version: 66.11
glider: 189
mission: 7
dive: 475
start: 2 9 113 20 19 13
data:
$ID,189
$MISSION,7
$DIVE,475
$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,-48251.676
$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
$GPS1,090213,200834,2430.796,-3749.072,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-58.8
$GPS2,090213,201812,2430.745,-3749.192,19,1.0,19,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,0.003
$KALMAN_X,192110.6,511.9,656.0,-171884.1,-4947.8
$KALMAN_Y,59243.8,331.7,-8.9,-68595.8,-455.8
$MHEAD_RNG_PITCHd_Wd,102.4,1666,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.26,-97.7,0.0,0.0,0,36,0.00,0.00,-10.75,0.000,2,0.000,0.000,151,2128,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.26,-97.7,2.2,0.0,1,105,8.95,0.00,-50.08,0.000,6,0.175,0.000,2586,2125,2718,0,0,0,0,0,0,25.22,28.83,26.70
$GC,409,-1.21,-97.7,26.5,-7.5,38,416,0.00,2.60,0.00,0.000,4,0.000,0.040,2576,3750,2720,0,0,0,0,0,0,28.83,26.04,28.83
$GC,559,-1.14,-97.7,40.7,-10.0,53,567,0.20,2.42,0.00,0.000,6,0.141,0.021,2631,2093,2720,0,0,0,0,0,0,25.78,26.38,28.83
$GC,866,-1.14,-97.7,65.5,-7.2,84,875,0.00,2.67,0.00,0.000,4,0.000,0.039,2620,3752,2720,0,0,0,0,0,0,28.83,26.09,28.83
$GC,996,-1.14,-97.7,75.4,-7.7,97,1003,0.00,2.45,0.00,0.000,6,0.000,0.021,2620,2105,2721,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1316,-1.14,-97.7,97.5,-6.9,108,1323,0.00,2.45,0.00,0.000,4,0.000,0.037,2620,545,2721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1386,-1.11,-97.7,101.9,-7.1,110,1394,0.08,2.53,0.00,0.000,6,0.135,0.023,2634,2190,2721,0,0,0,0,0,0,26.04,26.38,28.83
$GC,1710,-1.11,-97.7,124.8,-6.7,121,1715,0.00,2.55,0.00,0.000,4,0.000,0.037,2635,540,2722,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1775,-1.11,-97.7,128.9,-6.8,123,1783,0.00,2.50,0.00,0.000,6,0.000,0.023,2624,2201,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2097,-1.11,-97.7,151.1,-6.4,134,2103,0.00,2.60,0.00,0.000,4,0.000,0.036,2624,542,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2146,-1.11,-97.7,151.1,-6.4,134,2155,0.00,2.47,0.00,0.000,6,0.000,0.023,2611,2197,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2457,-1.11,-97.7,173.3,-6.0,140,2459,0.12,0.00,0.00,0.000,6,0.155,0.000,2645,2198,2722,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2757,-1.15,-97.7,187.7,-4.7,145,2763,0.00,2.55,0.00,0.000,4,0.000,0.036,2645,545,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2837,-1.17,-97.7,190.6,-4.7,146,2844,0.00,2.53,0.00,0.000,6,0.000,0.024,2634,2195,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3177,-1.20,-97.7,212.5,-6.4,152,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2195,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3478,-1.23,-97.7,235.6,-7.8,157,3483,0.00,2.55,0.00,0.000,4,0.000,0.037,2634,546,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3586,-1.26,-97.7,240.9,-8.1,158,3595,0.00,2.50,0.00,0.000,6,0.000,0.024,2622,2199,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3896,-1.26,-97.7,272.3,-8.8,164,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2198,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4197,-1.28,-97.7,297.1,-8.2,169,4203,0.00,2.58,0.00,0.000,4,0.000,0.037,2622,537,2723,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4296,-1.28,-97.7,302.0,-8.1,170,4303,0.00,2.50,0.00,0.000,6,0.000,0.023,2610,2191,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4617,-1.28,-97.7,325.7,-6.3,176,4624,0.00,2.60,0.00,0.000,4,0.000,0.037,2610,543,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4726,-1.28,-97.7,329.4,-6.2,177,4735,0.00,2.47,0.00,0.000,6,0.000,0.024,2598,2192,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5037,-1.28,-97.7,350.0,-5.7,183,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2192,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5336,-1.28,-97.7,370.0,-6.8,188,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2192,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5637,-1.28,-97.7,396.0,-8.8,193,5643,0.00,2.58,0.00,0.000,4,0.000,0.037,2598,543,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5685,-1.28,-97.7,396.0,-8.8,193,5694,0.00,2.58,0.00,0.000,6,0.000,0.024,2586,2196,2719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5997,-1.28,-97.7,430.5,-9.4,199,6003,0.00,2.62,0.00,0.000,4,0.000,0.037,2586,541,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6085,-1.28,-97.7,436.3,-9.4,200,6093,0.00,2.50,0.00,0.000,6,0.000,0.024,2573,2190,2719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6417,-1.28,-97.7,465.4,-7.7,206,6423,0.00,2.50,0.00,0.000,4,0.000,0.041,2562,3759,2718,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6495,-1.28,-97.7,469.2,-7.1,207,6503,0.00,2.50,0.00,0.000,6,0.000,0.021,2562,2092,2718,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6838,-1.26,-97.7,488.0,-5.0,213,6844,0.12,2.40,0.00,0.000,4,0.152,0.039,2595,544,2717,0,0,0,0,0,0,26.36,26.15,28.83
$GC,6906,-1.23,-97.7,490.9,-4.9,214,6913,0.00,2.53,0.00,0.000,6,0.000,0.024,2584,2180,2717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7317,-1.23,-97.7,515.5,-6.0,219,7323,0.00,2.58,0.00,0.000,4,0.000,0.038,2585,550,2716,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7366,-1.23,-97.7,515.5,-6.0,219,7373,0.00,2.47,0.00,0.000,6,0.000,0.024,2572,2189,2715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7676,-1.23,-97.7,544.1,-7.7,222,7684,0.12,2.60,0.00,0.000,4,0.158,0.037,2605,544,2715,0,0,0,0,0,0,26.34,26.14,28.83
$GC,7715,-1.23,-97.7,544.1,-7.7,222,7723,0.00,2.55,0.00,0.000,6,0.000,0.025,2594,2186,2714,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8038,-1.23,-97.7,574.6,-8.5,225,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2186,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8397,-1.26,-97.7,602.0,-7.8,228,8403,0.00,2.60,0.00,0.000,4,0.000,0.038,2594,550,2713,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8616,-1.28,-97.7,610.8,-7.5,229,8623,0.00,2.55,0.00,0.000,6,0.000,0.025,2583,2185,2712,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8997,-1.28,-97.7,645.0,-7.1,233,9004,0.00,2.60,0.00,0.000,4,0.000,0.039,2583,547,2711,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9076,-1.28,-97.7,645.0,-7.1,233,9083,0.00,2.50,0.00,0.000,6,0.000,0.024,2571,2190,2712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9476,-1.28,-97.7,680.7,-7.5,237,9484,0.00,2.60,0.00,0.000,4,0.000,0.038,2570,552,2710,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9597,-1.28,-97.7,690.3,-7.6,238,9603,0.00,2.50,0.00,0.000,6,0.000,0.025,2559,2192,2710,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9956,-1.28,-97.7,718.1,-7.8,241,9964,0.00,2.60,0.00,0.000,4,0.000,0.039,2559,553,2709,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10036,-1.28,-97.7,718.1,-7.8,241,10044,0.12,2.50,0.00,0.000,6,0.163,0.025,2583,2188,2709,0,0,0,0,0,0,25.90,26.34,28.83
$GC,10438,-1.30,-97.7,755.7,-7.8,245,10444,0.00,2.60,0.00,0.000,4,0.000,0.041,2584,542,2708,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10596,-1.33,-97.7,766.3,-8.0,246,10603,0.00,2.50,0.00,0.000,6,0.000,0.025,2573,2185,2708,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10918,-1.35,-97.7,799.1,-9.0,249,10923,0.00,2.58,0.00,0.000,4,0.000,0.041,2573,547,2707,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11085,-1.35,-97.7,810.4,-9.2,250,11093,0.00,2.53,0.00,0.000,6,0.000,0.025,2561,2192,2706,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11396,-1.35,-97.7,843.6,-9.3,253,11403,0.00,2.62,0.00,0.000,4,0.000,0.040,2561,547,2704,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11517,-1.35,-97.7,854.5,-9.2,254,11523,0.00,2.50,0.00,0.000,6,0.000,0.026,2549,2191,2704,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11876,-1.35,-97.7,884.4,-8.5,257,11883,0.00,2.62,0.00,0.000,4,0.000,0.040,2549,548,2703,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11955,-1.35,-97.7,884.4,-8.5,257,11963,0.00,2.53,0.00,0.000,6,0.000,0.026,2537,2193,2701,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12357,-1.35,-97.7,923.1,-8.1,261,12364,0.12,2.58,0.00,0.000,4,0.163,0.041,2568,549,2702,0,0,0,0,0,0,26.30,26.00,28.83
$GC,12495,-1.35,-97.7,933.0,-8.1,262,12503,0.00,2.53,0.00,0.000,6,0.000,0.026,2558,2193,2702,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12836,-1.35,-97.7,961.9,-8.1,265,12843,0.00,2.62,0.00,0.000,4,0.000,0.041,2558,549,2701,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12976,-1.35,-97.7,971.9,-8.1,266,12983,0.00,2.50,0.00,0.000,6,0.000,0.027,2546,2186,2701,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,13193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13193,begin apogee
$GC,13202,-0.29,0.0,991.4,-8.2,268,13295,1.12,0.00,86.47,1.707,6,0.125,0.000,2897,1578,2320,0,0,0,0,0,0,25.06,28.83,22.92
$STATE,13297,end apogee,CONTROL_FINISHED_OK
$STATE,13297,begin climb
$GC,13301,1.26,97.7,995.6,0.0,273,13398,1.42,0.00,92.78,1.711,6,0.063,0.000,3407,1578,1920,0,0,0,0,0,0,25.27,28.83,22.96
$GC,13698,1.14,106.5,977.6,6.3,288,13708,0.15,0.00,7.50,1.421,6,0.173,0.000,3371,1578,1885,0,0,0,0,0,0,25.94,28.83,23.80
$GC,14057,1.04,115.1,954.9,6.3,291,14074,0.12,2.67,9.38,1.473,4,0.174,0.034,3340,3202,1849,0,0,0,0,0,0,26.14,26.08,23.91
$GC,14146,0.95,123.7,954.9,6.3,291,14164,0.12,2.55,9.77,1.495,6,0.147,0.031,3311,1584,1813,0,0,0,0,0,0,25.76,26.15,23.82
$GC,14538,0.93,139.1,926.3,6.0,295,14557,0.00,2.05,14.15,1.552,4,0.000,0.050,3319,350,1755,0,0,0,0,0,0,28.83,25.89,23.89
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$STATE,25787,end climb,SURFACE_DEPTH_REACHED
$STATE,25787,begin surface coast
$FINISH,1.3,1.025867
$STATE,25815,end surface coast,CONTROL_FINISHED_OK
$STATE,25815,begin surface
$SM_CCo,25841,50.17,0.125,0,0,1093,300.00
$SM_GC,2.33,8.55,2.83,50.17,0.032,0.025,0.125,152,2191,1093,-8.84,-0.45,300.00,0,0,0,0,0,0,26.30,26.29,25.33
$IRIDIUM_FIX,2425.21,-3642.24,090213,121223
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.30
$XPDR_PINGS,1
$SC_FREEKB,7587456
$TM_FREEKB,4579712
$24V_AH,22.9,80.867
$10V_AH,10.0,71.862
$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,22.125,236.475,269.425,50.175,0.000,27.079,42.964,206.642,0.250,0.000,20.920,2206.609,20835.590,745.388,2076.759,591.980,33.291,1738.517,0.000,1687.645,0.000,0.536,0.000
$DEVICE_MAMPS,175.185,94.095,1710.540,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.312,13.474,0.000,0.000
$MEM,343700
$DATA_FILE_SIZE,13415,529
$CAP_FILE_SIZE,196072,0
$CFSIZE,260034560,207695872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100213,033204,2430.864,-3748.205,39,0.8,39,-14.0