version: 66.11
glider: 189
mission: 7
dive: 515
start: 2 21 113 19 49 43
data:
$ID,189
$MISSION,7
$DIVE,515
$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,-48302.078
$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
$GPS1,210213,193904,2430.954,-3749.405,34,0.9,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-60.5
$GPS2,210213,194841,2431.010,-3749.423,19,0.9,19,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.088,-0.081
$KALMAN_X,165152.1,-200.8,678.4,-144614.8,-1856.7
$KALMAN_Y,83614.6,95.4,-142.4,-92103.8,2391.1
$MHEAD_RNG_PITCHd_Wd,146.8,2005,-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,17,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.65,0.000,2,0.000,0.000,152,2123,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.10,2.58,-50.42,0.000,4,0.183,0.050,2592,545,2719,0,0,0,0,0,0,25.43,25.95,26.70
$GC,215,-1.17,-97.7,9.6,-8.3,19,223,0.12,2.50,0.00,0.000,6,0.143,0.024,2620,2196,2720,0,0,0,0,0,0,25.74,26.27,28.83
$GC,525,-1.17,-97.7,32.6,-7.4,50,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2196,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,824,-1.17,-97.7,54.5,-7.3,80,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2196,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1124,-1.17,-97.7,75.6,-7.1,110,1131,0.00,2.53,0.00,0.000,4,0.000,0.041,2610,3756,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1254,-1.13,-97.7,84.1,-7.1,114,1261,0.00,2.45,0.00,0.000,6,0.000,0.021,2610,2105,2722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1575,-1.13,-97.7,107.7,-7.2,125,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2105,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1875,-1.13,-97.7,133.9,-9.5,135,1881,0.00,2.42,0.00,0.000,4,0.000,0.037,2610,539,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1944,-1.11,-97.7,140.0,-10.0,137,1952,0.12,2.47,0.00,0.000,6,0.129,0.023,2639,2185,2723,0,0,0,0,0,0,25.89,26.37,28.83
$GC,2296,-1.13,-97.7,170.7,-8.0,145,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2187,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2596,-1.16,-97.7,188.0,-5.6,150,2601,0.00,2.55,0.00,0.000,4,0.000,0.037,2640,536,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2664,-1.19,-97.7,191.0,-5.3,151,2671,0.00,2.47,0.00,0.000,6,0.000,0.023,2629,2188,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3016,-1.21,-97.7,214.2,-6.7,157,3021,0.00,2.53,0.00,0.000,4,0.000,0.036,2629,546,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3083,-1.21,-97.7,218.6,-6.9,158,3091,0.00,2.50,0.00,0.000,6,0.000,0.023,2617,2201,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3434,-1.21,-97.7,244.9,-7.1,164,3441,0.00,2.60,0.00,0.000,4,0.000,0.036,2617,543,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3536,-1.21,-97.7,248.8,-6.9,165,3541,0.00,2.47,0.00,0.000,6,0.000,0.024,2605,2189,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3855,-1.21,-97.7,271.8,-6.4,171,3862,0.00,2.58,0.00,0.000,4,0.000,0.036,2605,546,2727,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3904,-1.21,-97.7,271.8,-6.4,171,3913,0.00,2.50,0.00,0.000,6,0.000,0.023,2593,2210,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4215,-1.21,-97.7,297.9,-7.3,177,4221,0.00,2.60,0.00,0.000,4,0.000,0.036,2592,538,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4293,-1.21,-97.7,302.4,-7.3,178,4301,0.00,2.50,0.00,0.000,6,0.000,0.023,2581,2192,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4635,-1.21,-97.7,329.5,-7.4,184,4641,0.00,2.53,0.00,0.000,4,0.000,0.041,2569,3744,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4684,-1.21,-97.7,329.5,-7.4,184,4693,0.10,2.45,0.00,0.000,6,0.129,0.021,2602,2084,2724,0,0,0,0,0,0,26.01,26.44,28.83
$GC,4995,-1.21,-97.7,355.0,-7.1,190,5001,0.00,2.42,0.00,0.000,4,0.000,0.037,2603,545,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5153,-1.21,-97.7,363.5,-7.0,192,5161,0.00,2.50,0.00,0.000,6,0.000,0.023,2592,2197,2725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5476,-1.21,-97.7,388.4,-6.9,198,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2197,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5774,-1.21,-97.7,409.5,-7.1,203,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,-1.21,-97.7,429.7,-6.7,208,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6376,-1.21,-97.7,451.7,-7.4,213,6381,0.00,2.58,0.00,0.000,4,0.000,0.037,2592,546,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6593,-1.21,-97.7,466.7,-8.2,216,6601,0.00,2.50,0.00,0.000,6,0.000,0.024,2581,2190,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6916,-1.21,-97.7,497.2,-8.4,222,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2190,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,-1.21,-97.7,522.7,-8.5,225,7221,0.00,2.60,0.00,0.000,4,0.000,0.037,2580,551,2718,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7384,-1.21,-97.7,532.9,-8.5,226,7392,0.15,2.50,0.00,0.000,6,0.152,0.024,2608,2189,2717,0,0,0,0,0,0,25.90,26.35,28.83
$GC,7696,-1.23,-97.7,562.2,-8.2,229,7701,0.00,2.55,0.00,0.000,4,0.000,0.038,2608,548,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7904,-1.26,-97.7,573.0,-8.3,230,7911,0.00,2.47,0.00,0.000,6,0.000,0.024,2597,2186,2716,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8295,-1.28,-97.7,612.1,-8.2,234,8301,0.00,2.55,0.00,0.000,4,0.000,0.038,2598,542,2714,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8365,-1.31,-97.7,612.1,-8.2,234,8371,0.00,2.50,0.00,0.000,6,0.000,0.024,2586,2192,2714,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8775,-1.34,-97.7,645.2,-6.9,238,8781,0.00,2.55,0.00,0.000,4,0.000,0.038,2586,548,2713,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8884,-1.36,-97.7,645.2,-6.9,238,8893,0.00,2.47,0.00,0.000,6,0.000,0.024,2574,2182,2712,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9255,-1.36,-97.7,686.1,-8.5,242,9262,0.00,2.58,0.00,0.000,4,0.000,0.039,2574,552,2712,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9374,-1.36,-97.7,697.7,-9.0,243,9381,0.00,2.47,0.00,0.000,6,0.000,0.025,2561,2183,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9735,-1.36,-97.7,730.8,-9.3,246,9741,0.00,2.58,0.00,0.000,4,0.000,0.039,2562,554,2711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9884,-1.36,-97.7,741.2,-9.0,247,9892,0.00,2.47,0.00,0.000,6,0.000,0.024,2550,2189,2712,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10214,-1.36,-97.7,769.0,-7.9,250,10222,0.00,2.60,0.00,0.000,4,0.000,0.039,2550,545,2710,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10284,-1.36,-97.7,769.0,-7.9,250,10292,0.00,2.50,0.00,0.000,6,0.000,0.025,2538,2190,2709,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10694,-1.36,-97.7,806.0,-7.7,254,10702,0.00,2.62,0.00,0.000,4,0.000,0.039,2538,544,2709,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10763,-1.36,-97.7,806.0,-7.7,254,10772,0.12,2.53,0.00,0.000,6,0.162,0.025,2557,2188,2708,0,0,0,0,0,0,25.89,26.29,28.83
$GC,11175,-1.36,-97.7,843.3,-7.8,258,11181,0.00,2.60,0.00,0.000,4,0.000,0.040,2557,551,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11403,-1.36,-97.7,852.4,-7.7,259,11413,0.00,2.53,0.00,0.000,6,0.000,0.025,2546,2192,2705,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11775,-1.36,-97.7,889.6,-7.7,263,11781,0.00,2.58,0.00,0.000,4,0.000,0.040,2547,545,2705,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11895,-1.36,-97.7,899.9,-7.9,264,11902,0.00,2.58,0.00,0.000,6,0.000,0.028,2534,2184,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12255,-1.36,-97.7,929.1,-8.2,267,12261,0.00,2.60,0.00,0.000,4,0.000,0.041,2534,555,2704,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12353,-1.36,-97.7,929.1,-8.2,267,12362,0.15,2.53,0.00,0.000,6,0.157,0.025,2561,2199,2703,0,0,0,0,0,0,25.79,26.27,28.83
$GC,12736,-1.36,-97.7,969.4,-8.4,271,12741,0.00,2.58,0.00,0.000,4,0.000,0.041,2561,549,2703,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12894,-1.36,-97.7,979.6,-8.3,272,12901,0.00,2.53,0.00,0.000,6,0.000,0.027,2551,2186,2702,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,12971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12971,begin apogee
$GC,12981,-0.29,0.0,990.2,-8.4,273,13073,1.12,0.00,86.10,1.648,6,0.124,0.000,2903,1576,2319,0,0,0,0,0,0,25.01,28.83,23.00
$STATE,13075,end apogee,CONTROL_FINISHED_OK
$STATE,13075,begin climb
$GC,13079,1.26,97.7,994.7,0.0,278,13178,1.40,2.10,91.82,1.622,4,0.061,0.048,3416,353,1920,0,0,0,0,0,0,25.29,24.96,23.03
$GC,13257,1.14,135.2,992.4,4.9,287,13296,0.15,1.98,33.97,1.583,6,0.149,0.024,3372,1651,1769,0,0,0,0,0,0,25.51,25.98,23.37
$GC,13620,1.09,150.8,970.4,5.9,295,13643,0.00,2.60,14.25,1.512,4,0.000,0.035,3372,3205,1706,0,0,0,0,0,0,28.83,25.88,23.79
$GC,13677,1.03,166.4,970.4,5.9,295,13699,0.15,2.55,16.15,1.523,6,0.151,0.031,3329,1590,1641,0,0,0,0,0,0,25.61,26.00,23.65
$GC,14091,1.01,171.0,940.0,6.5,299,14101,0.00,2.03,4.65,1.210,4,0.000,0.049,3337,351,1623,0,0,0,0,0,0,28.83,26.13,23.96
$GC,14160,0.99,175.5,940.0,6.5,299,14171,0.00,2.00,5.95,1.323,6,0.000,0.026,3337,1648,1604,0,0,0,0,0,0,28.83,26.34,23.88
$GC,14550,0.99,175.5,906.7,7.2,303,14556,0.00,2.08,0.00,0.000,4,0.000,0.047,3347,358,1603,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14719,0.99,175.5,897.5,7.4,304,14726,0.00,1.95,0.00,0.000,6,0.000,0.025,3347,1648,1601,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,24466,end climb,SURFACE_DEPTH_REACHED
$STATE,24466,begin surface coast
$FINISH,1.3,1.012488
$STATE,24498,end surface coast,CONTROL_FINISHED_OK
$STATE,24498,begin surface
$SM_CCo,24523,40.30,0.125,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,64.05
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.00
$XPDR_PINGS,1
$SC_FREEKB,7572064
$TM_FREEKB,4412832
$24V_AH,23.0,86.783
$10V_AH,10.1,76.939
$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
$DEVICE_SECS,21.825,223.725,288.825,40.300,0.000,28.522,40.790,197.768,0.250,0.000,20.477,2091.740,19719.350,713.334,1978.474,623.085,33.265,1666.851,0.000,1608.291,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.239,13.431,0.000,0.000
$MEM,343652
$DATA_FILE_SIZE,13446,502
$CAP_FILE_SIZE,187229,0
$CFSIZE,260034560,204115968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220213,024022,2430.579,-3748.456,34,1.0,34,-14.0