version: 66.11
glider: 189
mission: 7
dive: 383
start: 1 12 113 21 0 11
data:
$ID,189
$MISSION,7
$DIVE,383
$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,-48135.809
$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
$GPS1,120113,205004,2436.265,-3757.933,43,1.0,44,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-55.5
$GPS2,120113,205911,2436.306,-3757.856,20,0.9,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_N
$TGT_LATLONG,2444.464,-3756.424
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.087,0.082
$KALMAN_X,215804.4,207.9,-496.2,-208712.6,2762.2
$KALMAN_Y,-55115.4,-300.6,-161.1,56878.2,-1407.8
$MHEAD_RNG_PITCHd_Wd,327.2,15299,-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,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.90,0.000,2,0.000,0.000,152,2118,1407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.0,0.0,1,104,8.82,2.58,-50.88,0.000,4,0.172,0.052,2590,548,2718,0,0,0,0,0,0,25.44,25.98,26.69
$GC,394,-1.14,-97.7,22.6,-6.7,37,403,0.15,2.47,0.00,0.000,6,0.137,0.024,2626,2190,2721,0,0,0,0,0,0,25.78,26.34,28.83
$GC,704,-1.12,-97.7,45.9,-8.3,68,713,0.00,2.50,0.00,0.000,4,0.000,0.041,2616,3745,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,866,-1.08,-97.7,59.6,-9.0,84,873,0.12,2.40,0.00,0.000,6,0.153,0.021,2648,2090,2722,0,0,0,0,0,0,26.06,26.45,28.83
$GC,1174,-1.08,-97.7,86.5,-9.4,107,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2089,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1474,-1.08,-97.7,115.1,-9.1,117,1481,0.00,2.67,0.00,0.000,4,0.000,0.039,2637,3751,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1714,-1.08,-97.7,130.7,-5.6,125,1721,0.00,2.45,0.00,0.000,6,0.000,0.021,2637,2098,2724,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2044,-1.08,-97.7,144.6,-4.7,136,2051,0.00,2.65,0.00,0.000,4,0.000,0.039,2625,3754,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2344,-1.08,-97.7,168.4,-8.7,143,2351,0.00,2.47,0.00,0.000,6,0.000,0.020,2625,2090,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2704,-1.08,-97.7,200.3,-8.4,149,2711,0.00,2.65,0.00,0.000,4,0.000,0.038,2613,3746,2724,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2894,-1.08,-97.7,211.4,-6.4,152,2902,0.10,2.42,0.00,0.000,6,0.127,0.021,2646,2095,2724,0,0,0,0,0,0,26.11,26.51,28.83
$GC,3245,-1.11,-97.7,226.0,-3.8,158,3251,0.00,2.65,0.00,0.000,4,0.000,0.040,2635,3749,2724,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3346,-1.13,-97.7,228.8,-4.0,159,3351,0.00,2.40,0.00,0.000,6,0.000,0.021,2635,2092,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3664,-1.15,-97.7,252.7,-7.3,165,3671,0.00,2.65,0.00,0.000,4,0.000,0.039,2622,3746,2724,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3964,-1.15,-97.7,275.2,-7.4,170,3972,0.00,2.45,0.00,0.000,6,0.000,0.021,2623,2099,2724,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4325,-1.15,-97.7,293.8,-4.9,176,4331,0.00,2.65,0.00,0.000,4,0.000,0.040,2611,3750,2724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4604,-1.15,-97.7,308.8,-6.2,180,4611,0.00,2.45,0.00,0.000,6,0.000,0.021,2611,2099,2725,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4924,-1.15,-97.7,337.1,-8.1,186,4931,0.00,2.65,0.00,0.000,4,0.000,0.040,2599,3752,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5063,-1.15,-97.7,347.6,-8.5,188,5070,0.00,2.47,0.00,0.000,6,0.000,0.021,2599,2096,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5405,-1.15,-97.7,377.2,-8.1,194,5412,0.10,2.65,0.00,0.000,4,0.158,0.040,2613,3744,2721,0,0,0,0,0,0,26.49,26.22,28.83
$GC,5493,-1.15,-97.7,381.9,-7.9,195,5501,0.00,2.45,0.00,0.000,6,0.000,0.021,2613,2103,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5824,-1.15,-97.7,406.4,-6.7,201,5831,0.00,2.65,0.00,0.000,4,0.000,0.040,2601,3747,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5914,-1.15,-97.7,410.3,-6.7,202,5921,0.00,2.47,0.00,0.000,6,0.000,0.021,2600,2091,2720,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6244,-1.15,-97.7,434.6,-6.8,208,6251,0.00,2.65,0.00,0.000,4,0.000,0.040,2589,3741,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6424,-1.15,-97.7,448.6,-7.7,211,6432,0.10,2.42,0.00,0.000,6,0.125,0.021,2622,2095,2719,0,0,0,0,0,0,26.11,26.50,28.83
$GC,6785,-1.19,-97.7,478.8,-8.5,217,6791,0.00,2.67,0.00,0.000,4,0.000,0.041,2611,3744,2719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6863,-1.21,-97.7,484.4,-8.7,218,6871,0.00,2.47,0.00,0.000,6,0.000,0.021,2611,2094,2718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7265,-1.24,-97.7,521.3,-8.7,223,7271,0.00,2.62,0.00,0.000,4,0.000,0.041,2599,3747,2716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7373,-1.27,-97.7,521.3,-8.7,223,7382,0.00,2.47,0.00,0.000,6,0.000,0.021,2599,2095,2716,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7744,-1.27,-97.7,556.7,-7.4,227,7751,0.00,2.65,0.00,0.000,4,0.000,0.041,2587,3740,2715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8026,-1.27,-97.7,573.4,-6.9,229,8031,0.00,2.40,0.00,0.000,6,0.000,0.022,2587,2095,2715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8344,-1.27,-97.7,599.7,-7.2,232,8351,0.00,2.65,0.00,0.000,4,0.000,0.041,2575,3739,2714,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8535,-1.27,-97.7,609.2,-7.4,233,8541,0.00,2.42,0.00,0.000,6,0.000,0.021,2575,2107,2714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8944,-1.27,-97.7,644.1,-7.3,237,8952,0.00,2.65,0.00,0.000,4,0.000,0.041,2563,3745,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9163,-1.27,-97.7,654.2,-7.4,238,9172,0.12,2.47,0.00,0.000,6,0.151,0.022,2594,2097,2712,0,0,0,0,0,0,26.08,26.46,28.83
$GC,9545,-1.27,-97.7,697.4,-9.0,242,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2097,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9904,-1.29,-97.7,733.4,-9.9,245,9911,0.00,2.45,0.00,0.000,4,0.000,0.040,2595,550,2710,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9983,-1.32,-97.7,733.4,-9.9,245,9991,0.00,2.55,0.00,0.000,6,0.000,0.024,2584,2193,2712,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10385,-1.35,-97.7,778.2,-9.3,249,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2193,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10744,-1.37,-97.7,807.4,-8.3,252,10751,0.00,2.60,0.00,0.000,4,0.000,0.040,2584,550,2707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10855,-1.40,-97.7,807.4,-8.3,252,10863,0.00,2.47,0.00,0.000,6,0.000,0.026,2572,2194,2707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11225,-1.40,-97.7,850.1,-8.9,256,11231,0.00,2.53,0.00,0.000,4,0.000,0.044,2561,3741,2706,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11403,-1.40,-97.7,861.6,-9.1,257,11411,0.00,2.47,0.00,0.000,6,0.000,0.023,2561,2101,2707,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11825,-1.40,-97.7,905.1,-9.1,261,11831,0.00,2.67,0.00,0.000,4,0.000,0.043,2548,3742,2704,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12123,-1.40,-97.7,925.0,-8.4,263,12131,0.00,2.47,0.00,0.000,6,0.000,0.022,2549,2108,2703,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12544,-1.40,-97.7,963.4,-8.0,267,12551,0.00,2.65,0.00,0.000,4,0.000,0.042,2537,3737,2703,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12843,-1.40,-97.7,982.7,-8.0,269,12850,0.00,2.47,0.00,0.000,6,0.000,0.023,2537,2108,2701,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,12901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12901,begin apogee
$GC,12909,-0.29,0.0,992.1,-8.0,270,13003,1.17,0.00,86.00,1.668,6,0.135,0.000,2897,1572,2319,0,0,0,0,0,0,25.09,28.83,23.02
$STATE,13005,end apogee,CONTROL_FINISHED_OK
$STATE,13005,begin climb
$GC,13009,1.26,97.7,995.7,0.0,275,13107,1.42,2.10,91.30,1.649,4,0.067,0.047,3412,355,1921,0,0,0,0,0,0,25.22,24.83,23.05
$GC,13157,1.12,111.6,991.6,6.0,283,13176,0.15,1.98,13.20,1.512,6,0.148,0.023,3368,1655,1864,0,0,0,0,0,0,25.32,25.70,23.46
$GC,13498,1.04,111.6,967.8,7.0,290,13504,0.12,2.08,0.00,0.000,4,0.180,0.047,3340,347,1858,0,0,0,0,0,0,26.02,26.12,28.83
$GC,13586,0.96,111.6,967.8,7.0,290,13593,0.12,1.98,0.00,0.000,6,0.164,0.024,3310,1665,1857,0,0,0,0,0,0,25.99,26.36,28.83
$GC,13977,0.94,127.8,939.4,5.9,294,13996,0.00,2.17,14.77,1.553,4,0.000,0.049,3319,356,1798,0,0,0,0,0,0,28.83,25.94,23.94
$GC,14209,0.93,140.3,924.1,6.1,296,14226,0.00,1.90,12.57,1.531,6,0.000,0.026,3319,1649,1746,0,0,0,0,0,0,28.83,26.32,23.98
$GC,14558,0.91,140.6,900.9,6.7,299,14564,0.00,2.08,0.00,0.000,4,0.000,0.048,3329,346,1745,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14665,0.88,140.9,900.9,6.7,299,14674,0.15,1.98,0.00,0.000,6,0.155,0.024,3290,1672,1743,0,0,0,0,0,0,25.98,26.41,28.83
$GC,15036,0.89,149.2,870.4,6.3,303,15047,0.00,0.00,8.43,1.426,6,0.000,0.000,3290,1672,1712,0,0,0,0,0,0,28.83,28.83,24.07
$GC,15396,0.92,149.2,843.1,7.3,306,15403,0.00,2.47,0.00,0.000,4,0.000,0.037,3289,3202,1710,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15485,0.95,149.2,843.1,7.3,306,15492,0.00,2.55,0.00,0.000,6,0.000,0.031,3300,1580,1711,0,0,0,0,0,0,28.83,26.30,28.83
$GC,15877,0.98,149.2,804.6,8.1,310,15883,0.00,1.95,0.00,0.000,4,0.000,0.050,3309,360,1709,0,0,0,0,0,0,28.83,26.19,28.83
$GC,16085,0.98,149.2,795.2,7.9,311,16088,0.00,1.95,0.00,0.000,6,0.000,0.024,3309,1659,1708,0,0,0,0,0,0,28.83,26.50,28.83
$GC,16468,0.98,149.2,761.1,7.2,315,16474,0.00,2.10,0.00,0.000,4,0.000,0.047,3319,360,1709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,16635,0.98,149.2,752.0,7.2,316,16639,0.00,1.95,0.00,0.000,6,0.000,0.024,3319,1660,1707,0,0,0,0,0,0,28.83,26.51,28.83
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$GC,20271,1.10,186.9,470.1,5.6,351,20299,0.12,2.10,22.10,1.307,4,0.082,0.047,3393,355,1555,0,0,0,0,0,0,26.63,25.91,24.03
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$STATE,25619,end climb,SURFACE_DEPTH_REACHED
$STATE,25619,begin surface coast
$FINISH,1.2,1.025636
$STATE,25643,end surface coast,CONTROL_FINISHED_OK
$STATE,25643,begin surface
$SM_CCo,25669,47.50,0.125,0,0,1095,300.00
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$IRIDIUM_FIX,2439.44,-3841.44,120113,131317
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7622784
$TM_FREEKB,4981504
$24V_AH,23.0,68.019
$10V_AH,10.1,59.461
$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,21.925,207.475,267.250,47.500,0.000,28.184,41.882,201.415,0.000,0.000,21.111,2301.835,20545.191,693.411,2198.288,512.300,33.263,1711.880,0.000,1815.151,0.000,0.536,0.000
$DEVICE_MAMPS,179.775,94.860,1668.465,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.774,13.429,0.000,0.000
$MEM,343696
$DATA_FILE_SIZE,13406,513
$CAP_FILE_SIZE,190220,0
$CFSIZE,260034560,215793664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130113,041004,2438.045,-3757.979,35,1.0,36,-14.0