version: 66.11
glider: 189
mission: 7
dive: 389
start: 1 14 113 17 17 16
data:
$ID,189
$MISSION,7
$DIVE,389
$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,-48143.355
$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
$GPS1,140113,170204,2444.837,-3757.245,29,0.9,29,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-50.4
$GPS2,140113,171617,2444.854,-3757.284,18,0.9,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.120
$KALMAN_X,224222.6,-258.9,151.8,-216333.3,1901.0
$KALMAN_Y,-58241.7,-30.1,-105.3,75475.0,-27.1
$MHEAD_RNG_PITCHd_Wd,190.4,29899,-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,-11.07,0.000,2,0.000,0.000,152,2129,833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.0,0.0,1,124,8.95,0.00,-71.20,0.000,6,0.179,0.000,2589,2127,2718,0,0,0,0,0,0,25.51,28.83,26.66
$GC,424,-1.21,-97.7,16.8,-7.4,40,432,0.00,2.62,0.00,0.000,4,0.000,0.041,2579,3752,2719,0,0,0,0,0,0,28.83,26.13,28.83
$GC,725,-1.13,-97.7,42.6,-7.8,70,733,0.15,2.45,0.00,0.000,6,0.127,0.021,2628,2093,2719,0,0,0,0,0,0,25.92,26.46,28.83
$GC,1034,-1.11,-97.7,64.0,-7.9,101,1043,0.00,2.65,0.00,0.000,4,0.000,0.040,2617,3742,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1335,-1.07,-97.7,90.8,-8.9,120,1342,0.10,2.42,0.00,0.000,6,0.125,0.021,2651,2090,2719,0,0,0,0,0,0,26.11,26.51,28.83
$GC,1666,-1.07,-97.7,111.9,-6.0,131,1672,0.00,2.62,0.00,0.000,4,0.000,0.039,2640,3754,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1964,-1.07,-97.7,131.7,-7.0,141,1971,0.00,2.47,0.00,0.000,6,0.000,0.020,2640,2082,2720,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2296,-1.07,-97.7,149.5,-5.1,152,2302,0.00,2.65,0.00,0.000,4,0.000,0.039,2627,3758,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2594,-1.07,-97.7,165.5,-5.4,158,2602,0.00,2.45,0.00,0.000,6,0.000,0.020,2627,2104,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2955,-1.07,-97.7,193.9,-8.5,164,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2104,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3254,-1.07,-97.7,214.4,-6.6,169,3261,0.00,2.62,0.00,0.000,4,0.000,0.039,2615,3744,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3505,-1.07,-97.7,226.5,-5.0,173,3512,0.15,2.40,0.00,0.000,6,0.137,0.021,2657,2082,2720,0,0,0,0,0,0,26.12,26.52,28.83
$GC,3855,-1.12,-97.7,245.4,-5.8,179,3861,0.00,2.35,0.00,0.000,4,0.000,0.037,2657,547,2720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3924,-1.16,-97.7,249.9,-6.4,180,3931,0.00,2.47,0.00,0.000,6,0.000,0.023,2647,2194,2720,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4275,-1.21,-97.7,280.2,-8.7,186,4277,0.10,0.00,0.00,0.000,6,0.096,0.000,2588,2194,2720,0,0,0,0,0,0,26.68,28.83,28.83
$GC,4575,-1.18,-97.7,304.6,-8.0,191,4582,0.12,2.50,0.00,0.000,4,0.154,0.041,2610,3751,2719,0,0,0,0,0,0,26.39,26.25,28.83
$GC,4833,-1.18,-97.7,322.5,-7.4,195,4840,0.00,2.47,0.00,0.000,6,0.000,0.021,2610,2098,2719,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5174,-1.18,-97.7,351.1,-8.2,201,5181,0.00,2.65,0.00,0.000,4,0.000,0.040,2598,3742,2718,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5403,-1.18,-97.7,367.5,-9.0,204,5412,0.00,2.45,0.00,0.000,6,0.000,0.021,2598,2103,2717,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5715,-1.18,-97.7,398.5,-8.4,210,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2103,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6014,-1.18,-97.7,422.8,-8.0,215,6021,0.00,2.65,0.00,0.000,4,0.000,0.041,2586,3744,2718,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6314,-1.16,-97.7,447.4,-8.2,220,6322,0.10,2.45,0.00,0.000,6,0.123,0.021,2620,2097,2715,0,0,0,0,0,0,26.13,26.51,28.83
$GC,6674,-1.19,-97.7,474.5,-7.4,226,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2098,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6975,-1.22,-97.7,494.4,-6.5,231,6982,0.00,2.67,0.00,0.000,4,0.000,0.041,2610,3748,2714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7236,-1.25,-97.7,510.2,-6.7,234,7241,0.00,2.42,0.00,0.000,6,0.000,0.022,2609,2090,2713,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7576,-1.27,-97.7,531.1,-5.9,237,7581,0.00,2.65,0.00,0.000,4,0.000,0.041,2597,3757,2712,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7703,-1.27,-97.7,539.1,-6.0,238,7711,0.00,2.47,0.00,0.000,6,0.000,0.021,2597,2103,2712,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8054,-1.27,-97.7,565.3,-7.1,241,8061,0.00,2.65,0.00,0.000,4,0.000,0.041,2585,3747,2711,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8327,-1.27,-97.7,586.6,-8.2,243,8333,0.00,2.40,0.00,0.000,6,0.000,0.022,2585,2104,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8654,-1.27,-97.7,620.0,-9.2,246,8661,0.00,2.65,0.00,0.000,4,0.000,0.041,2573,3752,2709,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8795,-1.27,-97.7,630.6,-9.2,247,8801,0.00,2.42,0.00,0.000,6,0.000,0.022,2573,2092,2708,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9134,-1.27,-97.7,654.6,-7.2,250,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2093,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9495,-1.27,-97.7,677.0,-6.1,253,9501,0.00,2.67,0.00,0.000,4,0.000,0.042,2561,3747,2707,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9584,-1.27,-97.7,677.0,-6.1,253,9592,0.08,2.45,0.00,0.000,6,0.133,0.022,2586,2098,2706,0,0,0,0,0,0,26.13,26.47,28.83
$GC,9974,-1.27,-97.7,718.4,-8.6,257,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2098,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10335,-1.29,-97.7,752.5,-9.4,260,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2098,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10695,-1.31,-97.7,783.7,-8.9,263,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2098,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11056,-1.34,-97.7,811.4,-7.8,266,11061,0.00,2.65,0.00,0.000,4,0.000,0.044,2576,3746,2703,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11174,-1.34,-97.7,820.0,-7.5,267,11181,0.00,2.45,0.00,0.000,6,0.000,0.023,2576,2112,2703,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11535,-1.34,-97.7,843.5,-6.7,270,11541,0.00,2.60,0.00,0.000,4,0.000,0.044,2563,3742,2702,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11683,-1.34,-97.7,852.2,-6.7,271,11691,0.00,2.47,0.00,0.000,6,0.000,0.024,2564,2109,2702,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12014,-1.34,-97.7,881.6,-7.9,274,12021,0.00,2.67,0.00,0.000,4,0.000,0.043,2552,3742,2700,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12287,-1.34,-97.7,904.1,-8.9,276,12293,0.00,2.42,0.00,0.000,6,0.000,0.024,2552,2102,2697,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12614,-1.34,-97.7,936.9,-9.2,279,12621,0.00,2.67,0.00,0.000,4,0.000,0.043,2540,3741,2697,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12913,-1.34,-97.7,958.3,-9.0,281,12922,0.12,2.47,0.00,0.000,6,0.154,0.024,2571,2106,2696,0,0,0,0,0,0,26.01,26.40,28.83
$GC,13234,-1.34,-97.7,989.9,-8.3,285,13242,0.00,2.65,0.00,0.000,4,0.000,0.044,2561,3743,2696,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,13251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13251,begin apogee
$GC,13262,-0.29,0.0,991.6,-8.3,286,13353,1.10,0.00,84.72,1.672,6,0.129,0.000,2902,1578,2319,0,0,0,0,0,0,25.18,28.83,23.06
$STATE,13355,end apogee,CONTROL_FINISHED_OK
$STATE,13355,begin climb
$GC,13358,1.26,97.7,996.5,0.0,291,13456,1.42,2.10,91.22,1.653,4,0.064,0.047,3417,356,1922,0,0,0,0,0,0,25.22,24.85,23.07
$GC,13708,1.10,100.5,981.6,6.5,308,13714,0.22,1.90,0.00,0.000,6,0.162,0.024,3359,1658,1913,0,0,0,0,0,0,25.70,26.23,28.83
$GC,14066,1.00,110.0,959.2,6.2,311,14084,0.15,2.10,10.45,1.488,4,0.172,0.049,3329,352,1870,0,0,0,0,0,0,26.07,26.04,24.01
$GC,14145,0.89,119.4,959.2,6.2,311,14164,0.15,1.98,10.07,1.476,6,0.158,0.024,3291,1665,1833,0,0,0,0,0,0,25.86,26.25,23.94
$GC,14545,0.89,119.4,926.5,6.8,315,14552,0.00,2.45,0.00,0.000,4,0.000,0.036,3290,3200,1830,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14635,0.89,119.4,926.5,6.8,315,14642,0.00,2.55,0.00,0.000,6,0.000,0.030,3301,1571,1830,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15026,0.90,122.4,895.2,6.5,319,15032,0.00,2.60,0.00,0.000,4,0.000,0.036,3301,3197,1828,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15175,0.91,132.4,888.2,6.2,320,15193,0.00,2.53,12.73,1.508,6,0.000,0.030,3313,1573,1778,0,0,0,0,0,0,28.83,26.33,24.04
$GC,15505,0.93,151.8,867.4,5.8,323,15526,0.00,0.00,18.77,1.567,6,0.000,0.000,3313,1573,1700,0,0,0,0,0,0,28.83,28.83,23.94
$GC,15865,0.93,151.8,840.5,7.1,326,15873,0.00,2.60,0.00,0.000,4,0.000,0.035,3313,3195,1697,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16045,0.93,151.8,830.3,7.7,327,16052,0.00,2.55,0.00,0.000,6,0.000,0.030,3325,1571,1697,0,0,0,0,0,0,28.83,26.28,28.83
$GC,16465,0.93,151.8,793.1,7.8,331,16472,0.00,2.62,0.00,0.000,4,0.000,0.036,3326,3201,1696,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16594,0.93,151.8,785.8,7.2,332,16603,0.15,2.55,0.00,0.000,6,0.158,0.030,3298,1571,1694,0,0,0,0,0,0,25.95,26.32,28.83
$GC,16946,0.98,189.6,769.2,4.9,335,16987,0.00,2.75,34.58,1.541,4,0.000,0.037,3299,3201,1545,0,0,0,0,0,0,28.83,25.57,23.72
$GC,17104,1.03,229.4,762.9,4.8,336,17147,0.00,2.58,37.60,1.532,6,0.000,0.030,3309,1580,1386,0,0,0,0,0,0,28.83,25.99,23.52
$GC,17527,1.09,229.4,724.6,8.2,340,17533,0.12,2.58,0.00,0.000,4,0.083,0.037,3372,3205,1376,0,0,0,0,0,0,26.37,26.14,28.83
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$STATE,24857,end climb,SURFACE_DEPTH_REACHED
$STATE,24857,begin surface coast
$FINISH,1.3,1.013016
$STATE,24879,end surface coast,CONTROL_FINISHED_OK
$STATE,24879,begin surface
$SM_CCo,24902,30.65,0.127,0,0,1096,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,63.70
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,21.80
$XPDR_PINGS,1
$SC_FREEKB,7620480
$TM_FREEKB,4956576
$24V_AH,23.1,68.937
$10V_AH,10.1,60.318
$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,22.350,194.375,300.150,30.650,0.000,53.890,81.614,358.252,0.250,0.000,19.730,2351.852,19708.846,689.540,2451.061,571.155,33.263,1725.079,0.000,1871.953,0.000,0.536,0.000
$DEVICE_MAMPS,179.010,97.155,1671.525,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.792,13.455,0.000,0.000
$MEM,343668
$DATA_FILE_SIZE,13436,515
$CAP_FILE_SIZE,192475,0
$CFSIZE,260034560,215240704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150113,001405,2443.423,-3758.071,36,1.0,37,-14.0