,28.83
$GC,15127,1.53,145.6,126.7,13.0,301,15134,0.00,2.45,0.00,0.000,4,0.000,0.039,3500,3459,1709,0,0,0,0,0,0,28.83,26.60,28.83
$GC,15366,1.53,145.6,89.8,14.5,309,15370,0.00,2.47,0.00,0.000,6,0.000,0.026,3510,1827,1710,0,0,0,0,0,0,28.83,26.66,28.83
$GC,15668,1.53,145.6,47.2,13.0,332,15677,0.00,2.55,0.00,0.000,4,0.000,0.038,3510,3462,1710,0,0,0,0,0,0,28.83,26.60,28.83
$GC,15907,1.53,145.6,11.5,15.6,356,15912,0.12,2.47,0.00,0.000,6,0.180,0.026,3492,1826,1710,0,0,0,0,0,0,26.35,26.67,28.83
$STATE,15967,end climb,SURFACE_DEPTH_REACHED
$STATE,15967,begin surface coast
$FINISH,0.6,1.024424
$STATE,15990,end surface coast,CONTROL_FINISHED_OK
$STATE,15990,begin surface
$SM_CCo,16008,57.70,0.132,0,0,1094,300.00
$SM_GC,1.71,8.73,0.00,57.70,0.043,0.000,0.132,161,1825,1094,-8.83,-0.71,300.00,0,0,0,0,0,0,26.68,28.83,26.26
$IRIDIUM_FIX,2432.32,-3749.59,290912,171706
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.69
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,23.80
$XPDR_PINGS,8
$SC_FREEKB,7747616
$TM_FREEKB,7365760
$24V_AH,23.8,12.793
$10V_AH,10.4,11.877
$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,22.325,101.775,209.900,57.700,0.000,26.724,35.571,197.890,2.000,0.000,21.887,1431.520,13035.524,467.943,1423.714,146.815,33.253,1051.448,0.000,1053.115,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,110.160,1715.130,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15972.000,3945.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.537,13.539,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,10096,364
$CAP_FILE_SIZE,120260,0
$CFSIZE,260034560,248180736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300912,032954,2430.842,-3801.193,42,1.0,42,-14.0