version: 66.11
glider: 189
mission: 7
dive: 62
start: 9 30 112 19 11 53
data:
$ID,189
$MISSION,7
$DIVE,62
$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,-46952.125
$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
$GPS1,300912,190330,2432.178,-3803.323,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.1
$GPS2,300912,191054,2432.190,-3803.377,21,0.9,21,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.025,-0.103
$KALMAN_X,10435.2,-449.4,-187.4,-12277.1,1571.5
$KALMAN_Y,65804.1,-207.9,-394.5,-71541.7,4574.2
$MHEAD_RNG_PITCHd_Wd,180.6,2763,-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,-34.0,0.0,0.0,0,55,0.00,0.00,-31.75,0.000,2,0.000,0.000,162,1834,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.62,-64.5,2.2,-2.4,3,89,9.07,2.38,-16.30,0.000,4,0.223,0.056,2480,348,2584,0,0,0,0,0,0,25.91,26.29,26.65
$GC,296,-1.45,-64.5,31.5,-15.8,27,306,0.25,2.33,0.00,0.000,6,0.187,0.023,2532,1890,2587,0,0,0,0,0,0,25.91,26.44,28.83
$GC,606,-1.39,-64.5,68.3,-10.0,58,615,0.00,2.42,0.00,0.000,4,0.000,0.041,2539,344,2590,0,0,0,0,0,0,28.83,26.44,28.83
$GC,846,-1.30,-64.5,85.8,-6.5,72,855,0.20,2.30,0.00,0.000,6,0.176,0.023,2580,1897,2590,0,0,0,0,0,0,26.10,26.60,28.83
$GC,1177,-1.33,-87.6,100.0,-3.3,83,1185,0.00,2.42,-0.62,0.000,4,0.000,0.053,2584,345,2685,0,0,0,0,0,0,28.83,26.54,26.81
$GC,1416,-1.30,-87.6,113.2,-6.3,91,1420,0.00,2.30,0.00,0.000,6,0.000,0.023,2573,1896,2687,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1737,-1.30,-87.6,137.3,-9.1,102,1741,0.00,2.40,0.00,0.000,4,0.000,0.037,2562,3456,2689,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1968,-1.30,-87.6,157.8,-8.9,109,1976,0.00,2.45,0.00,0.000,6,0.000,0.023,2562,1817,2688,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2328,-1.30,-87.6,186.0,-7.8,115,2336,0.00,2.53,0.00,0.000,4,0.000,0.037,2550,3453,2689,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2568,-1.30,-87.6,206.7,-8.5,119,2577,0.12,2.45,0.00,0.000,6,0.173,0.024,2579,1815,2689,0,0,0,0,0,0,26.37,26.70,28.83
$GC,2929,-1.33,-87.6,235.8,-7.8,125,2937,0.00,2.53,0.00,0.000,4,0.000,0.037,2569,3453,2689,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3168,-1.33,-87.6,254.5,-7.8,129,3176,0.00,2.45,0.00,0.000,6,0.000,0.024,2569,1817,2689,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3529,-1.35,-87.6,286.8,-9.4,135,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1817,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3828,-1.38,-87.6,315.6,-9.6,140,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1817,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4128,-1.42,-87.6,345.7,-10.0,145,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1816,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4428,-1.45,-87.6,377.2,-10.5,150,4436,0.00,2.53,0.00,0.000,4,0.000,0.038,2557,3451,2686,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4628,-1.48,-87.6,396.9,-10.7,153,4632,0.00,2.45,0.00,0.000,6,0.000,0.024,2556,1822,2686,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4959,-1.51,-87.6,435.1,-10.4,159,4967,0.12,2.30,0.00,0.000,4,0.095,0.043,2503,348,2684,0,0,0,0,0,0,26.77,26.61,28.83
$GC,5199,-1.47,-87.6,462.1,-11.2,163,5207,0.15,2.30,0.00,0.000,6,0.184,0.024,2527,1888,2683,0,0,0,0,0,0,26.29,26.72,28.83
$GC,5559,-1.47,-87.6,495.8,-9.4,169,5563,0.00,2.42,0.00,0.000,4,0.000,0.040,2517,3455,2682,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5619,-1.47,-87.6,501.1,-9.6,170,5623,0.00,2.45,0.00,0.000,6,0.000,0.024,2517,1825,2682,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6020,-1.47,-87.6,545.4,-10.8,174,6024,0.00,2.33,0.00,0.000,4,0.000,0.044,2518,342,2681,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6150,-1.47,-87.6,559.1,-11.1,175,6154,0.00,2.33,0.00,0.000,6,0.000,0.024,2506,1896,2680,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6481,-1.47,-87.6,603.1,-12.5,178,6489,0.00,2.42,0.00,0.000,4,0.000,0.043,2506,351,2679,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6601,-1.47,-87.6,620.3,-13.0,179,6605,0.12,2.30,0.00,0.000,6,0.190,0.024,2523,1887,2679,0,0,0,0,0,0,26.32,26.71,28.83
$GC,6953,-1.47,-87.6,661.7,-12.4,182,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1888,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,-1.49,-87.6,696.3,-9.9,185,7320,0.00,2.42,0.00,0.000,4,0.000,0.044,2524,354,2675,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7412,-1.51,-87.6,696.3,-9.9,185,7416,0.00,2.30,0.00,0.000,6,0.000,0.024,2514,1889,2674,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7783,-1.51,-87.6,745.1,-10.4,189,7791,0.00,2.42,0.00,0.000,4,0.000,0.040,2502,3451,2674,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7911,-1.51,-87.6,758.8,-10.7,190,7916,0.00,2.47,0.00,0.000,6,0.000,0.026,2502,1820,2673,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8252,-1.51,-87.6,799.7,-11.6,193,8257,0.00,2.33,0.00,0.000,4,0.000,0.045,2502,344,2672,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8484,-1.51,-87.6,831.0,-12.6,195,8488,0.00,2.33,0.00,0.000,6,0.000,0.025,2491,1886,2671,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8834,-1.51,-87.6,876.4,-13.1,198,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1887,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9194,-1.51,-87.6,923.3,-12.9,201,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1887,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,-1.51,-87.6,969.2,-12.9,204,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1887,2666,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9793,begin apogee
$GC,9797,-0.29,0.0,997.4,-12.2,206,9875,1.35,0.00,73.60,1.730,6,0.154,0.000,2902,1834,2320,0,0,0,0,0,0,26.01,28.83,24.00
$STATE,9877,end apogee,CONTROL_FINISHED_OK
$STATE,9877,begin climb
$GC,9878,1.64,87.6,997.4,0.0,206,9966,1.80,2.75,79.80,1.695,4,0.070,0.041,3530,3453,1961,0,0,0,0,0,0,25.16,24.88,23.85
$GC,10084,1.57,137.9,984.4,0.0,208,10136,0.15,2.58,44.40,1.671,6,0.206,0.028,3509,1834,1756,0,0,0,0,0,0,25.54,25.79,23.98
$GC,10495,1.49,137.9,892.6,19.2,212,10497,0.12,0.00,0.00,0.000,6,0.195,0.000,3481,1834,1747,0,0,0,0,0,0,25.96,28.83,28.83
$GC,10855,1.44,137.9,826.6,18.7,215,10863,0.00,2.58,0.00,0.000,4,0.000,0.040,3473,3453,1745,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11015,1.39,137.9,805.1,18.2,216,11024,0.15,2.50,0.00,0.000,6,0.187,0.028,3448,1835,1745,0,0,0,0,0,0,26.12,26.44,28.83
$GC,11335,1.37,137.9,747.9,16.3,219,11343,0.00,2.38,0.00,0.000,4,0.000,0.047,3460,354,1743,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11414,1.34,137.9,747.9,16.3,219,11418,0.00,2.33,0.00,0.000,6,0.000,0.025,3448,1884,1742,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11805,1.34,137.9,670.2,16.5,223,11809,0.00,2.45,0.00,0.000,4,0.000,0.039,3444,3450,1741,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11916,1.34,137.9,651.3,16.7,224,11924,0.00,2.50,0.00,0.000,6,0.000,0.027,3454,1821,1741,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12276,1.34,137.9,595.6,15.9,227,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1821,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12636,1.34,137.9,544.6,14.2,230,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1821,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12996,1.34,137.9,492.2,14.4,233,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1821,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13296,1.34,137.9,445.4,15.7,238,13300,0.00,2.58,0.00,0.000,4,0.000,0.039,3454,3459,1739,0,0,0,0,0,0,28.83,26.56,28.83
$GC,13486,1.34,137.9,416.5,16.7,241,13491,0.12,2.50,0.00,0.000,6,0.182,0.027,3442,1823,1740,0,0,0,0,0,0,26.31,26.62,28.83
$GC,13819,1.38,137.9,364.5,14.5,247,13827,0.00,2.55,0.00,0.000,4,0.000,0.038,3436,3450,1740,0,0,0,0,0,0,28.83,26.57,28.83
$GC,13958,1.41,137.9,346.0,15.0,249,13962,0.00,2.47,0.00,0.000,6,0.000,0.027,3447,1828,1739,0,0,0,0,0,0,28.83,26.63,28.83
$GC,14289,1.44,137.9,296.7,13.6,255,14291,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1828,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14590,1.48,137.9,254.1,14.4,260,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1828,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14889,1.51,137.9,204.6,16.6,265,14891,0.12,0.00,0.00,0.000,6,0.089,0.000,3502,1828,1739,0,0,0,0,0,0,26.74,28.83,28.83
$GC,15189,1.51,137.9,148.7,18.7,270,15197,0.00,2.55,0.00,0.000,4,0.000,0.037,3499,3462,1740,0,0,0,0,0,0,28.83,26.61,28.83
$GC,15429,1.49,137.9,108.3,16.0,278,15438,0.12,2.47,0.00,0.000,6,0.184,0.025,3480,1826,1740,0,0,0,0,0,0,26.31,26.63,28.83
$GC,15739,1.52,137.9,59.6,15.8,293,15749,0.00,2.55,0.00,0.000,4,0.000,0.037,3480,3463,1740,0,0,0,0,0,0,28.83,26.58,28.83
$GC,15890,1.54,137.9,39.1,12.0,308,15899,0.00,2.47,0.00,0.000,6,0.000,0.025,3491,1826,1740,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,16198,end climb,SURFACE_DEPTH_REACHED
$STATE,16198,begin surface coast
$FINISH,0.7,1.024442
$STATE,16219,end surface coast,CONTROL_FINISHED_OK
$STATE,16219,begin surface
$SM_CCo,16237,60.38,0.137,0,0,1095,300.00
$SM_GC,1.51,8.73,0.00,60.38,0.044,0.000,0.137,162,1826,1095,-8.82,-0.68,300.00,0,0,0,0,0,0,26.67,28.83,26.25
$IRIDIUM_FIX,2411.01,-3817.80,300912,131316
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,23.60
$XPDR_PINGS,3
$SC_FREEKB,7746080
$TM_FREEKB,7339648
$24V_AH,23.9,13.191
$10V_AH,10.5,12.286
$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,22.725,107.325,197.800,60.375,0.000,26.816,51.271,179.661,0.750,0.000,21.926,1445.490,13224.852,471.747,1461.613,137.645,33.252,1070.710,0.000,1078.276,0.000,0.538,0.000
$DEVICE_MAMPS,222.615,110.160,1730.430,136.935,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16202.000,3806.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.481,13.549,0.000,0.000
$MEM,344480
$DATA_FILE_SIZE,10084,341
$CAP_FILE_SIZE,121607,0
$CFSIZE,260034560,247881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300912,234435,2431.087,-3802.760,32,1.0,32,-14.0