version: 66.11
glider: 189
mission: 7
dive: 497
start: 2 16 113 11 11 42
data:
$ID,189
$MISSION,7
$DIVE,497
$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,446.44598
$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,-48279.344
$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
$GPS1,160213,105304,2431.916,-3747.716,30,0.8,30,-13.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-59.4
$GPS2,160213,111042,2431.943,-3747.688,16,1.0,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.102,-0.063
$KALMAN_X,167843.8,314.6,-1014.3,-143215.5,2759.2
$KALMAN_Y,71831.8,71.6,-661.1,-78048.2,1348.9
$MHEAD_RNG_PITCHd_Wd,252.1,2026,-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,-10.55,0.000,2,0.000,0.000,151,2124,825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.1,0.0,1,124,8.95,2.50,-69.55,0.000,4,0.178,0.050,2590,548,2718,0,0,0,0,0,0,25.54,26.02,26.76
$GC,387,-1.18,-97.7,22.6,-8.5,36,395,0.15,2.45,0.00,0.000,6,0.155,0.024,2619,2199,2718,0,0,0,0,0,0,25.86,26.32,28.83
$GC,695,-1.18,-97.7,44.5,-6.5,67,702,0.00,2.53,0.00,0.000,4,0.000,0.041,2609,3753,2718,0,0,0,0,0,0,28.83,26.08,28.83
$GC,829,-1.15,-97.7,53.2,-6.6,80,835,0.00,2.42,0.00,0.000,6,0.000,0.021,2609,2095,2718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1136,-1.12,-97.7,73.1,-6.2,111,1143,0.12,0.00,0.00,0.000,6,0.151,0.000,2641,2095,2718,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1444,-1.12,-97.7,94.2,-7.1,124,1452,0.00,2.67,0.00,0.000,4,0.000,0.039,2631,3743,2719,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1644,-1.12,-97.7,109.0,-8.3,130,1653,0.00,2.45,0.00,0.000,6,0.000,0.021,2630,2095,2718,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1954,-1.12,-97.7,135.8,-7.6,141,1961,0.00,2.65,0.00,0.000,4,0.000,0.039,2617,3746,2718,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2023,-1.12,-97.7,140.5,-7.6,143,2031,0.00,2.45,0.00,0.000,6,0.000,0.020,2618,2098,2718,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2345,-1.12,-97.7,165.1,-7.3,151,2351,0.00,2.62,0.00,0.000,4,0.000,0.039,2607,3751,2719,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2483,-1.12,-97.7,173.3,-7.0,153,2492,0.12,2.47,0.00,0.000,6,0.144,0.020,2639,2079,2719,0,0,0,0,0,0,26.08,26.45,28.83
$GC,2826,-1.15,-97.7,193.8,-5.5,159,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2079,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3126,-1.18,-97.7,207.4,-4.4,164,3131,0.00,2.38,0.00,0.000,4,0.000,0.037,2641,540,2719,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3214,-1.20,-97.7,210.2,-4.4,165,3221,0.00,2.47,0.00,0.000,6,0.000,0.023,2629,2193,2718,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3546,-1.20,-97.7,230.6,-6.0,171,3551,0.00,2.45,0.00,0.000,4,0.000,0.040,2617,3749,2719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3644,-1.20,-97.7,234.9,-6.4,172,3652,0.00,2.47,0.00,0.000,6,0.000,0.021,2617,2085,2718,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3965,-1.20,-97.7,264.8,-8.5,178,3971,0.00,2.38,0.00,0.000,4,0.000,0.037,2617,538,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4033,-1.20,-97.7,270.0,-8.5,179,4041,0.00,2.50,0.00,0.000,6,0.000,0.023,2605,2195,2719,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4384,-1.20,-97.7,296.8,-7.2,185,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2195,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4686,-1.20,-97.7,314.8,-5.9,190,4692,0.00,2.55,0.00,0.000,4,0.000,0.036,2605,544,2717,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4784,-1.20,-97.7,318.6,-6.0,191,4791,0.00,2.50,0.00,0.000,6,0.000,0.023,2593,2199,2716,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5105,-1.20,-97.7,345.0,-7.7,197,5111,0.00,2.53,0.00,0.000,4,0.000,0.042,2581,3748,2716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5225,-1.20,-97.7,355.9,-8.6,199,5232,0.08,2.45,0.00,0.000,6,0.129,0.021,2607,2093,2717,0,0,0,0,0,0,26.11,26.45,28.83
$GC,5585,-1.20,-97.7,390.6,-9.7,205,5591,0.00,2.42,0.00,0.000,4,0.000,0.037,2608,548,2716,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5713,-1.20,-97.7,402.7,-10.0,207,5721,0.00,2.50,0.00,0.000,6,0.000,0.024,2597,2200,2715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6065,-1.20,-97.7,433.3,-8.2,213,6072,0.00,2.50,0.00,0.000,4,0.000,0.041,2586,3743,2715,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6163,-1.20,-97.7,438.0,-7.9,214,6171,0.00,2.47,0.00,0.000,6,0.000,0.021,2586,2091,2715,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6485,-1.20,-97.7,463.2,-6.9,220,6491,0.00,2.42,0.00,0.000,4,0.000,0.037,2586,550,2714,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6545,-1.20,-97.7,467.5,-6.9,221,6552,0.15,2.42,0.00,0.000,6,0.148,0.024,2614,2197,2714,0,0,0,0,0,0,25.95,26.38,28.83
$GC,6905,-1.24,-97.7,492.6,-7.0,227,6911,0.00,2.60,0.00,0.000,4,0.000,0.037,2614,548,2713,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6984,-1.27,-97.7,497.3,-7.2,228,6991,0.00,2.47,0.00,0.000,6,0.000,0.024,2604,2191,2712,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7385,-1.29,-97.7,527.8,-7.3,232,7391,0.00,2.60,0.00,0.000,4,0.000,0.037,2604,548,2711,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7505,-1.29,-97.7,536.0,-7.1,233,7511,0.00,2.47,0.00,0.000,6,0.000,0.024,2592,2189,2711,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7866,-1.29,-97.7,558.6,-6.4,236,7871,0.00,2.55,0.00,0.000,4,0.000,0.037,2592,546,2711,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7934,-1.29,-97.7,558.6,-6.4,236,7941,0.00,2.50,0.00,0.000,6,0.000,0.024,2580,2189,2710,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8344,-1.29,-97.7,593.7,-7.3,240,8351,0.00,2.60,0.00,0.000,4,0.000,0.037,2580,548,2710,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8494,-1.29,-97.7,604.4,-7.9,241,8501,0.00,2.47,0.00,0.000,6,0.000,0.025,2568,2180,2709,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8824,-1.29,-97.7,634.9,-8.6,244,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2180,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9184,-1.29,-97.7,659.9,-7.2,247,9191,0.00,2.60,0.00,0.000,4,0.000,0.038,2568,546,2707,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9244,-1.29,-97.7,659.9,-7.2,247,9251,0.00,2.50,0.00,0.000,6,0.000,0.025,2556,2191,2710,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9665,-1.29,-97.7,688.4,-5.9,251,9672,0.12,2.60,0.00,0.000,4,0.162,0.038,2588,549,2707,0,0,0,0,0,0,26.33,26.09,28.83
$GC,9744,-1.29,-97.7,688.4,-5.9,251,9752,0.00,2.47,0.00,0.000,6,0.000,0.024,2578,2184,2705,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10145,-1.29,-97.7,724.3,-7.5,255,10151,0.00,2.55,0.00,0.000,4,0.000,0.039,2578,546,2705,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10254,-1.29,-97.7,724.3,-7.5,255,10263,0.00,2.50,0.00,0.000,6,0.000,0.024,2566,2189,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10624,-1.29,-97.7,762.9,-8.0,259,10631,0.00,2.60,0.00,0.000,4,0.000,0.039,2566,550,2702,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10714,-1.29,-97.7,762.9,-8.0,259,10722,0.08,2.50,0.00,0.000,6,0.143,0.024,2579,2190,2702,0,0,0,0,0,0,25.96,26.34,28.83
$GC,11105,-1.32,-97.7,803.9,-8.5,263,11111,0.00,2.60,0.00,0.000,4,0.000,0.039,2579,552,2701,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11234,-1.34,-97.7,815.1,-8.8,264,11241,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2181,2701,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11586,-1.36,-97.7,848.6,-9.3,267,11591,0.00,2.55,0.00,0.000,4,0.000,0.041,2569,545,2701,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11685,-1.38,-97.7,848.6,-9.3,267,11691,0.00,2.53,0.00,0.000,6,0.000,0.026,2557,2192,2701,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12064,-1.38,-97.7,890.0,-8.6,271,12071,0.00,2.62,0.00,0.000,4,0.000,0.041,2557,543,2699,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12185,-1.38,-97.7,899.7,-8.3,272,12191,0.00,2.50,0.00,0.000,6,0.000,0.026,2545,2211,2699,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12544,-1.38,-97.7,926.4,-7.5,275,12551,0.00,2.65,0.00,0.000,4,0.000,0.040,2545,550,2698,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12624,-1.38,-97.7,926.4,-7.5,275,12632,0.00,2.50,0.00,0.000,6,0.000,0.026,2532,2190,2697,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13024,-1.38,-97.7,969.3,-8.9,279,13031,0.00,2.62,0.00,0.000,4,0.000,0.041,2533,546,2697,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13164,-1.36,-97.7,981.1,-9.3,280,13172,0.12,2.50,0.00,0.000,6,0.139,0.026,2560,2184,2697,0,0,0,0,0,0,25.75,26.27,28.83
$STATE,13261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13262,begin apogee
$GC,13271,-0.29,0.0,992.1,-9.5,281,13363,1.08,0.00,85.45,1.711,6,0.123,0.000,2899,1576,2319,0,0,0,0,0,0,25.07,28.83,22.94
$STATE,13365,end apogee,CONTROL_FINISHED_OK
$STATE,13365,begin climb
$GC,13368,1.26,97.7,997.3,0.0,286,13465,1.42,0.00,92.60,1.717,6,0.060,0.000,3405,1576,1922,0,0,0,0,0,0,25.29,28.83,22.94
$GC,13805,1.13,98.4,976.7,6.6,303,13812,0.17,1.92,0.00,0.000,4,0.172,0.047,3369,353,1914,0,0,0,0,0,0,25.89,26.10,28.83
$GC,13894,0.99,99.0,976.7,6.6,303,13902,0.17,1.98,0.00,0.000,6,0.159,0.024,3324,1673,1910,0,0,0,0,0,0,25.84,26.38,28.83
$GC,14286,0.97,130.8,951.7,5.2,307,14318,0.00,0.00,29.45,1.631,6,0.000,0.000,3324,1673,1786,0,0,0,0,0,0,28.83,28.83,23.58
$GC,14645,0.98,167.8,933.5,4.9,310,14685,0.00,2.62,34.45,1.643,4,0.000,0.036,3324,3206,1635,0,0,0,0,0,0,28.83,25.45,23.47
$GC,14725,1.00,204.8,933.5,4.9,310,14766,0.00,2.58,35.95,1.675,6,0.000,0.031,3335,1586,1484,0,0,0,0,0,0,28.83,25.82,23.32
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$STATE,24802,end climb,SURFACE_DEPTH_REACHED
$STATE,24802,begin surface coast
$FINISH,1.3,1.014811
$STATE,24833,end surface coast,CONTROL_FINISHED_OK
$STATE,24833,begin surface
$SM_CCo,24859,106.43,0.121,0,0,496,446.45
$SM_GC,2.24,8.68,2.83,106.43,0.041,0.024,0.121,152,2200,496,-8.81,-0.40,446.45,0,0,0,0,0,0,26.24,26.29,25.22
$IRIDIUM_FIX,2429.95,-3744.81,160213,111156
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.77
$INTERNAL_PRESSURE,8.9776
$TCM_TEMP,22.30
$XPDR_PINGS,1
$SC_FREEKB,7579008
$TM_FREEKB,4487136
$24V_AH,22.9,84.097
$10V_AH,9.8,74.667
$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
$DEVICE_SECS,22.425,214.850,277.900,106.425,0.000,144.905,306.222,0.000,0.250,0.000,17.948,2179.993,20137.113,784.118,2276.252,631.140,33.264,1755.925,0.000,1679.198,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.250,13.438,0.000,0.000
$MEM,344060
$DATA_FILE_SIZE,13430,517
$CAP_FILE_SIZE,188903,0
$CFSIZE,260034560,205598720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160213,180904,2431.760,-3748.677,34,0.9,34,-14.0