version: 66.11
glider: 189
mission: 7
dive: 441
start: 1 30 113 13 27 26
data:
$ID,189
$MISSION,7
$DIVE,441
$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,-48208.91
$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
$GPS1,300113,131728,2428.676,-3748.497,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-61.2
$GPS2,300113,132625,2428.683,-3748.455,14,1.0,14,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.039,0.109
$KALMAN_X,221823.0,-27.5,-41.7,-199110.4,-757.1
$KALMAN_Y,38933.0,73.2,224.5,-52057.4,1058.9
$MHEAD_RNG_PITCHd_Wd,33.6,4248,-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,-10.77,0.000,2,0.000,0.000,153,2113,1405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.05,2.47,-50.28,0.000,4,0.185,0.050,2566,550,2719,0,0,0,0,0,0,25.32,25.96,26.70
$GC,377,-1.24,-97.7,24.3,-9.1,35,384,0.17,2.45,0.00,0.000,6,0.158,0.024,2601,2188,2722,0,0,0,0,0,0,25.75,26.32,28.83
$GC,684,-1.24,-97.7,47.5,-7.1,66,693,0.00,2.53,0.00,0.000,4,0.000,0.040,2591,3748,2720,0,0,0,0,0,0,28.83,26.12,28.83
$GC,985,-1.20,-97.7,69.7,-7.5,96,992,0.00,2.45,0.00,0.000,6,0.000,0.021,2590,2103,2721,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1297,-1.18,-97.7,94.2,-8.2,111,1303,0.12,2.62,0.00,0.000,4,0.155,0.037,2618,3748,2721,0,0,0,0,0,0,26.29,26.15,28.83
$GC,1594,-1.18,-97.7,119.0,-8.2,121,1601,0.00,2.45,0.00,0.000,6,0.000,0.021,2617,2097,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1925,-1.18,-97.7,144.3,-7.3,132,1931,0.00,2.62,0.00,0.000,4,0.000,0.039,2605,3759,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2063,-1.18,-97.7,153.2,-7.4,136,2071,0.00,2.47,0.00,0.000,6,0.000,0.020,2605,2098,2722,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2405,-1.18,-97.7,179.0,-7.2,142,2411,0.00,2.65,0.00,0.000,4,0.000,0.039,2593,3753,2722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2693,-1.18,-97.7,196.7,-7.4,146,2702,0.00,2.45,0.00,0.000,6,0.000,0.020,2593,2101,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3005,-1.18,-97.7,219.9,-6.5,152,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2101,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3304,-1.18,-97.7,240.3,-6.8,157,3311,0.00,2.65,0.00,0.000,4,0.000,0.039,2581,3744,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3413,-1.18,-97.7,244.5,-6.9,158,3423,0.15,2.45,0.00,0.000,6,0.141,0.020,2622,2091,2723,0,0,0,0,0,0,26.05,26.48,28.83
$GC,3726,-1.21,-97.7,267.6,-6.3,164,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2091,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4025,-1.25,-97.7,287.5,-6.7,169,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2091,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4325,-1.29,-97.7,307.4,-6.6,174,4327,0.12,0.00,0.00,0.000,6,0.080,0.000,2557,2091,2723,0,0,0,0,0,0,26.66,28.83,28.83
$GC,4625,-1.26,-97.7,329.1,-7.2,179,4632,0.15,2.67,0.00,0.000,4,0.148,0.040,2586,3757,2723,0,0,0,0,0,0,26.27,26.17,28.83
$GC,4744,-1.26,-97.7,337.9,-7.4,181,4751,0.00,2.47,0.00,0.000,6,0.000,0.021,2586,2095,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5104,-1.26,-97.7,365.1,-7.7,187,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2095,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5405,-1.26,-97.7,388.8,-7.9,192,5411,0.00,2.62,0.00,0.000,4,0.000,0.040,2574,3748,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5573,-1.26,-97.7,398.6,-8.0,194,5582,0.00,2.47,0.00,0.000,6,0.000,0.021,2574,2094,2720,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5884,-1.26,-97.7,426.6,-7.8,200,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2094,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6185,-1.26,-97.7,449.5,-7.6,205,6191,0.00,2.67,0.00,0.000,4,0.000,0.040,2562,3779,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6313,-1.26,-97.7,459.1,-7.8,207,6321,0.12,2.53,0.00,0.000,6,0.150,0.021,2593,2085,2718,0,0,0,0,0,0,26.10,26.47,28.83
$GC,6665,-1.29,-97.7,485.0,-7.1,213,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2086,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7025,-1.33,-97.7,509.2,-6.7,218,7031,0.00,2.42,0.00,0.000,4,0.000,0.038,2594,549,2717,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7145,-1.36,-97.7,518.0,-6.9,219,7151,0.00,2.47,0.00,0.000,6,0.000,0.024,2583,2192,2716,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7505,-1.38,-97.7,545.5,-7.5,222,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2194,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,-1.41,-97.7,575.5,-8.3,225,7872,0.10,2.60,0.00,0.000,4,0.094,0.037,2528,550,2714,0,0,0,0,0,0,26.67,26.18,28.83
$GC,7914,-1.44,-97.7,575.5,-8.3,225,7921,0.00,2.50,0.00,0.000,6,0.000,0.024,2515,2197,2713,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8225,-1.44,-97.7,607.5,-8.8,228,8231,0.00,2.47,0.00,0.000,4,0.000,0.042,2503,3755,2712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8384,-1.40,-97.7,618.4,-8.9,229,8392,0.15,2.50,0.00,0.000,6,0.160,0.021,2544,2086,2712,0,0,0,0,0,0,25.87,26.44,28.83
$GC,8706,-1.38,-97.7,648.6,-8.5,232,8711,0.00,2.65,0.00,0.000,4,0.000,0.041,2537,3753,2711,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8774,-1.35,-97.7,648.6,-8.5,232,8781,0.00,2.47,0.00,0.000,6,0.000,0.021,2537,2106,2711,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9184,-1.35,-97.7,692.6,-9.2,236,9191,0.00,2.67,0.00,0.000,4,0.000,0.041,2525,3747,2710,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9325,-1.35,-97.7,703.8,-9.3,237,9332,0.15,2.42,0.00,0.000,6,0.150,0.023,2564,2088,2708,0,0,0,0,0,0,25.96,26.42,28.83
$GC,9665,-1.35,-97.7,734.0,-8.6,240,9671,0.00,2.42,0.00,0.000,4,0.000,0.041,2564,549,2709,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9743,-1.35,-97.7,734.0,-8.6,240,9751,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2193,2708,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10145,-1.35,-97.7,771.6,-7.8,244,10151,0.00,2.50,0.00,0.000,4,0.000,0.043,2542,3756,2707,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10264,-1.35,-97.7,781.1,-7.7,245,10272,0.00,2.47,0.00,0.000,6,0.000,0.022,2542,2099,2707,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10625,-1.35,-97.7,808.9,-7.7,248,10631,0.00,2.67,0.00,0.000,4,0.000,0.043,2531,3738,2705,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10714,-1.35,-97.7,808.9,-7.7,248,10722,0.10,2.45,0.00,0.000,6,0.132,0.022,2562,2097,2705,0,0,0,0,0,0,25.98,26.41,28.83
$GC,11105,-1.38,-97.7,850.6,-8.7,252,11111,0.00,2.45,0.00,0.000,4,0.000,0.041,2563,551,2705,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11194,-1.41,-97.7,850.6,-8.7,252,11201,0.00,2.50,0.00,0.000,6,0.000,0.025,2552,2186,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11586,-1.43,-97.7,897.0,-9.7,256,11591,0.00,2.50,0.00,0.000,4,0.000,0.044,2541,3745,2702,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11704,-1.43,-97.7,908.1,-9.5,257,11712,0.00,2.45,0.00,0.000,6,0.000,0.024,2541,2115,2702,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12064,-1.43,-97.7,938.8,-8.7,260,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2115,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12425,-1.43,-97.7,968.3,-8.2,263,12431,0.00,2.62,0.00,0.000,4,0.000,0.044,2529,3747,2700,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12555,-1.43,-97.7,978.8,-8.3,264,12561,0.00,2.47,0.00,0.000,6,0.000,0.024,2529,2113,2700,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,12681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12681,begin apogee
$GC,12690,-0.29,0.0,990.7,-8.5,266,12783,1.20,0.00,85.62,1.670,6,0.132,0.000,2897,1576,2321,0,0,0,0,0,0,25.03,28.83,22.99
$STATE,12785,end apogee,CONTROL_FINISHED_OK
$STATE,12785,begin climb
$GC,12788,1.33,97.7,995.0,0.0,271,12888,1.48,2.10,92.18,1.686,4,0.063,0.048,3434,356,1920,0,0,0,0,0,0,25.28,24.91,23.03
$GC,12997,1.17,97.7,987.9,6.9,282,13004,0.17,1.95,0.00,0.000,6,0.149,0.023,3381,1653,1914,0,0,0,0,0,0,25.60,26.03,28.83
$GC,13417,1.11,110.4,962.3,6.0,288,13434,0.00,2.47,10.88,1.490,4,0.000,0.035,3381,3205,1870,0,0,0,0,0,0,28.83,26.05,23.92
$GC,13547,1.04,123.1,954.9,6.0,289,13566,0.17,2.53,13.30,1.519,6,0.148,0.031,3339,1591,1817,0,0,0,0,0,0,25.72,26.17,23.86
$GC,13889,1.00,134.0,933.6,6.1,292,13905,0.00,2.05,11.02,1.495,4,0.000,0.049,3347,346,1773,0,0,0,0,0,0,28.83,25.96,23.96
$GC,14027,0.96,143.7,925.7,6.2,293,14045,0.10,2.00,10.25,1.486,6,0.139,0.025,3315,1652,1734,0,0,0,0,0,0,25.90,26.28,23.90
$GC,14366,0.97,146.8,902.3,6.5,296,14375,0.00,2.12,4.18,1.173,4,0.000,0.049,3324,354,1720,0,0,0,0,0,0,28.83,26.15,23.89
$GC,14506,0.97,148.4,894.7,6.6,297,14513,0.00,1.95,0.00,0.000,6,0.000,0.024,3323,1649,1719,0,0,0,0,0,0,28.83,26.38,28.83
$GC,14836,0.97,148.4,869.0,7.1,300,14843,0.00,2.08,0.00,0.000,4,0.000,0.047,3334,356,1718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14915,0.97,148.4,869.0,7.1,300,14919,0.00,1.95,0.00,0.000,6,0.000,0.024,3330,1656,1718,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15308,0.97,148.4,832.3,7.8,304,15314,0.00,2.08,0.00,0.000,4,0.000,0.048,3343,359,1717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15446,0.97,148.4,822.9,7.8,305,15454,0.12,1.95,0.00,0.000,6,0.154,0.025,3311,1661,1717,0,0,0,0,0,0,26.10,26.48,28.83
$GC,15788,0.97,148.4,797.1,7.3,308,15794,0.00,2.47,0.00,0.000,4,0.000,0.036,3310,3201,1716,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,25845,end climb,SURFACE_DEPTH_REACHED
$STATE,25845,begin surface coast
$FINISH,1.3,1.025646
$STATE,25877,end surface coast,CONTROL_FINISHED_OK
$STATE,25877,begin surface
$SM_CCo,25901,64.62,0.125,0,0,1092,300.00
$SM_GC,2.27,8.50,0.82,64.62,0.031,0.032,0.125,151,2182,1092,-8.81,-0.76,300.00,0,0,0,0,0,0,26.23,26.40,25.44
$IRIDIUM_FIX,2434.69,-3811.43,300113,060620
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.31
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7600512
$TM_FREEKB,4728224
$24V_AH,23.0,76.167
$10V_AH,10.0,67.520
$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,22.400,205.400,239.200,64.625,0.000,28.997,37.026,187.782,0.000,0.000,15.984,2187.281,21053.508,685.600,2018.079,545.222,33.263,1645.363,0.000,1658.510,0.000,0.536,0.000
$DEVICE_MAMPS,185.130,130.050,1686.060,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.294,13.502,0.000,0.000
$MEM,343724
$DATA_FILE_SIZE,13423,534
$CAP_FILE_SIZE,190673,0
$CFSIZE,260034560,210661376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,204129,2430.275,-3747.379,37,0.9,37,-14.0