version: 66.11
glider: 189
mission: 7
dive: 444
start: 1 31 113 11 15 48
data:
$ID,189
$MISSION,7
$DIVE,444
$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,-48212.684
$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
$GPS1,310113,110534,2429.700,-3746.821,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-59.3
$GPS2,310113,111447,2429.686,-3746.811,14,1.1,14,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117,0.027
$KALMAN_X,221254.6,-317.4,-597.6,-194931.9,1535.5
$KALMAN_Y,41542.3,54.7,-337.3,-52231.6,1120.8
$MHEAD_RNG_PITCHd_Wd,296.8,3375,-19.9,-6.667,-29.07
$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,-97.7,0.0,0.0,0,34,0.00,0.00,-10.45,0.000,2,0.000,0.000,151,2125,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.12,2.58,-51.08,0.000,4,0.184,0.051,2588,549,2720,0,0,0,0,0,0,25.40,25.97,26.70
$GC,255,-1.16,-97.7,12.4,-7.8,23,263,0.12,2.47,0.00,0.000,6,0.137,0.024,2618,2186,2720,0,0,0,0,0,0,25.79,26.29,28.83
$GC,565,-1.14,-97.7,35.1,-7.8,54,573,0.00,2.53,0.00,0.000,4,0.000,0.041,2608,3745,2721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,864,-1.09,-97.7,60.0,-8.2,84,873,0.10,2.45,0.00,0.000,6,0.126,0.021,2642,2084,2721,0,0,0,0,0,0,26.03,26.44,28.83
$GC,1184,-1.09,-97.7,84.7,-7.5,108,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2084,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-1.09,-97.7,105.8,-6.8,118,1491,0.00,2.67,0.00,0.000,4,0.000,0.040,2633,3745,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1623,-1.09,-97.7,114.0,-6.9,122,1632,0.00,2.45,0.00,0.000,6,0.000,0.020,2631,2100,2723,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1935,-1.09,-97.7,135.6,-6.4,133,1941,0.00,2.60,0.00,0.000,4,0.000,0.039,2619,3748,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2003,-1.09,-97.7,139.1,-6.1,135,2012,0.10,2.45,0.00,0.000,6,0.150,0.020,2645,2094,2723,0,0,0,0,0,0,26.18,26.48,28.83
$GC,2325,-1.09,-97.7,158.9,-5.9,144,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2094,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-1.11,-97.7,177.8,-6.4,149,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2094,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2925,-1.14,-97.7,194.5,-5.5,154,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2094,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3226,-1.17,-97.7,211.5,-5.7,159,3231,0.00,2.38,0.00,0.000,4,0.000,0.037,2645,545,2724,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3394,-1.20,-97.7,218.6,-5.9,161,3402,0.00,2.47,0.00,0.000,6,0.000,0.023,2634,2187,2724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3706,-1.22,-97.7,240.8,-6.2,167,3711,0.00,2.53,0.00,0.000,4,0.000,0.036,2635,536,2724,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3804,-1.22,-97.7,244.8,-6.3,168,3811,0.00,2.50,0.00,0.000,6,0.000,0.023,2622,2199,2724,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4125,-1.22,-97.7,266.9,-6.1,174,4131,0.00,2.58,0.00,0.000,4,0.000,0.035,2622,549,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4245,-1.22,-97.7,275.6,-6.9,176,4251,0.00,2.45,0.00,0.000,6,0.000,0.023,2610,2190,2724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4604,-1.22,-97.7,304.3,-8.1,182,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2191,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4904,-1.22,-97.7,329.0,-8.2,187,4911,0.00,2.58,0.00,0.000,4,0.000,0.036,2612,544,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5005,-1.22,-97.7,334.2,-8.3,188,5011,0.00,2.45,0.00,0.000,6,0.000,0.024,2598,2197,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5324,-1.22,-97.7,360.2,-6.9,194,5331,0.00,2.58,0.00,0.000,4,0.000,0.036,2596,550,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5404,-1.22,-97.7,363.8,-6.5,195,5411,0.00,2.45,0.00,0.000,6,0.000,0.023,2586,2185,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5746,-1.22,-97.7,382.1,-4.9,201,5751,0.00,2.47,0.00,0.000,4,0.000,0.041,2574,3749,2721,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5925,-1.19,-97.7,392.4,-5.5,204,5932,0.12,2.45,0.00,0.000,6,0.122,0.021,2616,2090,2721,0,0,0,0,0,0,26.03,26.48,28.83
$GC,6285,-1.22,-97.7,416.9,-7.2,210,6291,0.00,2.42,0.00,0.000,4,0.000,0.038,2617,548,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6345,-1.24,-97.7,421.9,-7.6,211,6351,0.00,2.47,0.00,0.000,6,0.000,0.024,2606,2196,2719,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6705,-1.24,-97.7,452.8,-8.6,217,6711,0.00,2.55,0.00,0.000,4,0.000,0.037,2606,546,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6813,-1.24,-97.7,458.1,-8.7,218,6822,0.00,2.50,0.00,0.000,6,0.000,0.023,2594,2199,2718,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7124,-1.24,-97.7,488.6,-8.3,224,7131,0.00,2.50,0.00,0.000,4,0.000,0.041,2582,3744,2718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7204,-1.24,-97.7,493.6,-8.2,225,7211,0.00,2.45,0.00,0.000,6,0.000,0.021,2582,2095,2717,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7545,-1.24,-97.7,518.7,-7.0,229,7551,0.00,2.42,0.00,0.000,4,0.000,0.038,2582,549,2716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7633,-1.24,-97.7,518.7,-7.0,229,7641,0.12,2.47,0.00,0.000,6,0.156,0.024,2602,2190,2716,0,0,0,0,0,0,26.06,26.42,28.83
$GC,8026,-1.24,-97.7,550.8,-6.7,233,8031,0.00,2.55,0.00,0.000,4,0.000,0.038,2602,541,2715,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8183,-1.24,-97.7,560.0,-6.8,234,8191,0.00,2.50,0.00,0.000,6,0.000,0.024,2592,2192,2714,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8504,-1.24,-97.7,588.7,-7.9,237,8511,0.00,2.60,0.00,0.000,4,0.000,0.038,2592,546,2713,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8574,-1.24,-97.7,588.7,-7.9,237,8581,0.00,2.47,0.00,0.000,6,0.000,0.024,2580,2190,2712,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8984,-1.24,-97.7,630.4,-8.7,241,8991,0.00,2.58,0.00,0.000,4,0.000,0.038,2580,552,2712,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9113,-1.24,-97.7,642.1,-8.9,242,9122,0.15,2.50,0.00,0.000,6,0.152,0.024,2607,2198,2712,0,0,0,0,0,0,25.96,26.41,28.83
$GC,9465,-1.24,-97.7,670.5,-8.3,245,9471,0.00,2.58,0.00,0.000,4,0.000,0.039,2608,545,2711,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9623,-1.24,-97.7,679.1,-7.7,246,9631,0.00,2.50,0.00,0.000,6,0.000,0.024,2597,2189,2711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9945,-1.27,-97.7,702.6,-6.6,249,9951,0.00,2.55,0.00,0.000,4,0.000,0.039,2597,548,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10035,-1.30,-97.7,702.6,-6.6,249,10041,0.00,2.47,0.00,0.000,6,0.000,0.024,2585,2187,2709,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10425,-1.33,-97.7,737.8,-7.3,253,10431,0.00,2.60,0.00,0.000,4,0.000,0.040,2585,552,2708,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10584,-1.33,-97.7,747.3,-7.5,254,10591,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2186,2708,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10904,-1.33,-97.7,775.5,-7.9,257,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2186,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11265,-1.33,-97.7,803.6,-7.8,260,11271,0.00,2.62,0.00,0.000,4,0.000,0.041,2569,544,2706,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11424,-1.33,-97.7,813.6,-7.9,261,11431,0.00,2.50,0.00,0.000,6,0.000,0.024,2561,2194,2704,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11744,-1.33,-97.7,842.6,-8.1,264,11751,0.00,2.60,0.00,0.000,4,0.000,0.040,2561,551,2704,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11853,-1.33,-97.7,842.6,-8.1,264,11862,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2188,2703,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12225,-1.33,-97.7,885.4,-8.9,268,12232,0.00,2.55,0.00,0.000,4,0.000,0.044,2537,3747,2703,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12293,-1.33,-97.7,885.4,-8.9,268,12302,0.15,2.50,0.00,0.000,6,0.146,0.024,2576,2091,2702,0,0,0,0,0,0,25.92,26.37,28.83
$GC,12705,-1.35,-97.7,926.3,-8.5,272,12712,0.00,2.47,0.00,0.000,4,0.000,0.042,2576,545,2701,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12825,-1.37,-97.7,936.6,-8.3,273,12831,0.00,2.47,0.00,0.000,6,0.000,0.026,2566,2198,2700,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13184,-1.37,-97.7,967.4,-8.5,276,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2198,2700,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13441,begin apogee
$GC,13449,-0.29,0.0,990.8,-9.0,279,13543,1.08,0.00,86.07,1.685,6,0.125,0.000,2902,1574,2317,0,0,0,0,0,0,25.16,28.83,22.99
$STATE,13545,end apogee,CONTROL_FINISHED_OK
$STATE,13545,begin climb
$GC,13549,1.26,97.7,995.9,0.0,284,13645,1.42,0.00,91.85,1.675,6,0.061,0.000,3408,1574,1922,0,0,0,0,0,0,25.30,28.83,23.06
$GC,13986,1.13,98.1,975.9,6.7,301,13992,0.17,2.60,0.00,0.000,4,0.169,0.035,3364,3205,1911,0,0,0,0,0,0,25.91,26.18,28.83
$GC,14115,1.00,98.1,967.7,6.7,302,14122,0.20,2.50,0.00,0.000,6,0.165,0.031,3322,1576,1909,0,0,0,0,0,0,25.79,26.25,28.83
$GC,14465,0.92,98.1,942.4,6.9,305,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1576,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14825,0.88,98.1,917.9,7.0,308,14827,0.15,0.00,0.00,0.000,6,0.161,0.000,3282,1575,1906,0,0,0,0,0,0,26.17,28.83,28.83
$GC,15184,0.91,125.8,899.6,5.4,311,15214,0.00,2.75,24.08,1.596,4,0.000,0.035,3281,3210,1806,0,0,0,0,0,0,28.83,25.77,23.72
$GC,15344,0.96,161.6,894.2,5.0,312,15383,0.00,2.55,33.65,1.612,6,0.000,0.030,3292,1588,1661,0,0,0,0,0,0,28.83,26.08,23.47
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$STATE,25852,end climb,SURFACE_DEPTH_REACHED
$STATE,25852,begin surface coast
$FINISH,1.2,1.005999
$STATE,25883,end surface coast,CONTROL_FINISHED_OK
$STATE,25883,begin surface
$SM_CCo,25912,53.95,0.122,0,0,1093,300.00
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$TT8_MAMPS,0.026215,0.026215
$HUMID,61.10
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,7599360
$TM_FREEKB,4715200
$24V_AH,23.0,76.583
$10V_AH,10.0,67.905
$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
$DEVICE_SECS,22.325,222.225,254.125,53.950,0.000,25.915,44.517,197.889,0.000,0.000,15.657,2222.477,20941.811,722.209,2072.415,548.164,33.266,1706.829,0.000,1695.754,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.256,13.535,0.000,0.000
$MEM,343672
$DATA_FILE_SIZE,13393,531
$CAP_FILE_SIZE,193404,0
$CFSIZE,260034560,210399232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,182953,2430.837,-3747.981,38,0.9,38,-14.0