version: 66.11
glider: 189
mission: 7
dive: 553
start: 3 5 113 1 7 38
data:
$ID,189
$MISSION,7
$DIVE,553
$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,-48349.883
$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
$GPS1,050313,005628,2432.307,-3748.194,38,1.1,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-61.5
$GPS2,050313,010636,2432.293,-3748.227,14,1.4,14,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.022,-0.113
$KALMAN_X,127635.8,-318.6,-240.4,-104050.7,-531.5
$KALMAN_Y,90331.6,141.1,94.8,-96734.2,199.6
$MHEAD_RNG_PITCHd_Wd,182.9,2455,-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,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.10,0.000,2,0.000,0.000,151,2124,1382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,105,8.95,2.70,-51.65,0.000,4,0.179,0.050,2556,3752,2720,0,0,0,0,0,0,25.32,25.95,26.70
$GC,395,-1.26,-97.7,23.6,-9.4,37,403,0.10,2.47,0.00,0.000,6,0.132,0.021,2588,2091,2721,0,0,0,0,0,0,25.88,26.32,28.83
$GC,705,-1.26,-97.7,47.4,-7.4,68,712,0.00,2.67,0.00,0.000,4,0.000,0.039,2577,3746,2721,0,0,0,0,0,0,28.83,26.01,28.83
$GC,945,-1.22,-97.7,65.2,-7.0,92,953,0.00,2.45,0.00,0.000,6,0.000,0.021,2577,2104,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1275,-1.20,-97.7,89.2,-7.7,113,1277,0.12,0.00,0.00,0.000,6,0.149,0.000,2610,2104,2722,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1575,-1.20,-97.7,116.3,-9.7,123,1581,0.00,2.45,0.00,0.000,4,0.000,0.036,2610,550,2722,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1624,-1.20,-97.7,119.1,-9.6,124,1633,0.00,2.45,0.00,0.000,6,0.000,0.023,2600,2188,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1935,-1.20,-97.7,143.8,-6.3,135,1941,0.00,2.50,0.00,0.000,4,0.000,0.040,2588,3744,2723,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1965,-1.20,-97.7,145.7,-6.3,136,1971,0.00,2.42,0.00,0.000,6,0.000,0.020,2588,2100,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2296,-1.20,-97.7,165.5,-6.0,143,2301,0.00,2.40,0.00,0.000,4,0.000,0.037,2588,545,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2394,-1.20,-97.7,169.1,-6.0,144,2402,0.10,2.53,0.00,0.000,6,0.130,0.023,2609,2190,2723,0,0,0,0,0,0,25.92,26.34,28.83
$GC,2716,-1.22,-97.7,191.9,-6.5,150,2722,0.00,2.53,0.00,0.000,4,0.000,0.035,2610,545,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2784,-1.22,-97.7,196.5,-6.9,151,2791,0.00,2.55,0.00,0.000,6,0.000,0.023,2599,2199,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3135,-1.22,-97.7,226.9,-8.8,157,3141,0.00,2.60,0.00,0.000,4,0.000,0.034,2599,548,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3214,-1.22,-97.7,232.5,-9.0,158,3221,0.00,2.47,0.00,0.000,6,0.000,0.023,2587,2192,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3555,-1.22,-97.7,262.4,-8.0,164,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2192,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3855,-1.22,-97.7,282.4,-6.5,169,3861,0.00,2.55,0.00,0.000,4,0.000,0.035,2587,539,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3955,-1.22,-97.7,286.4,-6.4,170,3962,0.08,2.47,0.00,0.000,6,0.135,0.023,2600,2191,2724,0,0,0,0,0,0,25.99,26.34,28.83
$GC,4275,-1.25,-97.7,309.9,-6.6,176,4281,0.00,2.55,0.00,0.000,4,0.000,0.035,2601,538,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4354,-1.27,-97.7,314.0,-6.7,177,4361,0.00,2.47,0.00,0.000,6,0.000,0.023,2590,2187,2723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4696,-1.29,-97.7,341.1,-7.7,183,4701,0.00,2.55,0.00,0.000,4,0.000,0.035,2590,536,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4834,-1.29,-97.7,351.0,-8.0,185,4841,0.00,2.50,0.00,0.000,6,0.000,0.023,2578,2192,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5175,-1.29,-97.7,379.9,-7.9,191,5181,0.00,2.60,0.00,0.000,4,0.000,0.036,2584,541,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5224,-1.29,-97.7,379.9,-7.9,191,5233,0.00,2.47,0.00,0.000,6,0.000,0.023,2566,2189,2721,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5535,-1.29,-97.7,407.4,-7.5,197,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2189,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5835,-1.29,-97.7,429.2,-7.2,202,5841,0.00,2.55,0.00,0.000,4,0.000,0.037,2566,545,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5896,-1.29,-97.7,433.5,-7.1,203,5902,0.12,2.45,0.00,0.000,6,0.159,0.024,2585,2198,2720,0,0,0,0,0,0,25.94,26.32,28.83
$GC,6255,-1.32,-97.7,454.8,-5.7,209,6261,0.00,2.58,0.00,0.000,4,0.000,0.037,2585,542,2719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6315,-1.34,-97.7,458.4,-5.7,210,6321,0.00,2.45,0.00,0.000,6,0.000,0.024,2575,2197,2719,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6676,-1.37,-97.7,480.5,-6.4,216,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2197,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6975,-1.39,-97.7,502.9,-7.7,221,6981,0.00,2.58,0.00,0.000,4,0.000,0.037,2575,546,2718,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7095,-1.39,-97.7,513.9,-8.4,222,7102,0.00,2.47,0.00,0.000,6,0.000,0.024,2563,2185,2717,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7455,-1.39,-97.7,548.5,-9.5,225,7461,0.00,2.55,0.00,0.000,4,0.000,0.037,2563,546,2716,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7524,-1.39,-97.7,548.5,-9.5,225,7531,0.00,2.50,0.00,0.000,6,0.000,0.024,2551,2191,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7936,-1.39,-97.7,589.5,-8.5,229,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2191,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,-1.39,-97.7,617.3,-7.7,232,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2191,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8655,-1.39,-97.7,651.1,-9.0,235,8661,0.00,2.60,0.00,0.000,4,0.000,0.038,2551,551,2713,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8744,-1.39,-97.7,651.1,-9.0,235,8752,0.00,2.50,0.00,0.000,6,0.000,0.024,2539,2189,2712,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9136,-1.39,-97.7,702.7,-10.8,239,9141,0.00,2.55,0.00,0.000,4,0.000,0.039,2539,548,2712,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9204,-1.39,-97.7,702.7,-10.8,239,9211,0.00,2.50,0.00,0.000,6,0.000,0.024,2527,2188,2711,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9615,-1.39,-97.7,744.5,-8.7,243,9621,0.00,2.60,0.00,0.000,4,0.000,0.039,2526,548,2711,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9695,-1.39,-97.7,744.5,-8.7,243,9702,0.10,2.50,0.00,0.000,6,0.138,0.024,2547,2191,2710,0,0,0,0,0,0,25.84,26.28,28.83
$GC,10095,-1.39,-97.7,779.9,-7.3,247,10101,0.00,2.62,0.00,0.000,4,0.000,0.039,2548,545,2712,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10134,-1.39,-97.7,779.9,-7.3,247,10141,0.00,2.53,0.00,0.000,6,0.000,0.025,2537,2192,2709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10456,-1.39,-97.7,811.7,-8.5,250,10461,0.00,2.53,0.00,0.000,4,0.000,0.044,2525,3751,2708,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10564,-1.39,-97.7,811.7,-8.5,250,10573,0.00,2.50,0.00,0.000,6,0.000,0.023,2525,2095,2707,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10935,-1.39,-97.7,861.5,-10.4,254,10941,0.00,2.45,0.00,0.000,4,0.000,0.041,2525,552,2706,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10985,-1.39,-97.7,861.5,-10.4,254,10992,0.15,2.42,0.00,0.000,6,0.153,0.025,2552,2189,2706,0,0,0,0,0,0,25.78,26.26,28.83
$GC,11296,-1.41,-97.7,895.2,-9.7,257,11302,0.00,2.58,0.00,0.000,4,0.000,0.040,2553,543,2705,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11344,-1.44,-97.7,895.2,-9.7,257,11352,0.00,2.58,0.00,0.000,6,0.000,0.026,2543,2183,2705,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11656,-1.47,-97.7,922.5,-7.8,260,11661,0.00,2.58,0.00,0.000,4,0.000,0.040,2542,540,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11704,-1.50,-97.7,922.5,-7.8,260,11711,0.00,2.50,0.00,0.000,6,0.000,0.025,2530,2182,2703,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12015,-1.50,-97.7,947.7,-7.0,263,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2183,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12375,-1.50,-97.7,978.5,-8.1,266,12381,0.00,2.58,0.00,0.000,4,0.000,0.041,2530,542,2702,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12435,-1.50,-97.7,978.5,-8.1,266,12441,0.00,2.50,0.00,0.000,6,0.000,0.025,2518,2209,2701,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,12491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12492,begin apogee
$GC,12501,-0.29,0.0,990.6,-9.0,267,12594,1.23,0.05,86.10,1.642,6,0.125,0.129,2897,1628,2319,0,0,0,0,0,0,24.86,24.73,22.98
$STATE,12596,end apogee,CONTROL_FINISHED_OK
$STATE,12596,begin climb
$GC,12600,1.33,97.7,997.1,0.0,272,12702,1.48,2.17,92.10,1.625,4,0.063,0.047,3435,353,1920,0,0,0,0,0,0,25.32,24.99,22.96
$GC,12824,1.23,146.6,996.1,4.2,283,12875,0.10,1.95,44.22,1.594,6,0.158,0.024,3404,1652,1722,0,0,0,0,0,0,25.68,26.10,23.28
$GC,13255,1.15,146.6,966.2,7.3,295,13262,0.12,2.10,0.00,0.000,4,0.177,0.048,3381,351,1715,0,0,0,0,0,0,26.08,26.08,28.83
$GC,13448,1.07,146.6,956.0,7.7,296,13454,0.15,1.90,0.00,0.000,6,0.166,0.025,3345,1670,1713,0,0,0,0,0,0,25.89,26.39,28.83
$GC,13855,1.04,146.6,913.6,8.8,300,13861,0.00,2.12,0.00,0.000,4,0.000,0.048,3353,355,1711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,14035,1.02,146.6,903.0,8.8,301,14042,0.00,1.92,0.00,0.000,6,0.000,0.026,3353,1651,1710,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14455,1.00,146.6,865.3,7.9,305,14462,0.12,2.10,0.00,0.000,4,0.164,0.048,3331,351,1709,0,0,0,0,0,0,26.24,26.05,28.83
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$STATE,23674,end climb,SURFACE_DEPTH_REACHED
$STATE,23674,begin surface coast
$FINISH,1.4,1.025862
$STATE,23695,end surface coast,CONTROL_FINISHED_OK
$STATE,23695,begin surface
$SM_CCo,23726,28.48,0.129,0,0,1096,300.00
$SM_GC,2.35,8.77,2.83,28.48,0.037,0.027,0.129,151,2187,1096,-8.83,-0.59,300.00,0,0,0,0,0,0,26.16,26.15,25.23
$IRIDIUM_FIX,2415.74,-3737.14,040313,171752
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.88
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7557472
$TM_FREEKB,4255584
$24V_AH,23.0,92.256
$10V_AH,9.8,82.051
$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,22.175,218.400,311.225,28.475,0.000,26.415,45.289,214.330,0.000,0.000,15.837,1992.391,19117.633,699.484,1892.411,645.225,33.253,1611.941,0.000,1520.469,0.000,0.535,0.000
$DEVICE_MAMPS,179.010,129.285,1641.690,128.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23714.000,2433.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.857,13.475,0.000,0.000
$MEM,343668
$DATA_FILE_SIZE,13412,486
$CAP_FILE_SIZE,181855,0
$CFSIZE,260034560,200843264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050313,074452,2431.201,-3748.637,37,0.9,37,-14.0