version: 66.11
glider: 189
mission: 7
dive: 555
start: 3 5 113 15 11 2
data:
$ID,189
$MISSION,7
$DIVE,555
$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,-48352.398
$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
$GPS1,050313,150004,2430.911,-3750.739,27,0.8,27,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-59.6
$GPS2,050313,151000,2430.939,-3750.737,17,1.8,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.102,-0.063
$KALMAN_X,124321.1,74.0,901.2,-106492.5,-4023.8
$KALMAN_Y,93021.1,37.7,-296.7,-101431.6,1867.3
$MHEAD_RNG_PITCHd_Wd,135.9,4217,-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,-97.7,0.0,0.0,0,34,0.00,0.00,-10.00,0.000,2,0.000,0.000,154,2124,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.1,0.0,1,106,9.20,2.75,-51.80,0.000,4,0.186,0.051,2581,3754,2719,0,0,0,0,0,0,25.32,25.91,26.69
$GC,395,-1.19,-97.7,22.0,-8.1,37,404,0.10,2.47,0.00,0.000,6,0.128,0.021,2614,2088,2721,0,0,0,0,0,0,25.89,26.30,28.83
$GC,705,-1.19,-97.7,44.2,-7.4,68,713,0.00,2.70,0.00,0.000,4,0.000,0.039,2603,3751,2720,0,0,0,0,0,0,28.83,26.00,28.83
$GC,975,-1.16,-97.7,64.5,-7.1,95,983,0.00,2.45,0.00,0.000,6,0.000,0.021,2602,2105,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1286,-1.13,-97.7,85.3,-6.8,116,1293,0.12,2.67,0.00,0.000,4,0.149,0.039,2625,3748,2722,0,0,0,0,0,0,26.32,26.01,28.83
$GC,1345,-1.13,-97.7,89.7,-7.2,118,1352,0.00,2.45,0.00,0.000,6,0.000,0.020,2624,2104,2722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1676,-1.13,-97.7,113.9,-7.4,129,1682,0.00,2.40,0.00,0.000,4,0.000,0.037,2625,544,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1735,-1.13,-97.7,118.3,-7.3,131,1742,0.00,2.53,0.00,0.000,6,0.000,0.024,2613,2191,2723,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2065,-1.13,-97.7,143.8,-8.4,142,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2190,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2396,-1.13,-97.7,169.8,-7.6,149,2402,0.00,2.55,0.00,0.000,4,0.000,0.035,2613,546,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2515,-1.13,-97.7,177.8,-6.9,151,2523,0.10,2.47,0.00,0.000,6,0.128,0.023,2635,2193,2724,0,0,0,0,0,0,25.93,26.34,28.83
$GC,2877,-1.16,-97.7,196.7,-5.1,157,2882,0.00,2.55,0.00,0.000,4,0.000,0.036,2635,542,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2985,-1.18,-97.7,200.0,-5.2,158,2993,0.00,2.47,0.00,0.000,6,0.000,0.023,2624,2193,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3296,-1.20,-97.7,221.2,-6.1,164,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2192,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3597,-1.23,-97.7,242.6,-7.3,169,3602,0.00,2.55,0.00,0.000,4,0.000,0.036,2624,543,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3696,-1.23,-97.7,247.2,-7.5,170,3702,0.00,2.47,0.00,0.000,6,0.000,0.023,2612,2193,2724,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4015,-1.23,-97.7,276.4,-8.3,176,4022,0.00,2.60,0.00,0.000,4,0.000,0.036,2612,540,2727,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4095,-1.23,-97.7,281.7,-8.5,177,4102,0.00,2.47,0.00,0.000,6,0.000,0.024,2601,2188,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4436,-1.23,-97.7,309.9,-7.7,183,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2189,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4736,-1.23,-97.7,329.4,-6.4,188,4742,0.00,2.55,0.00,0.000,4,0.000,0.037,2600,546,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4835,-1.23,-97.7,333.1,-6.2,189,4842,0.00,2.47,0.00,0.000,6,0.000,0.024,2588,2190,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5156,-1.23,-97.7,355.8,-6.4,195,5162,0.00,2.47,0.00,0.000,4,0.000,0.041,2576,3747,2722,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5224,-1.23,-97.7,360.3,-6.7,196,5232,0.00,2.47,0.00,0.000,6,0.000,0.021,2576,2094,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5576,-1.23,-97.7,387.3,-7.7,202,5582,0.00,2.40,0.00,0.000,4,0.000,0.037,2577,542,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5655,-1.21,-97.7,392.2,-7.9,203,5663,0.12,2.47,0.00,0.000,6,0.132,0.023,2605,2186,2722,0,0,0,0,0,0,25.84,26.34,28.83
$GC,5997,-1.23,-97.7,418.7,-7.2,209,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2185,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-1.26,-97.7,440.4,-7.3,214,6302,0.00,2.55,0.00,0.000,4,0.000,0.037,2606,548,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6385,-1.29,-97.7,445.0,-7.3,215,6392,0.00,2.47,0.00,0.000,6,0.000,0.023,2594,2192,2720,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6717,-1.31,-97.7,472.6,-7.9,221,6722,0.00,2.55,0.00,0.000,4,0.000,0.037,2594,541,2719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6804,-1.31,-97.7,477.7,-8.1,222,6812,0.00,2.50,0.00,0.000,6,0.000,0.023,2583,2191,2718,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7195,-1.31,-97.7,510.1,-7.6,228,7202,0.00,2.60,0.00,0.000,4,0.000,0.037,2583,549,2718,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7345,-1.31,-97.7,518.8,-7.4,229,7352,0.00,2.47,0.00,0.000,6,0.000,0.024,2571,2191,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7675,-1.31,-97.7,542.9,-6.8,232,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2191,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8035,-1.31,-97.7,568.8,-7.1,235,8042,0.00,2.60,0.00,0.000,4,0.000,0.037,2571,550,2715,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8175,-1.31,-97.7,578.6,-7.4,236,8182,0.00,2.47,0.00,0.000,6,0.000,0.024,2559,2188,2715,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8515,-1.31,-97.7,606.7,-7.9,239,8522,0.00,2.60,0.00,0.000,4,0.000,0.038,2559,548,2714,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8584,-1.31,-97.7,606.7,-7.9,239,8593,0.12,2.50,0.00,0.000,6,0.162,0.024,2583,2191,2713,0,0,0,0,0,0,25.85,26.32,28.83
$GC,8997,-1.33,-97.7,646.6,-8.3,243,9002,0.00,2.60,0.00,0.000,4,0.000,0.038,2584,545,2713,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9095,-1.35,-97.7,646.6,-8.3,243,9102,0.00,2.50,0.00,0.000,6,0.000,0.024,2573,2188,2712,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9475,-1.35,-97.7,689.8,-9.0,247,9482,0.00,2.60,0.00,0.000,4,0.000,0.039,2580,550,2711,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9525,-1.35,-97.7,689.8,-9.0,247,9532,0.00,2.53,0.00,0.000,6,0.000,0.024,2561,2182,2711,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9835,-1.35,-97.7,716.7,-7.6,250,9842,0.00,2.60,0.00,0.000,4,0.000,0.039,2562,543,2711,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9924,-1.35,-97.7,716.7,-7.6,250,9932,0.00,2.53,0.00,0.000,6,0.000,0.024,2550,2194,2711,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10316,-1.35,-97.7,760.4,-9.1,254,10322,0.00,2.58,0.00,0.000,4,0.000,0.040,2550,548,2709,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10416,-1.35,-97.7,760.4,-9.1,254,10422,0.00,2.50,0.00,0.000,6,0.000,0.025,2538,2191,2708,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10795,-1.35,-97.7,813.9,-11.2,258,10802,0.00,2.62,0.00,0.000,4,0.000,0.039,2538,543,2708,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10844,-1.35,-97.7,813.9,-11.2,258,10852,0.15,2.53,0.00,0.000,6,0.153,0.024,2569,2192,2707,0,0,0,0,0,0,25.77,26.27,28.83
$GC,11156,-1.35,-97.7,847.4,-9.7,261,11162,0.00,2.58,0.00,0.000,4,0.000,0.040,2568,547,2707,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11204,-1.35,-97.7,847.4,-9.7,261,11212,0.00,2.53,0.00,0.000,6,0.000,0.025,2558,2193,2706,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11516,-1.37,-97.7,874.3,-7.7,264,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2193,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11877,-1.37,-97.7,899.8,-7.1,267,11882,0.00,2.60,0.00,0.000,4,0.000,0.041,2558,542,2704,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12015,-1.37,-97.7,908.9,-7.2,268,12022,0.00,2.58,0.00,0.000,6,0.000,0.026,2546,2173,2704,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12356,-1.37,-97.7,939.8,-8.3,271,12362,0.00,2.58,0.00,0.000,4,0.000,0.041,2546,548,2704,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12435,-1.37,-97.7,939.8,-8.3,271,12442,0.00,2.50,0.00,0.000,6,0.000,0.026,2534,2186,2703,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12836,-1.37,-97.7,984.4,-9.3,275,12842,0.00,2.58,0.00,0.000,4,0.000,0.041,2534,549,2702,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12904,-1.37,-97.7,984.4,-9.3,275,12912,0.10,2.53,0.00,0.000,6,0.137,0.024,2554,2190,2701,0,0,0,0,0,0,25.80,26.23,28.83
$STATE,12952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12952,begin apogee
$GC,12962,-0.29,0.0,995.1,-9.2,276,13055,1.10,0.05,86.00,1.650,6,0.119,0.128,2904,1627,2320,0,0,0,0,0,0,24.98,24.72,22.96
$STATE,13056,end apogee,CONTROL_FINISHED_OK
$STATE,13056,begin climb
$GC,13060,1.26,97.7,999.3,0.0,281,13157,1.40,0.00,92.45,1.633,6,0.060,0.000,3406,1627,1921,0,0,0,0,0,0,25.31,28.83,22.98
$GC,13496,1.13,97.7,975.6,7.4,298,13502,0.17,2.53,0.00,0.000,4,0.170,0.035,3362,3206,1911,0,0,0,0,0,0,25.86,26.13,28.83
$GC,13606,1.00,97.7,975.6,7.4,298,13614,0.12,2.53,0.00,0.000,6,0.155,0.031,3334,1591,1908,0,0,0,0,0,0,25.73,26.20,28.83
$GC,13976,0.94,109.4,946.1,6.1,302,13988,0.12,0.00,9.50,1.448,6,0.174,0.000,3303,1591,1872,0,0,0,0,0,0,26.17,28.83,23.90
$GC,14336,0.96,149.5,929.2,4.8,305,14382,0.00,2.75,38.00,1.585,4,0.000,0.034,3302,3202,1709,0,0,0,0,0,0,28.83,25.47,23.44
$GC,14515,1.00,186.4,922.0,4.9,306,14556,0.00,2.55,34.88,1.562,6,0.000,0.030,3313,1583,1559,0,0,0,0,0,0,28.83,26.03,23.42
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$STATE,25252,end climb,SURFACE_DEPTH_REACHED
$STATE,25252,begin surface coast
$FINISH,1.3,1.025895
$STATE,25273,end surface coast,CONTROL_FINISHED_OK
$STATE,25273,begin surface
$SM_CCo,25302,52.00,0.122,0,0,1095,300.00
$SM_GC,2.20,8.50,1.65,52.00,0.031,0.027,0.122,152,2120,1095,-8.83,0.71,300.00,0,0,0,0,0,0,26.19,26.26,25.14
$IRIDIUM_FIX,2429.95,-3746.26,050313,070746
$TT8_MAMPS,0.027713,0.027713
$HUMID,62.48
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7556704
$TM_FREEKB,4246720
$24V_AH,23.0,92.528
$10V_AH,9.3,82.331
$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,22.000,253.100,260.825,52.000,0.000,26.694,40.200,207.268,0.000,0.000,18.888,2141.628,20401.801,713.181,2008.990,670.492,33.264,1690.085,0.000,1639.470,0.000,0.535,0.000
$DEVICE_MAMPS,185.895,131.580,1650.105,122.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25288.000,2834.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.278,13.683,0.000,0.000
$MEM,343700
$DATA_FILE_SIZE,13409,524
$CAP_FILE_SIZE,191429,0
$CFSIZE,260034560,200663040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050313,221458,2430.631,-3749.910,40,0.8,40,-14.0