version: 66.11
glider: 189
mission: 7
dive: 489
start: 2 14 113 1 35 38
data:
$ID,189
$MISSION,7
$DIVE,489
$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,-48269.277
$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
$GPS1,140213,012504,2430.131,-3747.054,36,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-60.0
$GPS2,140213,013436,2430.141,-3747.080,16,1.6,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.047,0.105
$KALMAN_X,167460.7,-22.1,-153.9,-142334.1,-1767.5
$KALMAN_Y,70840.4,-252.6,-32.0,-80688.6,1137.6
$MHEAD_RNG_PITCHd_Wd,349.8,2475,-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,-10.70,0.000,2,0.000,0.000,153,2118,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.12,2.72,-50.28,0.000,4,0.189,0.051,2555,3748,2720,0,0,0,0,0,0,25.30,25.99,26.70
$GC,395,-1.24,-97.7,27.8,-9.3,37,403,0.12,2.47,0.00,0.000,6,0.135,0.021,2594,2085,2721,0,0,0,0,0,0,25.84,26.35,28.83
$GC,705,-1.24,-97.7,49.4,-8.3,68,712,0.00,2.70,0.00,0.000,4,0.000,0.040,2584,3745,2722,0,0,0,0,0,0,28.83,26.09,28.83
$GC,876,-1.20,-97.7,63.3,-7.8,85,883,0.00,2.42,0.00,0.000,6,0.000,0.021,2584,2087,2721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1195,-1.18,-97.7,88.5,-8.5,107,1202,0.12,2.42,0.00,0.000,4,0.157,0.037,2617,542,2721,0,0,0,0,0,0,26.32,26.15,28.83
$GC,1234,-1.16,-97.7,91.3,-8.7,108,1241,0.00,2.53,0.00,0.000,6,0.000,0.024,2605,2200,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1554,-1.16,-97.7,118.9,-7.8,119,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2200,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-1.16,-97.7,140.2,-6.7,129,1861,0.00,2.50,0.00,0.000,4,0.000,0.041,2594,3774,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1924,-1.16,-97.7,144.0,-6.4,131,1932,0.10,2.50,0.00,0.000,6,0.158,0.021,2621,2092,2723,0,0,0,0,0,0,26.09,26.44,28.83
$GC,2276,-1.18,-97.7,163.5,-5.1,139,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2092,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2575,-1.21,-97.7,180.4,-5.7,144,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2092,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,-1.24,-97.7,196.4,-5.4,149,2881,0.00,2.42,0.00,0.000,4,0.000,0.037,2622,516,2724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3065,-1.24,-97.7,207.8,-6.2,152,3072,0.00,2.50,0.00,0.000,6,0.000,0.023,2611,2194,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3415,-1.27,-97.7,229.6,-6.1,158,3422,0.00,2.58,0.00,0.000,4,0.000,0.035,2610,546,2724,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3485,-1.29,-97.7,233.6,-6.3,159,3492,0.00,2.47,0.00,0.000,6,0.000,0.024,2598,2198,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3834,-1.29,-97.7,259.3,-7.4,165,3842,0.00,2.58,0.00,0.000,4,0.000,0.035,2598,550,2724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3894,-1.29,-97.7,264.1,-7.7,166,3901,0.00,2.50,0.00,0.000,6,0.000,0.024,2587,2188,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4256,-1.29,-97.7,293.2,-8.1,172,4261,0.00,2.53,0.00,0.000,4,0.000,0.036,2587,541,2724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4315,-1.29,-97.7,298.1,-8.2,173,4321,0.00,2.47,0.00,0.000,6,0.000,0.024,2575,2190,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4674,-1.29,-97.7,327.9,-8.3,179,4681,0.00,2.50,0.00,0.000,4,0.000,0.041,2563,3742,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4744,-1.29,-97.7,333.1,-8.5,180,4751,0.00,2.42,0.00,0.000,6,0.000,0.021,2563,2102,2724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5094,-1.29,-97.7,363.8,-8.5,186,5101,0.00,2.42,0.00,0.000,4,0.000,0.037,2563,548,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5224,-1.26,-97.7,373.4,-8.3,188,5232,0.10,2.47,0.00,0.000,6,0.137,0.024,2584,2196,2722,0,0,0,0,0,0,25.96,26.41,28.83
$GC,5576,-1.26,-97.7,397.1,-6.4,194,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2196,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5875,-1.26,-97.7,417.0,-6.7,199,5881,0.00,2.60,0.00,0.000,4,0.000,0.037,2584,546,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5954,-1.26,-97.7,421.5,-6.9,200,5961,0.00,2.47,0.00,0.000,6,0.000,0.024,2574,2189,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6294,-1.26,-97.7,451.9,-8.8,206,6301,0.00,2.53,0.00,0.000,4,0.000,0.042,2562,3744,2720,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6343,-1.26,-97.7,451.9,-8.8,206,6353,0.12,2.45,0.00,0.000,6,0.150,0.021,2594,2095,2720,0,0,0,0,0,0,26.06,26.44,28.83
$GC,6656,-1.30,-97.7,482.4,-8.1,212,6661,0.00,2.40,0.00,0.000,4,0.000,0.038,2596,538,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6834,-1.30,-97.7,496.0,-7.7,215,6841,0.00,2.50,0.00,0.000,6,0.000,0.024,2584,2190,2718,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7255,-1.32,-97.7,523.4,-6.5,219,7261,0.00,2.55,0.00,0.000,4,0.000,0.037,2583,538,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7325,-1.35,-97.7,523.4,-6.5,219,7331,0.00,2.50,0.00,0.000,6,0.000,0.024,2572,2195,2717,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7735,-1.37,-97.7,560.4,-7.7,223,7741,0.00,2.60,0.00,0.000,4,0.000,0.037,2572,546,2716,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7824,-1.39,-97.7,560.4,-7.7,223,7832,0.00,2.50,0.00,0.000,6,0.000,0.024,2560,2191,2716,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8215,-1.39,-97.7,604.4,-9.2,227,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2191,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8574,-1.39,-97.7,637.7,-9.3,230,8582,0.00,2.60,0.00,0.000,4,0.000,0.037,2560,546,2714,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8673,-1.39,-97.7,637.7,-9.3,230,8681,0.00,2.50,0.00,0.000,6,0.000,0.024,2547,2190,2713,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9055,-1.39,-97.7,674.8,-7.7,234,9062,0.00,2.60,0.00,0.000,4,0.000,0.038,2548,552,2714,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9163,-1.39,-97.7,674.8,-7.7,234,9172,0.00,2.50,0.00,0.000,6,0.000,0.024,2536,2191,2712,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9535,-1.39,-97.7,706.1,-6.5,238,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2191,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9894,-1.39,-97.7,734.7,-7.6,241,9902,0.00,2.60,0.00,0.000,4,0.000,0.038,2536,549,2708,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9964,-1.39,-97.7,734.7,-7.6,241,9972,0.00,2.55,0.00,0.000,6,0.000,0.025,2524,2187,2710,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10374,-1.39,-97.7,778.5,-9.1,245,10382,0.00,2.60,0.00,0.000,4,0.000,0.039,2524,546,2709,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10463,-1.39,-97.7,778.5,-9.1,245,10472,0.15,2.53,0.00,0.000,6,0.161,0.024,2550,2197,2712,0,0,0,0,0,0,25.84,26.32,28.83
$GC,10855,-1.39,-97.7,824.1,-9.5,249,10862,0.00,2.62,0.00,0.000,4,0.000,0.040,2550,548,2708,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10983,-1.39,-97.7,835.4,-9.4,250,10991,0.00,2.53,0.00,0.000,6,0.000,0.024,2539,2199,2707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11335,-1.39,-97.7,864.7,-8.5,253,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2199,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11694,-1.39,-97.7,888.2,-6.8,256,11702,0.00,2.62,0.00,0.000,4,0.000,0.040,2539,549,2705,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11763,-1.39,-97.7,888.2,-6.8,256,11771,0.00,2.53,0.00,0.000,6,0.000,0.025,2527,2192,2704,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12175,-1.39,-97.7,919.3,-6.5,260,12182,0.00,2.62,0.00,0.000,4,0.000,0.041,2527,544,2702,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12345,-1.39,-97.7,929.2,-6.9,261,12352,0.10,2.55,0.00,0.000,6,0.142,0.027,2547,2182,2703,0,0,0,0,0,0,25.83,26.28,28.83
$GC,12655,-1.39,-97.7,960.6,-8.6,264,12661,0.00,2.60,0.00,0.000,4,0.000,0.041,2547,553,2702,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12784,-1.39,-97.7,972.4,-9.0,265,12791,0.00,2.50,0.00,0.000,6,0.000,0.025,2537,2189,2701,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,13011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13012,begin apogee
$GC,13020,-0.29,0.0,996.2,-9.7,267,13113,1.15,0.00,86.93,1.713,6,0.125,0.000,2897,1579,2320,0,0,0,0,0,0,25.03,28.83,22.92
$STATE,13115,end apogee,CONTROL_FINISHED_OK
$STATE,13115,begin climb
$GC,13119,1.33,97.7,1002.1,0.0,272,13217,1.50,0.00,93.75,1.715,6,0.060,0.000,3428,1579,1920,0,0,0,0,0,0,25.27,28.83,22.93
$GC,13515,1.22,118.9,988.5,5.6,292,13543,0.15,2.03,19.00,1.593,4,0.172,0.049,3399,359,1834,0,0,0,0,0,0,25.94,25.67,23.68
$GC,13639,1.11,122.7,980.8,6.5,296,13652,0.15,1.92,4.72,1.233,6,0.166,0.025,3363,1670,1819,0,0,0,0,0,0,25.74,26.15,23.70
$GC,13998,1.04,125.1,957.3,6.5,299,14004,0.00,2.10,0.00,0.000,4,0.000,0.048,3372,350,1817,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14134,0.97,126.0,948.9,6.6,300,14143,0.17,1.98,3.95,1.126,6,0.158,0.024,3320,1669,1805,0,0,0,0,0,0,25.86,26.42,23.96
$GC,14478,0.95,129.7,926.2,6.5,303,14487,0.00,2.53,4.80,1.251,4,0.000,0.036,3320,3207,1791,0,0,0,0,0,0,28.83,26.25,23.99
$GC,14517,0.93,133.5,926.2,6.5,303,14528,0.08,2.53,5.72,1.320,6,0.149,0.031,3306,1589,1775,0,0,0,0,0,0,25.98,26.26,23.88
$GC,14937,0.96,158.0,901.0,5.4,307,14967,0.00,2.72,23.92,1.603,4,0.000,0.035,3306,3208,1674,0,0,0,0,0,0,28.83,25.72,23.70
$GC,15049,1.01,178.6,893.9,5.6,308,15075,0.00,2.53,20.30,1.587,6,0.000,0.030,3317,1583,1592,0,0,0,0,0,0,28.83,26.00,23.56
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$STATE,24994,end climb,SURFACE_DEPTH_REACHED
$STATE,24994,begin surface coast
$FINISH,1.4,1.011448
$STATE,25015,end surface coast,CONTROL_FINISHED_OK
$STATE,25015,begin surface
$SM_CCo,25042,40.62,0.125,0,0,1093,300.00
$SM_GC,2.29,8.73,2.80,40.62,0.041,0.024,0.125,153,2188,1093,-8.81,-0.74,300.00,0,0,0,0,0,0,26.29,26.31,25.22
$IRIDIUM_FIX,2418.11,-3743.78,130213,181851
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.83
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7582080
$TM_FREEKB,4519680
$24V_AH,22.9,82.889
$10V_AH,10.0,73.647
$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,22.150,220.250,293.775,40.625,0.000,28.549,35.249,204.831,0.000,0.000,17.259,2177.719,20075.250,713.691,2068.455,606.582,33.262,1698.401,0.000,1692.976,0.000,0.535,0.000
$DEVICE_MAMPS,188.955,131.580,1715.130,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.195,13.458,0.000,0.000
$MEM,343688
$DATA_FILE_SIZE,13456,515
$CAP_FILE_SIZE,190052,0
$CFSIZE,260034560,206442496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140213,083458,2431.382,-3747.338,36,0.8,36,-13.9