version: 66.11
glider: 189
mission: 7
dive: 434
start: 1 28 113 9 49 12
data:
$ID,189
$MISSION,7
$DIVE,434
$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,-48200.109
$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
$GPS1,280113,093904,2430.621,-3747.537,34,0.8,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-60.8
$GPS2,280113,094811,2430.649,-3747.535,20,0.8,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.109,0.037
$KALMAN_X,222940.1,-36.7,-63.4,-198663.8,257.5
$KALMAN_Y,23986.6,145.7,575.6,-33913.4,114.9
$MHEAD_RNG_PITCHd_Wd,302.6,1317,-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,-10.68,0.000,2,0.000,0.000,150,2123,1403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.3,0.0,1,105,9.15,2.50,-50.20,0.000,4,0.187,0.050,2569,548,2719,0,0,0,0,0,0,25.27,25.98,26.71
$GC,395,-1.24,-97.7,29.6,-10.0,37,404,0.12,2.47,0.00,0.000,6,0.140,0.024,2598,2190,2719,0,0,0,0,0,0,25.82,26.33,28.83
$GC,705,-1.22,-97.7,55.3,-9.1,68,714,0.00,2.50,0.00,0.000,4,0.000,0.041,2588,3741,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1005,-1.17,-97.7,81.6,-8.2,93,1013,0.10,2.42,0.00,0.000,6,0.128,0.021,2620,2089,2721,0,0,0,0,0,0,26.04,26.45,28.83
$GC,1337,-1.17,-97.7,114.0,-10.1,104,1343,0.00,2.62,0.00,0.000,4,0.000,0.040,2610,3748,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1635,-1.17,-97.7,137.5,-7.6,114,1642,0.00,2.42,0.00,0.000,6,0.000,0.021,2610,2106,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1996,-1.17,-97.7,161.6,-6.4,123,2003,0.00,2.62,0.00,0.000,4,0.000,0.039,2598,3745,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2295,-1.17,-97.7,178.6,-5.6,128,2303,0.00,2.42,0.00,0.000,6,0.000,0.020,2598,2101,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2656,-1.17,-97.7,203.0,-7.2,134,2662,0.00,2.60,0.00,0.000,4,0.000,0.039,2586,3749,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2814,-1.17,-97.7,212.2,-7.4,136,2822,0.12,2.47,0.00,0.000,6,0.145,0.020,2618,2081,2723,0,0,0,0,0,0,26.13,26.48,28.83
$GC,3137,-1.20,-97.7,237.9,-7.0,142,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2081,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-1.23,-97.7,256.1,-6.0,147,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2081,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3736,-1.26,-97.7,272.3,-5.4,152,3742,0.00,2.65,0.00,0.000,4,0.000,0.040,2607,3757,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3806,-1.29,-97.7,276.1,-5.6,153,3812,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2098,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4156,-1.31,-97.7,301.5,-7.3,159,4162,0.00,2.65,0.00,0.000,4,0.000,0.040,2595,3744,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4244,-1.31,-97.7,306.2,-7.4,160,4252,0.00,2.45,0.00,0.000,6,0.000,0.020,2595,2098,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4576,-1.31,-97.7,335.3,-8.1,166,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2098,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,-1.31,-97.7,360.1,-8.2,171,4882,0.00,2.67,0.00,0.000,4,0.000,0.040,2583,3752,2722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5056,-1.31,-97.7,374.7,-8.1,174,5062,0.00,2.45,0.00,0.000,6,0.000,0.021,2583,2099,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5415,-1.31,-97.7,400.6,-7.0,180,5422,0.00,2.65,0.00,0.000,4,0.000,0.041,2571,3744,2724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5494,-1.31,-97.7,404.7,-6.9,181,5502,0.00,2.45,0.00,0.000,6,0.000,0.021,2571,2100,2720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5836,-1.31,-97.7,425.4,-5.6,187,5842,0.00,2.40,0.00,0.000,4,0.000,0.037,2571,540,2720,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5884,-1.31,-97.7,425.4,-5.6,187,5893,0.00,2.50,0.00,0.000,6,0.000,0.024,2559,2198,2720,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6195,-1.31,-97.7,449.2,-6.9,193,6202,0.00,2.47,0.00,0.000,4,0.000,0.041,2547,3740,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6474,-1.28,-97.7,468.8,-8.2,197,6483,0.15,2.45,0.00,0.000,6,0.144,0.021,2587,2099,2718,0,0,0,0,0,0,26.03,26.48,28.83
$GC,6796,-1.31,-97.7,497.7,-7.9,203,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2099,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7096,-1.33,-97.7,518.7,-7.1,206,7102,0.00,2.62,0.00,0.000,4,0.000,0.041,2576,3748,2717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7165,-1.36,-97.7,518.7,-7.1,206,7172,0.00,2.47,0.00,0.000,6,0.000,0.021,2576,2094,2715,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7576,-1.38,-97.7,550.2,-6.5,210,7582,0.00,2.65,0.00,0.000,4,0.000,0.041,2565,3758,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7755,-1.38,-97.7,559.1,-6.7,211,7762,0.00,2.47,0.00,0.000,6,0.000,0.021,2564,2101,2715,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8175,-1.38,-97.7,600.3,-8.5,215,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2101,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8535,-1.38,-97.7,634.8,-9.5,218,8543,0.00,2.67,0.00,0.000,4,0.000,0.041,2552,3746,2712,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8645,-1.38,-97.7,634.8,-9.5,218,8654,0.00,2.45,0.00,0.000,6,0.000,0.022,2552,2108,2712,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9015,-1.38,-97.7,673.8,-8.1,222,9022,0.00,2.65,0.00,0.000,4,0.000,0.041,2541,3748,2711,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9094,-1.38,-97.7,673.8,-8.1,222,9102,0.00,2.47,0.00,0.000,6,0.000,0.022,2540,2099,2711,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9495,-1.38,-97.7,709.8,-7.5,226,9502,0.00,2.67,0.00,0.000,4,0.000,0.041,2528,3750,2710,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9794,-1.38,-97.7,728.6,-7.6,228,9802,0.00,2.47,0.00,0.000,6,0.000,0.022,2528,2106,2709,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10215,-1.38,-97.7,769.0,-8.4,232,10222,0.00,2.65,0.00,0.000,4,0.000,0.041,2517,3746,2708,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10375,-1.38,-97.7,780.4,-8.8,233,10383,0.10,2.45,0.00,0.000,6,0.138,0.023,2549,2099,2707,0,0,0,0,0,0,25.97,26.41,28.83
$GC,10695,-1.38,-97.7,810.9,-8.7,236,10702,0.00,2.67,0.00,0.000,4,0.000,0.043,2539,3748,2706,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10744,-1.38,-97.7,810.9,-8.7,236,10752,0.00,2.47,0.00,0.000,6,0.000,0.023,2539,2104,2706,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11056,-1.38,-97.7,840.6,-8.2,239,11062,0.00,2.62,0.00,0.000,4,0.000,0.042,2527,3754,2705,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11144,-1.38,-97.7,840.6,-8.2,239,11152,0.12,2.50,0.00,0.000,6,0.151,0.022,2558,2088,2705,0,0,0,0,0,0,26.02,26.40,28.83
$GC,11537,-1.40,-97.7,879.2,-8.0,243,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2090,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11896,-1.44,-97.7,909.8,-8.4,246,11902,0.00,2.45,0.00,0.000,4,0.000,0.041,2558,546,2702,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11955,-1.47,-97.7,909.8,-8.4,246,11962,0.00,2.47,0.00,0.000,6,0.000,0.025,2548,2184,2702,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12376,-1.50,-97.7,955.0,-9.4,250,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2184,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12737,-1.52,-97.7,989.4,-9.6,253,12743,0.12,2.50,0.00,0.000,4,0.082,0.044,2477,3748,2700,0,0,0,0,0,0,26.63,26.00,28.83
$STATE,12752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12752,begin apogee
$GC,12763,-0.29,0.0,991.5,-9.6,254,12855,1.42,0.05,85.80,1.690,6,0.142,0.132,2902,1626,2320,0,0,0,0,0,0,24.90,24.72,22.96
$STATE,12857,end apogee,CONTROL_FINISHED_OK
$STATE,12857,begin climb
$GC,12861,1.33,97.7,997.3,0.0,259,12963,1.48,2.17,91.90,1.685,4,0.061,0.047,3439,358,1920,0,0,0,0,0,0,25.27,24.91,23.04
$GC,13258,1.17,99.6,982.7,6.6,277,13264,0.22,1.92,0.00,0.000,6,0.162,0.024,3380,1651,1909,0,0,0,0,0,0,25.74,26.30,28.83
$GC,13576,1.06,102.0,959.2,6.5,280,13583,0.15,2.47,0.00,0.000,4,0.170,0.036,3341,3198,1908,0,0,0,0,0,0,26.08,26.25,28.83
$GC,13697,0.96,103.2,951.0,6.6,281,13703,0.15,2.47,0.00,0.000,6,0.171,0.031,3313,1578,1908,0,0,0,0,0,0,25.90,26.30,28.83
$GC,14056,0.93,104.0,927.3,6.6,284,14062,0.00,0.00,3.95,1.135,6,0.000,0.000,3314,1578,1895,0,0,0,0,0,0,28.83,28.83,23.98
$GC,14416,0.94,106.3,903.9,6.6,287,14421,0.00,0.00,3.38,1.024,6,0.000,0.000,3313,1578,1888,0,0,0,0,0,0,28.83,28.83,23.97
$GC,14775,0.96,125.8,884.0,5.7,290,14803,0.00,2.03,19.98,1.580,4,0.000,0.050,3322,353,1807,0,0,0,0,0,0,28.83,25.83,23.82
$GC,14844,0.98,145.2,884.0,5.7,290,14872,0.00,1.98,19.65,1.570,6,0.000,0.024,3322,1647,1726,0,0,0,0,0,0,28.83,26.10,23.59
$GC,15256,1.01,162.4,856.4,5.8,294,15275,0.00,0.00,16.42,1.539,6,0.000,0.000,3322,1646,1657,0,0,0,0,0,0,28.83,28.83,23.87
$GC,15615,1.03,185.4,836.6,5.5,297,15643,0.00,2.10,22.20,1.553,4,0.000,0.047,3332,353,1562,0,0,0,0,0,0,28.83,25.67,23.81
$GC,15827,1.08,204.7,828.8,5.7,298,15855,0.00,1.90,18.60,1.528,6,0.000,0.026,3331,1650,1484,0,0,0,0,0,0,28.83,26.24,23.80
$GC,16216,1.11,204.7,788.2,8.5,302,16222,0.00,2.08,0.00,0.000,4,0.000,0.048,3341,356,1480,0,0,0,0,0,0,28.83,26.10,28.83
$GC,16365,1.15,204.7,775.8,9.2,303,16372,0.00,1.95,0.00,0.000,6,0.000,0.025,3341,1649,1479,0,0,0,0,0,0,28.83,26.40,28.83
$GC,16696,1.18,204.7,737.8,10.5,306,16703,0.12,2.08,0.00,0.000,4,0.083,0.049,3416,356,1478,0,0,0,0,0,0,26.54,26.17,28.83
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$STATE,24682,end climb,SURFACE_DEPTH_REACHED
$STATE,24682,begin surface coast
$FINISH,1.3,1.025634
$STATE,24703,end surface coast,CONTROL_FINISHED_OK
$STATE,24704,begin surface
$SM_CCo,24728,42.72,0.123,0,0,1094,300.00
$SM_GC,2.14,8.65,0.82,42.72,0.038,0.035,0.123,152,2188,1094,-8.82,-0.51,300.00,0,0,0,0,0,0,26.32,26.38,25.15
$IRIDIUM_FIX,2408.65,-3826.30,280113,020250
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.97
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7603200
$TM_FREEKB,4760448
$24V_AH,23.0,75.246
$10V_AH,9.6,66.612
$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,23.050,194.550,281.875,42.725,0.000,25.786,46.300,187.196,0.000,0.000,21.030,2139.770,19914.525,692.606,2035.963,521.073,33.285,1651.593,0.000,1664.125,0.000,0.535,0.000
$DEVICE_MAMPS,187.425,132.345,1689.885,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24714.000,2588.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.205,13.523,0.000,0.000
$MEM,343664
$DATA_FILE_SIZE,13450,493
$CAP_FILE_SIZE,183027,0
$CFSIZE,260034560,211288064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280113,164323,2432.446,-3748.260,39,0.9,39,-13.9