version: 66.11
glider: 189
mission: 7
dive: 472
start: 2 8 113 22 57 30
data:
$ID,189
$MISSION,7
$DIVE,472
$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,-48247.902
$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
$GPS1,080213,224652,2432.212,-3747.566,39,0.9,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-57.4
$GPS2,080213,225629,2432.151,-3747.690,16,1.0,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.104,-0.059
$KALMAN_X,198203.7,490.5,560.3,-175336.4,-4183.8
$KALMAN_Y,59596.5,178.6,-213.5,-65987.8,-334.1
$MHEAD_RNG_PITCHd_Wd,133.4,2375,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.75,0.000,2,0.000,0.000,151,2177,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,104,9.10,2.60,-50.05,0.000,4,0.184,0.050,2588,553,2719,0,0,0,0,0,0,25.33,25.93,26.70
$GC,165,-1.14,-97.7,7.2,-10.6,14,174,0.15,2.47,0.00,0.000,6,0.131,0.024,2626,2187,2720,0,0,0,0,0,0,25.71,26.25,28.83
$GC,474,-1.14,-97.7,30.6,-7.4,45,483,0.00,2.53,0.00,0.000,4,0.000,0.041,2616,3747,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,555,-1.11,-97.7,36.9,-7.9,53,563,0.00,2.45,0.00,0.000,6,0.000,0.021,2616,2100,2720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,865,-1.09,-97.7,63.1,-7.9,84,867,0.12,0.00,0.00,0.000,6,0.149,0.000,2649,2100,2721,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1186,-1.11,-97.7,84.9,-6.4,106,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1486,-1.13,-97.7,102.6,-5.2,116,1492,0.00,2.45,0.00,0.000,4,0.000,0.038,2649,549,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1625,-1.13,-97.7,109.5,-5.7,120,1634,0.00,2.45,0.00,0.000,6,0.000,0.024,2639,2187,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1935,-1.13,-97.7,129.7,-5.7,131,1942,0.00,2.58,0.00,0.000,4,0.000,0.036,2639,548,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1985,-1.13,-97.7,131.7,-5.9,132,1994,0.00,2.45,0.00,0.000,6,0.000,0.023,2627,2187,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2326,-1.13,-97.7,154.8,-6.7,143,2332,0.00,2.50,0.00,0.000,4,0.000,0.040,2615,3747,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2376,-1.13,-97.7,154.8,-6.7,143,2383,0.00,2.42,0.00,0.000,6,0.000,0.021,2615,2101,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2686,-1.13,-97.7,184.6,-8.7,149,2692,0.00,2.42,0.00,0.000,4,0.000,0.037,2615,548,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2774,-1.13,-97.7,190.1,-8.9,150,2783,0.12,2.47,0.00,0.000,6,0.156,0.023,2635,2193,2726,0,0,0,0,0,0,26.05,26.42,28.83
$GC,3106,-1.16,-97.7,221.1,-8.4,156,3112,0.00,2.58,0.00,0.000,4,0.000,0.036,2636,550,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3175,-1.16,-97.7,225.7,-8.1,157,3182,0.00,2.47,0.00,0.000,6,0.000,0.024,2625,2189,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3526,-1.16,-97.7,245.0,-4.8,163,3532,0.00,2.58,0.00,0.000,4,0.000,0.036,2625,552,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3626,-1.16,-97.7,247.3,-4.3,164,3632,0.00,2.47,0.00,0.000,6,0.000,0.024,2613,2195,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3946,-1.16,-97.7,259.8,-3.5,170,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2195,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4246,-1.16,-97.7,275.1,-5.3,175,4252,0.00,2.60,0.00,0.000,4,0.000,0.036,2613,519,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4384,-1.16,-97.7,284.6,-6.9,177,4392,0.00,2.53,0.00,0.000,6,0.000,0.024,2601,2190,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4726,-1.16,-97.7,322.0,-11.0,183,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2190,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5025,-1.16,-97.7,354.6,-10.8,188,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2190,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5325,-1.16,-97.7,379.5,-8.0,193,5332,0.00,2.60,0.00,0.000,4,0.000,0.037,2601,548,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5427,-1.16,-97.7,383.6,-7.5,194,5433,0.15,2.42,0.00,0.000,6,0.150,0.024,2629,2191,2722,0,0,0,0,0,0,25.98,26.40,28.83
$GC,5746,-1.20,-97.7,404.2,-5.4,200,5752,0.00,2.58,0.00,0.000,4,0.000,0.037,2630,553,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5836,-1.24,-97.7,407.7,-5.5,201,5842,0.00,2.45,0.00,0.000,6,0.000,0.024,2619,2183,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6166,-1.28,-97.7,430.4,-6.5,207,6172,0.00,2.53,0.00,0.000,4,0.000,0.037,2619,548,2721,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6265,-1.31,-97.7,434.5,-6.6,208,6272,0.00,2.47,0.00,0.000,6,0.000,0.024,2607,2190,2720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6586,-1.34,-97.7,459.8,-7.0,214,6593,0.12,2.47,0.00,0.000,4,0.081,0.041,2529,3751,2719,0,0,0,0,0,0,26.65,26.14,28.83
$GC,6625,-1.36,-97.7,459.8,-7.0,214,6633,0.12,2.47,0.00,0.000,6,0.152,0.021,2565,2090,2718,0,0,0,0,0,0,26.01,26.45,28.83
$GC,6947,-1.34,-97.7,484.7,-6.9,220,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2090,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-1.34,-97.7,508.1,-6.4,225,7312,0.00,2.67,0.00,0.000,4,0.000,0.041,2555,3739,2717,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7537,-1.32,-97.7,516.7,-6.6,226,7545,0.00,2.42,0.00,0.000,6,0.000,0.022,2555,2099,2717,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7906,-1.28,-97.7,559.4,-8.9,230,7908,0.12,0.00,0.00,0.000,6,0.151,0.000,2587,2099,2715,0,0,0,0,0,0,26.36,28.83,28.83
$GC,8265,-1.28,-97.7,592.6,-9.4,233,8272,0.00,2.47,0.00,0.000,4,0.000,0.039,2587,546,2714,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8314,-1.28,-97.7,592.6,-9.4,233,8322,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2191,2714,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8626,-1.28,-97.7,619.9,-7.9,236,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2191,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8985,-1.28,-97.7,641.9,-6.2,239,8992,0.00,2.60,0.00,0.000,4,0.000,0.038,2577,549,2712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9065,-1.28,-97.7,641.9,-6.2,239,9072,0.00,2.47,0.00,0.000,6,0.000,0.024,2566,2185,2711,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9465,-1.28,-97.7,684.2,-8.8,243,9472,0.00,2.55,0.00,0.000,4,0.000,0.042,2554,3750,2711,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9515,-1.28,-97.7,684.2,-8.8,243,9523,0.08,2.47,0.00,0.000,6,0.132,0.022,2579,2091,2711,0,0,0,0,0,0,26.07,26.41,28.83
$GC,9825,-1.28,-97.7,719.4,-9.8,246,9832,0.00,2.67,0.00,0.000,4,0.000,0.041,2569,3741,2710,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9945,-1.28,-97.7,730.9,-9.7,247,9952,0.00,2.45,0.00,0.000,6,0.000,0.022,2569,2103,2710,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10306,-1.28,-97.7,760.2,-8.5,250,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2103,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10665,-1.28,-97.7,785.4,-7.1,253,10672,0.00,2.45,0.00,0.000,4,0.000,0.040,2569,551,2708,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10724,-1.28,-97.7,785.4,-7.1,253,10733,0.12,2.53,0.00,0.000,6,0.160,0.024,2587,2188,2708,0,0,0,0,0,0,25.96,26.35,28.83
$GC,11146,-1.32,-97.7,819.9,-7.2,257,11152,0.00,2.58,0.00,0.000,4,0.000,0.040,2588,549,2707,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11245,-1.35,-97.7,819.9,-7.2,257,11252,0.00,2.50,0.00,0.000,6,0.000,0.024,2578,2190,2706,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11626,-1.39,-97.7,864.3,-9.3,261,11632,0.00,2.62,0.00,0.000,4,0.000,0.041,2578,544,2705,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11675,-1.42,-97.7,864.3,-9.3,261,11682,0.00,2.50,0.00,0.000,6,0.000,0.025,2566,2192,2704,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11986,-1.44,-97.7,899.3,-9.8,264,11992,0.00,2.62,0.00,0.000,4,0.000,0.041,2566,546,2704,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12096,-1.47,-97.7,899.3,-9.8,264,12103,0.00,2.50,0.00,0.000,6,0.000,0.026,2554,2187,2703,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12465,-1.47,-97.7,941.4,-8.7,268,12472,0.00,2.62,0.00,0.000,4,0.000,0.041,2554,545,2702,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12566,-1.47,-97.7,941.4,-8.7,268,12572,0.00,2.50,0.00,0.000,6,0.000,0.026,2542,2188,2702,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12945,-1.47,-97.7,977.2,-7.4,272,12952,0.00,2.62,0.00,0.000,4,0.000,0.041,2542,553,2701,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12995,-1.47,-97.7,977.2,-7.4,272,13002,0.00,2.55,0.00,0.000,6,0.000,0.026,2530,2182,2701,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,13142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13142,begin apogee
$GC,13150,-0.29,0.0,991.1,-7.1,277,13244,1.20,0.00,86.12,1.678,6,0.128,0.000,2901,1574,2320,0,0,0,0,0,0,25.05,28.83,22.99
$STATE,13246,end apogee,CONTROL_FINISHED_OK
$STATE,13246,begin climb
$GC,13250,1.26,97.7,993.9,0.0,282,13353,1.40,2.10,92.65,1.689,4,0.060,0.048,3416,357,1920,0,0,0,0,0,0,25.31,24.92,23.01
$GC,13406,1.11,103.9,988.7,6.4,290,13417,0.17,1.98,5.95,1.313,6,0.149,0.024,3367,1656,1896,0,0,0,0,0,0,25.41,25.85,23.47
$GC,13817,1.03,103.9,958.2,7.4,295,13823,0.12,2.05,0.00,0.000,4,0.171,0.048,3341,353,1894,0,0,0,0,0,0,26.14,26.13,28.83
$GC,13865,0.94,103.9,958.2,7.4,295,13873,0.15,1.95,0.00,0.000,6,0.158,0.024,3302,1662,1890,0,0,0,0,0,0,25.95,26.39,28.83
$GC,14177,0.90,106.1,935.3,6.6,298,14182,0.00,2.45,0.00,0.000,4,0.000,0.037,3302,3207,1889,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,26034,end climb,SURFACE_DEPTH_REACHED
$STATE,26034,begin surface coast
$FINISH,1.4,1.025792
$STATE,26058,end surface coast,CONTROL_FINISHED_OK
$STATE,26058,begin surface
$SM_CCo,26084,52.80,0.125,0,0,1092,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7588608
$TM_FREEKB,4592480
$24V_AH,23.0,80.432
$10V_AH,10.0,71.483
$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
$DEVICE_SECS,22.350,244.375,268.725,52.800,0.000,25.948,51.149,198.592,0.000,0.000,17.626,2108.967,21281.365,753.084,1941.261,614.508,33.265,1707.145,0.000,1569.264,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.275,13.469,0.000,0.000
$MEM,343672
$DATA_FILE_SIZE,13452,527
$CAP_FILE_SIZE,197506,0
$CFSIZE,260034560,207958016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090213,061428,2431.023,-3747.351,40,0.8,40,-13.9