version: 66.11
glider: 189
mission: 7
dive: 463
start: 2 6 113 5 8 6
data:
$ID,189
$MISSION,7
$DIVE,463
$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,-48236.582
$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
$GPS1,060213,045734,2429.712,-3749.117,34,0.7,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-60.5
$GPS2,060213,050705,2429.621,-3749.140,17,0.9,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.090,0.079
$KALMAN_X,210501.0,-137.1,331.0,-189203.3,-1696.1
$KALMAN_Y,61831.5,-177.4,562.3,-73310.2,-767.6
$MHEAD_RNG_PITCHd_Wd,62.5,2925,-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,22,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-11.25,0.000,2,0.000,0.000,151,2120,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.2,0.0,1,104,9.05,0.00,-49.92,0.000,6,0.181,0.000,2585,2117,2719,0,0,0,0,0,0,25.37,28.83,26.70
$GC,408,-1.20,-97.7,24.0,-11.2,38,415,0.00,2.62,0.00,0.000,4,0.000,0.041,2575,3752,2719,0,0,0,0,0,0,28.83,26.06,28.83
$GC,538,-1.13,-97.7,37.7,-9.1,51,545,0.20,2.40,0.00,0.000,6,0.143,0.021,2631,2098,2720,0,0,0,0,0,0,25.77,26.39,28.83
$GC,845,-1.13,-97.7,59.3,-7.9,82,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2095,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1146,-1.13,-97.7,82.5,-8.0,106,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2095,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1445,-1.13,-97.7,105.0,-7.6,116,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2095,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1746,-1.13,-97.7,123.3,-5.8,126,1752,0.00,2.45,0.00,0.000,4,0.000,0.038,2631,543,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1806,-1.13,-97.7,127.2,-6.2,128,1812,0.00,2.42,0.00,0.000,6,0.000,0.023,2620,2195,2721,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2135,-1.13,-97.7,149.7,-7.4,139,2143,0.00,2.50,0.00,0.000,4,0.000,0.040,2608,3748,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2335,-1.13,-97.7,165.1,-8.6,143,2342,0.00,2.45,0.00,0.000,6,0.000,0.021,2608,2098,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2675,-1.13,-97.7,195.0,-8.0,149,2682,0.00,2.42,0.00,0.000,4,0.000,0.037,2608,549,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2865,-1.10,-97.7,207.5,-7.1,152,2873,0.12,2.47,0.00,0.000,6,0.130,0.023,2638,2192,2722,0,0,0,0,0,0,25.96,26.41,28.83
$GC,3217,-1.13,-97.7,227.6,-5.5,158,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2192,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3516,-1.16,-97.7,247.4,-6.7,163,3523,0.00,2.58,0.00,0.000,4,0.000,0.036,2639,549,2722,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3616,-1.18,-97.7,252.0,-7.0,164,3622,0.00,2.45,0.00,0.000,6,0.000,0.023,2628,2186,2722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3936,-1.20,-97.7,278.6,-7.4,170,3942,0.00,2.55,0.00,0.000,4,0.000,0.036,2628,539,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3996,-1.20,-97.7,283.0,-7.3,171,4002,0.00,2.47,0.00,0.000,6,0.000,0.023,2616,2193,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4356,-1.20,-97.7,307.5,-6.8,177,4362,0.00,2.55,0.00,0.000,4,0.000,0.037,2616,540,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4434,-1.20,-97.7,311.7,-6.9,178,4442,0.00,2.50,0.00,0.000,6,0.000,0.024,2604,2193,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4775,-1.20,-97.7,338.4,-7.5,184,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2193,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5076,-1.20,-97.7,362.6,-8.2,189,5083,0.00,2.60,0.00,0.000,4,0.000,0.037,2604,546,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5174,-1.20,-97.7,367.8,-8.3,190,5182,0.00,2.50,0.00,0.000,6,0.000,0.024,2592,2197,2720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5496,-1.20,-97.7,399.2,-8.8,196,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2197,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5796,-1.20,-97.7,425.9,-8.9,201,5802,0.00,2.55,0.00,0.000,4,0.000,0.037,2592,548,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5995,-1.18,-97.7,442.0,-8.9,204,6003,0.10,2.50,0.00,0.000,6,0.171,0.024,2611,2193,2719,0,0,0,0,0,0,26.04,26.40,28.83
$GC,6336,-1.21,-97.7,467.5,-6.7,210,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2193,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6637,-1.24,-97.7,485.1,-5.7,215,6642,0.00,2.55,0.00,0.000,4,0.000,0.038,2611,548,2717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6765,-1.24,-97.7,492.4,-5.9,217,6772,0.00,2.50,0.00,0.000,6,0.000,0.024,2600,2193,2720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7177,-1.24,-97.7,519.6,-6.6,222,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2193,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7536,-1.26,-97.7,544.7,-6.9,225,7543,0.00,2.60,0.00,0.000,4,0.000,0.038,2601,549,2715,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7635,-1.28,-97.7,544.7,-6.9,225,7642,0.00,2.50,0.00,0.000,6,0.000,0.025,2588,2189,2715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8016,-1.28,-97.7,579.8,-7.3,229,8023,0.00,2.60,0.00,0.000,4,0.000,0.039,2588,549,2713,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8175,-1.28,-97.7,588.9,-7.4,230,8182,0.00,2.53,0.00,0.000,6,0.000,0.026,2576,2180,2712,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8496,-1.28,-97.7,614.8,-7.3,233,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2180,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,-1.28,-97.7,643.7,-7.8,236,8862,0.00,2.60,0.00,0.000,4,0.000,0.039,2576,545,2711,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9046,-1.28,-97.7,654.8,-8.3,237,9052,0.00,2.58,0.00,0.000,6,0.000,0.025,2565,2189,2710,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9456,-1.28,-97.7,697.7,-8.9,241,9462,0.00,2.62,0.00,0.000,4,0.000,0.040,2565,548,2713,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9535,-1.28,-97.7,697.7,-8.9,241,9543,0.10,2.50,0.00,0.000,6,0.142,0.026,2584,2191,2709,0,0,0,0,0,0,25.91,26.36,28.83
$GC,9937,-1.30,-97.7,729.7,-6.6,245,9942,0.00,2.58,0.00,0.000,4,0.000,0.040,2584,545,2708,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10015,-1.32,-97.7,729.7,-6.6,245,10022,0.00,2.50,0.00,0.000,6,0.000,0.026,2574,2189,2708,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10417,-1.32,-97.7,757.8,-5.8,249,10422,0.00,2.55,0.00,0.000,4,0.000,0.041,2574,549,2707,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10475,-1.32,-97.7,757.8,-5.8,249,10482,0.00,2.50,0.00,0.000,6,0.000,0.026,2562,2186,2706,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10896,-1.32,-97.7,796.9,-8.2,253,10902,0.00,2.60,0.00,0.000,4,0.000,0.041,2562,546,2704,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11148,-1.32,-97.7,817.0,-8.4,255,11153,0.00,2.45,0.00,0.000,6,0.000,0.026,2550,2190,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11495,-1.32,-97.7,845.2,-7.9,258,11503,0.00,2.60,0.00,0.000,4,0.000,0.040,2554,555,2703,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11585,-1.32,-97.7,845.2,-7.9,258,11593,0.10,2.47,0.00,0.000,6,0.142,0.026,2569,2179,2702,0,0,0,0,0,0,25.87,26.32,28.83
$GC,11975,-1.32,-97.7,884.6,-8.2,262,11983,0.00,2.60,0.00,0.000,4,0.000,0.041,2570,554,2702,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12135,-1.32,-97.7,895.4,-8.4,263,12142,0.00,2.50,0.00,0.000,6,0.000,0.027,2559,2185,2701,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12457,-1.32,-97.7,925.6,-8.5,266,12462,0.00,2.58,0.00,0.000,4,0.000,0.041,2560,548,2700,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12534,-1.32,-97.7,925.6,-8.5,266,12542,0.00,2.60,0.00,0.000,6,0.000,0.028,2547,2190,2700,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12936,-1.32,-97.7,960.6,-7.3,270,12942,0.00,2.62,0.00,0.000,4,0.000,0.042,2547,550,2697,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13105,-1.32,-97.7,969.9,-7.2,271,13113,0.10,2.50,0.00,0.000,6,0.142,0.027,2566,2180,2698,0,0,0,0,0,0,25.83,26.28,28.83
$STATE,13332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13332,begin apogee
$GC,13341,-0.29,0.0,991.5,-7.7,275,13434,1.05,0.00,85.95,1.681,6,0.123,0.000,2899,1577,2319,0,0,0,0,0,0,25.10,28.83,22.95
$STATE,13436,end apogee,CONTROL_FINISHED_OK
$STATE,13436,begin climb
$GC,13440,1.26,97.7,995.9,0.0,280,13543,1.42,2.80,92.05,1.677,4,0.062,0.035,3408,3201,1920,0,0,0,0,0,0,25.30,24.96,23.01
$GC,13616,1.14,123.4,992.2,5.5,289,13646,0.15,2.58,23.75,1.596,6,0.152,0.031,3376,1588,1815,0,0,0,0,0,0,25.47,25.83,23.44
$GC,13989,1.05,127.5,968.6,6.5,297,13999,0.12,2.67,3.85,1.095,4,0.172,0.035,3339,3207,1799,0,0,0,0,0,0,26.04,26.17,23.87
$GC,14077,0.97,131.6,968.6,6.5,297,14089,0.10,2.55,5.50,1.278,6,0.149,0.031,3319,1581,1784,0,0,0,0,0,0,25.88,26.21,23.84
$GC,14449,0.93,137.9,938.9,6.4,300,14458,0.00,0.00,7.35,1.395,6,0.000,0.000,3318,1581,1757,0,0,0,0,0,0,28.83,28.83,23.94
$GC,14808,0.93,137.9,911.9,7.3,303,14815,0.00,2.62,0.00,0.000,4,0.000,0.036,3318,3203,1755,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14857,0.93,137.9,911.9,7.3,303,14864,0.00,2.55,0.00,0.000,6,0.000,0.030,3329,1575,1755,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15168,0.93,137.9,884.6,7.6,306,15170,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1575,1754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15528,0.93,137.9,858.4,7.3,309,15535,0.00,2.65,0.00,0.000,4,0.000,0.035,3328,3204,1753,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15627,0.93,137.9,858.4,7.3,309,15635,0.15,2.55,0.00,0.000,6,0.158,0.031,3301,1578,1753,0,0,0,0,0,0,25.91,26.29,28.83
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$STATE,26528,end climb,SURFACE_DEPTH_REACHED
$STATE,26528,begin surface coast
$FINISH,1.3,1.010824
$STATE,26556,end surface coast,CONTROL_FINISHED_OK
$STATE,26556,begin surface
$SM_CCo,26582,43.72,0.125,0,0,1095,300.00
$SM_GC,2.15,8.43,2.80,43.72,0.027,0.026,0.125,153,2186,1095,-8.82,-0.74,300.00,0,0,0,0,0,0,26.34,26.34,25.57
$IRIDIUM_FIX,2415.74,-3747.10,050213,212123
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.63
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7592064
$TM_FREEKB,4631840
$24V_AH,23.0,79.193
$10V_AH,10.0,70.326
$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,21.925,231.150,265.675,43.725,0.000,27.717,47.216,201.607,0.000,0.000,18.640,2166.779,21681.715,708.901,2026.110,601.134,33.263,1681.185,0.000,1641.960,0.000,0.535,0.000
$DEVICE_MAMPS,181.305,96.390,1680.705,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26566.000,2970.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.292,13.471,0.000,0.000
$MEM,343672
$DATA_FILE_SIZE,13426,535
$CAP_FILE_SIZE,192702,0
$CFSIZE,260034560,208748544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060213,123305,2430.715,-3747.982,32,1.0,32,-14.0