version: 66.11
glider: 189
mission: 7
dive: 420
start: 1 24 113 3 51 41
data:
$ID,189
$MISSION,7
$DIVE,420
$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,-48182.516
$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
$GPS1,240113,034129,2429.345,-3747.260,42,1.1,42,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-56.4
$GPS2,240113,035041,2429.435,-3747.299,16,1.3,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.017,-0.114
$KALMAN_X,233960.0,332.4,-150.0,-209567.0,-1309.1
$KALMAN_Y,-2805.7,-245.0,-1022.8,-7364.8,4556.6
$MHEAD_RNG_PITCHd_Wd,202.4,3247,-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,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-11.00,0.000,2,0.000,0.000,154,2170,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.20,2.58,-49.42,0.000,4,0.190,0.050,2570,547,2719,0,0,0,0,0,0,25.29,25.96,26.70
$GC,348,-1.23,-97.7,19.9,-6.3,32,355,0.17,2.42,0.00,0.000,6,0.158,0.024,2604,2192,2720,0,0,0,0,0,0,25.77,26.32,28.83
$GC,655,-1.23,-97.7,40.0,-5.1,63,664,0.00,2.47,0.00,0.000,4,0.000,0.040,2594,3740,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,956,-1.19,-97.7,62.0,-8.7,93,964,0.00,2.42,0.00,0.000,6,0.000,0.021,2594,2103,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1286,-1.16,-97.7,88.5,-8.6,116,1293,0.12,2.62,0.00,0.000,4,0.152,0.039,2616,3745,2721,0,0,0,0,0,0,26.36,26.18,28.83
$GC,1586,-1.16,-97.7,110.5,-7.4,126,1592,0.00,2.42,0.00,0.000,6,0.000,0.021,2616,2102,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1918,-1.16,-97.7,128.9,-5.9,137,1923,0.00,2.60,0.00,0.000,4,0.000,0.039,2604,3757,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2147,-1.16,-97.7,143.5,-7.2,144,2154,0.00,2.40,0.00,0.000,6,0.000,0.021,2604,2099,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2485,-1.16,-97.7,169.8,-7.3,152,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2099,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-1.16,-97.7,194.2,-8.2,157,2792,0.00,2.65,0.00,0.000,4,0.000,0.039,2591,3752,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3085,-1.16,-97.7,219.5,-8.5,162,3093,0.08,2.45,0.00,0.000,6,0.125,0.021,2619,2086,2723,0,0,0,0,0,0,26.17,26.51,28.83
$GC,3445,-1.19,-97.7,245.0,-6.7,168,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2086,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-1.22,-97.7,257.7,-4.0,173,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2086,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4046,-1.25,-97.7,272.5,-5.1,178,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2086,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4346,-1.29,-97.7,290.8,-6.2,183,4352,0.00,2.38,0.00,0.000,4,0.000,0.037,2619,545,2724,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4456,-1.32,-97.7,294.9,-6.4,184,4464,0.00,2.45,0.00,0.000,6,0.000,0.023,2608,2189,2724,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4766,-1.34,-97.7,317.9,-6.4,190,4773,0.12,2.50,0.00,0.000,4,0.079,0.041,2532,3758,2723,0,0,0,0,0,0,26.67,26.20,28.83
$GC,5065,-1.27,-97.7,344.0,-8.9,195,5073,0.17,2.45,0.00,0.000,6,0.130,0.021,2587,2092,2722,0,0,0,0,0,0,25.90,26.51,28.83
$GC,5425,-1.27,-97.7,376.7,-9.0,201,5432,0.00,2.67,0.00,0.000,4,0.000,0.040,2577,3751,2721,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5714,-1.27,-97.7,398.6,-9.2,205,5723,0.00,2.47,0.00,0.000,6,0.000,0.021,2577,2093,2721,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6025,-1.27,-97.7,427.5,-7.9,211,6032,0.00,2.65,0.00,0.000,4,0.000,0.039,2565,3741,2719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6215,-1.27,-97.7,441.5,-7.7,214,6222,0.00,2.45,0.00,0.000,6,0.000,0.021,2565,2101,2719,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6565,-1.27,-97.7,470.8,-8.3,220,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2101,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-1.27,-97.7,496.7,-8.6,225,6872,0.00,2.65,0.00,0.000,4,0.000,0.040,2553,3739,2718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7164,-1.27,-97.7,515.5,-8.0,228,7173,0.15,2.45,0.00,0.000,6,0.144,0.021,2593,2097,2717,0,0,0,0,0,0,26.05,26.48,28.83
$GC,7586,-1.30,-97.7,544.3,-5.9,232,7593,0.00,2.67,0.00,0.000,4,0.000,0.041,2582,3750,2715,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7756,-1.33,-97.7,551.9,-5.9,233,7762,0.00,2.45,0.00,0.000,6,0.000,0.021,2582,2104,2715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8066,-1.35,-97.7,576.2,-6.6,236,8073,0.00,2.62,0.00,0.000,4,0.000,0.041,2575,3735,2713,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8166,-1.37,-97.7,576.2,-6.6,236,8172,0.00,2.42,0.00,0.000,6,0.000,0.021,2570,2106,2713,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8545,-1.37,-97.7,613.1,-7.7,240,8553,0.00,2.65,0.00,0.000,4,0.000,0.041,2558,3751,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8644,-1.37,-97.7,613.1,-7.7,240,8652,0.00,2.47,0.00,0.000,6,0.000,0.021,2558,2097,2712,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9026,-1.37,-97.7,654.7,-8.7,244,9033,0.00,2.65,0.00,0.000,4,0.000,0.041,2546,3739,2711,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9064,-1.37,-97.7,654.7,-8.7,244,9072,0.00,2.45,0.00,0.000,6,0.000,0.021,2546,2104,2711,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9385,-1.37,-97.7,686.4,-8.8,247,9392,0.00,2.45,0.00,0.000,4,0.000,0.038,2546,545,2710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9444,-1.37,-97.7,686.4,-8.8,247,9452,0.00,2.53,0.00,0.000,6,0.000,0.024,2534,2187,2710,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9866,-1.37,-97.7,724.7,-7.9,251,9872,0.00,2.53,0.00,0.000,4,0.000,0.043,2522,3751,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10097,-1.35,-97.7,733.8,-7.7,252,10104,0.15,2.42,0.00,0.000,6,0.153,0.023,2558,2088,2709,0,0,0,0,0,0,25.97,26.44,28.83
$GC,10466,-1.35,-97.7,769.1,-7.3,256,10473,0.00,2.67,0.00,0.000,4,0.000,0.042,2551,3739,2708,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10514,-1.35,-97.7,769.1,-7.3,256,10522,0.00,2.47,0.00,0.000,6,0.000,0.022,2551,2092,2707,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10826,-1.37,-97.7,803.6,-9.2,259,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2092,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11185,-1.37,-97.7,840.6,-10.3,262,11192,0.00,2.70,0.00,0.000,4,0.000,0.042,2538,3751,2705,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11335,-1.37,-97.7,852.1,-10.1,263,11342,0.00,2.45,0.00,0.000,6,0.000,0.023,2539,2113,2704,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11665,-1.37,-97.7,881.7,-8.5,266,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2113,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12025,-1.37,-97.7,909.1,-7.6,269,12032,0.00,2.47,0.00,0.000,4,0.000,0.041,2539,552,2703,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12135,-1.37,-97.7,909.1,-7.6,269,12144,0.08,2.47,0.00,0.000,6,0.149,0.025,2550,2185,2702,0,0,0,0,0,0,25.98,26.36,28.83
$GC,12505,-1.37,-97.7,947.7,-8.0,273,12512,0.00,2.53,0.00,0.000,4,0.000,0.044,2541,3744,2701,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12584,-1.37,-97.7,947.7,-8.0,273,12592,0.00,2.47,0.00,0.000,6,0.000,0.024,2540,2107,2701,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12986,-1.37,-97.7,984.9,-7.7,277,12992,0.00,2.67,0.00,0.000,4,0.000,0.043,2529,3748,2700,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,13102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13102,begin apogee
$GC,13113,-0.29,0.0,994.1,-7.7,278,13205,1.20,0.00,85.55,1.679,6,0.132,0.000,2898,1573,2320,0,0,0,0,0,0,25.07,28.83,22.99
$STATE,13206,end apogee,CONTROL_FINISHED_OK
$STATE,13206,begin climb
$GC,13210,1.33,97.7,998.0,0.0,283,13313,1.48,2.10,92.12,1.675,4,0.064,0.048,3431,352,1920,0,0,0,0,0,0,25.25,24.88,23.03
$GC,13435,1.18,97.7,989.3,7.3,294,13444,0.17,2.00,0.00,0.000,6,0.167,0.023,3384,1651,1912,0,0,0,0,0,0,25.62,26.07,28.83
$GC,13746,1.11,112.1,969.9,5.9,300,13760,0.00,0.00,12.05,1.515,6,0.000,0.000,3384,1652,1863,0,0,0,0,0,0,28.83,28.83,23.91
$GC,14106,1.05,128.7,948.8,5.8,303,14128,0.17,2.58,16.35,1.566,4,0.164,0.036,3337,3206,1796,0,0,0,0,0,0,25.99,25.87,23.90
$GC,14297,1.00,143.0,941.9,5.9,304,14316,0.00,2.55,14.57,1.554,6,0.000,0.030,3348,1575,1735,0,0,0,0,0,0,28.83,26.16,23.86
$GC,14687,0.97,143.0,906.9,7.5,308,14694,0.12,1.95,0.00,0.000,4,0.170,0.048,3325,351,1731,0,0,0,0,0,0,26.15,26.15,28.83
$GC,14757,0.94,143.0,906.9,7.5,308,14764,0.00,1.95,0.00,0.000,6,0.000,0.024,3325,1649,1731,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15167,0.94,143.0,871.5,7.4,312,15174,0.00,2.08,0.00,0.000,4,0.000,0.047,3335,358,1729,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15316,0.94,143.0,863.0,7.2,313,15323,0.12,1.95,0.00,0.000,6,0.156,0.025,3303,1668,1729,0,0,0,0,0,0,26.10,26.48,28.83
$GC,15648,0.95,145.2,839.8,6.6,316,15654,0.00,2.12,0.00,0.000,4,0.000,0.048,3311,350,1728,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15706,0.95,147.3,839.8,6.6,316,15713,0.00,1.95,0.00,0.000,6,0.000,0.025,3311,1651,1728,0,0,0,0,0,0,28.83,26.49,28.83
$GC,16129,0.99,151.5,808.9,6.5,320,16144,0.00,2.53,7.62,1.395,4,0.000,0.036,3311,3205,1701,0,0,0,0,0,0,28.83,26.22,23.96
$GC,16206,1.02,155.7,808.9,6.5,320,16217,0.00,2.53,5.65,1.280,6,0.000,0.030,3324,1583,1684,0,0,0,0,0,0,28.83,26.26,23.91
$GC,16597,1.05,155.7,776.2,7.0,324,16599,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1583,1683,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25775,end climb,SURFACE_DEPTH_REACHED
$STATE,25775,begin surface coast
$FINISH,1.2,1.013422
$STATE,25806,end surface coast,CONTROL_FINISHED_OK
$STATE,25806,begin surface
$SM_CCo,25832,46.72,0.125,0,0,1094,300.00
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$IRIDIUM_FIX,2415.74,-3733.83,230113,202039
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.53
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7608576
$TM_FREEKB,4821504
$24V_AH,23.0,73.301
$10V_AH,10.1,64.664
$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,22.250,199.550,271.800,46.725,0.000,26.285,41.458,201.674,0.000,0.000,17.729,2211.922,20871.143,692.598,2101.638,540.118,33.286,1670.078,0.000,1723.985,0.000,0.537,0.000
$DEVICE_MAMPS,190.485,49.725,1679.175,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.807,13.519,0.000,0.000
$MEM,343712
$DATA_FILE_SIZE,13427,518
$CAP_FILE_SIZE,186383,0
$CFSIZE,260034560,212492288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240113,110424,2429.611,-3748.357,43,0.9,44,-14.0