version: 66.11
glider: 189
mission: 7
dive: 412
start: 1 21 113 18 39 18
data:
$ID,189
$MISSION,7
$DIVE,412
$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,-48172.457
$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
$GPS1,210113,182904,2430.762,-3749.278,31,0.8,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-59.0
$GPS2,210113,183817,2430.782,-3749.269,21,0.9,21,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,-0.113
$KALMAN_X,237956.3,-301.8,-103.6,-216270.0,2333.2
$KALMAN_Y,-19751.7,-125.3,-72.9,11001.8,3417.4
$MHEAD_RNG_PITCHd_Wd,205.1,1778,-21.1,-6.667,-30.00
$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,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-11.40,0.000,2,0.000,0.000,151,2122,1423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.10,2.50,-48.62,0.000,4,0.185,0.050,2567,548,2718,0,0,0,0,0,0,25.19,25.99,26.69
$GC,395,-1.23,-97.7,27.4,-7.4,37,404,0.12,2.47,0.00,0.000,6,0.151,0.024,2595,2191,2720,0,0,0,0,0,0,25.78,26.34,28.83
$GC,706,-1.20,-97.7,51.1,-7.4,68,714,0.00,2.50,0.00,0.000,4,0.000,0.041,2585,3744,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,935,-1.16,-97.7,70.9,-9.5,91,944,0.10,2.42,0.00,0.000,6,0.132,0.021,2619,2094,2721,0,0,0,0,0,0,26.03,26.46,28.83
$GC,1258,-1.16,-97.7,100.4,-9.2,105,1263,0.00,2.62,0.00,0.000,4,0.000,0.040,2608,3749,2721,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1545,-1.16,-97.7,123.7,-8.3,114,1554,0.00,2.45,0.00,0.000,6,0.000,0.021,2608,2090,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1856,-1.16,-97.7,150.8,-7.7,125,1862,0.00,2.65,0.00,0.000,4,0.000,0.039,2596,3746,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1944,-1.16,-97.7,155.5,-7.7,126,1952,0.12,2.45,0.00,0.000,6,0.148,0.020,2628,2094,2723,0,0,0,0,0,0,26.12,26.48,28.83
$GC,2276,-1.18,-97.7,176.2,-5.2,132,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2094,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,-1.21,-97.7,191.2,-5.1,137,2582,0.00,2.62,0.00,0.000,4,0.000,0.040,2618,3756,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2767,-1.23,-97.7,202.0,-5.8,140,2772,0.00,2.40,0.00,0.000,6,0.000,0.021,2617,2100,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3116,-1.23,-97.7,225.6,-6.7,146,3122,0.00,2.65,0.00,0.000,4,0.000,0.039,2605,3753,2724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3204,-1.23,-97.7,229.9,-6.9,147,3212,0.00,2.47,0.00,0.000,6,0.000,0.020,2606,2086,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3535,-1.23,-97.7,255.0,-6.9,153,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2086,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3836,-1.23,-97.7,275.8,-6.9,158,3843,0.00,2.67,0.00,0.000,4,0.000,0.039,2593,3746,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4024,-1.23,-97.7,289.1,-7.4,161,4031,0.00,2.45,0.00,0.000,6,0.000,0.021,2593,2102,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4376,-1.23,-97.7,315.2,-7.3,167,4382,0.00,2.65,0.00,0.000,4,0.000,0.040,2581,3749,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4654,-1.23,-97.7,333.4,-7.6,171,4661,0.00,2.47,0.00,0.000,6,0.000,0.021,2581,2091,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4975,-1.23,-97.7,361.5,-7.9,177,4982,0.00,2.67,0.00,0.000,4,0.000,0.040,2569,3753,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5185,-1.23,-97.7,377.9,-8.9,180,5193,0.08,2.47,0.00,0.000,6,0.129,0.021,2591,2075,2722,0,0,0,0,0,0,26.16,26.49,28.83
$GC,5515,-1.23,-97.7,409.2,-8.6,186,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2075,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-1.23,-97.7,431.9,-7.4,191,5823,0.00,2.70,0.00,0.000,4,0.000,0.041,2584,3751,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5995,-1.23,-97.7,443.9,-6.7,194,6002,0.00,2.45,0.00,0.000,6,0.000,0.021,2584,2106,2719,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6355,-1.23,-97.7,468.1,-6.8,200,6362,0.00,2.65,0.00,0.000,4,0.000,0.041,2572,3745,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6465,-1.23,-97.7,472.7,-7.0,201,6474,0.08,2.45,0.00,0.000,6,0.129,0.021,2597,2090,2718,0,0,0,0,0,0,26.15,26.48,28.83
$GC,6776,-1.27,-97.7,501.6,-8.0,207,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2090,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7136,-1.30,-97.7,527.9,-7.4,210,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2090,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7496,-1.34,-97.7,552.7,-6.9,213,7502,0.00,2.42,0.00,0.000,4,0.000,0.039,2602,549,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7544,-1.38,-97.7,552.7,-6.9,213,7552,0.00,2.50,0.00,0.000,6,0.000,0.024,2587,2201,2715,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7855,-1.41,-97.7,577.6,-6.9,216,7857,0.12,0.00,0.00,0.000,6,0.081,0.000,2524,2201,2715,0,0,0,0,0,0,26.66,28.83,28.83
$GC,8216,-1.41,-97.7,606.9,-7.9,219,8222,0.00,2.62,0.00,0.000,4,0.000,0.038,2524,543,2713,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8284,-1.41,-97.7,606.9,-7.9,219,8292,0.12,2.50,0.00,0.000,6,0.172,0.024,2541,2191,2713,0,0,0,0,0,0,25.99,26.41,28.83
$GC,8695,-1.41,-97.7,647.0,-8.3,223,8702,0.00,2.53,0.00,0.000,4,0.000,0.043,2531,3751,2712,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8994,-1.39,-97.7,667.0,-8.3,225,9002,0.00,2.47,0.00,0.000,6,0.000,0.022,2531,2108,2709,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9415,-1.37,-97.7,704.7,-7.8,229,9423,0.10,2.67,0.00,0.000,4,0.166,0.042,2545,3750,2710,0,0,0,0,0,0,26.44,26.13,28.83
$GC,9647,-1.37,-97.7,714.2,-7.8,230,9654,0.00,2.45,0.00,0.000,6,0.000,0.023,2546,2098,2710,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10015,-1.37,-97.7,753.3,-8.1,234,10023,0.00,2.65,0.00,0.000,4,0.000,0.041,2533,3744,2708,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10074,-1.37,-97.7,753.3,-8.1,234,10082,0.00,2.47,0.00,0.000,6,0.000,0.022,2533,2099,2708,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10496,-1.37,-97.7,799.1,-9.6,238,10503,0.00,2.67,0.00,0.000,4,0.000,0.042,2521,3750,2707,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10594,-1.37,-97.7,799.1,-9.6,238,10602,0.15,2.47,0.00,0.000,6,0.151,0.023,2559,2104,2707,0,0,0,0,0,0,25.96,26.42,28.83
$GC,10975,-1.37,-97.7,848.6,-10.3,242,10983,0.00,2.65,0.00,0.000,4,0.000,0.042,2549,3738,2706,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11085,-1.37,-97.7,848.6,-10.3,242,11094,0.00,2.47,0.00,0.000,6,0.000,0.023,2549,2098,2705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11455,-1.37,-97.7,888.6,-8.3,246,11462,0.00,2.67,0.00,0.000,4,0.000,0.042,2538,3752,2704,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11554,-1.37,-97.7,888.6,-8.3,246,11562,0.00,2.50,0.00,0.000,6,0.000,0.023,2537,2098,2703,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11936,-1.37,-97.7,920.6,-6.6,250,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2099,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12295,-1.37,-97.7,946.3,-7.1,253,12303,0.00,2.70,0.00,0.000,4,0.000,0.044,2525,3744,2702,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12567,-1.37,-97.7,966.2,-7.8,255,12573,0.12,2.42,0.00,0.000,6,0.152,0.024,2556,2100,2701,0,0,0,0,0,0,26.00,26.38,28.83
$STATE,12832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12832,begin apogee
$GC,12840,-0.29,0.0,991.2,-8.4,260,12935,1.10,0.08,85.30,1.679,6,0.126,0.096,2901,1630,2321,0,0,0,0,0,0,25.20,24.81,22.99
$STATE,12937,end apogee,CONTROL_FINISHED_OK
$STATE,12937,begin climb
$GC,12940,1.33,97.7,996.3,0.0,265,13043,1.48,2.20,91.88,1.667,4,0.061,0.047,3440,356,1920,0,0,0,0,0,0,25.30,24.91,23.05
$GC,13245,1.20,120.4,987.1,5.5,280,13275,0.17,1.92,20.40,1.577,6,0.158,0.023,3388,1648,1828,0,0,0,0,0,0,25.67,26.20,23.70
$GC,13636,1.14,144.8,965.1,5.4,285,13664,0.00,2.53,22.67,1.596,4,0.000,0.034,3388,3202,1728,0,0,0,0,0,0,28.83,25.68,23.78
$GC,13808,1.08,162.0,957.3,5.8,286,13833,0.20,2.50,16.88,1.577,6,0.168,0.031,3348,1583,1659,0,0,0,0,0,0,25.67,26.10,23.78
$GC,14225,1.06,162.0,914.0,9.0,290,14232,0.00,1.98,0.00,0.000,4,0.000,0.048,3356,352,1653,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14345,1.06,162.0,901.1,9.7,291,14352,0.00,1.95,0.00,0.000,6,0.000,0.024,3362,1650,1652,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14706,1.06,162.0,862.9,10.7,294,14712,0.00,2.08,0.00,0.000,4,0.000,0.047,3366,352,1655,0,0,0,0,0,0,28.83,26.21,28.83
$GC,14978,1.03,162.0,837.6,10.5,296,14984,0.12,1.88,0.00,0.000,6,0.164,0.026,3334,1660,1650,0,0,0,0,0,0,26.09,26.50,28.83
$GC,15306,1.03,162.0,806.5,9.0,299,15312,0.00,2.10,0.00,0.000,4,0.000,0.048,3343,359,1650,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15474,1.03,162.0,797.0,8.4,300,15478,0.00,1.95,0.00,0.000,6,0.000,0.024,3343,1660,1649,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15777,1.03,162.0,772.0,7.3,303,15783,0.00,2.10,0.00,0.000,4,0.000,0.047,3352,355,1649,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15855,1.03,162.0,772.0,7.3,303,15859,0.00,1.95,0.00,0.000,6,0.000,0.025,3352,1658,1648,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16247,1.04,170.7,742.6,6.2,307,16259,0.00,2.12,7.07,1.348,4,0.000,0.047,3363,354,1623,0,0,0,0,0,0,28.83,26.19,23.95
$GC,16378,1.05,179.4,735.2,6.2,308,16395,0.00,1.95,10.27,1.420,6,0.000,0.025,3362,1652,1585,0,0,0,0,0,0,28.83,26.41,23.94
$GC,16718,1.05,179.4,708.6,7.2,311,16725,0.00,2.10,0.00,0.000,4,0.000,0.047,3372,354,1585,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,24637,end climb,SURFACE_DEPTH_REACHED
$STATE,24637,begin surface coast
$FINISH,1.3,1.014748
$STATE,24668,end surface coast,CONTROL_FINISHED_OK
$STATE,24668,begin surface
$SM_CCo,24691,51.85,0.126,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7611648
$TM_FREEKB,4855264
$24V_AH,23.0,72.197
$10V_AH,9.8,63.548
$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
$DEVICE_SECS,22.450,196.725,259.075,51.850,0.000,27.759,42.179,198.481,0.000,0.000,22.255,2122.336,19940.951,680.348,2024.409,515.620,33.290,1623.490,0.000,1645.255,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.764,13.531,0.000,0.000
$MEM,343664
$DATA_FILE_SIZE,13409,497
$CAP_FILE_SIZE,181361,0
$CFSIZE,260034560,213188608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220113,013258,2429.940,-3749.297,36,0.9,36,-14.0