version: 66.11
glider: 189
mission: 7
dive: 416
start: 1 22 113 22 53 54
data:
$ID,189
$MISSION,7
$DIVE,416
$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,-48177.488
$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
$GPS1,220113,224028,2429.819,-3749.765,42,0.9,42,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-56.0
$GPS2,220113,225253,2429.889,-3749.760,18,1.0,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.080,-0.084
$KALMAN_X,239034.4,-55.2,-31.0,-218501.0,869.8
$KALMAN_Y,-9920.2,78.1,65.3,-832.2,3779.4
$MHEAD_RNG_PITCHd_Wd,150.4,3256,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-11.12,0.000,2,0.000,0.000,151,2118,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.30,2.50,-48.85,0.000,4,0.194,0.052,2566,549,2720,0,0,0,0,0,0,25.29,25.96,26.68
$GC,304,-1.25,-97.7,22.0,-8.7,28,313,0.12,2.53,0.00,0.000,6,0.144,0.024,2593,2181,2720,0,0,0,0,0,0,25.77,26.30,28.83
$GC,614,-1.21,-97.7,44.4,-7.4,59,623,0.00,2.53,0.00,0.000,4,0.000,0.041,2583,3744,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,915,-1.16,-97.7,69.8,-9.9,89,923,0.12,2.45,0.00,0.000,6,0.129,0.021,2624,2083,2721,0,0,0,0,0,0,25.96,26.45,28.83
$GC,1244,-1.16,-97.7,99.5,-8.4,104,1251,0.00,2.67,0.00,0.000,4,0.000,0.039,2613,3745,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1544,-1.16,-97.7,121.5,-6.9,114,1551,0.00,2.42,0.00,0.000,6,0.000,0.021,2613,2105,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1877,-1.16,-97.7,139.6,-5.5,125,1882,0.00,2.62,0.00,0.000,4,0.000,0.039,2601,3754,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2174,-1.16,-97.7,159.8,-7.1,133,2181,0.00,2.45,0.00,0.000,6,0.000,0.021,2601,2095,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2534,-1.16,-97.7,187.7,-7.8,139,2541,0.00,2.65,0.00,0.000,4,0.000,0.039,2589,3746,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2834,-1.14,-97.7,211.2,-7.8,144,2842,0.12,2.42,0.00,0.000,6,0.122,0.021,2630,2098,2724,0,0,0,0,0,0,26.05,26.50,28.83
$GC,3196,-1.18,-97.7,233.6,-6.0,150,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2098,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-1.22,-97.7,254.8,-7.3,155,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2097,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3795,-1.27,-97.7,281.1,-8.9,160,3797,0.12,0.00,0.00,0.000,6,0.081,0.000,2567,2097,2724,0,0,0,0,0,0,26.66,28.83,28.83
$GC,4095,-1.25,-97.7,308.6,-9.0,165,4102,0.12,2.62,0.00,0.000,4,0.151,0.040,2588,3748,2724,0,0,0,0,0,0,26.39,26.21,28.83
$GC,4233,-1.25,-97.7,317.9,-8.2,167,4241,0.00,2.47,0.00,0.000,6,0.000,0.021,2588,2089,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4574,-1.25,-97.7,337.0,-4.9,173,4581,0.00,2.67,0.00,0.000,4,0.000,0.040,2576,3749,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4874,-1.25,-97.7,353.7,-5.7,178,4881,0.00,2.45,0.00,0.000,6,0.000,0.021,2576,2102,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5234,-1.25,-97.7,377.8,-6.9,184,5241,0.00,2.65,0.00,0.000,4,0.000,0.040,2564,3751,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5534,-1.25,-97.7,402.2,-8.2,189,5542,0.10,2.45,0.00,0.000,6,0.127,0.021,2602,2087,2721,0,0,0,0,0,0,26.09,26.48,28.83
$GC,5894,-1.27,-97.7,432.9,-8.7,195,5901,0.00,2.67,0.00,0.000,4,0.000,0.041,2586,3748,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6194,-1.27,-97.7,462.2,-9.9,200,6201,0.00,2.45,0.00,0.000,6,0.000,0.021,2586,2100,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6554,-1.27,-97.7,494.8,-8.8,206,6562,0.00,2.67,0.00,0.000,4,0.000,0.041,2574,3750,2718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6853,-1.27,-97.7,513.0,-7.7,209,6861,0.00,2.47,0.00,0.000,6,0.000,0.021,2574,2099,2717,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7274,-1.27,-97.7,542.6,-6.1,213,7282,0.00,2.67,0.00,0.000,4,0.000,0.041,2563,3751,2716,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7474,-1.27,-97.7,550.7,-6.2,214,7481,0.00,2.45,0.00,0.000,6,0.000,0.022,2563,2105,2715,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7874,-1.27,-97.7,590.5,-8.3,218,7881,0.00,2.62,0.00,0.000,4,0.000,0.041,2551,3748,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8064,-1.27,-97.7,602.6,-8.9,219,8072,0.10,2.45,0.00,0.000,6,0.131,0.022,2584,2094,2713,0,0,0,0,0,0,26.06,26.46,28.83
$GC,8474,-1.30,-97.7,650.5,-10.0,223,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2094,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8835,-1.34,-97.7,681.0,-8.8,226,8841,0.00,2.42,0.00,0.000,4,0.000,0.040,2585,554,2711,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8884,-1.38,-97.7,681.0,-8.8,226,8891,0.00,2.45,0.00,0.000,6,0.000,0.025,2574,2184,2711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9195,-1.41,-97.7,707.3,-7.4,229,9201,0.00,2.53,0.00,0.000,4,0.000,0.043,2563,3744,2710,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9314,-1.43,-97.7,716.4,-7.3,230,9321,0.00,2.45,0.00,0.000,6,0.000,0.023,2562,2102,2710,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9675,-1.43,-97.7,745.1,-7.9,233,9681,0.00,2.62,0.00,0.000,4,0.000,0.042,2550,3746,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9803,-1.43,-97.7,755.8,-8.2,234,9811,0.00,2.47,0.00,0.000,6,0.000,0.022,2550,2106,2709,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10154,-1.43,-97.7,787.8,-8.9,237,10161,0.00,2.67,0.00,0.000,4,0.000,0.041,2539,3742,2707,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10384,-1.43,-97.7,798.6,-8.9,238,10393,0.00,2.45,0.00,0.000,6,0.000,0.022,2539,2105,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10754,-1.43,-97.7,838.1,-8.2,242,10762,0.00,2.67,0.00,0.000,4,0.000,0.042,2527,3748,2705,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10964,-1.43,-97.7,848.7,-8.3,243,10971,0.00,2.50,0.00,0.000,6,0.000,0.023,2527,2083,2704,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11354,-1.43,-97.7,894.2,-9.5,247,11361,0.00,2.70,0.00,0.000,4,0.000,0.042,2515,3744,2703,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11653,-1.43,-97.7,916.9,-9.4,249,11661,0.00,2.47,0.00,0.000,6,0.000,0.023,2515,2110,2702,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12075,-1.41,-97.7,956.3,-8.2,253,12082,0.12,2.65,0.00,0.000,4,0.160,0.043,2535,3755,2701,0,0,0,0,0,0,26.32,26.03,28.83
$GC,12373,-1.41,-97.7,974.2,-7.6,255,12381,0.00,2.50,0.00,0.000,6,0.000,0.024,2535,2109,2700,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,12551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12551,begin apogee
$GC,12559,-0.29,0.0,993.1,-7.7,257,12653,1.17,0.00,85.57,1.668,6,0.129,0.000,2901,1572,2321,0,0,0,0,0,0,25.13,28.83,22.99
$STATE,12655,end apogee,CONTROL_FINISHED_OK
$STATE,12655,begin climb
$GC,12659,1.33,97.7,997.0,0.0,262,12758,1.48,2.10,91.78,1.662,4,0.061,0.047,3440,350,1920,0,0,0,0,0,0,25.29,24.91,23.07
$GC,13049,1.16,97.7,978.2,7.0,278,13055,0.22,1.90,0.00,0.000,6,0.163,0.024,3380,1659,1909,0,0,0,0,0,0,25.73,26.29,28.83
$GC,13387,1.07,116.7,958.5,5.7,281,13409,0.12,2.53,16.05,1.562,4,0.174,0.037,3348,3210,1844,0,0,0,0,0,0,26.18,25.92,23.89
$GC,13458,0.98,135.7,958.5,5.7,281,13486,0.12,2.55,19.30,1.573,6,0.152,0.031,3321,1586,1765,0,0,0,0,0,0,25.70,26.05,23.66
$GC,13858,1.01,160.1,932.9,5.4,285,13883,0.00,0.00,22.95,1.606,6,0.000,0.000,3320,1586,1665,0,0,0,0,0,0,28.83,28.83,23.75
$GC,14218,1.02,171.6,910.2,6.1,288,14235,0.00,2.00,11.10,1.501,4,0.000,0.050,3329,360,1619,0,0,0,0,0,0,28.83,25.96,23.98
$GC,14329,1.04,183.2,910.2,6.1,288,14346,0.00,1.92,12.23,1.502,6,0.000,0.024,3329,1647,1572,0,0,0,0,0,0,28.83,26.25,23.90
$GC,14700,1.06,183.2,872.4,7.9,292,14706,0.00,2.05,0.00,0.000,4,0.000,0.048,3338,355,1569,0,0,0,0,0,0,28.83,26.14,28.83
$GC,14808,1.08,183.2,872.4,7.9,292,14816,0.00,1.95,0.00,0.000,6,0.000,0.025,3338,1651,1568,0,0,0,0,0,0,28.83,26.42,28.83
$GC,15178,1.08,183.2,829.1,9.0,296,15185,0.00,2.10,0.00,0.000,4,0.000,0.047,3348,353,1567,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15367,1.08,183.2,818.2,9.0,297,15370,0.00,1.95,0.00,0.000,6,0.000,0.025,3348,1652,1567,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15770,1.08,183.2,781.7,7.7,301,15776,0.00,2.08,0.00,0.000,4,0.000,0.049,3358,357,1566,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15858,1.08,183.2,781.7,7.7,301,15861,0.00,1.95,0.00,0.000,6,0.000,0.026,3358,1659,1566,0,0,0,0,0,0,28.83,26.50,28.83
$GC,16240,1.08,183.2,745.7,7.6,305,16247,0.00,2.12,0.00,0.000,4,0.000,0.047,3367,349,1565,0,0,0,0,0,0,28.83,26.16,28.83
$GC,16449,1.08,183.2,734.9,8.1,306,16456,0.00,2.00,0.00,0.000,6,0.000,0.025,3367,1655,1565,0,0,0,0,0,0,28.83,26.48,28.83
$GC,16840,1.08,183.2,688.0,9.8,310,16847,0.00,2.10,0.00,0.000,4,0.000,0.048,3377,350,1565,0,0,0,0,0,0,28.83,26.13,28.83
$GC,17083,1.08,183.2,663.9,10.0,312,17088,0.00,1.95,0.00,0.000,6,0.000,0.028,3377,1655,1565,0,0,0,0,0,0,28.83,26.50,28.83
$GC,17440,1.08,183.2,631.1,9.3,315,17447,0.00,2.12,0.00,0.000,4,0.000,0.048,3387,347,1565,0,0,0,0,0,0,28.83,26.10,28.83
$GC,17608,1.08,183.2,621.3,8.9,316,17617,0.15,1.95,0.00,0.000,6,0.147,0.025,3347,1661,1565,0,0,0,0,0,0,26.01,26.48,28.83
$GC,17920,1.08,183.2,597.1,7.0,319,17927,0.00,2.10,0.00,0.000,4,0.000,0.047,3355,351,1564,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,24562,end climb,SURFACE_DEPTH_REACHED
$STATE,24562,begin surface coast
$FINISH,1.2,1.025239
$STATE,24583,end surface coast,CONTROL_FINISHED_OK
$STATE,24583,begin surface
$SM_CCo,24607,40.70,0.124,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,60.94
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7610112
$TM_FREEKB,4838624
$24V_AH,23.0,72.760
$10V_AH,10.1,64.102
$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
$DEVICE_SECS,22.775,188.200,272.775,40.700,0.000,56.937,80.649,251.948,0.000,0.000,19.190,2342.014,19464.332,655.493,2385.173,533.357,33.279,1680.311,0.000,1880.824,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.789,13.519,0.000,0.000
$MEM,343680
$DATA_FILE_SIZE,13423,510
$CAP_FILE_SIZE,188659,0
$CFSIZE,260034560,212836352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230113,054604,2429.093,-3749.461,41,0.7,41,-14.0