version: 66.11
glider: 189
mission: 7
dive: 493
start: 2 15 113 5 56 49
data:
$ID,189
$MISSION,7
$DIVE,493
$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,-48274.312
$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
$GPS1,150213,054558,2431.437,-3748.315,40,0.8,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-59.4
$GPS2,150213,055547,2431.445,-3748.325,16,0.9,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,-0.047
$KALMAN_X,166038.4,21.7,1240.5,-144444.0,-3214.1
$KALMAN_Y,70790.5,-186.7,83.5,-78418.0,1077.6
$MHEAD_RNG_PITCHd_Wd,127.3,897,-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,-10.60,0.000,2,0.000,0.000,153,2108,1398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.20,2.58,-50.60,0.000,4,0.187,0.051,2590,543,2720,0,0,0,0,0,0,25.44,25.94,26.70
$GC,285,-1.18,-97.7,12.9,-7.5,26,293,0.10,2.50,0.00,0.000,6,0.137,0.024,2612,2193,2721,0,0,0,0,0,0,25.85,26.29,28.83
$GC,594,-1.18,-97.7,35.8,-7.7,57,602,0.00,2.53,0.00,0.000,4,0.000,0.041,2602,3747,2722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,805,-1.14,-97.7,51.8,-8.2,78,813,0.00,2.45,0.00,0.000,6,0.000,0.021,2602,2106,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1115,-1.11,-97.7,75.0,-7.5,109,1123,0.15,2.62,0.00,0.000,4,0.147,0.039,2632,3750,2722,0,0,0,0,0,0,26.24,26.10,28.83
$GC,1214,-1.11,-97.7,81.4,-7.2,113,1221,0.00,2.47,0.00,0.000,6,0.000,0.021,2632,2098,2722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1536,-1.11,-97.7,102.5,-6.4,124,1541,0.00,2.62,0.00,0.000,4,0.000,0.039,2619,3751,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1654,-1.11,-97.7,111.0,-7.2,128,1661,0.00,2.45,0.00,0.000,6,0.000,0.021,2620,2106,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1985,-1.11,-97.7,136.7,-8.3,139,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2101,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2284,-1.11,-97.7,161.0,-7.8,147,2291,0.00,2.45,0.00,0.000,4,0.000,0.037,2620,548,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2405,-1.11,-97.7,169.3,-7.2,149,2412,0.10,2.45,0.00,0.000,6,0.129,0.024,2641,2187,2723,0,0,0,0,0,0,26.02,26.40,28.83
$GC,2766,-1.14,-97.7,187.5,-4.8,155,2771,0.00,2.53,0.00,0.000,4,0.000,0.036,2641,545,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2894,-1.14,-97.7,193.5,-4.8,157,2901,0.00,2.55,0.00,0.000,6,0.000,0.023,2630,2209,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3246,-1.16,-97.7,213.4,-5.7,163,3251,0.00,2.58,0.00,0.000,4,0.000,0.035,2630,545,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3305,-1.16,-97.7,217.2,-5.9,164,3311,0.00,2.45,0.00,0.000,6,0.000,0.023,2618,2189,2724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3664,-1.16,-97.7,240.7,-6.8,170,3671,0.00,2.58,0.00,0.000,4,0.000,0.035,2618,543,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3766,-1.16,-97.7,245.3,-7.2,171,3771,0.00,2.47,0.00,0.000,6,0.000,0.024,2606,2191,2725,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4084,-1.16,-97.7,274.9,-8.3,177,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2191,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-1.16,-97.7,299.7,-8.2,182,4391,0.00,2.60,0.00,0.000,4,0.000,0.036,2606,548,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4474,-1.16,-97.7,304.6,-8.2,183,4482,0.08,2.47,0.00,0.000,6,0.135,0.023,2620,2193,2724,0,0,0,0,0,0,26.06,26.41,28.83
$GC,4805,-1.19,-97.7,329.8,-6.8,189,4811,0.00,2.58,0.00,0.000,4,0.000,0.036,2621,551,2724,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4914,-1.21,-97.7,334.0,-6.8,190,4923,0.00,2.47,0.00,0.000,6,0.000,0.023,2610,2192,2724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5225,-1.21,-97.7,358.3,-6.7,196,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2192,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5525,-1.23,-97.7,379.7,-7.2,201,5531,0.00,2.60,0.00,0.000,4,0.000,0.037,2610,549,2725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5644,-1.23,-97.7,389.1,-7.6,203,5651,0.00,2.47,0.00,0.000,6,0.000,0.024,2598,2192,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6005,-1.23,-97.7,417.2,-7.7,209,6011,0.00,2.55,0.00,0.000,4,0.000,0.037,2598,546,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6115,-1.23,-97.7,421.8,-7.7,210,6123,0.00,2.47,0.00,0.000,6,0.000,0.024,2586,2189,2721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6424,-1.23,-97.7,446.9,-6.8,216,6431,0.00,2.60,0.00,0.000,4,0.000,0.037,2583,543,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6524,-1.23,-97.7,451.1,-6.8,217,6531,0.00,2.55,0.00,0.000,6,0.000,0.025,2574,2186,2720,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6845,-1.23,-97.7,477.1,-7.3,223,6852,0.12,2.58,0.00,0.000,4,0.156,0.037,2607,552,2719,0,0,0,0,0,0,26.34,26.16,28.83
$GC,6904,-1.23,-97.7,481.8,-7.5,224,6911,0.00,2.50,0.00,0.000,6,0.000,0.024,2597,2184,2719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7266,-1.25,-97.7,512.6,-8.7,229,7271,0.00,2.55,0.00,0.000,4,0.000,0.038,2596,548,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7354,-1.27,-97.7,512.6,-8.7,229,7361,0.00,2.47,0.00,0.000,6,0.000,0.024,2584,2193,2718,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7745,-1.27,-97.7,560.0,-9.9,233,7751,0.00,2.60,0.00,0.000,4,0.000,0.038,2584,552,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7885,-1.27,-97.7,571.9,-10.0,234,7891,0.00,2.47,0.00,0.000,6,0.000,0.024,2572,2192,2716,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8225,-1.27,-97.7,601.4,-8.6,237,8231,0.00,2.62,0.00,0.000,4,0.000,0.037,2572,543,2715,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8304,-1.27,-97.7,601.4,-8.6,237,8311,0.00,2.55,0.00,0.000,6,0.000,0.025,2560,2181,2715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8705,-1.27,-97.7,634.0,-6.8,241,8712,0.12,2.60,0.00,0.000,4,0.161,0.038,2592,542,2714,0,0,0,0,0,0,26.32,26.12,28.83
$GC,8835,-1.27,-97.7,641.9,-6.6,242,8841,0.00,2.53,0.00,0.000,6,0.000,0.025,2582,2193,2713,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9186,-1.27,-97.7,666.1,-6.7,245,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2194,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9545,-1.30,-97.7,693.9,-7.6,248,9551,0.00,2.60,0.00,0.000,4,0.000,0.038,2582,554,2712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9723,-1.30,-97.7,704.0,-7.9,249,9731,0.00,2.50,0.00,0.000,6,0.000,0.025,2570,2188,2711,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10145,-1.30,-97.7,747.1,-9.0,253,10151,0.00,2.58,0.00,0.000,4,0.000,0.040,2570,540,2709,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10264,-1.30,-97.7,758.4,-9.1,254,10272,0.00,2.50,0.00,0.000,6,0.000,0.025,2558,2187,2710,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10625,-1.30,-97.7,793.2,-9.6,257,10631,0.00,2.60,0.00,0.000,4,0.000,0.039,2558,553,2709,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10664,-1.30,-97.7,793.2,-9.6,257,10672,0.10,2.47,0.00,0.000,6,0.143,0.025,2577,2181,2709,0,0,0,0,0,0,25.88,26.34,28.83
$GC,10985,-1.32,-97.7,826.0,-9.3,260,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2181,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11345,-1.35,-97.7,853.5,-7.9,263,11351,0.00,2.60,0.00,0.000,4,0.000,0.041,2578,553,2707,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11495,-1.38,-97.7,862.2,-7.5,264,11502,0.00,2.47,0.00,0.000,6,0.000,0.025,2567,2180,2707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11824,-1.38,-97.7,886.3,-6.8,267,11832,0.00,2.60,0.00,0.000,4,0.000,0.041,2568,552,2705,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11883,-1.38,-97.7,886.3,-6.8,267,11891,0.00,2.53,0.00,0.000,6,0.000,0.025,2555,2194,2705,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12305,-1.38,-97.7,922.6,-7.6,271,12312,0.00,2.62,0.00,0.000,4,0.000,0.041,2555,552,2702,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12373,-1.38,-97.7,922.6,-7.6,271,12381,0.00,2.53,0.00,0.000,6,0.000,0.026,2543,2191,2703,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12784,-1.38,-97.7,966.0,-9.0,275,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2192,2703,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13041,begin apogee
$GC,13051,-0.29,0.0,991.4,-9.6,278,13144,1.12,0.05,86.53,1.697,6,0.123,0.128,2896,1624,2324,0,0,0,0,0,0,25.08,24.74,22.95
$STATE,13146,end apogee,CONTROL_FINISHED_OK
$STATE,13146,begin climb
$GC,13149,1.26,97.7,997.1,0.0,283,13252,1.42,2.72,93.07,1.700,4,0.062,0.035,3406,3203,1921,0,0,0,0,0,0,25.28,24.97,22.99
$GC,13414,1.16,135.8,992.4,4.9,296,13455,0.15,2.55,34.58,1.649,6,0.157,0.031,3375,1583,1765,0,0,0,0,0,0,25.64,26.06,23.38
$GC,13798,1.09,141.7,968.5,6.4,305,13812,0.00,2.03,5.68,1.331,4,0.000,0.050,3382,339,1741,0,0,0,0,0,0,28.83,26.08,23.90
$GC,13954,1.00,141.7,959.5,6.7,306,13962,0.20,1.98,0.00,0.000,6,0.155,0.024,3324,1657,1741,0,0,0,0,0,0,25.81,26.35,28.83
$GC,14276,0.96,141.7,932.3,7.5,309,14281,0.00,2.45,0.00,0.000,4,0.000,0.035,3324,3212,1739,0,0,0,0,0,0,28.83,26.24,28.83
$GC,14375,0.91,141.7,932.3,7.5,309,14382,0.15,2.50,0.00,0.000,6,0.161,0.030,3296,1573,1739,0,0,0,0,0,0,25.93,26.29,28.83
$GC,14754,0.91,141.7,895.6,7.7,313,14761,0.00,2.62,0.00,0.000,4,0.000,0.035,3296,3204,1735,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14904,0.91,141.7,886.5,7.5,314,14911,0.00,2.53,0.00,0.000,6,0.000,0.030,3306,1583,1737,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,20386,1.14,188.9,448.3,7.9,365,20392,0.15,2.08,0.00,0.000,4,0.148,0.047,3376,346,1538,0,0,0,0,0,0,26.20,25.96,28.83
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$STATE,25321,end climb,SURFACE_DEPTH_REACHED
$STATE,25321,begin surface coast
$FINISH,1.4,1.005840
$STATE,25352,end surface coast,CONTROL_FINISHED_OK
$STATE,25352,begin surface
$SM_CCo,25383,50.15,0.124,0,0,1096,300.00
$SM_GC,2.37,8.70,2.80,50.15,0.043,0.026,0.124,156,2181,1096,-8.81,-0.74,300.00,0,0,0,0,0,0,26.31,26.27,25.18
$IRIDIUM_FIX,2408.65,-3744.21,140213,222212
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.16
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7580544
$TM_FREEKB,4503936
$24V_AH,23.0,83.497
$10V_AH,10.0,74.148
$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
$DEVICE_SECS,22.675,227.600,267.075,50.150,0.000,27.116,38.914,215.218,0.000,0.000,18.244,2182.514,20464.639,712.542,2052.086,596.350,33.265,1692.821,0.000,1664.189,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.274,13.466,0.000,0.000
$MEM,343708
$DATA_FILE_SIZE,13410,530
$CAP_FILE_SIZE,191653,0
$CFSIZE,260034560,206082048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150213,130159,2430.804,-3747.213,36,0.9,36,-13.9