version: 66.11
glider: 189
mission: 7
dive: 506
start: 2 19 113 4 15 56
data:
$ID,189
$MISSION,7
$DIVE,506
$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,-48290.758
$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
$GPS1,190213,040452,2430.126,-3747.430,46,0.7,46,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-55.6
$GPS2,190213,041454,2430.105,-3747.427,16,1.2,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.002,0.115
$KALMAN_X,165396.0,-196.8,288.2,-141122.9,-1409.1
$KALMAN_Y,75850.8,-137.4,712.3,-86624.0,-1400.6
$MHEAD_RNG_PITCHd_Wd,15.1,2099,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.20,0.000,2,0.000,0.000,152,2126,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.4,0.0,1,104,8.93,2.72,-50.83,0.000,4,0.177,0.053,2565,3747,2719,0,0,0,0,0,0,25.31,25.89,26.70
$GC,395,-1.25,-97.7,16.7,-11.9,37,403,0.10,2.45,0.00,0.000,6,0.132,0.021,2597,2094,2721,0,0,0,0,0,0,25.91,26.37,28.83
$GC,704,-1.25,-97.7,39.8,-7.1,68,713,0.00,2.67,0.00,0.000,4,0.000,0.040,2586,3750,2721,0,0,0,0,0,0,28.83,26.06,28.83
$GC,935,-1.21,-97.7,58.2,-8.7,91,943,0.00,2.45,0.00,0.000,6,0.000,0.021,2586,2105,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1255,-1.19,-97.7,85.2,-8.5,115,1257,0.12,0.00,0.00,0.000,6,0.153,0.000,2619,2104,2723,0,0,0,0,0,0,26.33,28.83,28.83
$GC,1554,-1.19,-97.7,107.5,-7.0,125,1561,0.00,2.47,0.00,0.000,4,0.000,0.037,2619,540,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1655,-1.19,-97.7,113.5,-6.7,128,1661,0.00,2.47,0.00,0.000,6,0.000,0.023,2608,2192,2722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1975,-1.19,-97.7,135.1,-6.6,139,1981,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,3741,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2043,-1.19,-97.7,139.4,-6.9,141,2051,0.00,2.45,0.00,0.000,6,0.000,0.020,2596,2100,2723,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2395,-1.19,-97.7,165.8,-7.6,150,2401,0.00,2.40,0.00,0.000,4,0.000,0.037,2597,537,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2463,-1.19,-97.7,170.7,-7.8,151,2472,0.12,2.50,0.00,0.000,6,0.156,0.023,2617,2196,2724,0,0,0,0,0,0,26.00,26.38,28.83
$GC,2816,-1.22,-97.7,200.1,-8.4,157,2821,0.00,2.47,0.00,0.000,4,0.000,0.041,2607,3758,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2875,-1.24,-97.7,205.1,-8.4,158,2881,0.00,2.45,0.00,0.000,6,0.000,0.021,2606,2103,2724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3235,-1.27,-97.7,234.3,-8.0,164,3242,0.00,2.45,0.00,0.000,4,0.000,0.037,2606,545,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3295,-1.27,-97.7,238.9,-7.9,165,3302,0.00,2.47,0.00,0.000,6,0.000,0.024,2595,2197,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3655,-1.27,-97.7,264.3,-6.9,171,3661,0.00,2.58,0.00,0.000,4,0.000,0.035,2595,550,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3715,-1.27,-97.7,268.3,-6.8,172,3721,0.00,2.50,0.00,0.000,6,0.000,0.024,2583,2178,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4076,-1.27,-97.7,289.4,-5.9,178,4081,0.00,2.47,0.00,0.000,4,0.000,0.041,2571,3750,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4135,-1.27,-97.7,293.3,-6.0,179,4141,0.00,2.45,0.00,0.000,6,0.000,0.021,2571,2096,2724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4494,-1.27,-97.7,319.4,-7.6,185,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2096,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4795,-1.27,-97.7,346.1,-9.1,190,4802,0.00,2.67,0.00,0.000,4,0.000,0.041,2559,3745,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4863,-1.27,-97.7,351.9,-9.3,191,4872,0.15,2.47,0.00,0.000,6,0.145,0.021,2599,2085,2723,0,0,0,0,0,0,25.98,26.44,28.83
$GC,5215,-1.30,-97.7,386.1,-9.4,197,5222,0.00,2.42,0.00,0.000,4,0.000,0.038,2599,545,2722,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5376,-1.33,-97.7,396.7,-8.9,199,5381,0.00,2.42,0.00,0.000,6,0.000,0.024,2589,2191,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5695,-1.35,-97.7,424.0,-7.3,205,5701,0.00,2.60,0.00,0.000,4,0.000,0.037,2589,540,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5745,-1.38,-97.7,424.0,-7.3,205,5753,0.00,2.47,0.00,0.000,6,0.000,0.024,2577,2190,2721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6055,-1.38,-97.7,448.3,-6.6,211,6061,0.00,2.53,0.00,0.000,4,0.000,0.041,2565,3745,2721,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6174,-1.38,-97.7,456.3,-6.7,213,6181,0.00,2.45,0.00,0.000,6,0.000,0.021,2565,2097,2720,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6535,-1.38,-97.7,482.3,-7.4,219,6541,0.00,2.40,0.00,0.000,4,0.000,0.038,2565,544,2719,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6594,-1.38,-97.7,487.3,-7.7,220,6601,0.00,2.47,0.00,0.000,6,0.000,0.024,2553,2190,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7015,-1.38,-97.7,521.1,-8.1,225,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2190,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7375,-1.38,-97.7,548.4,-7.6,228,7382,0.00,2.53,0.00,0.000,4,0.000,0.042,2542,3743,2717,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7413,-1.38,-97.7,548.4,-7.6,228,7421,0.00,2.47,0.00,0.000,6,0.000,0.022,2542,2094,2715,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7734,-1.38,-97.7,576.7,-7.8,231,7741,0.00,2.42,0.00,0.000,4,0.000,0.038,2542,553,2716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7793,-1.38,-97.7,576.7,-7.8,231,7801,0.00,2.50,0.00,0.000,6,0.000,0.024,2530,2197,2716,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8216,-1.36,-97.7,613.1,-7.6,235,8222,0.12,2.47,0.00,0.000,4,0.164,0.043,2551,3747,2714,0,0,0,0,0,0,26.31,26.06,28.83
$GC,8304,-1.33,-97.7,613.1,-7.6,235,8312,0.00,2.45,0.00,0.000,6,0.000,0.022,2551,2107,2714,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8695,-1.33,-97.7,649.1,-7.5,239,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2104,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9054,-1.33,-97.7,682.3,-8.9,242,9062,0.00,2.47,0.00,0.000,4,0.000,0.039,2551,545,2711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9203,-1.33,-97.7,694.8,-9.5,243,9212,0.12,2.53,0.00,0.000,6,0.161,0.024,2570,2199,2712,0,0,0,0,0,0,25.94,26.32,28.83
$GC,9536,-1.35,-97.7,728.0,-9.5,246,9542,0.00,2.58,0.00,0.000,4,0.000,0.038,2571,548,2711,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9644,-1.38,-97.7,728.0,-9.5,246,9652,0.00,2.47,0.00,0.000,6,0.000,0.024,2560,2185,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10015,-1.40,-97.7,769.0,-8.5,250,10022,0.00,2.60,0.00,0.000,4,0.000,0.039,2561,552,2710,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10125,-1.43,-97.7,769.0,-8.5,250,10133,0.00,2.50,0.00,0.000,6,0.000,0.025,2550,2192,2710,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10495,-1.43,-97.7,807.0,-7.9,254,10502,0.00,2.62,0.00,0.000,4,0.000,0.039,2549,543,2709,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10643,-1.43,-97.7,816.5,-7.8,255,10651,0.00,2.53,0.00,0.000,6,0.000,0.025,2537,2190,2708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10975,-1.43,-97.7,841.5,-7.2,258,10982,0.00,2.62,0.00,0.000,4,0.000,0.039,2537,545,2707,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11023,-1.43,-97.7,841.5,-7.2,258,11031,0.00,2.60,0.00,0.000,6,0.000,0.027,2525,2192,2707,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11335,-1.43,-97.7,865.4,-6.6,261,11341,0.00,2.55,0.00,0.000,4,0.000,0.044,2514,3750,2705,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11405,-1.43,-97.7,865.4,-6.6,261,11411,0.00,2.47,0.00,0.000,6,0.000,0.024,2513,2097,2705,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11814,-1.43,-97.7,905.3,-8.3,265,11821,0.00,2.47,0.00,0.000,4,0.000,0.041,2514,549,2702,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11924,-1.43,-97.7,905.3,-8.3,265,11933,0.10,2.50,0.00,0.000,6,0.148,0.026,2533,2184,2703,0,0,0,0,0,0,25.80,26.28,28.83
$GC,12295,-1.43,-97.7,950.3,-9.3,269,12301,0.00,2.58,0.00,0.000,4,0.000,0.041,2533,539,2702,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12363,-1.43,-97.7,950.3,-9.3,269,12371,0.00,2.53,0.00,0.000,6,0.000,0.026,2523,2186,2702,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,12771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12771,begin apogee
$GC,12780,-0.29,0.0,994.6,-9.2,273,12873,1.23,0.00,86.62,1.709,6,0.126,0.000,2902,1577,2321,0,0,0,0,0,0,24.99,28.83,22.94
$STATE,12875,end apogee,CONTROL_FINISHED_OK
$STATE,12875,begin climb
$GC,12879,1.33,97.7,998.9,0.0,278,12982,1.48,2.10,92.28,1.656,4,0.062,0.047,3438,356,1921,0,0,0,0,0,0,25.28,24.95,23.03
$GC,13076,1.17,97.7,993.4,6.9,288,13082,0.22,1.92,0.00,0.000,6,0.163,0.024,3380,1668,1916,0,0,0,0,0,0,25.51,26.03,28.83
$GC,13458,1.10,104.3,969.2,6.3,297,13472,0.00,2.50,5.75,1.294,4,0.000,0.035,3380,3207,1893,0,0,0,0,0,0,28.83,26.16,23.94
$GC,13585,1.02,111.1,961.6,6.3,298,13602,0.22,2.53,7.68,1.397,6,0.168,0.031,3332,1558,1866,0,0,0,0,0,0,25.69,26.20,23.88
$GC,13938,0.99,125.1,940.4,6.0,301,13957,0.00,2.72,14.27,1.521,4,0.000,0.035,3332,3209,1808,0,0,0,0,0,0,28.83,25.95,23.88
$GC,14017,0.96,139.2,940.4,6.0,301,14037,0.08,2.55,14.50,1.520,6,0.155,0.030,3311,1586,1751,0,0,0,0,0,0,25.73,26.07,23.71
$GC,14396,0.96,139.2,905.6,7.2,304,14404,0.00,2.60,0.00,0.000,4,0.000,0.035,3310,3206,1747,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14556,0.96,139.2,895.7,7.7,305,14563,0.00,2.53,0.00,0.000,6,0.000,0.029,3321,1582,1747,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,24213,end climb,SURFACE_DEPTH_REACHED
$STATE,24213,begin surface coast
$FINISH,1.4,1.025840
$STATE,24234,end surface coast,CONTROL_FINISHED_OK
$STATE,24234,begin surface
$SM_CCo,24261,35.00,0.127,0,0,1094,300.00
$SM_GC,2.38,8.68,2.85,35.00,0.038,0.031,0.127,156,2177,1094,-8.83,-0.71,300.00,0,0,0,0,0,0,26.32,26.13,25.33
$IRIDIUM_FIX,2415.74,-3752.29,180213,202045
$TT8_MAMPS,0.026215,0.026215
$HUMID,64.72
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,7575552
$TM_FREEKB,4449632
$24V_AH,22.9,85.472
$10V_AH,10.0,75.808
$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,22.275,226.200,302.850,35.000,0.000,28.585,48.725,214.574,0.000,0.000,18.022,2064.539,19496.596,721.004,1981.333,621.502,33.258,1671.561,0.000,1590.599,0.000,0.536,0.000
$DEVICE_MAMPS,176.715,96.390,1709.010,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24249.000,2438.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.211,13.380,0.000,0.000
$MEM,343676
$DATA_FILE_SIZE,13431,496
$CAP_FILE_SIZE,184815,0
$CFSIZE,260034560,204914688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190213,110204,2431.461,-3746.927,30,0.8,30,-13.9