version: 66.11
glider: 189
mission: 7
dive: 468
start: 2 7 113 17 39 19
data:
$ID,189
$MISSION,7
$DIVE,468
$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,-48242.871
$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
$GPS1,070213,172834,2430.318,-3748.927,24,1.1,24,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-60.7
$GPS2,070213,173817,2430.292,-3749.010,14,1.3,14,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.099,0.067
$KALMAN_X,205722.7,-94.0,97.5,-184014.0,-2208.1
$KALMAN_Y,60842.5,46.0,465.2,-71216.1,-1278.7
$MHEAD_RNG_PITCHd_Wd,69.9,1810,-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,-11.32,0.000,2,0.000,0.000,151,2128,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.3,0.0,1,105,9.10,2.62,-49.67,0.000,4,0.184,0.050,2575,3750,2718,0,0,0,0,0,0,25.26,25.94,26.70
$GC,346,-1.18,-97.7,20.4,-8.4,32,354,0.12,2.47,0.00,0.000,6,0.132,0.021,2615,2085,2719,0,0,0,0,0,0,25.84,26.34,28.83
$GC,656,-1.15,-97.7,43.3,-7.0,63,663,0.00,2.67,0.00,0.000,4,0.000,0.040,2604,3747,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,956,-1.11,-97.7,66.0,-7.5,93,964,0.10,2.45,0.00,0.000,6,0.128,0.021,2637,2086,2721,0,0,0,0,0,0,25.98,26.42,28.83
$GC,1265,-1.11,-97.7,89.0,-7.7,112,1272,0.00,2.65,0.00,0.000,4,0.000,0.039,2627,3747,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1515,-1.11,-97.7,109.9,-9.1,120,1522,0.00,2.45,0.00,0.000,6,0.000,0.021,2626,2101,2721,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1836,-1.11,-97.7,135.2,-6.8,131,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2101,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2136,-1.11,-97.7,150.9,-5.1,141,2142,0.00,2.42,0.00,0.000,4,0.000,0.037,2627,549,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2196,-1.11,-97.7,154.2,-5.3,142,2202,0.00,2.42,0.00,0.000,6,0.000,0.024,2614,2203,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2556,-1.11,-97.7,175.6,-6.2,148,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-1.11,-97.7,196.4,-7.0,153,2863,0.00,2.47,0.00,0.000,4,0.000,0.039,2602,3743,2722,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3055,-1.11,-97.7,210.1,-7.5,156,3063,0.10,2.45,0.00,0.000,6,0.123,0.021,2637,2082,2723,0,0,0,0,0,0,26.06,26.46,28.83
$GC,3396,-1.14,-97.7,234.0,-6.6,162,3402,0.00,2.40,0.00,0.000,4,0.000,0.037,2637,552,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3516,-1.14,-97.7,241.9,-6.6,164,3522,0.00,2.40,0.00,0.000,6,0.000,0.024,2626,2193,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3876,-1.16,-97.7,267.1,-7.2,170,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2193,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4176,-1.19,-97.7,291.0,-8.1,175,4182,0.00,2.58,0.00,0.000,4,0.000,0.036,2626,549,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4305,-1.19,-97.7,301.4,-8.4,177,4312,0.00,2.47,0.00,0.000,6,0.000,0.023,2614,2196,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4656,-1.21,-97.7,330.3,-7.8,183,4662,0.00,2.60,0.00,0.000,4,0.000,0.036,2614,546,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4765,-1.21,-97.7,334.8,-7.7,184,4774,0.00,2.47,0.00,0.000,6,0.000,0.024,2602,2198,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5075,-1.21,-97.7,361.6,-7.4,190,5082,0.00,2.60,0.00,0.000,4,0.000,0.036,2602,548,2722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5164,-1.21,-97.7,366.5,-7.7,191,5172,0.00,2.50,0.00,0.000,6,0.000,0.024,2590,2198,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5496,-1.21,-97.7,396.9,-8.6,197,5502,0.00,2.47,0.00,0.000,4,0.000,0.041,2579,3758,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5594,-1.21,-97.7,402.3,-8.7,198,5603,0.12,2.47,0.00,0.000,6,0.145,0.021,2611,2097,2721,0,0,0,0,0,0,26.10,26.46,28.83
$GC,5916,-1.24,-97.7,434.1,-8.8,204,5922,0.00,2.42,0.00,0.000,4,0.000,0.038,2612,552,2720,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6005,-1.24,-97.7,439.4,-8.9,205,6012,0.00,2.47,0.00,0.000,6,0.000,0.024,2601,2196,2720,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6335,-1.24,-97.7,470.4,-8.6,211,6342,0.00,2.60,0.00,0.000,4,0.000,0.037,2601,549,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6384,-1.24,-97.7,470.4,-8.6,211,6393,0.00,2.50,0.00,0.000,6,0.000,0.024,2589,2198,2717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6696,-1.24,-97.7,499.0,-7.9,217,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2198,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6996,-1.24,-97.7,521.8,-7.6,220,7002,0.00,2.62,0.00,0.000,4,0.000,0.037,2589,550,2718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7094,-1.24,-97.7,521.8,-7.6,220,7102,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2194,2717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7476,-1.24,-97.7,558.7,-7.7,224,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2195,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7836,-1.24,-97.7,586.0,-7.6,227,7842,0.00,2.60,0.00,0.000,4,0.000,0.038,2577,539,2714,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7994,-1.24,-97.7,595.7,-7.7,228,8003,0.12,2.53,0.00,0.000,6,0.160,0.024,2596,2202,2714,0,0,0,0,0,0,25.99,26.38,28.83
$GC,8315,-1.24,-97.7,623.4,-7.8,231,8322,0.00,2.62,0.00,0.000,4,0.000,0.038,2596,542,2714,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8405,-1.24,-97.7,623.4,-7.8,231,8413,0.00,2.47,0.00,0.000,6,0.000,0.024,2586,2181,2713,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8796,-1.26,-97.7,664.4,-8.6,235,8802,0.00,2.60,0.00,0.000,4,0.000,0.038,2586,546,2712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8985,-1.26,-97.7,674.8,-8.6,236,8992,0.00,2.50,0.00,0.000,6,0.000,0.024,2574,2202,2711,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9397,-1.26,-97.7,712.4,-7.8,240,9402,0.00,2.58,0.00,0.000,4,0.000,0.039,2574,548,2711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9494,-1.26,-97.7,712.4,-7.8,240,9503,0.12,2.50,0.00,0.000,6,0.160,0.024,2593,2188,2711,0,0,0,0,0,0,25.97,26.34,28.83
$GC,9877,-1.30,-97.7,743.8,-6.5,244,9883,0.00,2.58,0.00,0.000,4,0.000,0.039,2593,544,2710,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10118,-1.32,-97.7,760.7,-6.6,246,10124,0.00,2.45,0.00,0.000,6,0.000,0.025,2583,2189,2709,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10477,-1.35,-97.7,787.2,-7.3,249,10483,0.00,2.58,0.00,0.000,4,0.000,0.040,2583,548,2708,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10655,-1.37,-97.7,797.3,-7.6,250,10662,0.00,2.50,0.00,0.000,6,0.000,0.025,2571,2188,2707,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11075,-1.37,-97.7,836.0,-8.1,254,11082,0.00,2.62,0.00,0.000,4,0.000,0.040,2570,543,2706,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11275,-1.37,-97.7,845.7,-8.0,255,11282,0.00,2.50,0.00,0.000,6,0.000,0.025,2559,2183,2705,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11676,-1.37,-97.7,883.3,-7.8,259,11682,0.00,2.62,0.00,0.000,4,0.000,0.041,2559,543,2704,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11885,-1.37,-97.7,893.2,-7.8,260,11893,0.00,2.50,0.00,0.000,6,0.000,0.025,2547,2186,2700,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12275,-1.37,-97.7,932.4,-8.1,264,12282,0.00,2.62,0.00,0.000,4,0.000,0.041,2547,546,2702,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12434,-1.37,-97.7,941.9,-8.0,265,12442,0.00,2.53,0.00,0.000,6,0.000,0.025,2535,2191,2701,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12756,-1.37,-97.7,968.9,-7.6,268,12762,0.00,2.58,0.00,0.000,4,0.000,0.041,2535,549,2701,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12824,-1.37,-97.7,968.9,-7.6,268,12833,0.15,2.58,0.00,0.000,6,0.158,0.026,2561,2191,2699,0,0,0,0,0,0,25.79,26.29,28.83
$STATE,13052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13052,begin apogee
$GC,13061,-0.29,0.0,991.3,-7.4,273,13155,1.08,0.05,86.40,1.688,6,0.122,0.131,2903,1628,2320,0,0,0,0,0,0,25.10,24.72,22.94
$STATE,13157,end apogee,CONTROL_FINISHED_OK
$STATE,13157,begin climb
$GC,13161,1.26,97.7,995.3,0.0,278,13263,1.38,2.67,92.75,1.690,4,0.060,0.035,3403,3199,1920,0,0,0,0,0,0,25.31,24.95,22.99
$GC,13376,1.13,115.2,989.0,5.9,289,13398,0.15,2.55,16.20,1.560,6,0.152,0.031,3371,1591,1849,0,0,0,0,0,0,25.58,25.96,23.59
$GC,13810,1.07,136.9,964.5,5.7,296,13835,0.00,2.70,20.15,1.587,4,0.000,0.035,3371,3206,1761,0,0,0,0,0,0,28.83,25.76,23.76
$GC,13877,1.01,158.6,964.5,5.7,296,13905,0.17,2.58,21.27,1.587,6,0.148,0.031,3329,1585,1673,0,0,0,0,0,0,25.58,25.95,23.53
$GC,14277,0.98,158.6,932.2,6.9,300,14284,0.00,1.98,0.00,0.000,4,0.000,0.049,3336,353,1668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14387,0.95,158.6,932.2,6.9,300,14396,0.08,1.92,0.00,0.000,6,0.139,0.025,3311,1649,1667,0,0,0,0,0,0,26.07,26.40,28.83
$GC,14757,0.95,158.6,890.9,8.6,304,14764,0.00,2.10,0.00,0.000,4,0.000,0.049,3320,350,1666,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14796,0.95,158.6,890.9,8.6,304,14803,0.00,1.98,0.00,0.000,6,0.000,0.025,3320,1661,1665,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15117,0.95,158.6,858.4,9.1,307,15124,0.00,2.12,0.00,0.000,4,0.000,0.049,3329,350,1664,0,0,0,0,0,0,28.83,26.16,28.83
$GC,15186,0.95,158.6,858.4,9.1,307,15193,0.00,1.98,0.00,0.000,6,0.000,0.025,3330,1660,1664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15597,0.95,158.6,820.0,8.0,311,15604,0.00,2.12,0.00,0.000,4,0.000,0.048,3339,350,1663,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,25875,end climb,SURFACE_DEPTH_REACHED
$STATE,25875,begin surface coast
$FINISH,1.3,1.025017
$STATE,25916,end surface coast,CONTROL_FINISHED_OK
$STATE,25916,begin surface
$SM_CCo,25940,60.15,0.123,0,0,1094,300.00
$SM_GC,2.41,8.50,0.82,60.15,0.035,0.033,0.123,153,2197,1094,-8.82,-0.42,300.00,0,0,0,0,0,0,26.26,26.39,25.41
$IRIDIUM_FIX,2432.32,-3742.93,070213,101036
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.38
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7590144
$TM_FREEKB,4609856
$24V_AH,22.9,79.879
$10V_AH,10.0,70.970
$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,21.800,223.175,243.350,60.150,0.000,27.090,38.638,221.113,0.000,0.000,15.399,2186.915,21010.686,712.164,2067.740,593.463,33.262,1692.314,0.000,1677.509,0.000,0.535,0.000
$DEVICE_MAMPS,183.600,131.580,1689.885,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25929.000,3048.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.298,13.511,0.000,0.000
$MEM,343672
$DATA_FILE_SIZE,13385,536
$CAP_FILE_SIZE,190651,0
$CFSIZE,260034560,208314368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080213,005359,2431.092,-3748.137,39,1.0,39,-14.0