version: 66.11
glider: 189
mission: 7
dive: 479
start: 2 11 113 1 38 20
data:
$ID,189
$MISSION,7
$DIVE,479
$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,-48256.703
$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
$GPS1,110213,012735,2431.328,-3747.006,24,0.8,24,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-59.3
$GPS2,110213,013718,2431.360,-3747.158,20,0.9,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.113,-0.023
$KALMAN_X,183168.5,659.9,93.8,-159107.0,-4670.4
$KALMAN_Y,60191.4,30.2,125.6,-68235.0,-134.6
$MHEAD_RNG_PITCHd_Wd,115.5,1953,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.93,0.000,2,0.000,0.000,153,2132,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,103,9.00,0.00,-48.95,0.000,6,0.184,0.000,2569,2129,2721,0,0,0,0,0,0,25.32,28.83,26.70
$GC,407,-1.28,-97.7,30.4,-7.0,38,414,0.00,2.60,0.00,0.000,4,0.000,0.041,2558,3748,2722,0,0,0,0,0,0,28.83,26.05,28.83
$GC,585,-1.21,-97.7,44.2,-7.8,56,593,0.15,2.45,0.00,0.000,6,0.135,0.021,2605,2092,2722,0,0,0,0,0,0,25.79,26.40,28.83
$GC,895,-1.21,-97.7,61.4,-4.7,87,903,0.00,2.65,0.00,0.000,4,0.000,0.040,2594,3754,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1027,-1.19,-97.7,67.4,-4.9,100,1034,0.00,2.40,0.00,0.000,6,0.000,0.021,2594,2103,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1334,-1.19,-97.7,85.6,-6.9,121,1341,0.00,2.65,0.00,0.000,4,0.000,0.038,2582,3748,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1504,-1.15,-97.7,97.6,-8.2,126,1513,0.12,2.45,0.00,0.000,6,0.127,0.021,2623,2079,2723,0,0,0,0,0,0,25.95,26.44,28.83
$GC,1817,-1.18,-97.7,126.3,-9.2,137,1822,0.00,2.38,0.00,0.000,4,0.000,0.037,2624,541,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2047,-1.18,-97.7,145.5,-8.8,144,2053,0.00,2.42,0.00,0.000,6,0.000,0.023,2613,2193,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2385,-1.18,-97.7,166.4,-5.0,151,2391,0.00,2.58,0.00,0.000,4,0.000,0.035,2613,545,2725,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2445,-1.18,-97.7,168.7,-4.4,152,2451,0.00,2.45,0.00,0.000,6,0.000,0.023,2601,2191,2725,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2805,-1.18,-97.7,183.6,-4.4,158,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2191,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3105,-1.18,-97.7,200.9,-5.9,163,3111,0.00,2.58,0.00,0.000,4,0.000,0.035,2607,552,2725,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3166,-1.18,-97.7,205.3,-6.4,164,3172,0.12,2.42,0.00,0.000,6,0.158,0.023,2621,2194,2725,0,0,0,0,0,0,26.03,26.41,28.83
$GC,3525,-1.22,-97.7,234.7,-8.6,170,3531,0.00,2.58,0.00,0.000,4,0.000,0.036,2621,549,2725,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3604,-1.25,-97.7,240.3,-8.9,171,3611,0.00,2.47,0.00,0.000,6,0.000,0.023,2611,2193,2725,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3946,-1.28,-97.7,272.0,-8.6,177,3951,0.00,2.53,0.00,0.000,4,0.000,0.036,2611,546,2725,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4014,-1.31,-97.7,276.8,-8.3,178,4021,0.00,2.55,0.00,0.000,6,0.000,0.024,2598,2209,2725,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4365,-1.33,-97.7,302.7,-7.0,184,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2209,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-1.36,-97.7,321.5,-6.2,189,4672,0.00,2.60,0.00,0.000,4,0.000,0.037,2598,542,2725,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4754,-1.36,-97.7,325.2,-6.2,190,4761,0.00,2.50,0.00,0.000,6,0.000,0.023,2586,2195,2725,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5085,-1.36,-97.7,349.2,-6.7,196,5091,0.00,2.55,0.00,0.000,4,0.000,0.037,2587,547,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5153,-1.36,-97.7,353.7,-6.9,197,5161,0.00,2.55,0.00,0.000,6,0.000,0.024,2575,2197,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5504,-1.36,-97.7,382.0,-8.0,203,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2197,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5804,-1.36,-97.7,406.9,-8.3,208,5811,0.00,2.60,0.00,0.000,4,0.000,0.037,2571,550,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5865,-1.36,-97.7,411.9,-8.3,209,5871,0.00,2.45,0.00,0.000,6,0.000,0.024,2563,2182,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6224,-1.36,-97.7,440.6,-8.0,215,6232,0.00,2.55,0.00,0.000,4,0.000,0.042,2551,3748,2721,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6364,-1.36,-97.7,450.7,-8.2,217,6371,0.00,2.45,0.00,0.000,6,0.000,0.021,2551,2105,2721,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6705,-1.36,-97.7,475.7,-6.6,223,6711,0.00,2.45,0.00,0.000,4,0.000,0.038,2551,552,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6774,-1.36,-97.7,479.6,-6.5,224,6782,0.00,2.47,0.00,0.000,6,0.000,0.023,2539,2192,2720,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7125,-1.33,-97.7,504.2,-7.1,230,7127,0.12,0.00,0.00,0.000,6,0.164,0.000,2570,2191,2719,0,0,0,0,0,0,26.32,28.83,28.83
$GC,7484,-1.33,-97.7,532.7,-7.9,233,7491,0.00,2.60,0.00,0.000,4,0.000,0.037,2571,552,2718,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7583,-1.33,-97.7,532.7,-7.9,233,7591,0.00,2.50,0.00,0.000,6,0.000,0.024,2560,2198,2717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7965,-1.33,-97.7,577.8,-9.4,237,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2198,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,-1.33,-97.7,612.3,-9.6,240,8331,0.00,2.60,0.00,0.000,4,0.000,0.037,2561,554,2715,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8444,-1.33,-97.7,623.5,-9.5,241,8451,0.00,2.47,0.00,0.000,6,0.000,0.025,2549,2188,2715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8805,-1.33,-97.7,651.1,-8.1,244,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2187,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9165,-1.33,-97.7,672.8,-6.2,247,9171,0.00,2.60,0.00,0.000,4,0.000,0.038,2549,551,2712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9254,-1.33,-97.7,672.8,-6.2,247,9262,0.12,2.50,0.00,0.000,6,0.164,0.025,2566,2189,2712,0,0,0,0,0,0,25.95,26.35,28.83
$GC,9646,-1.36,-97.7,703.2,-6.3,251,9652,0.00,2.60,0.00,0.000,4,0.000,0.039,2567,541,2711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9684,-1.38,-97.7,703.2,-6.3,251,9691,0.00,2.50,0.00,0.000,6,0.000,0.025,2556,2186,2712,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10005,-1.41,-97.7,732.2,-7.7,254,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2185,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,-1.43,-97.7,765.3,-9.1,257,10371,0.00,2.58,0.00,0.000,4,0.000,0.040,2557,547,2710,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10434,-1.46,-97.7,765.3,-9.1,257,10441,0.00,2.53,0.00,0.000,6,0.000,0.024,2544,2197,2710,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10844,-1.46,-97.7,809.1,-9.1,261,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2196,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11204,-1.46,-97.7,837.7,-8.1,264,11211,0.00,2.65,0.00,0.000,4,0.000,0.040,2544,547,2707,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11325,-1.46,-97.7,846.8,-7.9,265,11331,0.00,2.50,0.00,0.000,6,0.000,0.026,2532,2186,2707,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11684,-1.46,-97.7,873.4,-7.4,268,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2187,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12044,-1.46,-97.7,903.7,-8.2,271,12051,0.00,2.60,0.00,0.000,4,0.000,0.041,2532,556,2705,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12165,-1.46,-97.7,915.7,-8.8,272,12171,0.00,2.55,0.00,0.000,6,0.000,0.026,2521,2188,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12524,-1.46,-97.7,953.6,-10.4,275,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2188,2703,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12881,begin apogee
$GC,12891,-0.29,0.0,991.8,-10.7,278,12983,1.23,0.00,86.60,1.681,6,0.128,0.000,2899,1578,2320,0,0,0,0,0,0,24.99,28.83,22.99
$STATE,12985,end apogee,CONTROL_FINISHED_OK
$STATE,12985,begin climb
$GC,12988,1.33,97.7,996.9,0.0,283,13092,1.48,2.80,92.70,1.698,4,0.063,0.034,3426,3202,1920,0,0,0,0,0,0,25.27,24.97,22.99
$GC,13165,1.19,100.8,992.4,6.5,292,13172,0.17,2.58,0.00,0.000,6,0.158,0.031,3386,1582,1916,0,0,0,0,0,0,25.46,25.85,28.83
$GC,13505,1.10,100.8,965.8,7.9,299,13512,0.12,1.98,0.00,0.000,4,0.175,0.048,3363,350,1909,0,0,0,0,0,0,26.10,26.13,28.83
$GC,13645,1.02,100.8,955.6,8.1,300,13652,0.10,1.98,0.00,0.000,6,0.146,0.024,3332,1645,1907,0,0,0,0,0,0,25.98,26.41,28.83
$GC,13985,0.97,100.8,928.1,7.8,303,13991,0.00,2.47,0.00,0.000,4,0.000,0.034,3331,3214,1906,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14126,0.93,100.8,919.5,7.5,304,14132,0.17,2.50,0.00,0.000,6,0.161,0.031,3297,1573,1903,0,0,0,0,0,0,25.84,26.29,28.83
$GC,14465,0.96,125.1,901.7,5.4,307,14494,0.00,2.72,23.33,1.587,4,0.000,0.035,3296,3201,1808,0,0,0,0,0,0,28.83,25.78,23.71
$GC,14594,1.00,159.4,896.0,4.9,308,14632,0.00,2.55,32.60,1.619,6,0.000,0.030,3307,1582,1671,0,0,0,0,0,0,28.83,26.05,23.43
$GC,14936,1.05,176.1,874.4,5.8,311,14957,0.00,2.70,16.05,1.537,4,0.000,0.035,3307,3203,1601,0,0,0,0,0,0,28.83,25.82,23.80
$GC,15047,1.10,187.0,867.2,6.1,312,15064,0.10,2.50,11.15,1.483,6,0.092,0.030,3371,1577,1558,0,0,0,0,0,0,26.01,26.06,23.78
$GC,15407,1.10,187.0,838.5,7.7,315,15413,0.00,1.98,0.00,0.000,4,0.000,0.048,3381,353,1554,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,24766,end climb,SURFACE_DEPTH_REACHED
$STATE,24766,begin surface coast
$FINISH,1.4,1.025861
$STATE,24794,end surface coast,CONTROL_FINISHED_OK
$STATE,24794,begin surface
$SM_CCo,24819,46.10,0.125,0,0,1094,300.00
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$IRIDIUM_FIX,2418.11,-3711.60,100213,181842
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.40
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7585920
$TM_FREEKB,4562496
$24V_AH,23.0,81.435
$10V_AH,9.9,72.375
$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
$DEVICE_SECS,22.100,201.050,272.900,46.100,0.000,26.856,36.151,216.057,0.000,0.000,21.646,2079.473,20142.688,679.954,1955.248,578.736,33.261,1607.546,0.000,1574.925,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.263,13.442,0.000,0.000
$MEM,343740
$DATA_FILE_SIZE,13421,520
$CAP_FILE_SIZE,184656,0
$CFSIZE,260034560,207335424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110213,083404,2431.061,-3746.729,37,0.8,37,-13.9