version: 66.11
glider: 189
mission: 7
dive: 492
start: 2 14 113 22 52 19
data:
$ID,189
$MISSION,7
$DIVE,492
$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,-48273.051
$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
$GPS1,140213,223458,2430.465,-3747.214,35,0.9,35,-14.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-59.2
$GPS2,140213,225120,2430.374,-3747.252,20,0.7,21,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.109,0.038
$KALMAN_X,166715.7,-106.0,-751.7,-141197.8,1325.4
$KALMAN_Y,70284.3,-146.0,-333.2,-79508.1,66.6
$MHEAD_RNG_PITCHd_Wd,303.0,1987,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.55,0.000,2,0.000,0.000,152,2123,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.4,0.0,1,105,9.35,2.65,-49.78,0.000,4,0.198,0.049,2556,3754,2719,0,0,0,0,0,0,25.29,25.96,26.70
$GC,396,-1.25,-97.7,20.6,-8.5,37,404,0.10,2.45,0.00,0.000,6,0.135,0.021,2588,2095,2720,0,0,0,0,0,0,25.93,26.36,28.83
$GC,706,-1.22,-97.7,44.6,-7.4,68,713,0.00,2.67,0.00,0.000,4,0.000,0.039,2578,3745,2721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1006,-1.17,-97.7,68.0,-8.0,98,1015,0.12,2.45,0.00,0.000,6,0.127,0.021,2618,2090,2721,0,0,0,0,0,0,25.94,26.43,28.83
$GC,1315,-1.17,-97.7,91.2,-7.5,115,1323,0.00,2.67,0.00,0.000,4,0.000,0.039,2607,3746,2721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1537,-1.17,-97.7,108.7,-8.6,122,1543,0.00,2.40,0.00,0.000,6,0.000,0.021,2608,2101,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1857,-1.17,-97.7,134.7,-7.4,133,1862,0.00,2.40,0.00,0.000,4,0.000,0.037,2607,537,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1905,-1.17,-97.7,136.9,-7.3,134,1914,0.00,2.47,0.00,0.000,6,0.000,0.023,2595,2192,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2217,-1.17,-97.7,158.4,-6.2,143,2222,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,3757,2722,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2365,-1.17,-97.7,165.4,-6.0,145,2373,0.10,2.47,0.00,0.000,6,0.125,0.021,2617,2077,2722,0,0,0,0,0,0,26.04,26.45,28.83
$GC,2696,-1.20,-97.7,185.5,-5.9,151,2702,0.00,2.35,0.00,0.000,4,0.000,0.037,2618,539,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2746,-1.23,-97.7,185.5,-5.9,151,2754,0.00,2.47,0.00,0.000,6,0.000,0.023,2607,2198,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3055,-1.23,-97.7,213.6,-8.2,157,3063,0.00,2.50,0.00,0.000,4,0.000,0.040,2595,3750,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3124,-1.23,-97.7,218.9,-8.5,158,3132,0.00,2.47,0.00,0.000,6,0.000,0.021,2595,2088,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3476,-1.23,-97.7,248.2,-7.9,164,3483,0.00,2.67,0.00,0.000,4,0.000,0.040,2583,3745,2722,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3574,-1.23,-97.7,252.8,-7.6,165,3582,0.00,2.45,0.00,0.000,6,0.000,0.021,2583,2099,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3896,-1.23,-97.7,275.0,-5.8,171,3902,0.00,2.62,0.00,0.000,4,0.000,0.040,2571,3748,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3996,-1.23,-97.7,278.2,-5.5,172,4003,0.10,2.45,0.00,0.000,6,0.127,0.021,2604,2091,2722,0,0,0,0,0,0,26.05,26.46,28.83
$GC,4316,-1.25,-97.7,296.2,-5.1,178,4322,0.00,2.42,0.00,0.000,4,0.000,0.037,2604,550,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4396,-1.25,-97.7,299.9,-5.4,179,4402,0.00,2.45,0.00,0.000,6,0.000,0.024,2594,2187,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4735,-1.25,-97.7,326.2,-7.7,185,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2187,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5036,-1.28,-97.7,353.7,-9.3,190,5043,0.00,2.58,0.00,0.000,4,0.000,0.036,2594,546,2721,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5156,-1.28,-97.7,364.9,-9.4,192,5162,0.00,2.47,0.00,0.000,6,0.000,0.024,2582,2196,2720,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5515,-1.28,-97.7,391.4,-7.0,198,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2195,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-1.28,-97.7,409.2,-5.9,203,5822,0.00,2.55,0.00,0.000,4,0.000,0.037,2582,546,2719,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5956,-1.28,-97.7,417.2,-6.3,205,5962,0.00,2.53,0.00,0.000,6,0.000,0.025,2570,2181,2719,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6296,-1.28,-97.7,444.3,-7.9,211,6302,0.00,2.55,0.00,0.000,4,0.000,0.042,2558,3745,2719,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6374,-1.28,-97.7,449.3,-8.1,212,6383,0.12,2.47,0.00,0.000,6,0.150,0.021,2590,2090,2718,0,0,0,0,0,0,26.06,26.44,28.83
$GC,6717,-1.31,-97.7,478.9,-8.1,218,6722,0.00,2.38,0.00,0.000,4,0.000,0.038,2590,546,2717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6805,-1.34,-97.7,483.9,-8.2,219,6813,0.00,2.50,0.00,0.000,6,0.000,0.024,2579,2205,2717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7137,-1.36,-97.7,513.4,-8.2,224,7142,0.00,2.58,0.00,0.000,4,0.000,0.037,2580,539,2716,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7175,-1.38,-97.7,513.4,-8.2,224,7182,0.00,2.53,0.00,0.000,6,0.000,0.024,2568,2181,2715,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7496,-1.38,-97.7,541.2,-7.8,227,7502,0.00,2.58,0.00,0.000,4,0.000,0.037,2568,546,2715,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7546,-1.38,-97.7,541.2,-7.8,227,7552,0.00,2.47,0.00,0.000,6,0.000,0.024,2556,2188,2715,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7856,-1.38,-97.7,568.4,-7.5,230,7863,0.00,2.58,0.00,0.000,4,0.000,0.037,2556,551,2714,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7954,-1.38,-97.7,568.4,-7.5,230,7962,0.00,2.50,0.00,0.000,6,0.000,0.024,2544,2193,2713,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8335,-1.38,-97.7,607.8,-8.2,234,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2194,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8696,-1.38,-97.7,638.3,-8.4,237,8703,0.00,2.62,0.00,0.000,4,0.000,0.038,2544,545,2712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8804,-1.38,-97.7,638.3,-8.4,237,8813,0.00,2.58,0.00,0.000,6,0.000,0.026,2532,2184,2711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9175,-1.38,-97.7,682.4,-9.2,241,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2184,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9535,-1.38,-97.7,709.3,-7.7,244,9543,0.00,2.60,0.00,0.000,4,0.000,0.038,2532,554,2710,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9625,-1.38,-97.7,709.3,-7.7,244,9633,0.10,2.47,0.00,0.000,6,0.140,0.024,2551,2182,2710,0,0,0,0,0,0,25.91,26.36,28.83
$GC,10015,-1.38,-97.7,747.6,-7.9,248,10023,0.00,2.60,0.00,0.000,4,0.000,0.039,2552,543,2709,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10124,-1.38,-97.7,747.6,-7.9,248,10133,0.00,2.58,0.00,0.000,6,0.000,0.024,2541,2186,2708,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10496,-1.38,-97.7,794.1,-9.7,252,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2186,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10855,-1.38,-97.7,825.1,-8.8,255,10863,0.00,2.60,0.00,0.000,4,0.000,0.039,2541,549,2706,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10975,-1.38,-97.7,835.7,-8.6,256,10982,0.00,2.50,0.00,0.000,6,0.000,0.025,2528,2194,2705,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11336,-1.38,-97.7,867.3,-8.8,259,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2194,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11695,-1.38,-97.7,901.8,-9.5,262,11703,0.00,2.62,0.00,0.000,4,0.000,0.040,2529,552,2702,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11834,-1.38,-97.7,914.2,-9.7,263,11843,0.15,2.53,0.00,0.000,6,0.158,0.025,2555,2194,2702,0,0,0,0,0,0,25.82,26.30,28.83
$GC,12177,-1.38,-97.7,949.5,-9.9,266,12182,0.00,2.58,0.00,0.000,4,0.000,0.041,2555,549,2701,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12284,-1.38,-97.7,949.5,-9.9,266,12294,0.00,2.53,0.00,0.000,6,0.000,0.025,2545,2194,2701,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12657,-1.41,-97.7,989.7,-8.3,270,12662,0.00,2.58,0.00,0.000,4,0.000,0.041,2545,549,2704,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,12672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12672,begin apogee
$GC,12681,-0.29,0.0,991.3,-8.0,271,12775,1.17,0.10,86.18,1.699,6,0.129,0.090,2900,1582,2320,0,0,0,0,0,0,25.01,24.86,22.94
$STATE,12777,end apogee,CONTROL_FINISHED_OK
$STATE,12777,begin climb
$GC,12780,1.33,97.7,994.7,0.0,276,12883,1.48,2.80,93.05,1.721,4,0.061,0.034,3431,3202,1921,0,0,0,0,0,0,25.32,24.97,22.96
$GC,12996,1.18,97.7,984.8,8.2,287,13003,0.20,2.55,0.00,0.000,6,0.160,0.030,3385,1586,1916,0,0,0,0,0,0,25.53,25.98,28.83
$GC,13377,1.08,97.7,954.9,7.9,291,13383,0.15,2.60,0.00,0.000,4,0.171,0.035,3346,3210,1910,0,0,0,0,0,0,26.04,26.22,28.83
$GC,13446,0.98,97.7,954.9,7.9,291,13453,0.15,2.50,0.00,0.000,6,0.171,0.030,3320,1575,1909,0,0,0,0,0,0,25.86,26.27,28.83
$GC,13856,0.96,97.7,921.6,6.9,295,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1575,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14217,0.97,104.4,899.1,6.3,298,14227,0.00,2.70,4.38,1.200,4,0.000,0.035,3319,3204,1894,0,0,0,0,0,0,28.83,26.26,23.99
$GC,14365,0.98,113.4,892.3,6.2,299,14383,0.00,2.55,10.35,1.501,6,0.000,0.030,3330,1578,1856,0,0,0,0,0,0,28.83,26.28,23.87
$GC,14687,0.99,125.8,870.7,6.0,302,14704,0.00,2.70,12.43,1.537,4,0.000,0.036,3330,3207,1807,0,0,0,0,0,0,28.83,25.98,23.87
$GC,14785,1.01,138.2,870.7,6.0,302,14803,0.00,2.58,13.38,1.528,6,0.000,0.029,3342,1575,1755,0,0,0,0,0,0,28.83,26.11,23.75
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$STATE,24642,end climb,SURFACE_DEPTH_REACHED
$STATE,24642,begin surface coast
$FINISH,1.4,1.025848
$STATE,24667,end surface coast,CONTROL_FINISHED_OK
$STATE,24667,begin surface
$SM_CCo,24691,46.45,0.125,0,0,1095,300.00
$SM_GC,2.29,8.52,0.80,46.45,0.034,0.036,0.125,154,2185,1095,-8.83,-0.71,300.00,0,0,0,0,0,0,26.32,26.36,25.18
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7580928
$TM_FREEKB,4508224
$24V_AH,22.9,83.354
$10V_AH,10.0,74.020
$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
$DEVICE_SECS,22.600,227.375,278.975,46.450,0.000,103.882,120.824,249.589,0.000,0.000,22.838,2149.781,19973.404,707.633,2249.132,624.894,33.262,1688.844,0.000,1662.792,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.250,13.483,0.000,0.000
$MEM,343712
$DATA_FILE_SIZE,13429,506
$CAP_FILE_SIZE,192355,0
$CFSIZE,260034560,206172160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150213,054558,2431.437,-3748.315,40,0.8,40,-14.0