version: 66.11
glider: 189
mission: 7
dive: 392
start: 1 15 113 15 18 15
data:
$ID,189
$MISSION,7
$DIVE,392
$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,-48147.121
$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
$GPS1,150113,150035,2440.935,-3757.602,25,0.9,26,-14.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-56.8
$GPS2,150113,151717,2440.980,-3757.551,18,1.0,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.105,-0.057
$KALMAN_X,220567.0,-195.5,244.1,-213278.2,-1585.3
$KALMAN_Y,-55892.1,-116.6,713.0,65218.4,-124.3
$MHEAD_RNG_PITCHd_Wd,132.5,24296,-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,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.75,0.000,2,0.000,0.000,152,2126,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.0,0.0,1,104,9.18,2.70,-50.62,0.000,4,0.189,0.051,2579,3758,2720,0,0,0,0,0,0,25.34,26.05,26.74
$GC,394,-1.19,-97.7,25.4,-10.3,37,403,0.08,2.47,0.00,0.000,6,0.130,0.021,2605,2094,2721,0,0,0,0,0,0,26.06,26.39,28.83
$GC,705,-1.15,-97.7,45.0,-5.4,68,713,0.00,2.62,0.00,0.000,4,0.000,0.040,2594,3752,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1004,-1.09,-97.7,64.5,-8.8,98,1014,0.15,2.45,0.00,0.000,6,0.133,0.021,2643,2084,2721,0,0,0,0,0,0,25.91,26.47,28.83
$GC,1314,-1.09,-97.7,90.2,-7.8,117,1321,0.00,2.67,0.00,0.000,4,0.000,0.039,2632,3751,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1344,-1.09,-97.7,92.4,-7.5,118,1351,0.00,2.45,0.00,0.000,6,0.000,0.020,2632,2095,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1675,-1.09,-97.7,114.9,-6.7,129,1682,0.00,2.40,0.00,0.000,4,0.000,0.037,2631,550,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1975,-1.05,-97.7,133.2,-5.4,139,1982,0.10,2.45,0.00,0.000,6,0.132,0.023,2654,2190,2723,0,0,0,0,0,0,26.06,26.46,28.83
$GC,2308,-1.08,-97.7,149.6,-5.4,150,2313,0.00,2.53,0.00,0.000,4,0.000,0.036,2654,547,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2344,-1.10,-97.7,151.5,-5.7,151,2351,0.00,2.47,0.00,0.000,6,0.000,0.023,2644,2195,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2666,-1.13,-97.7,172.2,-6.2,157,2671,0.00,2.42,0.00,0.000,4,0.000,0.041,2632,3748,2724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2743,-1.13,-97.7,176.1,-6.3,158,2751,0.00,2.45,0.00,0.000,6,0.000,0.020,2632,2098,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3084,-1.13,-97.7,198.9,-6.2,164,3091,0.00,2.42,0.00,0.000,4,0.000,0.037,2632,544,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3145,-1.13,-97.7,202.4,-6.1,165,3151,0.00,2.50,0.00,0.000,6,0.000,0.024,2620,2188,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3504,-1.13,-97.7,222.1,-5.4,171,3511,0.00,2.50,0.00,0.000,4,0.000,0.041,2612,3748,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3736,-1.13,-97.7,233.8,-6.3,174,3743,0.00,2.42,0.00,0.000,6,0.000,0.021,2608,2095,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4044,-1.13,-97.7,261.6,-7.9,180,4051,0.00,2.65,0.00,0.000,4,0.000,0.040,2596,3742,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4345,-1.10,-97.7,287.6,-8.7,185,4352,0.12,2.42,0.00,0.000,6,0.121,0.021,2635,2095,2723,0,0,0,0,0,0,26.06,26.52,28.83
$GC,4705,-1.14,-97.7,310.1,-5.9,191,4711,0.00,2.65,0.00,0.000,4,0.000,0.041,2628,3745,2722,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4844,-1.17,-97.7,316.4,-5.3,193,4851,0.00,2.42,0.00,0.000,6,0.000,0.021,2628,2106,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5185,-1.20,-97.7,337.6,-6.2,199,5191,0.00,2.62,0.00,0.000,4,0.000,0.040,2616,3739,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5234,-1.22,-97.7,337.6,-6.2,199,5243,0.00,2.45,0.00,0.000,6,0.000,0.021,2616,2083,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5545,-1.22,-97.7,369.5,-9.2,205,5551,0.00,2.65,0.00,0.000,4,0.000,0.041,2605,3758,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5724,-1.22,-97.7,386.2,-9.4,208,5731,0.00,2.45,0.00,0.000,6,0.000,0.021,2604,2106,2720,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6084,-1.22,-97.7,411.7,-6.7,214,6092,0.00,2.62,0.00,0.000,4,0.000,0.041,2592,3745,2719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6194,-1.22,-97.7,415.5,-6.4,215,6203,0.00,2.45,0.00,0.000,6,0.000,0.021,2592,2098,2719,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6505,-1.22,-97.7,438.5,-6.3,221,6511,0.00,2.65,0.00,0.000,4,0.000,0.041,2580,3741,2718,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6644,-1.22,-97.7,447.2,-6.8,223,6651,0.00,2.42,0.00,0.000,6,0.000,0.021,2579,2106,2717,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6984,-1.22,-97.7,479.1,-9.2,229,6991,0.00,2.62,0.00,0.000,4,0.000,0.041,2569,3745,2716,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7286,-1.20,-97.7,501.7,-9.5,233,7292,0.17,2.40,0.00,0.000,6,0.138,0.022,2616,2102,2716,0,0,0,0,0,0,26.01,26.48,28.83
$GC,7705,-1.22,-97.7,535.4,-7.0,237,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2102,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,-1.26,-97.7,560.0,-6.7,240,8071,0.00,2.45,0.00,0.000,4,0.000,0.039,2617,551,2714,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8134,-1.30,-97.7,560.0,-6.7,240,8141,0.00,2.47,0.00,0.000,6,0.000,0.024,2605,2197,2714,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8545,-1.33,-97.7,595.3,-7.3,244,8551,0.00,2.53,0.00,0.000,4,0.000,0.044,2594,3751,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8623,-1.36,-97.7,595.3,-7.3,244,8631,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,2102,2712,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9025,-1.36,-97.7,633.6,-8.0,248,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2102,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,-1.38,-97.7,661.2,-7.8,251,9392,0.12,2.65,0.00,0.000,4,0.087,0.042,2520,3759,2710,0,0,0,0,0,0,26.63,26.13,28.83
$GC,9443,-1.40,-97.7,661.2,-7.8,251,9451,0.00,2.50,0.00,0.000,6,0.000,0.022,2520,2101,2710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9865,-1.36,-97.7,706.5,-9.4,255,9872,0.15,2.62,0.00,0.000,4,0.154,0.043,2548,3754,2709,0,0,0,0,0,0,26.25,26.13,28.83
$GC,10096,-1.31,-97.7,718.3,-9.7,256,10103,0.12,2.42,0.00,0.000,6,0.150,0.023,2580,2101,2708,0,0,0,0,0,0,26.08,26.45,28.83
$GC,10465,-1.31,-97.7,760.3,-8.7,260,10471,0.00,2.67,0.00,0.000,4,0.000,0.043,2569,3743,2707,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10523,-1.31,-97.7,760.3,-8.7,260,10530,0.00,2.47,0.00,0.000,6,0.000,0.022,2569,2100,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10944,-1.31,-97.7,796.8,-7.6,264,10951,0.00,2.45,0.00,0.000,4,0.000,0.040,2569,547,2704,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11023,-1.31,-97.7,796.8,-7.6,264,11031,0.00,2.50,0.00,0.000,6,0.000,0.025,2557,2190,2706,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11425,-1.31,-97.7,840.0,-9.0,268,11431,0.00,2.53,0.00,0.000,4,0.000,0.044,2546,3745,2705,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11723,-1.31,-97.7,863.7,-9.5,270,11731,0.12,2.47,0.00,0.000,6,0.151,0.024,2577,2105,2704,0,0,0,0,0,0,26.04,26.41,28.83
$GC,12145,-1.31,-97.7,906.5,-8.9,274,12151,0.00,2.67,0.00,0.000,4,0.000,0.044,2567,3742,2703,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12407,-1.31,-97.7,925.2,-8.0,276,12412,0.00,2.42,0.00,0.000,6,0.000,0.024,2566,2101,2702,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12745,-1.31,-97.7,953.0,-7.7,279,12751,0.00,2.65,0.00,0.000,4,0.000,0.044,2554,3754,2701,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12893,-1.31,-97.7,963.1,-7.9,280,12901,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2108,2700,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,13221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13221,begin apogee
$GC,13230,-0.29,0.0,993.3,-8.4,283,13324,1.10,0.03,85.65,1.682,6,0.129,0.078,2899,1619,2320,0,0,0,0,0,0,25.18,24.44,23.02
$STATE,13325,end apogee,CONTROL_FINISHED_OK
$STATE,13326,begin climb
$GC,13329,1.26,97.7,998.1,0.0,288,13432,1.45,2.72,92.20,1.670,4,0.063,0.037,3412,3205,1920,0,0,0,0,0,0,25.25,24.89,23.04
$GC,13494,1.17,147.9,996.0,4.3,296,13545,0.15,2.62,45.30,1.635,6,0.162,0.029,3382,1572,1717,0,0,0,0,0,0,25.40,25.75,23.34
$GC,13874,1.08,147.9,965.2,8.1,306,13882,0.12,1.95,0.00,0.000,4,0.177,0.047,3359,356,1709,0,0,0,0,0,0,26.06,26.14,28.83
$GC,14068,1.00,147.9,956.1,8.0,307,14073,0.15,1.92,0.00,0.000,6,0.159,0.025,3321,1657,1707,0,0,0,0,0,0,25.98,26.41,28.83
$GC,14475,0.97,147.9,923.0,6.9,311,14481,0.00,2.50,0.00,0.000,4,0.000,0.036,3321,3206,1706,0,0,0,0,0,0,28.83,26.30,28.83
$GC,14574,0.94,147.9,923.0,6.9,311,14581,0.00,2.53,0.00,0.000,6,0.000,0.031,3331,1585,1707,0,0,0,0,0,0,28.83,26.35,28.83
$GC,14955,0.92,147.9,884.5,8.0,315,14962,0.12,1.98,0.00,0.000,4,0.171,0.049,3308,350,1705,0,0,0,0,0,0,26.27,26.22,28.83
$GC,15023,0.90,147.9,884.5,8.0,315,15030,0.00,1.95,0.00,0.000,6,0.000,0.025,3308,1650,1704,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15435,0.90,147.9,844.3,8.4,319,15436,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1650,1703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15794,0.90,147.9,816.1,8.0,322,15795,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1650,1702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16154,0.90,147.9,792.9,6.7,325,16155,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1650,1700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16515,0.91,161.3,771.2,6.0,328,16532,0.00,2.12,10.60,1.432,4,0.000,0.049,3318,354,1662,0,0,0,0,0,0,28.83,26.08,23.91
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$STATE,25865,end climb,SURFACE_DEPTH_REACHED
$STATE,25865,begin surface coast
$FINISH,1.1,1.025658
$STATE,25887,end surface coast,CONTROL_FINISHED_OK
$STATE,25887,begin surface
$SM_CCo,25913,111.85,0.127,0,0,495,446.45
$SM_GC,2.09,8.57,0.80,111.85,0.038,0.037,0.127,154,2197,495,-8.84,-0.48,446.45,0,0,0,0,0,0,26.32,26.41,25.52
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$TT8_MAMPS,0.026964,0.026964
$HUMID,60.35
$INTERNAL_PRESSURE,8.95807
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7619328
$TM_FREEKB,4943232
$24V_AH,23.0,69.388
$10V_AH,10.0,60.755
$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,22.950,226.650,266.975,111.850,0.000,135.251,334.874,0.000,0.000,0.000,19.254,2322.857,20956.721,798.851,2420.350,511.857,33.265,1823.566,0.000,1802.360,0.000,0.535,0.000
$DEVICE_MAMPS,188.955,78.030,1682.235,126.990,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.838,13.451,0.000,0.000
$MEM,344100
$DATA_FILE_SIZE,13470,535
$CAP_FILE_SIZE,199488,0
$CFSIZE,260034560,214908928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150113,223322,2439.892,-3756.225,42,1.0,43,-14.0