version: 66.11
glider: 189
mission: 7
dive: 445
start: 1 31 113 18 40 18
data:
$ID,189
$MISSION,7
$DIVE,445
$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,-48213.941
$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
$GPS1,310113,182953,2430.837,-3747.981,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-59.4
$GPS2,310113,183917,2430.835,-3747.982,15,1.4,15,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.064,-0.096
$KALMAN_X,220746.4,562.9,529.5,-198404.5,-1932.9
$KALMAN_Y,42943.8,-182.6,-169.9,-51450.0,2522.7
$MHEAD_RNG_PITCHd_Wd,160.4,491,-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,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.38,0.000,2,0.000,0.000,151,2118,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.1,0.0,1,104,9.23,2.72,-50.62,0.000,4,0.191,0.051,2559,3751,2719,0,0,0,0,0,0,25.39,26.00,26.70
$GC,394,-1.25,-97.7,27.9,-11.0,37,403,0.10,2.45,0.00,0.000,6,0.136,0.021,2590,2097,2721,0,0,0,0,0,0,25.94,26.36,28.83
$GC,705,-1.22,-97.7,55.5,-8.2,68,713,0.00,2.67,0.00,0.000,4,0.000,0.040,2580,3747,2721,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1005,-1.17,-97.7,79.0,-7.1,95,1012,0.12,2.45,0.00,0.000,6,0.129,0.021,2620,2085,2721,0,0,0,0,0,0,25.96,26.44,28.83
$GC,1337,-1.17,-97.7,102.6,-7.5,106,1342,0.00,2.65,0.00,0.000,4,0.000,0.039,2609,3749,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1634,-1.17,-97.7,128.0,-8.7,116,1642,0.00,2.45,0.00,0.000,6,0.000,0.021,2609,2096,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1995,-1.17,-97.7,156.1,-7.4,127,2001,0.00,2.62,0.00,0.000,4,0.000,0.039,2603,3751,2726,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2133,-1.17,-97.7,163.7,-6.8,129,2141,0.00,2.47,0.00,0.000,6,0.000,0.020,2597,2086,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2475,-1.17,-97.7,182.2,-5.3,135,2481,0.00,2.62,0.00,0.000,4,0.000,0.038,2581,3755,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2644,-1.17,-97.7,189.9,-5.9,137,2654,0.12,2.45,0.00,0.000,6,0.147,0.020,2617,2091,2723,0,0,0,0,0,0,26.11,26.48,28.83
$GC,2955,-1.20,-97.7,217.4,-8.0,143,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2091,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3255,-1.22,-97.7,241.7,-7.9,148,3261,0.00,2.65,0.00,0.000,4,0.000,0.038,2606,3742,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3374,-1.22,-97.7,250.1,-7.3,150,3381,0.00,2.42,0.00,0.000,6,0.000,0.020,2606,2097,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3736,-1.24,-97.7,272.4,-6.1,156,3741,0.00,2.40,0.00,0.000,4,0.000,0.037,2606,541,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3834,-1.24,-97.7,276.1,-6.1,157,3842,0.00,2.50,0.00,0.000,6,0.000,0.022,2594,2201,2723,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4155,-1.24,-97.7,297.6,-5.8,163,4161,0.00,2.60,0.00,0.000,4,0.000,0.035,2594,545,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4194,-1.24,-97.7,297.6,-5.8,163,4201,0.00,2.47,0.00,0.000,6,0.000,0.023,2582,2199,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4515,-1.24,-97.7,320.0,-6.3,169,4521,0.00,2.47,0.00,0.000,4,0.000,0.040,2571,3742,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4614,-1.24,-97.7,324.2,-6.5,170,4622,0.12,2.45,0.00,0.000,6,0.146,0.020,2603,2092,2722,0,0,0,0,0,0,26.12,26.48,28.83
$GC,4935,-1.26,-97.7,350.8,-7.4,176,4941,0.00,2.65,0.00,0.000,4,0.000,0.040,2592,3759,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5114,-1.26,-97.7,364.4,-7.6,179,5122,0.00,2.47,0.00,0.000,6,0.000,0.021,2592,2095,2721,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5475,-1.26,-97.7,390.3,-7.2,185,5481,0.00,2.62,0.00,0.000,4,0.000,0.040,2580,3748,2720,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5583,-1.26,-97.7,394.8,-7.4,186,5592,0.00,2.47,0.00,0.000,6,0.000,0.021,2580,2089,2720,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5894,-1.26,-97.7,425.2,-8.6,192,5901,0.00,2.67,0.00,0.000,4,0.000,0.039,2568,3741,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5964,-1.26,-97.7,430.6,-8.7,193,5971,0.00,2.42,0.00,0.000,6,0.000,0.020,2568,2104,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6314,-1.26,-97.7,463.2,-9.0,199,6321,0.00,2.45,0.00,0.000,4,0.000,0.037,2568,543,2718,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6393,-1.26,-97.7,468.5,-9.0,200,6402,0.15,2.50,0.00,0.000,6,0.154,0.023,2595,2199,2718,0,0,0,0,0,0,25.98,26.40,28.83
$GC,6735,-1.29,-97.7,495.1,-7.1,206,6742,0.00,2.60,0.00,0.000,4,0.000,0.037,2596,548,2718,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6864,-1.32,-97.7,503.6,-6.9,208,6871,0.00,2.55,0.00,0.000,6,0.000,0.024,2585,2194,2717,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7215,-1.32,-97.7,527.7,-6.7,211,7222,0.00,2.53,0.00,0.000,4,0.000,0.042,2573,3745,2715,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7273,-1.32,-97.7,527.7,-6.7,211,7281,0.00,2.47,0.00,0.000,6,0.000,0.021,2574,2090,2716,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7694,-1.32,-97.7,567.6,-8.3,215,7702,0.00,2.42,0.00,0.000,4,0.000,0.039,2574,548,2714,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7856,-1.32,-97.7,579.2,-8.8,216,7861,0.00,2.42,0.00,0.000,6,0.000,0.024,2562,2191,2713,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8175,-1.32,-97.7,613.9,-9.6,219,8181,0.00,2.58,0.00,0.000,4,0.000,0.037,2562,553,2712,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8323,-1.32,-97.7,624.7,-9.5,220,8331,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2199,2715,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8655,-1.32,-97.7,650.6,-7.6,223,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2200,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9015,-1.32,-97.7,673.5,-6.4,226,9022,0.00,2.62,0.00,0.000,4,0.000,0.039,2549,550,2711,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9063,-1.32,-97.7,673.5,-6.4,226,9072,0.15,2.50,0.00,0.000,6,0.158,0.024,2576,2195,2711,0,0,0,0,0,0,25.92,26.39,28.83
$GC,9376,-1.34,-97.7,696.2,-6.3,229,9381,0.00,2.58,0.00,0.000,4,0.000,0.038,2576,541,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9464,-1.36,-97.7,696.2,-6.3,229,9472,0.00,2.50,0.00,0.000,6,0.000,0.024,2566,2194,2709,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9855,-1.38,-97.7,732.1,-7.5,233,9861,0.00,2.62,0.00,0.000,4,0.000,0.039,2566,543,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9944,-1.41,-97.7,732.1,-7.5,233,9952,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2190,2708,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10334,-1.41,-97.7,770.9,-8.1,237,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2190,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10694,-1.41,-97.7,799.9,-8.1,240,10701,0.00,2.60,0.00,0.000,4,0.000,0.040,2554,552,2706,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10744,-1.41,-97.7,799.9,-8.1,240,10751,0.00,2.47,0.00,0.000,6,0.000,0.025,2542,2182,2705,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11055,-1.41,-97.7,830.2,-8.3,243,11061,0.00,2.60,0.00,0.000,4,0.000,0.040,2542,546,2704,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11163,-1.41,-97.7,830.2,-8.3,243,11172,0.00,2.53,0.00,0.000,6,0.000,0.024,2529,2197,2703,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11534,-1.41,-97.7,874.3,-9.1,247,11541,0.00,2.50,0.00,0.000,4,0.000,0.044,2518,3737,2702,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11777,-1.41,-97.7,897.6,-9.5,249,11783,0.00,2.42,0.00,0.000,6,0.000,0.024,2518,2096,2702,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12135,-1.41,-97.7,930.1,-9.2,252,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2096,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12495,-1.41,-97.7,959.6,-8.4,255,12501,0.00,2.67,0.00,0.000,4,0.000,0.042,2506,3755,2700,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12663,-1.41,-97.7,969.3,-8.1,256,12672,0.15,2.50,0.00,0.000,6,0.158,0.024,2543,2105,2699,0,0,0,0,0,0,25.84,26.34,28.83
$STATE,12911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12911,begin apogee
$GC,12920,-0.29,0.0,990.8,-7.1,261,13013,1.15,0.00,86.07,1.685,6,0.129,0.000,2901,1572,2320,0,0,0,0,0,0,25.06,28.83,22.98
$STATE,13015,end apogee,CONTROL_FINISHED_OK
$STATE,13015,begin climb
$GC,13018,1.33,97.7,994.0,0.0,266,13121,1.45,2.80,92.10,1.675,4,0.060,0.034,3425,3203,1922,0,0,0,0,0,0,25.27,24.96,23.03
$GC,13284,1.18,97.7,981.5,8.0,278,13292,0.17,2.55,0.00,0.000,6,0.162,0.030,3386,1586,1916,0,0,0,0,0,0,25.61,26.06,28.83
$GC,13635,1.07,97.7,956.8,7.0,281,13642,0.15,1.98,0.00,0.000,4,0.171,0.048,3355,356,1909,0,0,0,0,0,0,26.06,26.15,28.83
$GC,13784,0.98,97.7,949.3,6.7,282,13792,0.10,1.92,0.00,0.000,6,0.147,0.024,3324,1652,1908,0,0,0,0,0,0,26.01,26.44,28.83
$GC,14115,0.96,121.4,930.4,5.5,285,14142,0.00,2.53,20.58,1.586,4,0.000,0.036,3324,3204,1823,0,0,0,0,0,0,28.83,25.84,23.80
$GC,14195,0.95,145.1,930.4,5.5,285,14223,0.00,2.55,23.17,1.597,6,0.000,0.030,3334,1585,1727,0,0,0,0,0,0,28.83,26.01,23.56
$GC,14584,0.97,161.1,902.0,5.9,288,14605,0.00,2.70,15.27,1.541,4,0.000,0.034,3334,3207,1662,0,0,0,0,0,0,28.83,25.87,23.87
$GC,14674,0.99,177.2,902.0,5.9,288,14696,0.00,2.55,16.65,1.541,6,0.000,0.029,3346,1583,1597,0,0,0,0,0,0,28.83,26.05,23.72
$GC,15045,0.99,177.2,868.6,7.3,292,15052,0.00,1.98,0.00,0.000,4,0.000,0.048,3356,350,1592,0,0,0,0,0,0,28.83,26.11,28.83
$GC,15154,0.99,177.2,868.6,7.3,292,15163,0.15,1.98,0.00,0.000,6,0.152,0.024,3317,1667,1591,0,0,0,0,0,0,25.97,26.40,28.83
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$STATE,25081,end climb,SURFACE_DEPTH_REACHED
$STATE,25081,begin surface coast
$FINISH,1.2,1.015577
$STATE,25113,end surface coast,CONTROL_FINISHED_OK
$STATE,25113,begin surface
$SM_CCo,25140,55.22,0.125,0,0,1093,300.00
$SM_GC,1.93,8.50,0.80,55.22,0.031,0.034,0.125,151,2183,1093,-8.82,-0.68,300.00,0,0,0,0,0,0,26.22,26.40,25.18
$IRIDIUM_FIX,2427.58,-3744.81,310113,111153
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.63
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,7598976
$TM_FREEKB,4710560
$24V_AH,23.0,76.719
$10V_AH,10.1,68.034
$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,22.425,221.100,253.850,55.225,0.000,25.796,41.430,207.185,0.000,0.000,16.239,2206.127,20160.426,706.210,2099.324,574.121,33.258,1705.086,0.000,1723.118,0.000,0.535,0.000
$DEVICE_MAMPS,191.250,130.815,1685.295,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.224,13.496,0.000,0.000
$MEM,343684
$DATA_FILE_SIZE,13442,504
$CAP_FILE_SIZE,190482,0
$CFSIZE,260034560,210313216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010213,014128,2430.181,-3747.712,35,0.7,35,-14.0