version: 66.11
glider: 189
mission: 7
dive: 399
start: 1 17 113 18 38 41
data:
$ID,189
$MISSION,7
$DIVE,399
$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,-48156.109
$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
$GPS1,170113,182834,2434.585,-3749.623,40,0.8,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-58.4
$GPS2,170113,183741,2434.649,-3749.606,18,0.9,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.041,-0.113
$KALMAN_X,217992.5,-26.4,315.9,-197581.9,-561.5
$KALMAN_Y,-50129.5,332.4,97.6,47897.3,1380.6
$MHEAD_RNG_PITCHd_Wd,173.7,7199,-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,-10.65,0.000,2,0.000,0.000,153,2112,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.0,0.0,1,104,9.20,2.72,-51.08,0.000,4,0.187,0.051,2589,3751,2720,0,0,0,0,0,0,25.40,25.98,26.68
$GC,164,-1.26,-97.7,3.9,-6.4,14,173,0.00,2.47,0.00,0.000,6,0.000,0.022,2591,2097,2722,0,0,0,0,0,0,28.83,26.30,28.83
$GC,475,-1.20,-97.7,33.1,-9.3,45,483,0.00,2.65,0.00,0.000,4,0.000,0.040,2579,3741,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,775,-1.12,-97.7,57.5,-7.9,75,783,0.17,2.42,0.00,0.000,6,0.128,0.021,2635,2095,2722,0,0,0,0,0,0,25.85,26.44,28.83
$GC,1094,-1.12,-97.7,77.0,-5.7,105,1101,0.00,2.65,0.00,0.000,4,0.000,0.041,2624,3742,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1194,-1.12,-97.7,82.8,-6.2,108,1201,0.00,2.45,0.00,0.000,6,0.000,0.021,2624,2102,2723,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1514,-1.12,-97.7,106.5,-7.3,119,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2102,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1815,-1.12,-97.7,127.8,-7.5,129,1821,0.00,2.42,0.00,0.000,4,0.000,0.037,2624,551,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1853,-1.12,-97.7,130.3,-7.6,130,1861,0.00,2.47,0.00,0.000,6,0.000,0.024,2612,2194,2724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2175,-1.12,-97.7,155.3,-7.1,140,2181,0.00,2.47,0.00,0.000,4,0.000,0.040,2600,3743,2724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2474,-1.08,-97.7,175.5,-6.8,145,2482,0.12,2.42,0.00,0.000,6,0.122,0.021,2644,2095,2724,0,0,0,0,0,0,26.06,26.51,28.83
$GC,2836,-1.11,-97.7,195.2,-5.3,151,2841,0.00,2.62,0.00,0.000,4,0.000,0.040,2634,3754,2725,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2913,-1.11,-97.7,197.8,-4.9,152,2921,0.00,2.47,0.00,0.000,6,0.000,0.021,2632,2091,2725,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3254,-1.11,-97.7,215.2,-5.0,158,3262,0.00,2.42,0.00,0.000,4,0.000,0.037,2632,544,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3304,-1.11,-97.7,215.2,-5.0,158,3313,0.00,2.45,0.00,0.000,6,0.000,0.023,2620,2185,2724,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3614,-1.11,-97.7,240.9,-7.4,164,3621,0.00,2.50,0.00,0.000,4,0.000,0.041,2608,3745,2725,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3674,-1.11,-97.7,245.4,-7.6,165,3682,0.08,2.42,0.00,0.000,6,0.125,0.020,2635,2094,2725,0,0,0,0,0,0,26.19,26.51,28.83
$GC,4036,-1.14,-97.7,269.4,-6.4,171,4041,0.00,2.38,0.00,0.000,4,0.000,0.037,2635,547,2725,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4095,-1.16,-97.7,273.0,-6.1,172,4101,0.00,2.45,0.00,0.000,6,0.000,0.024,2624,2189,2724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4455,-1.16,-97.7,293.3,-5.7,178,4462,0.00,2.50,0.00,0.000,4,0.000,0.041,2613,3739,2724,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4697,-1.16,-97.7,310.4,-7.1,182,4702,0.00,2.40,0.00,0.000,6,0.000,0.022,2613,2097,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5055,-1.16,-97.7,338.9,-8.1,188,5061,0.00,2.45,0.00,0.000,4,0.000,0.038,2613,542,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5093,-1.16,-97.7,338.9,-8.1,188,5100,0.00,2.50,0.00,0.000,6,0.000,0.024,2601,2198,2725,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5414,-1.16,-97.7,369.9,-8.7,194,5421,0.00,2.50,0.00,0.000,4,0.000,0.042,2589,3750,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5634,-1.16,-97.7,386.0,-8.9,197,5642,0.10,2.45,0.00,0.000,6,0.122,0.021,2623,2098,2722,0,0,0,0,0,0,26.12,26.49,28.83
$GC,5954,-1.19,-97.7,413.0,-7.0,203,5962,0.00,2.65,0.00,0.000,4,0.000,0.041,2612,3744,2721,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6064,-1.21,-97.7,416.6,-6.6,204,6073,0.00,2.42,0.00,0.000,6,0.000,0.021,2612,2106,2721,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6376,-1.21,-97.7,436.8,-5.4,210,6381,0.00,2.42,0.00,0.000,4,0.000,0.039,2612,536,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6453,-1.21,-97.7,440.5,-5.6,211,6461,0.00,2.50,0.00,0.000,6,0.000,0.024,2600,2191,2720,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6795,-1.21,-97.7,467.5,-7.7,217,6801,0.00,2.50,0.00,0.000,4,0.000,0.042,2588,3744,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6943,-1.21,-97.7,477.6,-8.2,219,6950,0.00,2.47,0.00,0.000,6,0.000,0.021,2588,2094,2719,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7334,-1.21,-97.7,510.5,-7.5,225,7341,0.00,2.67,0.00,0.000,4,0.000,0.041,2577,3749,2718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7483,-1.21,-97.7,518.8,-7.2,226,7492,0.12,2.47,0.00,0.000,6,0.145,0.022,2609,2093,2717,0,0,0,0,0,0,26.13,26.48,28.83
$GC,7814,-1.21,-97.7,540.1,-6.1,229,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2093,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8175,-1.24,-97.7,561.5,-5.9,232,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2098,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8535,-1.28,-97.7,587.0,-6.9,235,8542,0.00,2.67,0.00,0.000,4,0.000,0.042,2598,3738,2715,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8593,-1.31,-97.7,587.0,-6.9,235,8601,0.00,2.45,0.00,0.000,6,0.000,0.021,2598,2105,2714,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9014,-1.33,-97.7,630.2,-9.0,239,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2105,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,-1.36,-97.7,665.3,-9.7,242,9382,0.10,2.47,0.00,0.000,4,0.099,0.040,2544,548,2712,0,0,0,0,0,0,26.65,26.20,28.83
$GC,9483,-1.39,-97.7,665.3,-9.7,242,9492,0.00,2.50,0.00,0.000,6,0.000,0.024,2532,2191,2712,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9854,-1.36,-97.7,710.9,-9.5,246,9862,0.12,2.53,0.00,0.000,4,0.165,0.043,2552,3743,2711,0,0,0,0,0,0,26.33,26.14,28.83
$GC,10034,-1.31,-97.7,721.0,-9.0,247,10041,0.00,2.45,0.00,0.000,6,0.000,0.022,2552,2106,2710,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10454,-1.29,-97.7,755.4,-7.2,251,10462,0.12,2.67,0.00,0.000,4,0.154,0.043,2573,3742,2709,0,0,0,0,0,0,26.36,26.13,28.83
$GC,10514,-1.27,-97.7,755.4,-7.2,251,10521,0.00,2.45,0.00,0.000,6,0.000,0.023,2574,2106,2710,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10934,-1.27,-97.7,790.0,-7.2,255,10941,0.00,2.67,0.00,0.000,4,0.000,0.042,2562,3748,2708,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11003,-1.27,-97.7,790.0,-7.2,255,11011,0.12,2.47,0.00,0.000,6,0.150,0.022,2593,2102,2708,0,0,0,0,0,0,26.06,26.44,28.83
$GC,11415,-1.30,-97.7,827.0,-7.7,259,11421,0.00,2.62,0.00,0.000,4,0.000,0.043,2583,3751,2707,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11453,-1.33,-97.7,827.0,-7.7,259,11461,0.00,2.50,0.00,0.000,6,0.000,0.023,2582,2094,2707,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11775,-1.37,-97.7,854.9,-7.7,262,11781,0.00,2.45,0.00,0.000,4,0.000,0.041,2588,544,2707,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11884,-1.40,-97.7,854.9,-7.7,262,11893,0.00,2.47,0.00,0.000,6,0.000,0.025,2571,2181,2706,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12254,-1.40,-97.7,894.8,-8.4,266,12262,0.00,2.60,0.00,0.000,4,0.000,0.040,2572,545,2704,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12323,-1.40,-97.7,894.8,-8.4,266,12331,0.00,2.53,0.00,0.000,6,0.000,0.025,2559,2197,2704,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12735,-1.40,-97.7,939.8,-9.4,270,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2197,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13094,-1.40,-97.7,969.9,-8.5,273,13102,0.00,2.62,0.00,0.000,4,0.000,0.040,2558,550,2703,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13214,-1.40,-97.7,979.9,-8.3,274,13221,0.00,2.50,0.00,0.000,6,0.000,0.026,2547,2188,2702,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,13351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13351,begin apogee
$GC,13360,-0.29,0.0,991.1,-8.2,276,13453,1.15,0.00,86.18,1.674,6,0.131,0.000,2902,1576,2318,0,0,0,0,0,0,25.15,28.83,23.04
$STATE,13455,end apogee,CONTROL_FINISHED_OK
$STATE,13455,begin climb
$GC,13458,1.26,97.7,994.7,0.0,281,13554,1.45,0.00,91.88,1.658,6,0.061,0.000,3414,1576,1920,0,0,0,0,0,0,25.23,28.83,23.03
$GC,13934,1.12,97.7,968.2,6.8,295,13936,0.20,0.00,0.00,0.000,6,0.166,0.000,3363,1576,1911,0,0,0,0,0,0,25.87,28.83,28.83
$GC,14295,1.04,116.6,948.1,5.8,298,14316,0.00,2.72,15.82,1.561,4,0.000,0.037,3363,3208,1844,0,0,0,0,0,0,28.83,25.94,23.94
$GC,14447,0.97,137.8,941.2,5.7,299,14474,0.22,2.50,20.65,1.579,6,0.164,0.031,3314,1581,1758,0,0,0,0,0,0,25.68,26.15,23.75
$GC,14877,0.94,137.8,909.3,6.8,303,14878,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1581,1757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15234,0.94,137.8,882.5,7.4,306,15242,0.00,2.62,0.00,0.000,4,0.000,0.036,3314,3204,1752,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15324,0.94,137.8,882.5,7.4,306,15332,0.00,2.53,0.00,0.000,6,0.000,0.030,3324,1580,1751,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,26084,end climb,SURFACE_DEPTH_REACHED
$STATE,26084,begin surface coast
$FINISH,1.2,1.011282
$STATE,26115,end surface coast,CONTROL_FINISHED_OK
$STATE,26115,begin surface
$SM_CCo,26140,51.67,0.125,0,0,1096,300.00
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$IRIDIUM_FIX,2432.32,-3719.22,170113,111147
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.85
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$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7616640
$TM_FREEKB,4912768
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$10V_AH,10.0,61.732
$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
$DEVICE_SECS,22.700,218.425,260.475,51.675,0.000,27.857,39.994,202.670,0.000,0.000,19.436,2145.356,21315.879,722.978,1990.896,552.060,33.266,1671.685,0.000,1612.517,0.000,0.535,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.815,13.472,0.000,0.000
$MEM,343724
$DATA_FILE_SIZE,13406,522
$CAP_FILE_SIZE,193367,0
$CFSIZE,260034560,214335488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180113,015634,2434.004,-3748.637,40,0.8,41,-13.9