version: 66.11
glider: 189
mission: 7
dive: 467
start: 2 7 113 10 21 19
data:
$ID,189
$MISSION,7
$DIVE,467
$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,-48241.613
$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
$GPS1,070213,101105,2431.892,-3748.129,34,0.9,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-60.0
$GPS2,070213,102018,2431.861,-3748.192,13,0.9,14,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.017,-0.114
$KALMAN_X,207783.8,-111.0,-25.8,-184560.7,-404.8
$KALMAN_Y,61153.4,207.6,-493.7,-67826.2,584.8
$MHEAD_RNG_PITCHd_Wd,185.6,1655,-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,19,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.65,0.000,2,0.000,0.000,155,2118,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.4,0.0,1,105,8.98,2.58,-50.40,0.000,4,0.180,0.052,2571,548,2719,0,0,0,0,0,0,25.34,25.97,26.70
$GC,368,-1.25,-97.7,20.0,-6.5,34,376,0.15,2.45,0.00,0.000,6,0.157,0.024,2599,2192,2720,0,0,0,0,0,0,25.83,26.30,28.83
$GC,675,-1.25,-97.7,42.4,-7.6,65,684,0.00,2.50,0.00,0.000,4,0.000,0.041,2589,3740,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,976,-1.21,-97.7,62.5,-7.4,95,983,0.00,2.45,0.00,0.000,6,0.000,0.021,2589,2094,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1286,-1.19,-97.7,85.4,-8.3,118,1293,0.00,2.67,0.00,0.000,4,0.000,0.039,2577,3751,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1445,-1.15,-97.7,98.6,-8.9,123,1453,0.15,2.45,0.00,0.000,6,0.125,0.021,2626,2091,2722,0,0,0,0,0,0,25.89,26.44,28.83
$GC,1768,-1.15,-97.7,124.2,-7.4,134,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2091,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2066,-1.17,-97.7,145.0,-7.1,144,2072,0.00,2.67,0.00,0.000,4,0.000,0.039,2615,3747,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2135,-1.17,-97.7,149.1,-6.9,146,2142,0.00,2.45,0.00,0.000,6,0.000,0.021,2615,2092,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2456,-1.17,-97.7,170.1,-6.3,152,2462,0.00,2.65,0.00,0.000,4,0.000,0.039,2603,3752,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2677,-1.17,-97.7,180.9,-6.0,155,2682,0.00,2.40,0.00,0.000,6,0.000,0.021,2602,2094,2725,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2996,-1.17,-97.7,200.9,-5.6,161,3002,0.00,2.38,0.00,0.000,4,0.000,0.037,2603,546,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3135,-1.17,-97.7,209.1,-6.3,163,3143,0.12,2.47,0.00,0.000,6,0.155,0.023,2623,2194,2725,0,0,0,0,0,0,26.04,26.41,28.83
$GC,3476,-1.21,-97.7,234.7,-7.3,169,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2194,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-1.25,-97.7,258.7,-8.0,174,3782,0.00,2.58,0.00,0.000,4,0.000,0.037,2623,548,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3855,-1.28,-97.7,263.6,-8.1,175,3862,0.00,2.50,0.00,0.000,6,0.000,0.024,2612,2189,2724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4197,-1.32,-97.7,292.3,-8.0,181,4203,0.12,2.53,0.00,0.000,4,0.080,0.037,2545,546,2725,0,0,0,0,0,0,26.65,26.20,28.83
$GC,4397,-1.29,-97.7,308.9,-9.0,184,4403,0.17,2.45,0.00,0.000,6,0.152,0.024,2579,2197,2724,0,0,0,0,0,0,25.88,26.40,28.83
$GC,4736,-1.29,-97.7,340.0,-8.5,190,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2197,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5036,-1.29,-97.7,362.2,-7.3,195,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2197,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5336,-1.29,-97.7,380.1,-5.8,200,5342,0.00,2.53,0.00,0.000,4,0.000,0.042,2570,3754,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5385,-1.29,-97.7,380.1,-5.8,200,5394,0.00,2.45,0.00,0.000,6,0.000,0.021,2569,2104,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5696,-1.29,-97.7,401.4,-6.1,206,5702,0.00,2.45,0.00,0.000,4,0.000,0.037,2570,542,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5795,-1.29,-97.7,405.7,-6.5,207,5802,0.00,2.50,0.00,0.000,6,0.000,0.024,2557,2196,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6116,-1.29,-97.7,434.9,-8.3,213,6122,0.00,2.50,0.00,0.000,4,0.000,0.042,2546,3772,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6327,-1.26,-97.7,450.6,-8.7,216,6333,0.17,2.45,0.00,0.000,6,0.143,0.021,2593,2088,2720,0,0,0,0,0,0,25.93,26.45,28.83
$GC,6657,-1.29,-97.7,476.3,-6.8,222,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2088,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6956,-1.33,-97.7,495.3,-6.3,227,6962,0.00,2.42,0.00,0.000,4,0.000,0.039,2593,549,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7077,-1.35,-97.7,503.3,-6.6,229,7082,0.00,2.42,0.00,0.000,6,0.000,0.024,2582,2196,2719,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7436,-1.35,-97.7,529.9,-7.3,232,7443,0.00,2.60,0.00,0.000,4,0.000,0.037,2583,548,2718,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7595,-1.35,-97.7,540.5,-7.7,233,7602,0.00,2.50,0.00,0.000,6,0.000,0.024,2570,2197,2717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7917,-1.35,-97.7,571.5,-8.7,236,7922,0.00,2.47,0.00,0.000,4,0.000,0.043,2559,3754,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7994,-1.35,-97.7,571.5,-8.7,236,8002,0.00,2.47,0.00,0.000,6,0.000,0.021,2559,2101,2716,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8396,-1.35,-97.7,603.9,-6.7,240,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2101,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8755,-1.35,-97.7,629.6,-6.9,243,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2101,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,-1.35,-97.7,663.2,-8.9,246,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2101,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9475,-1.35,-97.7,696.4,-9.4,249,9482,0.00,2.47,0.00,0.000,4,0.000,0.040,2560,549,2712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9634,-1.35,-97.7,706.8,-9.1,250,9642,0.00,2.50,0.00,0.000,6,0.000,0.024,2547,2189,2712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9956,-1.35,-97.7,733.2,-7.7,253,9962,0.00,2.50,0.00,0.000,4,0.000,0.043,2535,3757,2710,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10024,-1.35,-97.7,733.2,-7.7,253,10032,0.00,2.50,0.00,0.000,6,0.000,0.022,2535,2096,2711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10435,-1.35,-97.7,766.2,-6.8,257,10442,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,549,2709,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10485,-1.35,-97.7,766.2,-6.8,257,10493,0.10,2.47,0.00,0.000,6,0.140,0.025,2556,2180,2709,0,0,0,0,0,0,25.90,26.34,28.83
$GC,10795,-1.35,-97.7,795.0,-7.8,260,10802,0.00,2.60,0.00,0.000,4,0.000,0.040,2556,549,2708,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10864,-1.35,-97.7,795.0,-7.8,260,10872,0.00,2.50,0.00,0.000,6,0.000,0.025,2546,2188,2708,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11276,-1.35,-97.7,845.4,-10.5,264,11282,0.00,2.50,0.00,0.000,4,0.000,0.044,2534,3754,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11444,-1.35,-97.7,859.1,-10.9,265,11453,0.12,2.50,0.00,0.000,6,0.152,0.023,2565,2096,2706,0,0,0,0,0,0,25.98,26.36,28.83
$GC,11756,-1.38,-97.7,894.9,-10.3,268,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2096,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12116,-1.43,-97.7,923.3,-8.2,271,12122,0.00,2.42,0.00,0.000,4,0.000,0.042,2566,549,2704,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12245,-1.47,-97.7,932.1,-7.7,272,12252,0.00,2.53,0.00,0.000,6,0.000,0.025,2555,2201,2703,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12597,-1.50,-97.7,954.0,-6.3,275,12599,0.12,0.00,0.00,0.000,6,0.085,0.000,2497,2201,2702,0,0,0,0,0,0,26.61,28.83,28.83
$GC,12955,-1.50,-97.7,979.7,-6.8,278,12963,0.00,2.53,0.00,0.000,4,0.000,0.044,2485,3752,2702,0,0,0,0,0,0,28.83,25.95,28.83
$GC,13024,-1.50,-97.7,979.7,-6.8,278,13033,0.12,2.50,0.00,0.000,6,0.164,0.024,2515,2101,2702,0,0,0,0,0,0,25.89,26.32,28.83
$STATE,13092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13092,begin apogee
$GC,13101,-0.29,0.0,991.4,-7.7,280,13195,1.25,0.08,86.35,1.672,6,0.134,0.100,2898,1633,2320,0,0,0,0,0,0,24.95,24.81,22.99
$STATE,13197,end apogee,CONTROL_FINISHED_OK
$STATE,13197,begin climb
$GC,13200,1.33,97.7,995.8,0.0,285,13303,1.50,2.70,92.35,1.688,4,0.060,0.036,3430,3205,1921,0,0,0,0,0,0,25.29,24.96,23.01
$GC,13365,1.24,147.6,993.5,4.2,293,13416,0.12,2.58,44.95,1.642,6,0.161,0.030,3406,1583,1720,0,0,0,0,0,0,25.44,25.81,23.30
$GC,13746,1.16,148.4,967.8,6.6,303,13753,0.12,1.98,0.00,0.000,4,0.174,0.048,3382,350,1713,0,0,0,0,0,0,26.08,26.12,28.83
$GC,13948,1.08,148.4,959.2,6.8,304,13954,0.12,1.90,0.00,0.000,6,0.169,0.025,3353,1657,1711,0,0,0,0,0,0,26.01,26.40,28.83
$GC,14346,1.05,148.4,923.1,7.5,308,14353,0.00,2.10,0.00,0.000,4,0.000,0.048,3361,356,1710,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14446,1.01,148.4,923.1,7.5,308,14453,0.10,1.92,0.00,0.000,6,0.142,0.025,3329,1647,1709,0,0,0,0,0,0,26.04,26.47,28.83
$GC,14825,1.01,148.4,880.7,8.8,312,14833,0.00,2.50,0.00,0.000,4,0.000,0.036,3329,3205,1708,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14894,1.01,148.4,880.7,8.8,312,14902,0.00,2.55,0.00,0.000,6,0.000,0.031,3339,1575,1708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,15306,1.01,148.4,843.4,7.7,316,15313,0.00,2.60,0.00,0.000,4,0.000,0.036,3339,3195,1706,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15394,1.01,148.4,843.4,7.7,316,15402,0.00,2.53,0.00,0.000,6,0.000,0.030,3352,1580,1706,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,25455,end climb,SURFACE_DEPTH_REACHED
$STATE,25455,begin surface coast
$FINISH,1.2,1.001238
$STATE,25483,end surface coast,CONTROL_FINISHED_OK
$STATE,25483,begin surface
$SM_CCo,25510,60.08,0.125,0,0,1094,300.00
$SM_GC,2.32,8.60,2.80,60.08,0.037,0.025,0.125,151,2186,1094,-8.81,-0.74,300.00,0,0,0,0,0,0,26.25,26.27,25.35
$IRIDIUM_FIX,2418.11,-3745.23,070213,030302
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.12
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7590528
$TM_FREEKB,4614624
$24V_AH,23.0,79.746
$10V_AH,10.0,70.839
$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,23.175,212.325,242.350,60.075,0.000,28.846,37.772,197.925,0.000,0.000,15.252,2234.500,20498.648,695.116,2077.678,604.219,33.260,1680.887,0.000,1708.755,0.000,0.535,0.000
$DEVICE_MAMPS,179.775,100.215,1687.590,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25494.000,2897.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.247,13.496,0.000,0.000
$MEM,343716
$DATA_FILE_SIZE,13439,535
$CAP_FILE_SIZE,193612,0
$CFSIZE,260034560,208400384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070213,172834,2430.318,-3748.927,24,1.1,24,-14.0