version: 66.11
glider: 189
mission: 7
dive: 433
start: 1 28 113 2 26 32
data:
$ID,189
$MISSION,7
$DIVE,433
$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,-48198.852
$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
$GPS1,280113,021405,2430.941,-3746.557,26,0.9,26,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-59.2
$GPS2,280113,022530,2430.993,-3746.540,20,0.8,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.050,-0.104
$KALMAN_X,222284.2,107.4,578.4,-197115.0,-1906.6
$KALMAN_Y,21887.8,212.6,145.4,-30810.1,1888.9
$MHEAD_RNG_PITCHd_Wd,219.8,2855,-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,-11.27,0.000,2,0.000,0.000,153,2138,1423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.4,0.0,1,104,8.98,2.50,-49.30,0.000,4,0.183,0.049,2566,546,2718,0,0,0,0,0,0,25.39,26.02,26.70
$GC,284,-1.23,-97.7,16.0,-9.6,26,293,0.15,2.47,0.00,0.000,6,0.138,0.024,2602,2186,2718,0,0,0,0,0,0,25.74,26.29,28.83
$GC,594,-1.23,-97.7,39.4,-7.8,57,603,0.00,2.50,0.00,0.000,4,0.000,0.041,2591,3749,2719,0,0,0,0,0,0,28.83,26.13,28.83
$GC,814,-1.19,-97.7,58.8,-7.7,79,823,0.05,2.42,0.00,0.000,6,0.143,0.021,2609,2099,2719,0,0,0,0,0,0,26.17,26.44,28.83
$GC,1144,-1.19,-97.7,84.1,-7.4,104,1151,0.00,2.65,0.00,0.000,4,0.000,0.039,2598,3746,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1387,-1.16,-97.7,101.5,-7.4,112,1392,0.00,2.38,0.00,0.000,6,0.000,0.021,2598,2101,2719,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1715,-1.16,-97.7,128.7,-8.3,123,1721,0.00,2.65,0.00,0.000,4,0.000,0.038,2586,3749,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1814,-1.14,-97.7,136.2,-8.2,126,1822,0.12,2.45,0.00,0.000,6,0.127,0.020,2627,2080,2718,0,0,0,0,0,0,26.01,26.48,28.83
$GC,2135,-1.16,-97.7,163.9,-9.1,135,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2080,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,-1.19,-97.7,188.6,-7.8,140,2441,0.00,2.67,0.00,0.000,4,0.000,0.038,2617,3747,2721,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2584,-1.21,-97.7,195.7,-6.5,142,2591,0.00,2.42,0.00,0.000,6,0.000,0.020,2617,2101,2721,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2916,-1.23,-97.7,212.7,-4.5,148,2921,0.00,2.38,0.00,0.000,4,0.000,0.037,2617,545,2721,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2993,-1.23,-97.7,215.8,-4.6,149,3001,0.00,2.53,0.00,0.000,6,0.000,0.023,2605,2197,2721,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3335,-1.23,-97.7,235.9,-6.0,155,3341,0.00,2.45,0.00,0.000,4,0.000,0.040,2593,3754,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3443,-1.23,-97.7,240.1,-6.4,156,3452,0.00,2.45,0.00,0.000,6,0.000,0.020,2593,2098,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3754,-1.23,-97.7,266.1,-7.1,162,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2099,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4056,-1.23,-97.7,284.9,-6.2,167,4061,0.00,2.62,0.00,0.000,4,0.000,0.040,2581,3754,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4203,-1.23,-97.7,292.2,-6.0,169,4211,0.00,2.47,0.00,0.000,6,0.000,0.020,2581,2094,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4535,-1.23,-97.7,314.6,-6.4,175,4541,0.00,2.67,0.00,0.000,4,0.000,0.039,2569,3751,2719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4624,-1.23,-97.7,319.1,-6.7,176,4632,0.08,2.45,0.00,0.000,6,0.132,0.020,2595,2087,2721,0,0,0,0,0,0,26.17,26.50,28.83
$GC,4954,-1.23,-97.7,345.4,-7.3,182,4961,0.00,2.67,0.00,0.000,4,0.000,0.039,2584,3754,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5033,-1.23,-97.7,349.7,-7.3,183,5041,0.00,2.47,0.00,0.000,6,0.000,0.021,2583,2087,2720,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5375,-1.23,-97.7,374.6,-6.9,189,5381,0.00,2.67,0.00,0.000,4,0.000,0.040,2572,3776,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5533,-1.23,-97.7,383.1,-7.0,191,5542,0.12,2.50,0.00,0.000,6,0.148,0.021,2604,2096,2721,0,0,0,0,0,0,26.13,26.49,28.83
$GC,5855,-1.27,-97.7,408.1,-6.9,197,5861,0.00,2.40,0.00,0.000,4,0.000,0.038,2604,539,2718,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5924,-1.29,-97.7,412.7,-7.2,198,5931,0.00,2.55,0.00,0.000,6,0.000,0.024,2594,2191,2718,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6275,-1.32,-97.7,442.7,-8.5,204,6281,0.00,2.50,0.00,0.000,4,0.000,0.041,2582,3741,2717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6404,-1.32,-97.7,453.2,-8.6,206,6411,0.00,2.42,0.00,0.000,6,0.000,0.021,2582,2104,2717,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6754,-1.32,-97.7,483.2,-8.2,212,6761,0.00,2.65,0.00,0.000,4,0.000,0.041,2570,3744,2716,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6875,-1.32,-97.7,493.1,-8.2,214,6881,0.00,2.42,0.00,0.000,6,0.000,0.021,2570,2107,2715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7234,-1.32,-97.7,520.4,-7.6,218,7241,0.00,2.62,0.00,0.000,4,0.000,0.040,2558,3745,2714,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7354,-1.32,-97.7,529.2,-7.4,219,7362,0.00,2.42,0.00,0.000,6,0.000,0.021,2558,2109,2714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7715,-1.32,-97.7,556.7,-7.5,222,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2109,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,-1.32,-97.7,587.0,-8.3,225,8081,0.00,2.65,0.00,0.000,4,0.000,0.041,2546,3750,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8213,-1.32,-97.7,597.9,-8.6,226,8221,0.12,2.47,0.00,0.000,6,0.152,0.021,2577,2087,2712,0,0,0,0,0,0,26.08,26.46,28.83
$GC,8555,-1.32,-97.7,627.6,-8.4,229,8561,0.00,2.40,0.00,0.000,4,0.000,0.039,2578,553,2711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8683,-1.32,-97.7,636.8,-8.1,230,8691,0.00,2.47,0.00,0.000,6,0.000,0.023,2567,2190,2711,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9034,-1.32,-97.7,661.2,-7.0,233,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2190,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9395,-1.34,-97.7,688.1,-7.3,236,9401,0.00,2.58,0.00,0.000,4,0.000,0.038,2567,538,2709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9514,-1.34,-97.7,697.9,-7.7,237,9521,0.00,2.47,0.00,0.000,6,0.000,0.024,2555,2182,2708,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9874,-1.34,-97.7,724.2,-7.5,240,9881,0.00,2.55,0.00,0.000,4,0.000,0.043,2544,3748,2707,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9995,-1.34,-97.7,733.1,-7.3,241,10001,0.00,2.45,0.00,0.000,6,0.000,0.022,2543,2106,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10354,-1.34,-97.7,762.0,-7.9,244,10361,0.00,2.65,0.00,0.000,4,0.000,0.041,2532,3738,2706,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10464,-1.34,-97.7,762.0,-7.9,244,10473,0.15,2.47,0.00,0.000,6,0.148,0.023,2576,2094,2706,0,0,0,0,0,0,25.91,26.42,28.83
$GC,10835,-1.36,-97.7,805.4,-9.0,248,10841,0.00,2.40,0.00,0.000,4,0.000,0.040,2577,542,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10954,-1.39,-97.7,816.5,-9.1,249,10961,0.00,2.50,0.00,0.000,6,0.000,0.025,2566,2192,2704,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11315,-1.42,-97.7,847.4,-8.7,252,11321,0.00,2.55,0.00,0.000,4,0.000,0.039,2566,549,2703,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11394,-1.45,-97.7,847.4,-8.7,252,11402,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2188,2702,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11795,-1.48,-97.7,885.5,-7.9,256,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2188,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12155,-1.51,-97.7,913.5,-7.8,259,12162,0.12,2.58,0.00,0.000,4,0.083,0.041,2493,548,2700,0,0,0,0,0,0,26.63,26.08,28.83
$GC,12224,-1.54,-97.7,913.5,-7.8,259,12231,0.00,2.58,0.00,0.000,6,0.000,0.026,2481,2188,2700,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12635,-1.50,-97.7,958.3,-9.3,263,12642,0.12,2.55,0.00,0.000,4,0.174,0.044,2501,3740,2697,0,0,0,0,0,0,26.27,26.03,28.83
$GC,12867,-1.45,-97.7,969.9,-9.4,264,12874,0.12,2.42,0.00,0.000,6,0.163,0.024,2531,2095,2699,0,0,0,0,0,0,25.94,26.36,28.83
$STATE,12991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12992,begin apogee
$GC,13000,-0.29,0.0,992.4,-9.5,266,13093,1.17,0.00,85.40,1.678,6,0.129,0.000,2897,1577,2320,0,0,0,0,0,0,25.11,28.83,23.02
$STATE,13095,end apogee,CONTROL_FINISHED_OK
$STATE,13095,begin climb
$GC,13099,1.33,97.7,997.5,0.0,271,13198,1.48,2.10,91.55,1.691,4,0.061,0.048,3436,356,1921,0,0,0,0,0,0,25.31,24.91,23.07
$GC,13297,1.18,110.9,993.0,6.0,281,13315,0.17,1.95,12.00,1.511,6,0.151,0.023,3383,1654,1865,0,0,0,0,0,0,25.57,26.02,23.68
$GC,13669,1.12,122.1,969.8,6.1,290,13682,0.00,0.00,10.95,1.501,6,0.000,0.000,3383,1654,1822,0,0,0,0,0,0,28.83,28.83,23.94
$GC,14028,1.05,124.3,945.8,6.6,293,14034,0.17,2.08,0.00,0.000,4,0.164,0.049,3345,356,1820,0,0,0,0,0,0,26.00,26.17,28.83
$GC,14206,0.98,124.3,937.5,6.8,294,14213,0.00,1.95,0.00,0.000,6,0.000,0.024,3345,1647,1819,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14627,0.95,124.3,903.3,7.1,298,14634,0.15,2.08,0.00,0.000,4,0.155,0.047,3314,351,1817,0,0,0,0,0,0,26.20,26.20,28.83
$GC,14807,0.93,124.3,894.9,7.1,299,14813,0.00,1.92,0.00,0.000,6,0.000,0.025,3314,1644,1817,0,0,0,0,0,0,28.83,26.50,28.83
$GC,15227,0.94,134.9,865.4,6.1,303,15245,0.00,2.47,12.02,1.525,4,0.000,0.035,3314,3206,1770,0,0,0,0,0,0,28.83,26.12,23.94
$GC,15296,0.96,145.5,865.4,6.1,303,15315,0.00,2.55,11.45,1.485,6,0.000,0.030,3326,1576,1725,0,0,0,0,0,0,28.83,26.17,23.86
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$STATE,25764,end climb,SURFACE_DEPTH_REACHED
$STATE,25764,begin surface coast
$FINISH,1.3,1.006075
$STATE,25795,end surface coast,CONTROL_FINISHED_OK
$STATE,25795,begin surface
$SM_CCo,25819,59.20,0.123,0,0,1096,300.00
$SM_GC,2.38,8.60,0.82,59.20,0.036,0.034,0.123,150,2194,1096,-8.84,-0.48,300.00,0,0,0,0,0,0,26.26,26.42,25.23
$IRIDIUM_FIX,2415.74,-3740.46,280113,020224
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.55
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7603584
$TM_FREEKB,4764512
$24V_AH,23.0,75.100
$10V_AH,10.1,66.488
$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,22.850,216.350,245.900,59.200,0.000,54.666,93.022,187.478,0.250,0.000,24.149,2244.124,20861.258,712.539,2185.340,549.334,33.266,1707.302,0.000,1738.295,0.000,0.537,0.000
$DEVICE_MAMPS,182.835,78.795,1691.415,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.321,13.495,0.000,0.000
$MEM,343712
$DATA_FILE_SIZE,13398,526
$CAP_FILE_SIZE,194854,0
$CFSIZE,260034560,211361792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280113,093904,2430.621,-3747.537,34,0.8,34,-14.0