version: 66.11
glider: 189
mission: 7
dive: 63
start: 9 30 112 23 52 16
data:
$ID,189
$MISSION,7
$DIVE,63
$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,-46953.477
$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
$GPS1,300912,234435,2431.087,-3802.760,32,1.0,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-62.5
$GPS2,300912,235117,2431.150,-3802.781,16,1.1,16,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.088,0.058
$KALMAN_X,9793.5,-88.4,102.6,-11288.2,130.8
$KALMAN_Y,66039.8,49.5,86.6,-74433.7,2631.5
$MHEAD_RNG_PITCHd_Wd,70.5,3670,-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,19,begin dive
$GC,21,-1.58,-34.0,0.0,0.0,0,55,0.00,0.00,-32.08,0.000,2,0.000,0.000,161,1821,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.62,-65.0,2.2,-2.4,3,86,9.15,0.00,-15.93,0.000,6,0.226,0.000,2477,1823,2586,0,0,0,0,0,0,25.94,28.83,26.67
$GC,385,-1.50,-65.0,45.3,-14.4,36,395,0.15,2.58,0.00,0.000,4,0.197,0.038,2502,3460,2589,0,0,0,0,0,0,26.13,26.40,28.83
$GC,625,-1.41,-66.4,69.5,-5.9,60,635,0.17,2.47,0.00,0.000,6,0.184,0.023,2544,1817,2590,0,0,0,0,0,0,26.10,26.54,28.83
$GC,945,-1.38,-80.5,85.3,-4.4,78,954,0.00,2.55,-0.45,0.000,4,0.000,0.050,2533,3453,2655,0,0,0,0,0,0,28.83,26.54,26.74
$GC,1185,-1.33,-81.9,97.9,-5.9,86,1194,0.15,2.45,0.00,0.000,6,0.177,0.023,2569,1816,2656,0,0,0,0,0,0,26.25,26.63,28.83
$GC,1515,-1.33,-81.9,122.6,-7.4,97,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1816,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1814,-1.33,-81.9,149.4,-7.5,107,1819,0.00,2.53,0.00,0.000,4,0.000,0.037,2559,3452,2659,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2046,-1.33,-83.0,163.5,-6.0,112,2054,0.00,2.45,0.00,0.000,6,0.000,0.023,2559,1812,2659,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2406,-1.33,-83.3,184.8,-6.1,118,2413,0.00,2.53,0.00,0.000,4,0.000,0.037,2547,3453,2659,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2649,-1.33,-83.3,204.7,-8.4,122,2654,0.00,2.38,0.00,0.000,6,0.000,0.024,2547,1822,2659,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3006,-1.33,-83.3,232.1,-7.3,128,3013,0.00,2.53,0.00,0.000,4,0.000,0.038,2535,3453,2659,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3246,-1.33,-83.3,251.8,-8.2,132,3254,0.15,2.45,0.00,0.000,6,0.169,0.023,2572,1817,2659,0,0,0,0,0,0,26.34,26.71,28.83
$GC,3606,-1.36,-83.3,278.5,-7.2,138,3613,0.00,2.55,0.00,0.000,4,0.000,0.040,2561,3461,2658,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3786,-1.38,-83.3,291.1,-6.9,141,3794,0.00,2.47,0.00,0.000,6,0.000,0.024,2561,1812,2658,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4146,-1.40,-83.3,324.6,-9.8,147,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1812,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4446,-1.42,-83.3,358.1,-11.1,152,4453,0.00,2.28,0.00,0.000,4,0.000,0.042,2561,351,2655,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4686,-1.42,-83.3,384.6,-11.1,156,4693,0.00,2.30,0.00,0.000,6,0.000,0.025,2549,1885,2655,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5046,-1.45,-83.3,421.0,-10.1,162,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1884,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5346,-1.47,-83.3,448.2,-9.0,167,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1884,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5646,-1.50,-83.3,474.4,-8.7,172,5653,0.00,2.42,0.00,0.000,4,0.000,0.043,2550,344,2652,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5875,-1.50,-83.3,492.5,-9.8,175,5879,0.00,2.33,0.00,0.000,6,0.000,0.025,2539,1889,2651,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6176,-1.50,-83.3,529.9,-10.6,178,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1888,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6536,-1.52,-83.3,572.7,-11.7,181,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1889,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6896,-1.55,-83.3,616.6,-12.3,184,6898,0.12,0.00,0.00,0.000,6,0.093,0.000,2487,1889,2648,0,0,0,0,0,0,26.77,28.83,28.83
$GC,7256,-1.55,-83.3,658.4,-11.7,187,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1889,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7615,-1.55,-83.3,692.3,-9.7,190,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1889,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7975,-1.55,-83.3,726.7,-9.5,193,7980,0.00,2.45,0.00,0.000,4,0.000,0.044,2487,342,2644,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8208,-1.52,-83.3,753.5,-10.6,195,8216,0.12,2.33,0.00,0.000,6,0.196,0.026,2504,1888,2643,0,0,0,0,0,0,26.28,26.68,28.83
$GC,8567,-1.52,-83.3,794.9,-11.6,198,8571,0.00,2.45,0.00,0.000,4,0.000,0.044,2493,3449,2642,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8727,-1.52,-83.3,808.2,-11.6,199,8731,0.00,2.47,0.00,0.000,6,0.000,0.027,2493,1825,2642,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9028,-1.52,-83.3,852.8,-12.6,202,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1824,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,-1.52,-83.3,898.7,-12.8,205,9392,0.00,2.35,0.00,0.000,4,0.000,0.047,2493,342,2639,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9619,-1.52,-83.3,930.0,-13.2,207,9623,0.00,2.35,0.00,0.000,6,0.000,0.027,2482,1889,2641,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9970,-1.52,-83.3,973.0,-12.5,210,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1890,2637,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10209,begin apogee
$GC,10213,-0.29,0.0,998.3,-11.3,212,10285,1.38,0.00,67.43,1.727,6,0.154,0.000,2899,1837,2319,0,0,0,0,0,0,25.99,28.83,24.05
$STATE,10286,end apogee,CONTROL_FINISHED_OK
$STATE,10286,begin climb
$GC,10288,1.64,83.3,998.3,0.0,212,10372,1.80,2.75,76.10,1.694,4,0.070,0.042,3529,3456,1980,0,0,0,0,0,0,25.20,24.89,23.86
$GC,10509,1.57,133.6,982.6,0.0,214,10560,0.15,2.58,44.42,1.662,6,0.207,0.028,3508,1835,1774,0,0,0,0,0,0,25.59,25.84,24.00
$GC,10911,1.48,133.6,889.5,19.4,218,10919,0.12,2.58,0.00,0.000,4,0.196,0.041,3464,3455,1767,0,0,0,0,0,0,25.95,26.14,28.83
$GC,11039,1.41,133.6,867.9,19.5,219,11044,0.00,2.53,0.00,0.000,6,0.000,0.028,3483,1835,1767,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11381,1.36,133.6,808.5,17.2,222,11390,0.15,2.40,0.00,0.000,4,0.187,0.047,3451,348,1764,0,0,0,0,0,0,26.15,26.34,28.83
$GC,11460,1.31,133.6,808.5,17.2,222,11464,0.00,2.35,0.00,0.000,6,0.000,0.026,3447,1880,1762,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11851,1.31,133.6,742.2,14.0,226,11859,0.00,2.47,0.00,0.000,4,0.000,0.041,3446,3452,1762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11980,1.31,133.6,725.5,13.5,227,11985,0.15,2.50,0.00,0.000,6,0.184,0.028,3421,1827,1762,0,0,0,0,0,0,26.19,26.51,28.83
$GC,12322,1.31,133.6,681.1,12.9,230,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1826,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12683,1.34,133.6,633.2,13.1,233,12684,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1826,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13043,1.36,133.6,583.4,13.8,236,13051,0.00,2.58,0.00,0.000,4,0.000,0.041,3415,3458,1759,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13212,1.39,133.6,565.1,14.2,237,13216,0.00,2.50,0.00,0.000,6,0.000,0.028,3426,1825,1759,0,0,0,0,0,0,28.83,26.60,28.83
$GC,13514,1.41,133.6,510.7,15.4,240,13522,0.00,2.58,0.00,0.000,4,0.000,0.041,3426,3458,1758,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13634,1.43,133.6,491.0,15.7,241,13641,0.00,2.50,0.00,0.000,6,0.000,0.027,3438,1824,1758,0,0,0,0,0,0,28.83,26.60,28.83
$GC,13994,1.45,133.6,437.2,15.0,247,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1824,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14294,1.48,133.6,388.8,16.1,252,14302,0.12,2.58,0.00,0.000,4,0.089,0.040,3494,3463,1758,0,0,0,0,0,0,26.72,26.56,28.83
$GC,14354,1.48,133.6,377.9,16.5,253,14361,0.00,2.50,0.00,0.000,6,0.000,0.027,3505,1825,1758,0,0,0,0,0,0,28.83,26.63,28.83
$GC,14714,1.45,133.6,314.9,17.2,259,14716,0.15,0.00,0.00,0.000,6,0.183,0.000,3467,1824,1758,0,0,0,0,0,0,26.34,28.83,28.83
$GC,15013,1.45,133.6,271.7,14.2,264,15014,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1824,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15313,1.45,133.6,224.9,15.9,269,15321,0.00,2.55,0.00,0.000,4,0.000,0.039,3467,3452,1758,0,0,0,0,0,0,28.83,26.57,28.83
$GC,15482,1.45,133.6,202.9,17.6,271,15487,0.00,2.47,0.00,0.000,6,0.000,0.026,3478,1824,1758,0,0,0,0,0,0,28.83,26.64,28.83
$GC,15783,1.45,133.6,147.8,15.0,276,15787,0.00,2.55,0.00,0.000,4,0.000,0.039,3478,3450,1759,0,0,0,0,0,0,28.83,26.57,28.83
$GC,15884,1.45,133.6,135.3,15.2,279,15888,0.00,2.47,0.00,0.000,6,0.000,0.026,3490,1822,1758,0,0,0,0,0,0,28.83,26.64,28.83
$GC,16185,1.45,133.6,89.5,13.8,289,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1821,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16485,1.47,133.6,51.1,11.8,311,16486,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1822,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16785,1.50,133.6,14.9,13.3,341,16794,0.00,2.55,0.00,0.000,4,0.000,0.039,3490,3457,1760,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,16883,end climb,SURFACE_DEPTH_REACHED
$STATE,16883,begin surface coast
$FINISH,0.7,1.023769
$STATE,16905,end surface coast,CONTROL_FINISHED_OK
$STATE,16905,begin surface
$SM_CCo,16925,61.78,0.135,0,0,1093,300.00
$SM_GC,1.77,8.62,2.47,61.78,0.036,0.027,0.135,161,1826,1093,-8.81,0.59,300.00,0,0,0,0,0,0,26.65,26.66,26.25
$IRIDIUM_FIX,2425.21,-3722.99,300912,191922
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.37
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,23.70
$XPDR_PINGS,1
$SC_FREEKB,7745696
$TM_FREEKB,7333248
$24V_AH,23.9,13.296
$10V_AH,10.4,12.384
$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,22.675,104.175,187.950,61.775,0.000,27.012,39.376,161.070,0.250,0.000,17.540,1492.284,13840.680,459.637,1456.455,142.219,33.251,1075.623,0.000,1114.043,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,109.395,1726.605,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16881.000,4029.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.556,13.535,0.000,0.000
$MEM,344448
$DATA_FILE_SIZE,10111,353
$CAP_FILE_SIZE,123904,0
$CFSIZE,260034560,247803904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011012,043636,2432.530,-3801.214,39,0.9,39,-14.0