version: 66.11
glider: 189
mission: 7
dive: 498
start: 2 16 113 18 29 30
data:
$ID,189
$MISSION,7
$DIVE,498
$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,-48280.602
$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
$GPS1,160213,180904,2431.760,-3748.677,34,0.9,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-58.5
$GPS2,160213,182831,2431.746,-3748.639,14,1.8,14,-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,-0.048
$KALMAN_X,167331.0,-117.0,1322.0,-146199.0,-2789.2
$KALMAN_Y,72373.3,171.3,214.8,-79930.1,392.9
$MHEAD_RNG_PITCHd_Wd,127.4,1594,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.02,0.000,2,0.000,0.000,151,2124,810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,124,8.88,2.50,-70.00,0.000,4,0.171,0.047,2593,542,2719,0,0,0,0,0,0,25.41,26.00,26.69
$GC,395,-1.17,-97.7,22.3,-7.6,37,403,0.10,2.47,0.00,0.000,6,0.138,0.024,2616,2188,2719,0,0,0,0,0,0,25.89,26.32,28.83
$GC,705,-1.15,-97.7,44.0,-6.9,68,713,0.00,2.53,0.00,0.000,4,0.000,0.041,2605,3748,2720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,775,-1.11,-97.7,49.0,-7.2,75,783,0.10,2.45,0.00,0.000,6,0.130,0.021,2638,2088,2720,0,0,0,0,0,0,25.99,26.41,28.83
$GC,1084,-1.11,-97.7,71.4,-7.6,106,1093,0.00,2.40,0.00,0.000,4,0.000,0.037,2639,550,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1177,-1.08,-97.7,78.7,-8.1,113,1182,0.00,2.40,0.00,0.000,6,0.000,0.024,2628,2193,2720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1504,-1.08,-97.7,104.6,-7.5,124,1511,0.00,2.50,0.00,0.000,4,0.000,0.040,2617,3746,2720,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1573,-1.08,-97.7,108.8,-7.2,126,1582,0.12,2.45,0.00,0.000,6,0.145,0.020,2649,2093,2720,0,0,0,0,0,0,26.07,26.44,28.83
$GC,1899,-1.11,-97.7,127.0,-4.9,137,1904,0.00,2.38,0.00,0.000,4,0.000,0.037,2649,546,2720,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1985,-1.11,-97.7,131.5,-5.1,140,1991,0.00,2.45,0.00,0.000,6,0.000,0.023,2639,2188,2720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2318,-1.11,-97.7,149.9,-6.5,151,2323,0.00,2.47,0.00,0.000,4,0.000,0.040,2627,3755,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2383,-1.11,-97.7,154.5,-7.3,153,2391,0.00,2.47,0.00,0.000,6,0.000,0.020,2627,2087,2720,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2734,-1.11,-97.7,183.2,-7.9,159,2741,0.00,2.40,0.00,0.000,4,0.000,0.037,2627,547,2720,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2874,-1.11,-97.7,192.0,-7.6,161,2881,0.00,2.47,0.00,0.000,6,0.000,0.023,2614,2201,2720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3215,-1.11,-97.7,212.6,-5.4,167,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2201,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3516,-1.11,-97.7,228.7,-5.5,172,3522,0.00,2.58,0.00,0.000,4,0.000,0.035,2614,539,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3624,-1.11,-97.7,232.6,-5.8,173,3633,0.10,2.55,0.00,0.000,6,0.129,0.024,2637,2202,2720,0,0,0,0,0,0,26.00,26.40,28.83
$GC,3936,-1.14,-97.7,255.7,-6.3,179,3941,0.00,2.58,0.00,0.000,4,0.000,0.036,2638,536,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4005,-1.17,-97.7,259.5,-6.3,180,4011,0.00,2.47,0.00,0.000,6,0.000,0.024,2626,2186,2720,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4355,-1.19,-97.7,282.0,-6.2,186,4361,0.00,2.53,0.00,0.000,4,0.000,0.036,2626,542,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4404,-1.21,-97.7,282.0,-6.2,186,4413,0.00,2.47,0.00,0.000,6,0.000,0.023,2615,2192,2719,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4716,-1.21,-97.7,304.3,-6.4,192,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2193,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5015,-1.21,-97.7,327.1,-7.8,197,5021,0.00,2.60,0.00,0.000,4,0.000,0.036,2614,540,2718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5163,-1.21,-97.7,338.1,-8.6,199,5171,0.00,2.50,0.00,0.000,6,0.000,0.023,2602,2194,2717,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5496,-1.21,-97.7,374.2,-10.1,205,5501,0.00,2.55,0.00,0.000,4,0.000,0.036,2602,539,2717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5555,-1.21,-97.7,380.5,-10.2,206,5561,0.00,2.47,0.00,0.000,6,0.000,0.024,2590,2189,2716,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5915,-1.21,-97.7,412.2,-8.3,212,5921,0.00,2.47,0.00,0.000,4,0.000,0.041,2578,3747,2716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6003,-1.21,-97.7,416.5,-7.8,213,6012,0.12,2.47,0.00,0.000,6,0.146,0.021,2611,2083,2716,0,0,0,0,0,0,26.08,26.44,28.83
$GC,6335,-1.24,-97.7,436.9,-5.4,219,6341,0.00,2.38,0.00,0.000,4,0.000,0.037,2611,544,2715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6375,-1.26,-97.7,436.9,-5.4,219,6381,0.00,2.47,0.00,0.000,6,0.000,0.024,2600,2190,2715,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6695,-1.26,-97.7,456.8,-5.7,225,6701,0.00,2.47,0.00,0.000,4,0.000,0.042,2589,3753,2714,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6755,-1.26,-97.7,460.6,-5.9,226,6761,0.00,2.45,0.00,0.000,6,0.000,0.021,2589,2105,2714,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7115,-1.26,-97.7,487.4,-7.6,232,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2105,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,-1.26,-97.7,511.7,-8.1,236,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2105,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7774,-1.26,-97.7,538.0,-7.5,239,7781,0.00,2.45,0.00,0.000,4,0.000,0.038,2589,550,2711,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7813,-1.26,-97.7,538.0,-7.5,239,7821,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2194,2711,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8136,-1.26,-97.7,560.8,-6.4,242,8141,0.00,2.55,0.00,0.000,4,0.000,0.037,2577,542,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8174,-1.26,-97.7,560.8,-6.4,242,8181,0.00,2.50,0.00,0.000,6,0.000,0.024,2565,2202,2710,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8495,-1.26,-97.7,587.1,-7.0,245,8501,0.00,2.50,0.00,0.000,4,0.000,0.042,2553,3744,2711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8574,-1.26,-97.7,587.1,-7.0,245,8582,0.10,2.45,0.00,0.000,6,0.131,0.022,2586,2093,2709,0,0,0,0,0,0,26.00,26.42,28.83
$GC,8975,-1.26,-97.7,631.3,-9.2,249,8981,0.00,2.42,0.00,0.000,4,0.000,0.039,2586,552,2708,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9143,-1.26,-97.7,643.3,-9.5,250,9151,0.00,2.50,0.00,0.000,6,0.000,0.024,2576,2196,2707,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9456,-1.26,-97.7,678.3,-9.8,253,9461,0.00,2.55,0.00,0.000,4,0.000,0.037,2576,546,2706,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9504,-1.26,-97.7,678.3,-9.8,253,9511,0.00,2.53,0.00,0.000,6,0.000,0.024,2564,2178,2706,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9814,-1.26,-97.7,709.8,-8.9,256,9816,0.12,0.00,0.00,0.000,6,0.159,0.000,2596,2177,2705,0,0,0,0,0,0,26.32,28.83,28.83
$GC,10176,-1.29,-97.7,738.0,-8.0,259,10182,0.00,2.58,0.00,0.000,4,0.000,0.039,2596,538,2704,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10304,-1.32,-97.7,747.9,-7.9,260,10311,0.00,2.50,0.00,0.000,6,0.000,0.024,2586,2186,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10656,-1.35,-97.7,778.7,-8.5,263,10662,0.00,2.58,0.00,0.000,4,0.000,0.039,2589,541,2702,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10694,-1.38,-97.7,778.7,-8.5,263,10701,0.00,2.50,0.00,0.000,6,0.000,0.024,2574,2188,2702,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11015,-1.41,-97.7,813.7,-9.6,266,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2188,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11376,-1.44,-97.7,846.0,-9.2,269,11382,0.10,2.58,0.00,0.000,4,0.100,0.039,2523,540,2700,0,0,0,0,0,0,26.63,26.05,28.83
$GC,11523,-1.44,-97.7,856.8,-8.9,270,11531,0.00,2.53,0.00,0.000,6,0.000,0.024,2510,2187,2700,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11855,-1.40,-97.7,885.1,-8.1,273,11862,0.15,2.53,0.00,0.000,4,0.158,0.044,2539,3753,2699,0,0,0,0,0,0,26.19,25.97,28.83
$GC,11935,-1.36,-97.7,885.1,-8.1,273,11942,0.00,2.47,0.00,0.000,6,0.000,0.024,2539,2104,2699,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12335,-1.36,-97.7,922.1,-7.7,277,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2104,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12694,-1.36,-97.7,952.8,-8.4,280,12701,0.00,2.47,0.00,0.000,4,0.000,0.041,2539,547,2697,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12784,-1.36,-97.7,952.8,-8.4,280,12792,0.10,2.55,0.00,0.000,6,0.141,0.026,2559,2177,2697,0,0,0,0,0,0,25.84,26.29,28.83
$GC,13095,-1.38,-97.7,989.1,-9.0,285,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2177,2696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13111,begin apogee
$GC,13120,-0.29,0.0,990.9,-9.0,286,13214,1.08,0.03,85.18,1.700,6,0.125,0.073,2898,1620,2321,0,0,0,0,0,0,25.08,24.39,22.92
$STATE,13215,end apogee,CONTROL_FINISHED_OK
$STATE,13216,begin climb
$GC,13220,1.26,97.7,996.3,0.0,291,13318,1.45,0.00,93.78,1.731,6,0.062,0.000,3411,1620,1921,0,0,0,0,0,0,25.33,28.83,22.97
$GC,13696,1.14,117.5,977.3,5.7,310,13722,0.15,2.60,17.58,1.585,4,0.171,0.035,3373,3197,1840,0,0,0,0,0,0,25.98,25.81,23.75
$GC,13804,1.03,137.3,977.3,5.7,310,13833,0.15,2.53,19.50,1.590,6,0.150,0.029,3338,1583,1759,0,0,0,0,0,0,25.65,26.07,23.62
$GC,14180,0.96,137.3,944.1,6.9,314,14185,0.00,1.92,0.00,0.000,4,0.000,0.047,3346,350,1754,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,25932,end climb,SURFACE_DEPTH_REACHED
$STATE,25932,begin surface coast
$FINISH,1.5,1.003974
$STATE,25964,end surface coast,CONTROL_FINISHED_OK
$STATE,25964,begin surface
$SM_CCo,25990,46.30,0.124,0,0,1094,300.00
$SM_GC,2.19,8.62,0.80,46.30,0.041,0.031,0.124,151,2196,1094,-8.83,-0.45,300.00,0,0,0,0,0,0,26.29,26.43,25.49
$IRIDIUM_FIX,2434.69,-3744.38,160213,111138
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.08
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7578624
$TM_FREEKB,4482848
$24V_AH,22.9,84.273
$10V_AH,10.0,74.804
$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
$DEVICE_SECS,22.150,248.450,277.150,46.300,0.000,25.356,40.987,720.703,0.000,0.000,16.029,2191.640,20979.240,764.677,2426.962,823.191,33.263,1749.903,0.000,1637.393,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25979.000,2730.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.326,13.440,0.000,0.000
$MEM,343616
$DATA_FILE_SIZE,13447,541
$CAP_FILE_SIZE,206991,0
$CFSIZE,260034560,205619200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170213,014452,2431.365,-3747.658,45,1.3,45,-13.9