version: 66.11
glider: 189
mission: 7
dive: 59
start: 9 30 112 3 38 28
data:
$ID,189
$MISSION,7
$DIVE,59
$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,-46948.066
$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
$GPS1,300912,032954,2430.842,-3801.193,42,1.0,42,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-63.6
$GPS2,300912,033730,2430.881,-3801.197,17,1.1,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.101,0.030
$KALMAN_X,10273.2,-73.0,203.3,-9220.6,1392.0
$KALMAN_Y,63817.6,112.8,-83.6,-72613.7,3096.4
$MHEAD_RNG_PITCHd_Wd,300.7,4152,-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,21,-1.58,-34.0,0.0,0.0,0,45,0.00,0.00,-21.95,0.000,2,0.000,0.000,161,1824,1754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.64,-84.4,2.1,0.0,2,96,8.82,2.50,-31.67,0.000,4,0.212,0.047,2457,3452,2664,0,0,0,0,0,0,25.93,26.29,26.67
$GC,325,-1.50,-84.4,38.7,-18.9,30,334,0.20,2.47,0.00,0.000,6,0.182,0.024,2510,1818,2666,0,0,0,0,0,0,26.01,26.45,28.83
$GC,635,-1.43,-84.4,87.0,-12.4,55,644,0.12,2.53,0.00,0.000,4,0.189,0.037,2528,3453,2667,0,0,0,0,0,0,26.30,26.48,28.83
$GC,875,-1.37,-84.4,105.5,-6.6,63,882,0.00,2.45,0.00,0.000,6,0.000,0.023,2528,1822,2668,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1206,-1.33,-86.4,126.4,-5.9,74,1214,0.17,2.28,0.00,0.000,4,0.174,0.041,2575,348,2670,0,0,0,0,0,0,26.30,26.56,28.83
$GC,1445,-1.29,-86.4,142.7,-6.9,82,1452,0.00,2.30,0.00,0.000,6,0.000,0.024,2566,1891,2671,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1775,-1.30,-94.0,159.6,-5.2,90,1783,0.00,2.42,-0.22,0.000,4,0.000,0.053,2565,347,2711,0,0,0,0,0,0,28.83,26.60,26.67
$GC,2015,-1.27,-94.0,183.1,-9.9,94,2023,0.15,2.30,0.00,0.000,6,0.177,0.024,2591,1891,2711,0,0,0,0,0,0,26.32,26.70,28.83
$GC,2376,-1.31,-94.0,217.2,-9.1,100,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1891,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2675,-1.35,-94.0,247.2,-10.2,105,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1891,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2975,-1.40,-94.0,273.8,-8.8,110,2984,0.12,2.40,0.00,0.000,4,0.087,0.041,2539,349,2712,0,0,0,0,0,0,26.77,26.63,28.83
$GC,3215,-1.38,-94.0,299.9,-10.9,114,3223,0.12,2.30,0.00,0.000,6,0.184,0.024,2556,1890,2711,0,0,0,0,0,0,26.39,26.72,28.83
$GC,3575,-1.40,-94.0,338.0,-10.7,120,3582,0.00,2.42,0.00,0.000,4,0.000,0.039,2546,3462,2711,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3674,-1.42,-94.0,344.8,-11.0,121,3678,0.00,2.47,0.00,0.000,6,0.000,0.024,2545,1814,2711,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3985,-1.42,-94.0,386.1,-11.7,127,3989,0.00,2.55,0.00,0.000,4,0.000,0.038,2533,3460,2710,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4205,-1.42,-94.0,405.9,-11.5,130,4210,0.00,2.47,0.00,0.000,6,0.000,0.024,2533,1817,2709,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4506,-1.42,-94.0,442.1,-10.4,135,4510,0.00,2.30,0.00,0.000,4,0.000,0.043,2533,345,2708,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4726,-1.42,-94.0,462.4,-11.6,138,4730,0.00,2.30,0.00,0.000,6,0.000,0.024,2522,1885,2707,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5027,-1.42,-94.0,502.7,-11.1,143,5031,0.00,2.42,0.00,0.000,4,0.000,0.040,2511,3451,2706,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5157,-1.42,-94.0,516.3,-11.5,144,5162,0.12,2.45,0.00,0.000,6,0.178,0.024,2539,1825,2706,0,0,0,0,0,0,26.37,26.71,28.83
$GC,5489,-1.42,-94.0,555.3,-11.3,147,5497,0.00,2.33,0.00,0.000,4,0.000,0.044,2540,344,2704,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5609,-1.42,-94.0,570.1,-11.4,148,5613,0.00,2.33,0.00,0.000,6,0.000,0.025,2530,1891,2703,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5960,-1.42,-94.0,612.5,-12.1,151,5968,0.00,2.42,0.00,0.000,4,0.000,0.043,2530,348,2702,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6129,-1.42,-94.0,628.9,-12.4,152,6133,0.00,2.33,0.00,0.000,6,0.000,0.024,2519,1897,2701,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6430,-1.42,-94.0,672.4,-12.7,155,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1897,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6790,-1.42,-94.0,713.1,-11.5,158,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1898,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7151,-1.45,-94.0,755.5,-11.7,161,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1897,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7510,-1.47,-94.0,799.6,-12.2,164,7518,0.00,2.45,0.00,0.000,4,0.000,0.044,2519,350,2697,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7750,-1.47,-94.0,830.2,-12.5,166,7754,0.00,2.33,0.00,0.000,6,0.000,0.025,2507,1890,2695,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8101,-1.47,-94.0,869.9,-11.6,169,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1891,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8461,-1.50,-94.0,910.6,-11.2,172,8469,0.00,2.45,0.00,0.000,4,0.000,0.045,2508,348,2692,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8630,-1.53,-94.0,926.4,-11.7,173,8634,0.00,2.33,0.00,0.000,6,0.000,0.026,2496,1885,2691,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8931,-1.53,-94.0,971.5,-13.0,176,8939,0.00,2.45,0.00,0.000,4,0.000,0.045,2496,344,2690,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9150,-1.53,-94.0,988.2,-13.1,177,9154,0.00,2.35,0.00,0.000,6,0.000,0.026,2485,1892,2689,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,9159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9160,begin apogee
$GC,9164,-0.29,0.0,1003.0,-13.2,178,9250,1.38,0.00,78.45,1.737,6,0.154,0.000,2902,1833,2320,0,0,0,0,0,0,26.06,28.83,24.00
$STATE,9252,end apogee,CONTROL_FINISHED_OK
$STATE,9252,begin climb
$GC,9253,1.65,94.0,1003.0,0.0,178,9343,1.80,0.00,85.65,1.728,6,0.067,0.000,3534,1829,1937,0,0,0,0,0,0,25.20,28.83,23.84
$GC,9642,1.54,94.0,951.7,16.0,182,9643,0.15,0.00,0.00,0.000,6,0.197,0.000,3500,1832,1929,0,0,0,0,0,0,25.84,28.83,28.83
$GC,10002,1.45,94.0,901.2,14.5,185,10004,0.12,0.00,0.00,0.000,6,0.201,0.000,3471,1833,1924,0,0,0,0,0,0,26.12,28.83,28.83
$GC,10361,1.39,94.0,855.5,12.8,188,10370,0.00,2.58,0.00,0.000,4,0.000,0.041,3467,3452,1922,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10531,1.33,94.0,838.8,13.0,189,10540,0.17,2.50,0.00,0.000,6,0.191,0.028,3435,1832,1922,0,0,0,0,0,0,26.14,26.49,28.83
$GC,10841,1.30,94.0,793.2,12.9,192,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1832,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11201,1.30,94.0,745.0,13.1,195,11205,0.00,2.38,0.00,0.000,4,0.000,0.047,3445,353,1919,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11351,1.30,94.0,729.0,13.7,196,11355,0.00,2.33,0.00,0.000,6,0.000,0.026,3437,1884,1918,0,0,0,0,0,0,28.83,26.61,28.83
$GC,11662,1.30,94.0,685.0,13.0,199,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1884,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12022,1.30,94.0,647.9,10.7,202,12026,0.00,2.47,0.00,0.000,4,0.000,0.041,3437,3459,1917,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12202,1.30,94.0,636.0,10.3,203,12207,0.00,2.50,0.00,0.000,6,0.000,0.027,3447,1825,1917,0,0,0,0,0,0,28.83,26.62,28.83
$GC,12604,1.30,94.0,583.8,11.1,207,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1825,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12963,1.30,94.0,536.6,12.8,210,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1825,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13323,1.30,94.0,485.5,14.1,213,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1825,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13624,1.30,94.0,444.5,13.5,218,13632,0.00,2.55,0.00,0.000,4,0.000,0.039,3447,3450,1917,0,0,0,0,0,0,28.83,26.58,28.83
$GC,13743,1.30,94.0,427.5,13.8,220,13749,0.15,2.47,0.00,0.000,6,0.177,0.027,3422,1826,1917,0,0,0,0,0,0,26.27,26.64,28.83
$GC,14096,1.33,94.0,388.1,10.9,226,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1826,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14396,1.37,94.0,355.3,11.1,231,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1826,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14696,1.41,94.0,315.4,13.4,236,14697,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1826,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14996,1.46,94.0,274.4,13.4,241,14998,0.15,0.00,0.00,0.000,6,0.081,0.000,3487,1826,1917,0,0,0,0,0,0,26.73,28.83,28.83
$GC,15295,1.46,94.0,232.9,13.7,246,15296,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1828,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15595,1.46,94.0,190.0,14.7,251,15600,0.00,2.55,0.00,0.000,4,0.000,0.037,3484,3459,1918,0,0,0,0,0,0,28.83,26.59,28.83
$GC,15828,1.43,94.0,155.2,15.1,255,15836,0.10,2.47,0.00,0.000,6,0.163,0.025,3467,1819,1918,0,0,0,0,0,0,26.29,26.65,28.83
$GC,16158,1.46,94.0,113.2,12.7,265,16165,0.00,2.33,0.00,0.000,4,0.000,0.044,3469,351,1917,0,0,0,0,0,0,28.83,26.56,28.83
$GC,16236,1.46,94.0,103.9,14.2,267,16240,0.00,2.30,0.00,0.000,6,0.000,0.024,3468,1889,1919,0,0,0,0,0,0,28.83,26.70,28.83
$GC,16537,1.49,94.0,62.7,11.3,283,16546,0.00,2.42,0.00,0.000,4,0.000,0.038,3468,3452,1920,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16777,1.49,94.0,39.5,7.8,307,16786,0.00,2.47,0.00,0.000,6,0.000,0.024,3479,1815,1920,0,0,0,0,0,0,28.83,26.67,28.83
$GC,17087,1.53,94.0,12.1,9.6,338,17096,0.00,2.55,0.00,0.000,4,0.000,0.037,3479,3453,1922,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,17175,end climb,SURFACE_DEPTH_REACHED
$STATE,17175,begin surface coast
$FINISH,0.6,1.024418
$STATE,17197,end surface coast,CONTROL_FINISHED_OK
$STATE,17198,begin surface
$SM_CCo,17219,76.62,0.137,0,0,1096,300.00
$SM_GC,1.76,8.70,2.47,76.62,0.042,0.028,0.137,161,1816,1096,-8.83,0.54,300.00,0,0,0,0,0,0,26.69,26.67,26.22
$IRIDIUM_FIX,2429.95,-3748.13,290912,222212
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.38
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.30
$XPDR_PINGS,4
$SC_FREEKB,7747232
$TM_FREEKB,7359584
$24V_AH,23.8,12.893
$10V_AH,10.3,11.975
$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,22.575,106.525,164.100,76.625,0.000,28.133,47.013,207.847,1.000,0.000,18.058,1476.330,14174.185,476.419,1474.192,151.137,33.241,1071.741,0.000,1083.654,0.000,0.535,0.000
$DEVICE_MAMPS,211.905,107.100,1737.315,136.935,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17178.000,3881.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.407,13.555,0.000,0.000
$MEM,344672
$DATA_FILE_SIZE,10074,349
$CAP_FILE_SIZE,125992,0
$CFSIZE,260034560,248102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300912,082758,2431.369,-3802.861,41,0.9,41,-14.0