version: 66.11
glider: 189
mission: 7
dive: 404
start: 1 19 113 7 41 24
data:
$ID,189
$MISSION,7
$DIVE,404
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$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,100
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-48162.395
$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,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,190113,073105,2431.700,-3747.463,29,0.9,30,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-57.4
$GPS2,190113,074023,2431.715,-3747.359,19,1.0,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.010,-0.120
$KALMAN_X,222724.6,284.4,368.2,-198897.8,22.3
$KALMAN_Y,-38012.4,-59.8,-62.4,30907.7,3290.5
$MHEAD_RNG_PITCHd_Wd,198.7,2021,-19.9,-6.667,-29.07
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.73,0.000,2,0.000,0.000,155,2118,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.1,0.0,1,104,9.10,2.47,-50.00,0.000,4,0.187,0.049,2586,553,2721,0,0,0,0,0,0,25.42,26.03,26.69
$GC,394,-1.18,-97.7,23.7,-12.1,37,403,0.12,2.47,0.00,0.000,6,0.139,0.024,2615,2189,2720,0,0,0,0,0,0,25.84,26.33,28.83
$GC,704,-1.15,-97.7,46.2,-7.7,68,713,0.00,2.50,0.00,0.000,4,0.000,0.040,2605,3741,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,884,-1.10,-97.7,60.3,-8.8,86,893,0.10,2.42,0.00,0.000,6,0.129,0.021,2638,2093,2721,0,0,0,0,0,0,26.04,26.46,28.83
$GC,1214,-1.10,-97.7,87.7,-8.3,109,1221,0.00,2.65,0.00,0.000,4,0.000,0.039,2628,3740,2721,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1514,-1.10,-97.7,109.5,-6.7,119,1521,0.00,2.42,0.00,0.000,6,0.000,0.021,2627,2102,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1845,-1.10,-97.7,134.0,-7.7,130,1852,0.00,2.65,0.00,0.000,4,0.000,0.039,2615,3748,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2004,-1.07,-97.7,145.1,-7.5,135,2012,0.10,2.45,0.00,0.000,6,0.151,0.021,2647,2094,2723,0,0,0,0,0,0,26.15,26.49,28.83
$GC,2326,-1.10,-97.7,164.5,-5.8,142,2331,0.00,2.38,0.00,0.000,4,0.000,0.038,2648,545,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2423,-1.10,-97.7,168.3,-6.0,143,2431,0.00,2.50,0.00,0.000,6,0.000,0.023,2633,2193,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2745,-1.10,-97.7,194.2,-7.4,149,2751,0.00,2.50,0.00,0.000,4,0.000,0.040,2622,3752,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2864,-1.10,-97.7,203.7,-7.7,151,2871,0.00,2.42,0.00,0.000,6,0.000,0.020,2625,2105,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3224,-1.10,-97.7,230.5,-7.4,157,3231,0.00,2.62,0.00,0.000,4,0.000,0.039,2613,3744,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3354,-1.10,-97.7,240.8,-8.1,159,3362,0.12,2.45,0.00,0.000,6,0.142,0.020,2647,2087,2723,0,0,0,0,0,0,26.16,26.51,28.83
$GC,3704,-1.13,-97.7,272.7,-8.9,165,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2087,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4006,-1.18,-97.7,293.0,-6.5,170,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2087,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4305,-1.22,-97.7,306.6,-4.4,175,4312,0.12,2.42,0.00,0.000,4,0.079,0.037,2577,542,2723,0,0,0,0,0,0,26.67,26.25,28.83
$GC,4365,-1.24,-97.7,309.9,-4.6,176,4372,0.10,2.45,0.00,0.000,6,0.135,0.024,2598,2185,2723,0,0,0,0,0,0,26.04,26.46,28.83
$GC,4725,-1.24,-97.7,330.1,-5.8,182,4731,0.00,2.47,0.00,0.000,4,0.000,0.042,2588,3749,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5025,-1.22,-97.7,350.0,-6.7,187,5031,0.00,2.45,0.00,0.000,6,0.000,0.021,2588,2101,2721,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5385,-1.22,-97.7,376.6,-7.6,193,5391,0.00,2.65,0.00,0.000,4,0.000,0.041,2579,3741,2721,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5616,-1.19,-97.7,392.8,-8.8,196,5623,0.15,2.40,0.00,0.000,6,0.139,0.021,2613,2090,2720,0,0,0,0,0,0,26.08,26.50,28.83
$GC,5925,-1.19,-97.7,424.7,-8.7,202,5931,0.00,2.62,0.00,0.000,4,0.000,0.041,2606,3749,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5993,-1.19,-97.7,429.8,-8.6,203,6000,0.00,2.47,0.00,0.000,6,0.000,0.021,2606,2091,2720,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6344,-1.19,-97.7,457.2,-7.5,209,6351,0.00,2.67,0.00,0.000,4,0.000,0.041,2594,3748,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6484,-1.19,-97.7,466.0,-7.4,211,6491,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,2094,2717,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6824,-1.19,-97.7,491.0,-7.0,217,6831,0.00,2.67,0.00,0.000,4,0.000,0.041,2582,3749,2718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6913,-1.19,-97.7,495.6,-7.1,218,6922,0.12,2.47,0.00,0.000,6,0.142,0.021,2618,2088,2717,0,0,0,0,0,0,26.17,26.48,28.83
$GC,7305,-1.21,-97.7,529.2,-8.0,222,7311,0.00,2.62,0.00,0.000,4,0.000,0.041,2604,3748,2716,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7363,-1.23,-97.7,529.2,-8.0,222,7371,0.00,2.47,0.00,0.000,6,0.000,0.021,2603,2094,2716,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7784,-1.26,-97.7,569.0,-8.3,226,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2094,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8145,-1.29,-97.7,597.9,-8.1,229,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2094,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8504,-1.32,-97.7,623.9,-7.4,232,8511,0.00,2.45,0.00,0.000,4,0.000,0.039,2600,544,2713,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8593,-1.35,-97.7,623.9,-7.4,232,8601,0.00,2.50,0.00,0.000,6,0.000,0.024,2592,2193,2712,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8985,-1.38,-97.7,651.8,-5.7,236,8991,0.00,2.58,0.00,0.000,4,0.000,0.038,2592,541,2712,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9034,-1.40,-97.7,651.8,-5.7,236,9041,0.00,2.50,0.00,0.000,6,0.000,0.024,2580,2202,2711,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9344,-1.40,-97.7,683.7,-8.2,239,9351,0.00,2.47,0.00,0.000,4,0.000,0.043,2568,3741,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9414,-1.40,-97.7,683.7,-8.2,239,9421,0.00,2.47,0.00,0.000,6,0.000,0.022,2568,2095,2710,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9824,-1.40,-97.7,740.0,-11.8,243,9831,0.00,2.70,0.00,0.000,4,0.000,0.042,2556,3747,2708,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9913,-1.40,-97.7,740.0,-11.8,243,9921,0.00,2.47,0.00,0.000,6,0.000,0.023,2556,2108,2709,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10305,-1.40,-97.7,779.2,-8.1,247,10311,0.00,2.65,0.00,0.000,4,0.000,0.042,2544,3746,2707,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10495,-1.40,-97.7,786.3,-7.0,248,10501,0.00,2.45,0.00,0.000,6,0.000,0.023,2544,2112,2707,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10905,-1.37,-97.7,812.4,-5.4,252,10912,0.00,2.65,0.00,0.000,4,0.000,0.042,2532,3743,2706,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11034,-1.35,-97.7,819.8,-5.6,253,11042,0.10,2.45,0.00,0.000,6,0.131,0.023,2563,2100,2706,0,0,0,0,0,0,26.01,26.43,28.83
$GC,11384,-1.35,-97.7,842.9,-6.3,256,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2100,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11745,-1.35,-97.7,872.0,-7.8,259,11752,0.00,2.47,0.00,0.000,4,0.000,0.041,2565,555,2703,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11853,-1.35,-97.7,872.0,-7.8,259,11862,0.00,2.50,0.00,0.000,6,0.000,0.025,2555,2188,2703,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12224,-1.35,-97.7,922.7,-10.6,263,12232,0.00,2.55,0.00,0.000,4,0.000,0.044,2543,3747,2702,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12434,-1.35,-97.7,936.5,-10.9,264,12441,0.00,2.50,0.00,0.000,6,0.000,0.024,2542,2100,2701,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12824,-1.35,-97.7,987.5,-10.6,268,12831,0.00,2.67,0.00,0.000,4,0.000,0.044,2531,3738,2700,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,12861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12861,begin apogee
$GC,12872,-0.29,0.0,991.4,-10.0,270,12963,1.20,0.00,85.72,1.673,6,0.131,0.000,2900,1578,2320,0,0,0,0,0,0,25.13,28.83,23.03
$STATE,12965,end apogee,CONTROL_FINISHED_OK
$STATE,12965,begin climb
$GC,12969,1.26,97.7,996.9,0.0,275,13068,1.40,2.10,91.55,1.655,4,0.063,0.048,3413,356,1920,0,0,0,0,0,0,25.25,24.88,23.06
$GC,13158,1.10,100.9,992.1,6.5,285,13164,0.22,2.00,0.00,0.000,6,0.157,0.024,3355,1682,1912,0,0,0,0,0,0,25.51,25.94,28.83
$GC,13517,1.04,108.4,969.6,6.3,293,13534,0.00,2.20,8.35,1.433,4,0.000,0.048,3363,351,1878,0,0,0,0,0,0,28.83,26.05,23.94
$GC,13689,0.96,112.2,961.3,6.5,294,13699,0.20,1.92,5.15,1.268,6,0.155,0.024,3309,1654,1864,0,0,0,0,0,0,25.83,26.34,23.91
$GC,14110,0.92,112.2,929.3,6.8,298,14115,0.00,2.45,0.00,0.000,4,0.000,0.036,3310,3202,1862,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14178,0.88,112.2,929.3,6.8,298,14185,0.10,2.53,0.00,0.000,6,0.147,0.030,3289,1585,1862,0,0,0,0,0,0,25.96,26.32,28.83
$GC,14587,0.88,112.2,892.4,7.7,302,14595,0.00,2.58,0.00,0.000,4,0.000,0.035,3289,3199,1864,0,0,0,0,0,0,28.83,26.28,28.83
$GC,14666,0.88,112.2,892.4,7.7,302,14674,0.00,2.53,0.00,0.000,6,0.000,0.029,3300,1580,1861,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15068,0.88,112.2,856.8,7.4,306,15075,0.00,2.60,0.00,0.000,4,0.000,0.035,3299,3210,1859,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15136,0.88,112.2,856.8,7.4,306,15144,0.00,2.55,0.00,0.000,6,0.000,0.030,3312,1578,1858,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15548,0.91,137.4,830.5,5.5,310,15577,0.00,2.72,23.85,1.560,4,0.000,0.036,3312,3201,1757,0,0,0,0,0,0,28.83,25.80,23.78
$GC,15730,0.95,170.4,825.0,5.1,311,15766,0.00,2.50,30.92,1.567,6,0.000,0.030,3324,1581,1624,0,0,0,0,0,0,28.83,26.10,23.57
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$STATE,25276,end climb,SURFACE_DEPTH_REACHED
$STATE,25276,begin surface coast
$FINISH,1.3,1.014066
$STATE,25307,end surface coast,CONTROL_FINISHED_OK
$STATE,25307,begin surface
$SM_CCo,25333,51.08,0.124,0,0,1094,300.00
$SM_GC,2.07,8.45,0.80,51.08,0.036,0.034,0.124,152,2199,1094,-8.81,-0.48,300.00,0,0,0,0,0,0,26.32,26.41,25.26
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$TT8_MAMPS,0.026215,0.026215
$HUMID,61.26
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7614720
$TM_FREEKB,4890752
$24V_AH,23.0,71.098
$10V_AH,10.1,62.433
$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,22.575,221.775,259.050,51.075,0.000,27.216,37.590,206.374,0.000,0.000,20.489,2108.723,20606.984,716.980,1975.253,520.373,33.262,1651.707,0.000,1596.023,0.000,0.535,0.000
$DEVICE_MAMPS,186.660,78.795,1673.055,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.785,13.470,0.000,0.000
$MEM,343704
$DATA_FILE_SIZE,13419,517
$CAP_FILE_SIZE,187576,0
$CFSIZE,260034560,213893120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190113,144534,2430.928,-3746.833,26,1.0,27,-13.9