version: 66.11
glider: 189
mission: 7
dive: 390
start: 1 15 113 0 31 28
data:
$ID,189
$MISSION,7
$DIVE,390
$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,446.44598
$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,-48144.609
$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
$GPS1,150113,001405,2443.423,-3758.071,36,1.0,37,-14.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-51.6
$GPS2,150113,003030,2443.471,-3758.008,18,1.1,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.061,-0.103
$KALMAN_X,223594.0,-381.0,-630.3,-216009.2,1903.7
$KALMAN_Y,-58260.7,275.5,635.6,71888.1,-2189.7
$MHEAD_RNG_PITCHd_Wd,163.2,28416,-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,-97.7,0.0,0.0,0,43,0.00,0.00,-20.65,0.000,2,0.000,0.000,151,2124,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.26,-97.7,2.4,0.0,2,104,9.27,2.67,-36.88,0.000,4,0.190,0.053,2575,3744,2720,0,0,0,0,0,0,25.20,26.08,26.74
$GC,396,-1.17,-97.7,30.1,-11.5,37,404,0.17,2.40,0.00,0.000,6,0.145,0.021,2622,2088,2721,0,0,0,0,0,0,25.88,26.41,28.83
$GC,704,-1.17,-97.7,57.3,-7.8,68,713,0.00,2.67,0.00,0.000,4,0.000,0.040,2610,3748,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1004,-1.13,-97.7,80.9,-8.2,94,1011,0.00,2.45,0.00,0.000,6,0.000,0.021,2611,2098,2721,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1337,-1.11,-97.7,106.1,-7.6,105,1343,0.12,2.40,0.00,0.000,4,0.151,0.036,2650,544,2722,0,0,0,0,0,0,26.32,26.25,28.83
$GC,1634,-1.11,-97.7,126.3,-6.4,115,1641,0.00,2.45,0.00,0.000,6,0.000,0.023,2639,2187,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1967,-1.11,-97.7,147.5,-6.6,126,1972,0.00,2.53,0.00,0.000,4,0.000,0.036,2639,546,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2173,-1.11,-97.7,160.1,-7.0,130,2180,0.00,2.47,0.00,0.000,6,0.000,0.023,2627,2192,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2505,-1.11,-97.7,189.8,-8.5,136,2511,0.00,2.50,0.00,0.000,4,0.000,0.041,2615,3753,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2713,-1.11,-97.7,205.5,-8.7,139,2720,0.00,2.47,0.00,0.000,6,0.000,0.020,2615,2088,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3044,-1.11,-97.7,231.6,-6.8,145,3051,0.00,2.65,0.00,0.000,4,0.000,0.040,2603,3742,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3184,-1.11,-97.7,238.4,-6.1,147,3192,0.10,2.42,0.00,0.000,6,0.124,0.020,2638,2086,2725,0,0,0,0,0,0,26.13,26.52,28.83
$GC,3525,-1.13,-97.7,251.8,-3.5,153,3531,0.00,2.40,0.00,0.000,4,0.000,0.037,2638,549,2723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3604,-1.15,-97.7,254.2,-3.7,154,3611,0.00,2.45,0.00,0.000,6,0.000,0.023,2628,2191,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3944,-1.15,-97.7,273.8,-5.9,160,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2191,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4244,-1.18,-97.7,293.9,-6.8,165,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2191,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-1.20,-97.7,315.7,-7.3,170,4551,0.00,2.50,0.00,0.000,4,0.000,0.041,2616,3739,2721,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4613,-1.20,-97.7,320.3,-7.4,171,4621,0.00,2.45,0.00,0.000,6,0.000,0.021,2616,2102,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4964,-1.20,-97.7,348.9,-7.9,177,4971,0.00,2.62,0.00,0.000,4,0.000,0.040,2604,3738,2720,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5226,-1.20,-97.7,367.8,-7.9,181,5231,0.00,2.40,0.00,0.000,6,0.000,0.021,2605,2097,2720,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5564,-1.20,-97.7,392.7,-6.8,187,5571,0.00,2.65,0.00,0.000,4,0.000,0.040,2592,3742,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5644,-1.20,-97.7,397.1,-6.9,188,5651,0.00,2.45,0.00,0.000,6,0.000,0.021,2592,2101,2719,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5984,-1.20,-97.7,424.9,-7.9,194,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2101,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6284,-1.20,-97.7,451.6,-9.0,199,6292,0.00,2.65,0.00,0.000,4,0.000,0.041,2580,3746,2717,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6465,-1.20,-97.7,468.6,-9.4,202,6472,0.08,2.45,0.00,0.000,6,0.128,0.021,2607,2091,2717,0,0,0,0,0,0,26.17,26.49,28.83
$GC,6824,-1.20,-97.7,498.3,-8.0,208,6831,0.00,2.67,0.00,0.000,4,0.000,0.041,2596,3746,2716,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6984,-1.20,-97.7,508.3,-8.1,210,6991,0.00,2.47,0.00,0.000,6,0.000,0.021,2596,2094,2715,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7304,-1.20,-97.7,538.4,-8.4,213,7311,0.00,2.65,0.00,0.000,4,0.000,0.041,2583,3739,2715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7393,-1.20,-97.7,538.4,-8.4,213,7402,0.12,2.45,0.00,0.000,6,0.146,0.021,2617,2100,2715,0,0,0,0,0,0,26.14,26.48,28.83
$GC,7785,-1.23,-97.7,575.4,-7.7,217,7791,0.00,2.45,0.00,0.000,4,0.000,0.039,2617,545,2714,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7853,-1.26,-97.7,575.4,-7.7,217,7861,0.00,2.53,0.00,0.000,6,0.000,0.024,2606,2187,2714,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8264,-1.30,-97.7,607.6,-6.7,221,8271,0.00,2.50,0.00,0.000,4,0.000,0.042,2594,3742,2713,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8394,-1.32,-97.7,616.4,-6.8,222,8401,0.00,2.45,0.00,0.000,6,0.000,0.022,2594,2099,2713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8744,-1.34,-97.7,646.6,-8.1,225,8751,0.00,2.62,0.00,0.000,4,0.000,0.041,2582,3738,2711,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8845,-1.37,-97.7,646.6,-8.1,225,8851,0.00,2.42,0.00,0.000,6,0.000,0.023,2582,2109,2711,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9225,-1.37,-97.7,685.1,-8.0,229,9231,0.00,2.62,0.00,0.000,4,0.000,0.042,2570,3739,2710,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9353,-1.37,-97.7,693.3,-7.4,230,9361,0.00,2.47,0.00,0.000,6,0.000,0.022,2570,2094,2709,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9705,-1.37,-97.7,716.4,-6.5,233,9711,0.00,2.62,0.00,0.000,4,0.000,0.041,2559,3747,2708,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9824,-1.37,-97.7,725.5,-6.6,234,9831,0.00,2.45,0.00,0.000,6,0.000,0.023,2558,2115,2709,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10184,-1.37,-97.7,757.3,-8.5,237,10191,0.00,2.62,0.00,0.000,4,0.000,0.042,2548,3741,2707,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10224,-1.37,-97.7,757.3,-8.5,237,10231,0.00,2.47,0.00,0.000,6,0.000,0.023,2547,2097,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10544,-1.37,-97.7,792.5,-9.7,240,10551,0.00,2.65,0.00,0.000,4,0.000,0.043,2535,3737,2706,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10713,-1.35,-97.7,804.2,-9.7,241,10722,0.12,2.47,0.00,0.000,6,0.155,0.023,2565,2092,2706,0,0,0,0,0,0,26.04,26.43,28.83
$GC,11025,-1.35,-97.7,832.9,-8.4,244,11031,0.00,2.62,0.00,0.000,4,0.000,0.043,2555,3746,2705,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11093,-1.35,-97.7,832.9,-8.4,244,11100,0.00,2.47,0.00,0.000,6,0.000,0.023,2555,2107,2704,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11504,-1.35,-97.7,868.4,-7.3,248,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2107,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11865,-1.35,-97.7,900.5,-8.7,251,11871,0.00,2.62,0.00,0.000,4,0.000,0.044,2543,3749,2702,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11993,-1.35,-97.7,911.7,-9.0,252,12001,0.00,2.50,0.00,0.000,6,0.000,0.024,2543,2099,2701,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12344,-1.35,-97.7,941.4,-8.5,255,12351,0.00,2.67,0.00,0.000,4,0.000,0.044,2531,3751,2700,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12465,-1.35,-97.7,950.8,-8.1,256,12472,0.10,2.47,0.00,0.000,6,0.138,0.024,2562,2101,2700,0,0,0,0,0,0,25.95,26.39,28.83
$GC,12824,-1.35,-97.7,977.3,-7.4,259,12831,0.00,2.67,0.00,0.000,4,0.000,0.044,2552,3748,2699,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12934,-1.35,-97.7,977.3,-7.4,259,12943,0.00,2.47,0.00,0.000,6,0.000,0.024,2551,2107,2699,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,12981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12981,begin apogee
$GC,12989,-0.29,0.0,991.5,-8.4,262,13083,1.12,0.00,85.57,1.667,6,0.131,0.000,2899,1572,2319,0,0,0,0,0,0,25.17,28.83,23.05
$STATE,13085,end apogee,CONTROL_FINISHED_OK
$STATE,13085,begin climb
$GC,13088,1.26,97.7,996.6,0.0,267,13184,1.45,0.00,91.62,1.665,6,0.065,0.000,3408,1572,1921,0,0,0,0,0,0,25.25,28.83,23.06
$GC,13485,1.18,143.5,984.6,4.5,287,13532,0.00,2.70,40.45,1.633,4,0.000,0.037,3407,3200,1736,0,0,0,0,0,0,28.83,25.33,23.52
$GC,13646,1.07,169.6,977.7,5.4,288,13677,0.28,2.50,24.90,1.606,6,0.168,0.031,3348,1581,1627,0,0,0,0,0,0,25.56,26.01,23.62
$GC,14078,1.01,169.6,942.4,7.5,292,14083,0.00,1.92,0.00,0.000,4,0.000,0.048,3356,350,1621,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14308,0.97,169.6,931.3,8.1,293,14315,0.17,1.90,0.00,0.000,6,0.155,0.025,3310,1659,1619,0,0,0,0,0,0,25.96,26.44,28.83
$GC,14676,0.97,169.6,888.9,8.8,297,14683,0.00,2.12,0.00,0.000,4,0.000,0.048,3318,355,1618,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14855,0.97,169.6,879.2,8.3,298,14862,0.00,1.95,0.00,0.000,6,0.000,0.024,3318,1648,1617,0,0,0,0,0,0,28.83,26.50,28.83
$GC,15276,0.97,169.6,846.1,6.9,302,15283,0.00,2.08,0.00,0.000,4,0.000,0.048,3328,362,1617,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15575,0.97,169.6,828.7,6.9,304,15583,0.00,1.95,0.00,0.000,6,0.000,0.026,3328,1656,1616,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15996,0.97,169.6,789.7,8.1,308,16003,0.00,2.12,0.00,0.000,4,0.000,0.049,3338,355,1615,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,25249,end climb,SURFACE_DEPTH_REACHED
$STATE,25250,begin surface coast
$FINISH,1.1,1.025697
$STATE,25271,end surface coast,CONTROL_FINISHED_OK
$STATE,25271,begin surface
$SM_CCo,25296,118.00,0.150,1,0,499,446.45
$SM_GC,1.82,8.70,2.80,118.00,0.044,0.024,0.150,158,2202,499,-8.81,-0.40,446.45,0,0,0,0,1,0,26.41,26.41,24.49
$IRIDIUM_FIX,2427.58,-3753.33,150113,000045
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.12
$INTERNAL_PRESSURE,8.9776
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7620096
$TM_FREEKB,4952160
$24V_AH,23.0,69.083
$10V_AH,10.0,60.462
$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,22.475,217.875,265.675,118.000,0.000,156.136,299.773,0.000,0.000,0.000,19.650,2278.366,20434.957,795.415,2384.445,493.996,33.267,1804.939,0.000,1783.088,0.000,0.535,0.000
$DEVICE_MAMPS,189.720,78.795,1666.935,149.940,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.820,13.454,0.000,0.000
$MEM,344148
$DATA_FILE_SIZE,13415,514
$CAP_FILE_SIZE,190633,0
$CFSIZE,260034560,215097344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150113,073628,2441.900,-3757.408,41,0.9,42,-14.0