version: 66.11
glider: 189
mission: 7
dive: 423
start: 1 25 113 1 10 6
data:
$ID,189
$MISSION,7
$DIVE,423
$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,-48186.289
$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
$GPS1,250113,010004,2431.196,-3748.181,49,0.8,49,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-56.9
$GPS2,250113,010905,2431.294,-3748.224,17,1.0,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.091,-0.078
$KALMAN_X,231596.4,486.0,463.2,-209526.4,-2668.2
$KALMAN_Y,3890.5,286.4,-56.9,-12136.2,4039.9
$MHEAD_RNG_PITCHd_Wd,144.6,604,-20.0,-6.667,-29.18
$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,-97.0,0.0,0.0,0,34,0.00,0.00,-10.52,0.000,2,0.000,0.000,153,2122,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.27,-97.7,2.2,0.0,1,103,8.88,0.00,-49.53,0.000,6,0.173,0.000,2587,2120,2720,0,0,0,0,0,0,25.34,28.83,26.70
$GC,407,-1.21,-97.7,29.5,-11.7,38,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2120,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,715,-1.15,-97.7,55.5,-8.9,69,724,0.15,2.62,0.00,0.000,4,0.155,0.040,2618,3745,2721,0,0,0,0,0,0,26.21,26.13,28.83
$GC,1014,-1.12,-97.7,78.9,-7.7,96,1021,0.00,2.45,0.00,0.000,6,0.000,0.021,2619,2102,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1344,-1.12,-97.7,98.9,-6.9,107,1351,0.00,2.65,0.00,0.000,4,0.000,0.038,2606,3750,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1644,-1.08,-97.7,125.3,-9.3,117,1652,0.12,2.45,0.00,0.000,6,0.122,0.021,2648,2091,2722,0,0,0,0,0,0,26.02,26.48,28.83
$GC,1979,-1.10,-97.7,150.4,-7.1,128,1984,0.00,2.62,0.00,0.000,4,0.000,0.038,2637,3752,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2013,-1.12,-97.7,150.4,-7.1,128,2021,0.00,2.47,0.00,0.000,6,0.000,0.020,2637,2095,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2335,-1.12,-97.7,168.8,-4.4,134,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2094,2727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-1.12,-97.7,180.5,-4.0,139,2642,0.00,2.67,0.00,0.000,4,0.000,0.039,2625,3752,2724,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2823,-1.12,-97.7,192.0,-6.0,142,2831,0.00,2.47,0.00,0.000,6,0.000,0.020,2625,2094,2724,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3175,-1.12,-97.7,220.6,-8.3,148,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2094,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-1.12,-97.7,246.9,-8.8,153,3481,0.00,2.65,0.00,0.000,4,0.000,0.039,2613,3744,2724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3623,-1.12,-97.7,257.4,-8.8,155,3631,0.00,2.45,0.00,0.000,6,0.000,0.020,2613,2101,2725,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3955,-1.12,-97.7,285.3,-7.5,161,3961,0.00,2.65,0.00,0.000,4,0.000,0.039,2601,3752,2724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4003,-1.12,-97.7,285.3,-7.5,161,4013,0.15,2.47,0.00,0.000,6,0.137,0.021,2642,2084,2724,0,0,0,0,0,0,26.08,26.50,28.83
$GC,4315,-1.16,-97.7,308.1,-6.1,167,4321,0.00,2.38,0.00,0.000,4,0.000,0.037,2642,544,2725,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4445,-1.20,-97.7,315.6,-6.1,169,4452,0.00,2.47,0.00,0.000,6,0.000,0.023,2632,2195,2724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4795,-1.23,-97.7,338.2,-6.2,175,4801,0.00,2.47,0.00,0.000,4,0.000,0.041,2620,3747,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4875,-1.26,-97.7,342.1,-6.4,176,4881,0.00,2.45,0.00,0.000,6,0.000,0.021,2620,2088,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5215,-1.28,-97.7,367.1,-7.1,182,5221,0.00,2.67,0.00,0.000,4,0.000,0.040,2608,3747,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5304,-1.31,-97.7,371.6,-7.3,183,5311,0.00,2.45,0.00,0.000,6,0.000,0.021,2608,2103,2722,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5635,-1.31,-97.7,401.8,-8.6,189,5641,0.00,2.42,0.00,0.000,4,0.000,0.037,2608,549,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5723,-1.31,-97.7,407.4,-8.9,190,5731,0.00,2.47,0.00,0.000,6,0.000,0.024,2596,2191,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6054,-1.31,-97.7,440.4,-9.1,196,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2191,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6355,-1.31,-97.7,465.4,-8.2,201,6361,0.00,2.58,0.00,0.000,4,0.000,0.037,2595,553,2720,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6433,-1.31,-97.7,470.2,-8.1,202,6441,0.00,2.47,0.00,0.000,6,0.000,0.024,2584,2193,2719,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6774,-1.31,-97.7,497.1,-7.2,208,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2193,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7075,-1.31,-97.7,516.1,-6.4,211,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2193,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7434,-1.31,-97.7,539.9,-6.5,214,7441,0.00,2.60,0.00,0.000,4,0.000,0.038,2584,542,2717,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7493,-1.31,-97.7,539.9,-6.5,214,7501,0.00,2.50,0.00,0.000,6,0.000,0.024,2572,2193,2717,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7915,-1.31,-97.7,582.7,-8.9,218,7922,0.00,2.53,0.00,0.000,4,0.000,0.043,2562,3748,2715,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8083,-1.31,-97.7,594.2,-9.2,219,8091,0.00,2.47,0.00,0.000,6,0.000,0.021,2561,2099,2714,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8394,-1.31,-97.7,624.1,-8.7,222,8401,0.00,2.65,0.00,0.000,4,0.000,0.041,2548,3743,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8554,-1.28,-97.7,632.9,-8.0,223,8562,0.10,2.45,0.00,0.000,6,0.129,0.022,2581,2092,2713,0,0,0,0,0,0,26.05,26.46,28.83
$GC,8874,-1.28,-97.7,655.2,-6.4,226,8881,0.00,2.67,0.00,0.000,4,0.000,0.041,2573,3745,2712,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8975,-1.28,-97.7,655.2,-6.4,226,8981,0.00,2.45,0.00,0.000,6,0.000,0.022,2571,2099,2712,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9355,-1.28,-97.7,694.7,-8.2,230,9361,0.00,2.45,0.00,0.000,4,0.000,0.041,2571,545,2711,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9423,-1.28,-97.7,694.7,-8.2,230,9431,0.00,2.50,0.00,0.000,6,0.000,0.024,2559,2192,2710,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9834,-1.28,-97.7,741.2,-9.7,234,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2192,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10195,-1.28,-97.7,768.6,-8.0,237,10201,0.00,2.53,0.00,0.000,4,0.000,0.044,2548,3738,2709,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10323,-1.28,-97.7,777.2,-7.4,238,10331,0.15,2.47,0.00,0.000,6,0.142,0.022,2587,2092,2708,0,0,0,0,0,0,25.99,26.43,28.83
$GC,10674,-1.28,-97.7,797.7,-6.0,241,10681,0.00,2.45,0.00,0.000,4,0.000,0.041,2587,549,2708,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10845,-1.28,-97.7,805.8,-5.9,242,10851,0.00,2.47,0.00,0.000,6,0.000,0.025,2577,2187,2707,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11155,-1.31,-97.7,832.6,-7.3,245,11162,0.00,2.60,0.00,0.000,4,0.000,0.040,2577,553,2706,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11204,-1.33,-97.7,832.6,-7.3,245,11212,0.00,2.47,0.00,0.000,6,0.000,0.024,2565,2185,2706,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11514,-1.33,-97.7,864.6,-8.7,248,11521,0.00,2.55,0.00,0.000,4,0.000,0.043,2553,3749,2704,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11663,-1.33,-97.7,875.5,-8.9,249,11671,0.00,2.50,0.00,0.000,6,0.000,0.023,2553,2096,2704,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11995,-1.33,-97.7,904.9,-8.4,252,12001,0.00,2.45,0.00,0.000,4,0.000,0.041,2553,548,2703,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12053,-1.33,-97.7,904.9,-8.4,252,12061,0.00,2.50,0.00,0.000,6,0.000,0.025,2542,2188,2702,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12474,-1.33,-97.7,940.6,-7.4,256,12482,0.12,2.60,0.00,0.000,4,0.164,0.040,2573,553,2702,0,0,0,0,0,0,26.32,26.07,28.83
$GC,12564,-1.33,-97.7,940.6,-7.4,256,12572,0.00,2.47,0.00,0.000,6,0.000,0.026,2563,2186,2701,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12954,-1.33,-97.7,973.2,-6.8,260,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2186,2701,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13192,begin apogee
$GC,13200,-0.29,0.0,990.4,-7.0,262,13293,1.08,0.00,85.80,1.685,6,0.125,0.000,2899,1577,2320,0,0,0,0,0,0,25.18,28.83,22.96
$STATE,13295,end apogee,CONTROL_FINISHED_OK
$STATE,13295,begin climb
$GC,13299,1.27,97.7,994.2,0.0,267,13402,1.42,2.80,91.62,1.663,4,0.062,0.035,3411,3201,1920,0,0,0,0,0,0,25.27,24.94,23.04
$GC,13505,1.12,102.6,988.2,6.4,277,13515,0.17,2.58,4.72,1.207,6,0.151,0.031,3367,1578,1901,0,0,0,0,0,0,25.55,25.93,23.57
$GC,13927,1.06,119.5,962.9,5.9,284,13946,0.12,0.00,16.23,1.560,6,0.173,0.000,3339,1577,1832,0,0,0,0,0,0,26.15,28.83,23.87
$GC,14286,1.01,135.7,941.4,5.9,287,14303,0.00,0.00,15.82,1.557,6,0.000,0.000,3339,1577,1765,0,0,0,0,0,0,28.83,28.83,23.91
$GC,14645,0.97,135.7,914.9,7.0,290,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1577,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15005,0.94,135.7,884.5,8.3,293,15012,0.12,2.62,0.00,0.000,4,0.164,0.034,3305,3205,1760,0,0,0,0,0,0,26.25,26.27,28.83
$GC,15084,0.90,135.7,884.5,8.3,293,15091,0.00,2.53,0.00,0.000,6,0.000,0.030,3316,1577,1760,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15485,0.90,135.7,845.9,8.0,297,15492,0.00,1.95,0.00,0.000,4,0.000,0.049,3326,356,1758,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15663,0.90,135.7,836.5,7.9,298,15671,0.12,1.95,0.00,0.000,6,0.154,0.025,3293,1660,1758,0,0,0,0,0,0,26.11,26.49,28.83
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$GC,19205,1.03,188.0,572.3,6.2,328,19222,0.00,2.15,9.12,1.303,4,0.000,0.049,3323,350,1553,0,0,0,0,0,0,28.83,26.16,24.03
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$STATE,25634,end climb,SURFACE_DEPTH_REACHED
$STATE,25634,begin surface coast
$FINISH,1.4,1.025798
$STATE,25676,end surface coast,CONTROL_FINISHED_OK
$STATE,25676,begin surface
$SM_CCo,25703,46.25,0.125,0,0,1095,300.00
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$IRIDIUM_FIX,2411.01,-3817.80,240113,181839
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.14
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7607424
$TM_FREEKB,4808416
$24V_AH,23.0,73.730
$10V_AH,9.8,65.081
$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,21.725,202.775,273.650,46.250,0.000,26.304,41.358,190.710,0.250,0.000,18.689,2136.994,20909.986,702.876,1990.533,536.210,33.286,1650.951,0.000,1624.446,0.000,0.535,0.000
$DEVICE_MAMPS,172.890,133.875,1685.295,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.817,13.504,0.000,0.000
$MEM,343664
$DATA_FILE_SIZE,13439,515
$CAP_FILE_SIZE,187014,0
$CFSIZE,260034560,212234240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250113,082034,2431.075,-3747.549,39,0.9,39,-13.9