version: 66.11
glider: 189
mission: 7
dive: 483
start: 2 12 113 5 59 20
data:
$ID,189
$MISSION,7
$DIVE,483
$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,-48261.73
$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
$GPS1,120213,054835,2430.635,-3747.876,29,1.0,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-58.0
$GPS2,120213,055818,2430.638,-3748.040,18,1.0,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.113,-0.040
$KALMAN_X,175715.9,-113.9,549.8,-152826.8,-4104.4
$KALMAN_Y,64875.5,-295.1,-263.5,-73538.9,2660.5
$MHEAD_RNG_PITCHd_Wd,123.7,693,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-11.07,0.000,2,0.000,0.000,153,2133,1414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.3,0.0,1,104,9.12,0.00,-49.17,0.000,6,0.181,0.000,2588,2130,2718,0,0,0,0,0,0,25.13,28.83,26.70
$GC,408,-1.21,-97.7,29.7,-9.6,38,415,0.00,2.60,0.00,0.000,4,0.000,0.041,2578,3754,2720,0,0,0,0,0,0,28.83,26.03,28.83
$GC,606,-1.15,-97.7,47.7,-8.3,58,614,0.15,2.45,0.00,0.000,6,0.125,0.021,2627,2091,2718,0,0,0,0,0,0,25.84,26.39,28.83
$GC,915,-1.15,-97.7,69.9,-7.0,89,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2092,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-1.15,-97.7,90.9,-6.5,105,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2092,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1536,-1.15,-97.7,108.3,-5.5,115,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2091,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,-1.15,-97.7,127.7,-7.1,125,1842,0.00,2.42,0.00,0.000,4,0.000,0.037,2627,548,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1915,-1.15,-97.7,132.0,-7.2,127,1924,0.00,2.45,0.00,0.000,6,0.000,0.023,2612,2187,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2255,-1.15,-97.7,158.4,-7.2,137,2263,0.00,2.50,0.00,0.000,4,0.000,0.039,2604,3748,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2294,-1.15,-97.7,158.4,-7.2,137,2302,0.00,2.45,0.00,0.000,6,0.000,0.021,2604,2099,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2616,-1.15,-97.7,181.1,-6.1,143,2622,0.00,2.38,0.00,0.000,4,0.000,0.037,2604,542,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2676,-1.15,-97.7,184.6,-6.0,144,2683,0.10,2.47,0.00,0.000,6,0.132,0.023,2626,2197,2723,0,0,0,0,0,0,25.99,26.40,28.83
$GC,3037,-1.15,-97.7,203.6,-5.4,150,3042,0.00,2.53,0.00,0.000,4,0.000,0.036,2626,545,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3165,-1.15,-97.7,211.0,-5.8,152,3172,0.00,2.47,0.00,0.000,6,0.000,0.023,2615,2193,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3515,-1.15,-97.7,236.5,-7.4,158,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2193,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-1.15,-97.7,259.6,-7.7,163,3822,0.00,2.53,0.00,0.000,4,0.000,0.036,2615,545,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3924,-1.15,-97.7,264.2,-7.8,164,3933,0.00,2.55,0.00,0.000,6,0.000,0.024,2603,2198,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4235,-1.15,-97.7,291.0,-7.3,170,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2197,2726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4536,-1.15,-97.7,313.2,-7.4,175,4542,0.00,2.55,0.00,0.000,4,0.000,0.037,2603,546,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4596,-1.15,-97.7,317.6,-7.4,176,4603,0.10,2.47,0.00,0.000,6,0.129,0.024,2625,2187,2723,0,0,0,0,0,0,25.98,26.40,28.83
$GC,4956,-1.18,-97.7,344.5,-7.6,182,4962,0.00,2.60,0.00,0.000,4,0.000,0.037,2626,542,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5056,-1.21,-97.7,349.6,-7.9,183,5063,0.00,2.47,0.00,0.000,6,0.000,0.024,2615,2189,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5376,-1.24,-97.7,379.9,-8.4,189,5382,0.00,2.58,0.00,0.000,4,0.000,0.037,2615,549,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5485,-1.26,-97.7,384.8,-8.3,190,5494,0.00,2.45,0.00,0.000,6,0.000,0.024,2603,2181,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5796,-1.26,-97.7,410.6,-6.9,196,5803,0.00,2.58,0.00,0.000,4,0.000,0.037,2603,547,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5885,-1.26,-97.7,414.4,-6.6,197,5892,0.00,2.50,0.00,0.000,6,0.000,0.024,2591,2196,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6216,-1.26,-97.7,435.7,-6.0,203,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2196,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-1.26,-97.7,457.0,-7.3,208,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2196,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6815,-1.26,-97.7,483.5,-9.0,213,6823,0.00,2.60,0.00,0.000,4,0.000,0.037,2591,549,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6875,-1.26,-97.7,489.4,-9.3,214,6883,0.00,2.53,0.00,0.000,6,0.000,0.025,2579,2182,2719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7236,-1.26,-97.7,524.0,-9.6,218,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2182,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7595,-1.26,-97.7,555.0,-8.8,221,7603,0.00,2.60,0.00,0.000,4,0.000,0.037,2579,545,2717,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7654,-1.26,-97.7,555.0,-8.8,221,7662,0.00,2.55,0.00,0.000,6,0.000,0.025,2567,2187,2717,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8076,-1.26,-97.7,590.3,-7.3,225,8083,0.00,2.58,0.00,0.000,4,0.000,0.037,2567,550,2713,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8134,-1.26,-97.7,590.3,-7.3,225,8143,0.15,2.50,0.00,0.000,6,0.155,0.024,2594,2195,2715,0,0,0,0,0,0,25.91,26.37,28.83
$GC,8556,-1.28,-97.7,624.5,-7.1,229,8563,0.00,2.60,0.00,0.000,4,0.000,0.038,2596,552,2714,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8646,-1.30,-97.7,624.5,-7.1,229,8652,0.00,2.47,0.00,0.000,6,0.000,0.025,2584,2185,2713,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9036,-1.33,-97.7,661.1,-7.6,233,9043,0.00,2.60,0.00,0.000,4,0.000,0.039,2584,546,2713,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9164,-1.33,-97.7,670.3,-7.6,234,9172,0.00,2.50,0.00,0.000,6,0.000,0.024,2572,2190,2712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9516,-1.33,-97.7,697.1,-7.5,237,9523,0.00,2.60,0.00,0.000,4,0.000,0.039,2572,546,2712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9574,-1.33,-97.7,697.1,-7.5,237,9582,0.00,2.50,0.00,0.000,6,0.000,0.025,2560,2188,2711,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9995,-1.33,-97.7,736.7,-8.2,241,10003,0.00,2.60,0.00,0.000,4,0.000,0.040,2560,549,2710,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10085,-1.33,-97.7,736.7,-8.2,241,10092,0.00,2.47,0.00,0.000,6,0.000,0.025,2548,2183,2710,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10475,-1.33,-97.7,778.5,-8.7,245,10483,0.00,2.55,0.00,0.000,4,0.000,0.044,2537,3745,2709,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10534,-1.33,-97.7,778.5,-8.7,245,10543,0.12,2.47,0.00,0.000,6,0.149,0.023,2567,2100,2709,0,0,0,0,0,0,26.00,26.37,28.83
$GC,10956,-1.33,-97.7,818.1,-8.2,249,10963,0.00,2.47,0.00,0.000,4,0.000,0.041,2568,543,2708,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11094,-1.33,-97.7,828.0,-8.1,250,11102,0.00,2.53,0.00,0.000,6,0.000,0.025,2557,2193,2708,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11436,-1.33,-97.7,855.6,-7.8,253,11442,0.00,2.60,0.00,0.000,4,0.000,0.040,2557,550,2707,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11545,-1.33,-97.7,855.6,-7.8,253,11554,0.00,2.47,0.00,0.000,6,0.000,0.026,2546,2181,2706,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11916,-1.33,-97.7,892.7,-7.7,257,11922,0.00,2.60,0.00,0.000,4,0.000,0.041,2546,550,2704,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12074,-1.33,-97.7,903.1,-7.9,258,12083,0.15,2.53,0.00,0.000,6,0.160,0.026,2571,2196,2704,0,0,0,0,0,0,25.81,26.30,28.83
$GC,12396,-1.33,-97.7,933.9,-8.6,261,12402,0.00,2.58,0.00,0.000,4,0.000,0.041,2572,546,2703,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12534,-1.33,-97.7,944.3,-8.6,262,12542,0.00,2.53,0.00,0.000,6,0.000,0.027,2561,2188,2703,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12876,-1.33,-97.7,977.0,-9.0,265,12882,0.00,2.58,0.00,0.000,4,0.000,0.041,2561,545,2702,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12934,-1.33,-97.7,977.0,-9.0,265,12942,0.00,2.58,0.00,0.000,6,0.000,0.026,2550,2184,2701,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,13032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13032,begin apogee
$GC,13041,-0.29,0.0,991.6,-9.1,268,13134,1.12,0.00,86.78,1.702,6,0.124,0.000,2901,1575,2320,0,0,0,0,0,0,25.08,28.83,22.91
$STATE,13136,end apogee,CONTROL_FINISHED_OK
$STATE,13136,begin climb
$GC,13140,1.26,97.7,996.5,0.0,273,13243,1.42,2.08,93.10,1.720,4,0.060,0.048,3416,360,1921,0,0,0,0,0,0,25.27,24.88,22.94
$GC,13316,1.13,119.9,993.2,5.6,282,13344,0.15,1.95,20.58,1.604,6,0.148,0.024,3372,1647,1832,0,0,0,0,0,0,25.51,25.94,23.42
$GC,13700,1.05,123.3,968.6,6.5,291,13709,0.12,2.12,3.80,1.090,4,0.175,0.049,3343,354,1817,0,0,0,0,0,0,26.04,26.12,23.89
$GC,13799,0.97,126.6,968.6,6.5,291,13809,0.08,1.95,4.85,1.244,6,0.148,0.025,3304,1652,1802,0,0,0,0,0,0,25.91,26.36,23.85
$GC,14164,0.95,138.1,940.1,6.1,295,14181,0.00,2.55,11.88,1.522,4,0.000,0.037,3304,3202,1756,0,0,0,0,0,0,28.83,26.03,23.90
$GC,14372,0.94,151.7,933.1,6.0,296,14392,0.00,2.50,13.88,1.548,6,0.000,0.031,3314,1573,1700,0,0,0,0,0,0,28.83,26.20,23.83
$GC,14740,0.94,151.7,901.3,6.8,300,14747,0.00,2.62,0.00,0.000,4,0.000,0.034,3315,3198,1698,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,26368,end climb,SURFACE_DEPTH_REACHED
$STATE,26368,begin surface coast
$FINISH,1.2,1.025872
$STATE,26399,end surface coast,CONTROL_FINISHED_OK
$STATE,26399,begin surface
$SM_CCo,26424,61.60,0.125,0,0,1093,300.00
$SM_GC,2.27,8.55,0.82,61.60,0.037,0.034,0.125,153,2199,1093,-8.82,-0.54,300.00,0,0,0,0,0,0,26.25,26.39,25.41
$IRIDIUM_FIX,2411.01,-3824.44,110213,222200
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.73
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7584384
$TM_FREEKB,4545600
$24V_AH,22.9,82.036
$10V_AH,9.8,72.884
$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
$DEVICE_SECS,21.900,226.050,247.300,61.600,0.000,25.976,44.315,204.606,0.000,0.000,20.057,2182.744,21483.975,720.401,2033.863,634.994,33.261,1697.733,0.000,1648.208,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.303,13.482,0.000,0.000
$MEM,343696
$DATA_FILE_SIZE,13427,536
$CAP_FILE_SIZE,193871,0
$CFSIZE,260034560,206970880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120213,132205,2430.935,-3747.673,39,0.9,39,-14.0