version: 66.11
glider: 189
mission: 7
dive: 488
start: 2 13 113 18 11 6
data:
$ID,189
$MISSION,7
$DIVE,488
$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,-48268.02
$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
$GPS1,130213,180006,2429.996,-3747.592,45,1.3,45,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-61.5
$GPS2,130213,181004,2429.968,-3747.676,34,0.9,34,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115,0.003
$KALMAN_X,168622.8,449.0,608.8,-145748.9,-2826.2
$KALMAN_Y,70416.8,248.8,-305.6,-80817.1,1803.6
$MHEAD_RNG_PITCHd_Wd,102.7,2077,-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,-10.65,0.000,2,0.000,0.000,155,2118,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.4,0.0,1,104,9.20,2.58,-50.38,0.000,4,0.189,0.050,2568,548,2720,0,0,0,0,0,0,25.34,25.94,26.70
$GC,195,-1.22,-97.7,8.2,-8.2,17,203,0.15,2.55,0.00,0.000,6,0.137,0.025,2604,2185,2721,0,0,0,0,0,0,25.66,26.23,28.83
$GC,505,-1.19,-97.7,31.4,-7.4,48,513,0.00,2.55,0.00,0.000,4,0.000,0.041,2594,3752,2721,0,0,0,0,0,0,28.83,26.05,28.83
$GC,805,-1.16,-97.7,54.4,-7.6,78,813,0.12,2.47,0.00,0.000,6,0.148,0.021,2626,2089,2722,0,0,0,0,0,0,26.03,26.40,28.83
$GC,1114,-1.16,-97.7,77.5,-7.9,107,1121,0.00,2.70,0.00,0.000,4,0.000,0.039,2615,3754,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1253,-1.16,-97.7,87.6,-8.4,111,1262,0.00,2.47,0.00,0.000,6,0.000,0.021,2615,2097,2723,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1565,-1.16,-97.7,114.0,-7.6,122,1571,0.00,2.62,0.00,0.000,4,0.000,0.040,2602,3757,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1643,-1.16,-97.7,118.3,-7.2,124,1653,0.00,2.47,0.00,0.000,6,0.000,0.021,2603,2099,2724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1955,-1.16,-97.7,138.7,-6.4,135,1962,0.00,2.65,0.00,0.000,4,0.000,0.039,2591,3750,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2035,-1.16,-97.7,142.8,-6.5,137,2043,0.10,2.45,0.00,0.000,6,0.125,0.021,2624,2085,2724,0,0,0,0,0,0,26.04,26.45,28.83
$GC,2375,-1.18,-97.7,168.1,-7.3,145,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2085,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2675,-1.21,-97.7,192.9,-8.3,150,2681,0.00,2.67,0.00,0.000,4,0.000,0.039,2613,3745,2725,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2845,-1.23,-97.7,202.2,-8.0,152,2853,0.00,2.42,0.00,0.000,6,0.000,0.021,2613,2102,2725,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3155,-1.26,-97.7,223.1,-5.4,158,3161,0.00,2.42,0.00,0.000,4,0.000,0.037,2613,547,2725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3265,-1.28,-97.7,226.4,-5.3,159,3273,0.00,2.45,0.00,0.000,6,0.000,0.024,2601,2191,2725,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3575,-1.28,-97.7,246.6,-5.7,165,3581,0.00,2.50,0.00,0.000,4,0.000,0.041,2590,3747,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3664,-1.28,-97.7,250.6,-5.9,166,3671,0.00,2.47,0.00,0.000,6,0.000,0.021,2590,2085,2725,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3995,-1.28,-97.7,276.6,-7.4,172,4001,0.00,2.65,0.00,0.000,4,0.000,0.039,2578,3755,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4114,-1.28,-97.7,286.2,-7.8,174,4121,0.00,2.45,0.00,0.000,6,0.000,0.021,2578,2097,2725,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4474,-1.28,-97.7,317.7,-8.8,180,4481,0.00,2.42,0.00,0.000,4,0.000,0.037,2578,549,2725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4554,-1.28,-97.7,323.7,-9.2,181,4561,0.00,2.45,0.00,0.000,6,0.000,0.024,2566,2190,2725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4894,-1.28,-97.7,358.0,-9.6,187,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2190,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5194,-1.28,-97.7,383.7,-8.4,192,5202,0.00,2.58,0.00,0.000,4,0.000,0.036,2566,552,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5275,-1.28,-97.7,388.5,-8.1,193,5282,0.10,2.45,0.00,0.000,6,0.136,0.024,2586,2182,2723,0,0,0,0,0,0,25.97,26.39,28.83
$GC,5615,-1.28,-97.7,413.8,-6.9,199,5621,0.00,2.58,0.00,0.000,4,0.000,0.036,2586,545,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5703,-1.28,-97.7,418.2,-7.0,200,5711,0.00,2.55,0.00,0.000,6,0.000,0.024,2576,2194,2722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6035,-1.28,-97.7,444.5,-7.4,206,6041,0.00,2.58,0.00,0.000,4,0.000,0.037,2576,540,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6253,-1.28,-97.7,459.1,-8.0,209,6261,0.00,2.50,0.00,0.000,6,0.000,0.024,2563,2191,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6576,-1.28,-97.7,487.5,-7.8,215,6581,0.00,2.55,0.00,0.000,4,0.000,0.037,2564,541,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6653,-1.28,-97.7,492.4,-7.9,216,6662,0.12,2.50,0.00,0.000,6,0.159,0.024,2582,2191,2720,0,0,0,0,0,0,26.00,26.38,28.83
$GC,6995,-1.28,-97.7,522.2,-8.3,220,7001,0.00,2.60,0.00,0.000,4,0.000,0.037,2583,545,2721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7084,-1.28,-97.7,522.2,-8.3,220,7091,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2187,2718,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7475,-1.30,-97.7,570.4,-10.1,224,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2187,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,-1.33,-97.7,602.8,-9.3,227,7841,0.00,2.55,0.00,0.000,4,0.000,0.037,2573,542,2717,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8024,-1.33,-97.7,613.0,-8.8,228,8032,0.00,2.50,0.00,0.000,6,0.000,0.024,2561,2190,2716,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8434,-1.33,-97.7,647.6,-7.2,232,8441,0.00,2.60,0.00,0.000,4,0.000,0.038,2561,543,2715,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8604,-1.33,-97.7,656.9,-7.2,233,8611,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2191,2714,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8915,-1.33,-97.7,686.8,-8.1,236,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2191,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,-1.33,-97.7,719.3,-9.0,239,9282,0.00,2.62,0.00,0.000,4,0.000,0.038,2549,543,2712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9403,-1.33,-97.7,730.9,-9.2,240,9412,0.12,2.53,0.00,0.000,6,0.162,0.024,2564,2198,2712,0,0,0,0,0,0,25.95,26.34,28.83
$GC,9755,-1.33,-97.7,762.1,-8.9,243,9762,0.00,2.60,0.00,0.000,4,0.000,0.039,2568,549,2711,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9813,-1.33,-97.7,762.1,-8.9,243,9821,0.00,2.50,0.00,0.000,6,0.000,0.024,2557,2189,2712,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10235,-1.35,-97.7,798.0,-7.5,247,10242,0.00,2.62,0.00,0.000,4,0.000,0.039,2557,542,2710,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10335,-1.38,-97.7,798.0,-7.5,247,10341,0.00,2.50,0.00,0.000,6,0.000,0.026,2545,2192,2710,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10714,-1.38,-97.7,832.2,-7.0,251,10721,0.00,2.60,0.00,0.000,4,0.000,0.039,2545,549,2709,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10773,-1.38,-97.7,832.2,-7.0,251,10781,0.00,2.50,0.00,0.000,6,0.000,0.025,2533,2188,2708,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11195,-1.38,-97.7,868.3,-7.5,255,11202,0.00,2.62,0.00,0.000,4,0.000,0.040,2534,546,2707,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11383,-1.38,-97.7,878.6,-7.7,256,11392,0.12,2.53,0.00,0.000,6,0.165,0.025,2552,2189,2706,0,0,0,0,0,0,25.90,26.31,28.83
$GC,11795,-1.38,-97.7,914.3,-7.4,260,11801,0.00,2.60,0.00,0.000,4,0.000,0.041,2552,541,2705,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11934,-1.40,-97.7,923.4,-7.4,261,11941,0.00,2.50,0.00,0.000,6,0.000,0.025,2542,2179,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12274,-1.40,-97.7,949.5,-7.3,264,12281,0.00,2.60,0.00,0.000,4,0.000,0.041,2542,554,2703,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12376,-1.40,-97.7,949.5,-7.3,264,12381,0.00,2.47,0.00,0.000,6,0.000,0.027,2530,2196,2703,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12754,-1.40,-97.7,988.0,-8.0,268,12762,0.00,2.62,0.00,0.000,4,0.000,0.041,2530,551,2702,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,12791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12791,begin apogee
$GC,12800,-0.29,0.0,991.6,-8.3,270,12894,1.23,0.10,86.97,1.710,6,0.132,0.088,2897,1582,2321,0,0,0,0,0,0,24.94,24.84,22.92
$STATE,12896,end apogee,CONTROL_FINISHED_OK
$STATE,12896,begin climb
$GC,12900,1.33,97.7,995.7,0.0,275,13003,1.48,2.75,93.12,1.696,4,0.060,0.035,3426,3204,1921,0,0,0,0,0,0,25.29,24.96,22.97
$GC,13076,1.19,109.8,991.5,6.1,284,13094,0.20,2.55,11.60,1.512,6,0.174,0.031,3389,1572,1871,0,0,0,0,0,0,25.44,25.84,23.52
$GC,13418,1.11,109.8,968.0,7.0,291,13423,0.12,1.92,0.00,0.000,4,0.176,0.047,3360,347,1866,0,0,0,0,0,0,26.03,26.10,28.83
$GC,13595,1.03,109.8,959.9,6.9,292,13601,0.00,1.95,0.00,0.000,6,0.000,0.024,3361,1655,1864,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14015,0.99,118.5,929.9,6.2,296,14026,0.15,0.00,7.95,1.434,6,0.160,0.000,3322,1656,1836,0,0,0,0,0,0,26.15,28.83,23.91
$GC,14375,1.01,135.0,909.2,5.8,299,14396,0.00,2.58,16.05,1.573,4,0.000,0.037,3321,3209,1771,0,0,0,0,0,0,28.83,25.91,23.83
$GC,14535,1.03,151.7,902.3,5.8,300,14557,0.00,2.55,17.10,1.574,6,0.000,0.031,3332,1582,1700,0,0,0,0,0,0,28.83,26.12,23.71
$GC,14956,1.03,154.7,871.7,6.5,304,14962,0.00,2.60,0.00,0.000,4,0.000,0.035,3332,3201,1697,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15096,1.04,156.9,863.7,6.6,305,15106,0.00,2.53,5.40,1.288,6,0.000,0.031,3344,1583,1680,0,0,0,0,0,0,28.83,26.25,23.96
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$STATE,25842,end climb,SURFACE_DEPTH_REACHED
$STATE,25842,begin surface coast
$FINISH,1.4,1.025770
$STATE,25874,end surface coast,CONTROL_FINISHED_OK
$STATE,25874,begin surface
$SM_CCo,25901,60.08,0.124,0,0,1093,300.00
$SM_GC,2.38,8.60,0.82,60.08,0.036,0.033,0.124,153,2178,1093,-8.83,-0.62,300.00,0,0,0,0,0,0,26.29,26.36,25.50
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,1
$SC_FREEKB,7582464
$TM_FREEKB,4523840
$24V_AH,22.9,82.736
$10V_AH,10.0,73.520
$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
$DEVICE_SECS,22.325,237.400,250.400,60.075,0.000,28.551,52.616,197.412,0.250,0.000,35.820,2175.458,20976.223,733.248,2060.144,601.238,33.284,1710.945,0.000,1657.460,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.302,13.484,0.000,0.000
$MEM,343720
$DATA_FILE_SIZE,13449,535
$CAP_FILE_SIZE,192148,0
$CFSIZE,260034560,206532608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140213,012504,2430.131,-3747.054,36,0.9,36,-14.0