version: 66.11
glider: 189
mission: 7
dive: 413
start: 1 22 113 1 43 1
data:
$ID,189
$MISSION,7
$DIVE,413
$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,-48173.715
$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
$GPS1,220113,013258,2429.940,-3749.297,36,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-58.4
$GPS2,220113,014200,2429.998,-3749.236,21,0.8,21,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.067,-0.094
$KALMAN_X,238905.2,-228.0,-461.5,-216881.6,3165.8
$KALMAN_Y,-17620.6,-236.2,-220.5,7680.7,3865.0
$MHEAD_RNG_PITCHd_Wd,229.6,2465,-21.1,-6.667,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.93,0.000,2,0.000,0.000,150,2126,1410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.02,2.47,-49.30,0.000,4,0.187,0.046,2564,549,2717,0,0,0,0,0,0,25.37,26.08,26.70
$GC,394,-1.23,-97.7,28.7,-9.9,37,403,0.15,2.47,0.00,0.000,6,0.145,0.024,2599,2193,2717,0,0,0,0,0,0,25.75,26.34,28.83
$GC,704,-1.20,-97.7,53.2,-8.2,68,713,0.00,2.58,0.00,0.000,4,0.000,0.037,2600,552,2717,0,0,0,0,0,0,28.83,26.20,28.83
$GC,784,-1.15,-97.7,60.6,-9.6,76,793,0.10,2.45,0.00,0.000,6,0.137,0.024,2622,2186,2717,0,0,0,0,0,0,25.98,26.39,28.83
$GC,1114,-1.15,-97.7,86.2,-7.2,99,1121,0.00,2.50,0.00,0.000,4,0.000,0.041,2612,3748,2718,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1253,-1.15,-97.7,95.0,-7.3,103,1262,0.00,2.45,0.00,0.000,6,0.000,0.021,2611,2100,2718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1564,-1.15,-97.7,116.5,-6.5,114,1571,0.00,2.65,0.00,0.000,4,0.000,0.039,2599,3747,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1864,-1.13,-97.7,135.9,-6.7,124,1872,0.10,2.45,0.00,0.000,6,0.126,0.021,2633,2084,2719,0,0,0,0,0,0,26.09,26.49,28.83
$GC,2227,-1.15,-97.7,158.3,-6.8,134,2233,0.00,2.62,0.00,0.000,4,0.000,0.039,2622,3748,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2393,-1.15,-97.7,166.4,-6.8,136,2402,0.00,2.45,0.00,0.000,6,0.000,0.020,2622,2100,2720,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2705,-1.17,-97.7,189.7,-6.4,142,2711,0.00,2.42,0.00,0.000,4,0.000,0.037,2622,522,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2804,-1.17,-97.7,193.0,-6.1,143,2811,0.00,2.50,0.00,0.000,6,0.000,0.023,2610,2192,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3124,-1.17,-97.7,214.3,-6.1,149,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2192,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-1.17,-97.7,234.9,-6.9,154,3431,0.00,2.58,0.00,0.000,4,0.000,0.036,2610,547,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3534,-1.17,-97.7,238.9,-6.9,155,3543,0.00,2.45,0.00,0.000,6,0.000,0.022,2598,2189,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3844,-1.17,-97.7,261.4,-6.2,161,3852,0.00,2.50,0.00,0.000,4,0.000,0.041,2586,3751,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3933,-1.17,-97.7,265.3,-6.2,162,3942,0.12,2.45,0.00,0.000,6,0.145,0.020,2618,2093,2721,0,0,0,0,0,0,26.15,26.51,28.83
$GC,4266,-1.20,-97.7,286.5,-5.8,168,4271,0.00,2.62,0.00,0.000,4,0.000,0.040,2607,3757,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4325,-1.23,-97.7,290.1,-5.8,169,4331,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2095,2724,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4685,-1.25,-97.7,315.9,-7.5,175,4691,0.00,2.62,0.00,0.000,4,0.000,0.040,2595,3752,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4763,-1.25,-97.7,320.9,-7.8,176,4771,0.00,2.47,0.00,0.000,6,0.000,0.021,2595,2089,2720,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5104,-1.25,-97.7,352.5,-8.8,182,5111,0.00,2.67,0.00,0.000,4,0.000,0.040,2583,3746,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5225,-1.25,-97.7,363.6,-9.0,184,5231,0.00,2.45,0.00,0.000,6,0.000,0.021,2583,2095,2719,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5584,-1.25,-97.7,394.4,-8.4,190,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2094,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-1.25,-97.7,415.2,-6.7,195,5891,0.00,2.67,0.00,0.000,4,0.000,0.040,2571,3747,2718,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6054,-1.25,-97.7,422.7,-6.3,197,6063,0.00,2.45,0.00,0.000,6,0.000,0.021,2571,2100,2718,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6364,-1.25,-97.7,444.7,-6.1,203,6371,0.00,2.65,0.00,0.000,4,0.000,0.040,2559,3744,2717,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6626,-1.25,-97.7,460.8,-6.7,207,6632,0.15,2.42,0.00,0.000,6,0.144,0.021,2599,2086,2717,0,0,0,0,0,0,26.06,26.48,28.83
$GC,6965,-1.28,-97.7,487.2,-7.5,213,6972,0.00,2.67,0.00,0.000,4,0.000,0.041,2588,3745,2715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7045,-1.31,-97.7,492.1,-7.7,214,7051,0.00,2.45,0.00,0.000,6,0.000,0.021,2588,2097,2715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7384,-1.33,-97.7,521.7,-8.2,218,7392,0.00,2.42,0.00,0.000,4,0.000,0.038,2588,551,2714,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7423,-1.36,-97.7,521.7,-8.2,218,7431,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2187,2713,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7745,-1.38,-97.7,545.3,-6.9,221,7751,0.00,2.47,0.00,0.000,4,0.000,0.042,2565,3756,2712,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7814,-1.40,-97.7,545.3,-6.9,221,7821,0.00,2.47,0.00,0.000,6,0.000,0.021,2565,2102,2712,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8225,-1.40,-97.7,574.3,-6.0,225,8231,0.00,2.60,0.00,0.000,4,0.000,0.041,2553,3747,2712,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8434,-1.40,-97.7,582.6,-6.3,226,8441,0.00,2.45,0.00,0.000,6,0.000,0.022,2553,2108,2711,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8824,-1.40,-97.7,618.2,-7.4,230,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2108,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9184,-1.40,-97.7,649.4,-8.5,233,9192,0.00,2.67,0.00,0.000,4,0.000,0.041,2541,3750,2710,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9483,-1.40,-97.7,670.4,-8.7,235,9490,0.00,2.47,0.00,0.000,6,0.000,0.022,2541,2106,2708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9904,-1.40,-97.7,710.0,-8.2,239,9911,0.00,2.65,0.00,0.000,4,0.000,0.041,2529,3748,2707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10188,-1.40,-97.7,731.2,-8.5,241,10193,0.00,2.40,0.00,0.000,6,0.000,0.023,2529,2108,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10504,-1.37,-97.7,764.9,-9.3,244,10512,0.00,2.47,0.00,0.000,4,0.000,0.039,2529,545,2705,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10543,-1.35,-97.7,764.9,-9.3,244,10552,0.17,2.55,0.00,0.000,6,0.160,0.024,2567,2193,2705,0,0,0,0,0,0,25.79,26.39,28.83
$GC,10865,-1.35,-97.7,797.9,-9.2,247,10871,0.00,2.50,0.00,0.000,4,0.000,0.044,2557,3743,2704,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10973,-1.35,-97.7,797.9,-9.2,247,10982,0.00,2.47,0.00,0.000,6,0.000,0.022,2557,2099,2703,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11344,-1.35,-97.7,842.8,-9.4,251,11351,0.00,2.67,0.00,0.000,4,0.000,0.042,2545,3747,2702,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11643,-1.35,-97.7,863.6,-8.9,253,11651,0.00,2.47,0.00,0.000,6,0.000,0.023,2545,2109,2701,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12064,-1.35,-97.7,898.4,-7.2,257,12071,0.00,2.65,0.00,0.000,4,0.000,0.042,2533,3744,2700,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12124,-1.35,-97.7,898.4,-7.2,257,12132,0.08,2.47,0.00,0.000,6,0.137,0.023,2557,2088,2701,0,0,0,0,0,0,26.06,26.40,28.83
$GC,12544,-1.37,-97.7,931.4,-6.9,261,12551,0.00,2.67,0.00,0.000,4,0.000,0.043,2547,3741,2699,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12634,-1.40,-97.7,931.4,-6.9,261,12642,0.00,2.47,0.00,0.000,6,0.000,0.023,2547,2105,2699,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13025,-1.40,-97.7,970.4,-8.1,265,13031,0.00,2.67,0.00,0.000,4,0.000,0.043,2535,3744,2698,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,13263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13264,begin apogee
$GC,13274,-0.29,0.0,992.1,-8.7,267,13364,1.17,0.05,85.03,1.681,6,0.132,0.129,2898,1625,2320,0,0,0,0,0,0,25.11,24.78,23.06
$STATE,13366,end apogee,CONTROL_FINISHED_OK
$STATE,13366,begin climb
$GC,13370,1.33,97.7,997.0,0.0,272,13472,1.48,2.20,91.82,1.689,4,0.063,0.047,3435,347,1920,0,0,0,0,0,0,25.25,24.88,23.05
$GC,13505,1.26,166.1,995.6,3.2,279,13572,0.00,2.00,62.22,1.669,6,0.000,0.023,3435,1647,1641,0,0,0,0,0,0,28.83,25.65,23.20
$GC,13877,1.17,166.1,962.3,9.4,287,13879,0.22,0.00,0.00,0.000,6,0.160,0.000,3375,1648,1634,0,0,0,0,0,0,25.84,28.83,28.83
$GC,14234,1.10,166.1,930.9,8.8,290,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1648,1632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14595,1.06,166.1,899.8,8.7,293,14602,0.12,2.08,0.00,0.000,4,0.173,0.049,3351,358,1630,0,0,0,0,0,0,26.25,26.23,28.83
$GC,14763,1.03,166.1,889.2,8.7,294,14771,0.00,1.95,0.00,0.000,6,0.000,0.025,3351,1657,1628,0,0,0,0,0,0,28.83,26.49,28.83
$GC,15075,1.03,166.1,857.2,8.9,297,15081,0.00,2.47,0.00,0.000,4,0.000,0.036,3351,3198,1628,0,0,0,0,0,0,28.83,26.30,28.83
$GC,15233,1.03,166.1,846.2,9.0,298,15241,0.12,2.53,0.00,0.000,6,0.171,0.030,3333,1580,1628,0,0,0,0,0,0,26.00,26.35,28.83
$GC,15554,1.03,166.1,815.0,8.8,301,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1580,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15915,1.03,166.1,784.4,8.5,304,15921,0.00,1.98,0.00,0.000,4,0.000,0.049,3341,350,1626,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,24398,end climb,SURFACE_DEPTH_REACHED
$STATE,24398,begin surface coast
$FINISH,1.3,1.025679
$STATE,24420,end surface coast,CONTROL_FINISHED_OK
$STATE,24420,begin surface
$SM_CCo,24444,41.03,0.126,0,0,1093,300.00
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$IRIDIUM_FIX,2413.38,-3730.51,210113,181817
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.60
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7611264
$TM_FREEKB,4851360
$24V_AH,23.0,72.342
$10V_AH,9.8,63.681
$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
$DEVICE_SECS,22.575,209.775,276.825,41.025,0.000,25.983,41.280,193.334,0.000,0.000,22.782,2073.293,19754.641,692.927,1976.153,519.625,33.290,1624.214,0.000,1605.159,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.749,13.502,0.000,0.000
$MEM,343720
$DATA_FILE_SIZE,13421,484
$CAP_FILE_SIZE,181168,0
$CFSIZE,260034560,213102592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220113,083228,2429.974,-3750.032,41,0.9,41,-14.0