version: 66.11
glider: 189
mission: 7
dive: 501
start: 2 17 113 16 34 56
data:
$ID,189
$MISSION,7
$DIVE,501
$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,-48284.469
$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
$GPS1,170213,162029,2430.705,-3748.739,40,0.8,40,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-58.1
$GPS2,170213,163354,2430.724,-3748.839,16,1.5,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.111,0.032
$KALMAN_X,167600.1,-212.8,374.0,-145765.7,-1320.3
$KALMAN_Y,75337.6,-124.1,754.4,-85025.5,-231.4
$MHEAD_RNG_PITCHd_Wd,87.8,1116,-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,-90.7,0.0,0.0,0,34,0.00,0.00,-10.20,0.000,2,0.000,0.000,152,2121,1386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,103,9.20,0.00,-50.50,0.000,6,0.190,0.000,2568,2119,2720,0,0,0,0,0,0,25.36,28.83,26.70
$GC,408,-1.26,-97.7,23.2,-7.3,38,414,0.00,2.62,0.00,0.000,4,0.000,0.041,2558,3753,2721,0,0,0,0,0,0,28.83,26.05,28.83
$GC,705,-1.19,-97.7,49.8,-9.1,68,713,0.15,2.45,0.00,0.000,6,0.132,0.021,2614,2091,2724,0,0,0,0,0,0,25.76,26.41,28.83
$GC,1014,-1.19,-97.7,74.4,-7.9,99,1023,0.00,2.70,0.00,0.000,4,0.000,0.041,2603,3753,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1174,-1.19,-97.7,86.4,-8.1,105,1181,0.00,2.47,0.00,0.000,6,0.000,0.021,2603,2100,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1495,-1.19,-97.7,111.0,-7.2,116,1501,0.00,2.62,0.00,0.000,4,0.000,0.039,2591,3748,2722,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1678,-1.17,-97.7,125.3,-8.1,122,1684,0.12,2.40,0.00,0.000,6,0.147,0.021,2623,2087,2722,0,0,0,0,0,0,26.05,26.43,28.83
$GC,2008,-1.20,-97.7,149.7,-7.0,133,2013,0.00,2.65,0.00,0.000,4,0.000,0.040,2612,3755,2722,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2074,-1.22,-97.7,153.4,-6.7,135,2081,0.00,2.45,0.00,0.000,6,0.000,0.020,2612,2102,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2426,-1.22,-97.7,174.1,-5.5,141,2431,0.00,2.40,0.00,0.000,4,0.000,0.037,2612,542,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2474,-1.22,-97.7,174.1,-5.5,141,2482,0.00,2.50,0.00,0.000,6,0.000,0.023,2600,2201,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2785,-1.22,-97.7,195.8,-6.1,147,2791,0.00,2.55,0.00,0.000,4,0.000,0.035,2600,545,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2825,-1.22,-97.7,195.8,-6.1,147,2832,0.00,2.45,0.00,0.000,6,0.000,0.023,2588,2187,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3144,-1.22,-97.7,223.1,-7.8,153,3151,0.00,2.58,0.00,0.000,4,0.000,0.035,2589,545,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3193,-1.22,-97.7,223.1,-7.8,153,3203,0.12,2.47,0.00,0.000,6,0.159,0.023,2607,2193,2723,0,0,0,0,0,0,26.01,26.39,28.83
$GC,3506,-1.24,-97.7,248.3,-6.7,159,3511,0.00,2.47,0.00,0.000,4,0.000,0.041,2597,3757,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3594,-1.24,-97.7,252.1,-6.5,160,3601,0.00,2.45,0.00,0.000,6,0.000,0.021,2597,2098,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3925,-1.24,-97.7,273.9,-6.0,166,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2100,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4226,-1.24,-97.7,292.5,-6.3,171,4231,0.00,2.40,0.00,0.000,4,0.000,0.037,2597,546,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4264,-1.24,-97.7,292.5,-6.3,171,4271,0.00,2.50,0.00,0.000,6,0.000,0.023,2585,2200,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4585,-1.24,-97.7,320.8,-8.1,177,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2200,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4884,-1.24,-97.7,346.2,-8.5,182,4891,0.00,2.62,0.00,0.000,4,0.000,0.036,2585,547,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5065,-1.24,-97.7,360.1,-7.8,185,5072,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2193,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5425,-1.24,-97.7,384.0,-6.5,191,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2193,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5725,-1.24,-97.7,404.3,-6.9,196,5731,0.00,2.55,0.00,0.000,4,0.000,0.037,2574,541,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5803,-1.24,-97.7,409.0,-7.3,197,5812,0.15,2.50,0.00,0.000,6,0.155,0.024,2600,2192,2720,0,0,0,0,0,0,25.93,26.38,28.83
$GC,6145,-1.28,-97.7,440.9,-9.3,203,6151,0.00,2.60,0.00,0.000,4,0.000,0.037,2601,542,2720,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6285,-1.31,-97.7,453.5,-10.2,205,6291,0.00,2.47,0.00,0.000,6,0.000,0.024,2590,2185,2718,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6625,-1.34,-97.7,488.2,-9.4,211,6631,0.00,2.55,0.00,0.000,4,0.000,0.042,2579,3751,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6705,-1.37,-97.7,493.4,-9.0,212,6712,0.00,2.45,0.00,0.000,6,0.000,0.021,2579,2101,2717,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7044,-1.37,-97.7,521.1,-7.6,216,7051,0.00,2.67,0.00,0.000,4,0.000,0.041,2567,3747,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7145,-1.37,-97.7,521.1,-7.6,216,7151,0.00,2.45,0.00,0.000,6,0.000,0.022,2567,2100,2716,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7524,-1.37,-97.7,556.4,-7.3,220,7531,0.00,2.45,0.00,0.000,4,0.000,0.038,2567,540,2716,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7614,-1.37,-97.7,556.4,-7.3,220,7622,0.00,2.47,0.00,0.000,6,0.000,0.024,2555,2184,2715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8004,-1.37,-97.7,592.7,-7.5,224,8011,0.00,2.58,0.00,0.000,4,0.000,0.037,2554,553,2714,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8063,-1.37,-97.7,592.7,-7.5,224,8071,0.00,2.50,0.00,0.000,6,0.000,0.024,2543,2194,2713,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8484,-1.37,-97.7,628.8,-7.5,228,8491,0.00,2.60,0.00,0.000,4,0.000,0.037,2543,550,2712,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8563,-1.37,-97.7,628.8,-7.5,228,8571,0.00,2.50,0.00,0.000,6,0.000,0.024,2531,2191,2712,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8964,-1.37,-97.7,669.7,-8.5,232,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2191,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9325,-1.37,-97.7,705.8,-9.8,235,9331,0.00,2.58,0.00,0.000,4,0.000,0.038,2536,539,2710,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9444,-1.37,-97.7,719.2,-10.3,236,9452,0.10,2.50,0.00,0.000,6,0.142,0.024,2551,2180,2710,0,0,0,0,0,0,25.89,26.33,28.83
$GC,9804,-1.37,-97.7,756.6,-10.6,239,9811,0.00,2.60,0.00,0.000,4,0.000,0.038,2552,548,2709,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9874,-1.37,-97.7,756.6,-10.6,239,9881,0.00,2.50,0.00,0.000,6,0.000,0.025,2541,2192,2709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10284,-1.37,-97.7,795.8,-8.1,243,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2192,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,-1.37,-97.7,819.1,-6.6,246,10651,0.00,2.62,0.00,0.000,4,0.000,0.040,2541,550,2706,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10714,-1.37,-97.7,819.1,-6.6,246,10722,0.08,2.55,0.00,0.000,6,0.145,0.026,2553,2181,2706,0,0,0,0,0,0,25.93,26.30,28.83
$GC,11126,-1.40,-97.7,855.2,-7.5,250,11131,0.00,2.55,0.00,0.000,4,0.000,0.040,2554,548,2704,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11274,-1.42,-97.7,866.1,-8.0,251,11281,0.00,2.50,0.00,0.000,6,0.000,0.026,2543,2185,2704,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11605,-1.42,-97.7,899.0,-9.1,254,11611,0.00,2.55,0.00,0.000,4,0.000,0.041,2544,548,2703,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11683,-1.42,-97.7,899.0,-9.1,254,11691,0.00,2.53,0.00,0.000,6,0.000,0.025,2531,2194,2702,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12084,-1.42,-97.7,942.3,-9.0,258,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2194,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12445,-1.42,-97.7,973.2,-8.6,261,12451,0.00,2.58,0.00,0.000,4,0.000,0.041,2531,549,2701,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12623,-1.42,-97.7,984.2,-8.7,262,12631,0.00,2.53,0.00,0.000,6,0.000,0.027,2519,2185,2701,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,12681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12681,begin apogee
$GC,12690,-0.29,0.0,995.4,-8.9,263,12783,1.23,0.00,86.78,1.725,6,0.130,0.000,2896,1575,2320,0,0,0,0,0,0,24.96,28.83,22.91
$STATE,12785,end apogee,CONTROL_FINISHED_OK
$STATE,12785,begin climb
$GC,12789,1.33,97.7,1000.6,0.0,268,12891,1.48,2.08,93.45,1.737,4,0.063,0.048,3434,357,1921,0,0,0,0,0,0,25.28,24.89,22.93
$GC,12944,1.25,158.2,999.8,3.6,276,13006,0.12,2.00,56.03,1.700,6,0.172,0.024,3405,1667,1675,0,0,0,0,0,0,25.48,25.83,23.19
$GC,13395,1.18,158.2,966.7,7.6,289,13402,0.00,2.12,0.00,0.000,4,0.000,0.047,3413,360,1666,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13639,1.09,158.2,946.6,8.0,291,13644,0.22,1.90,0.00,0.000,6,0.152,0.026,3352,1664,1663,0,0,0,0,0,0,25.84,26.43,28.83
$GC,13995,1.04,158.2,917.5,8.2,294,14001,0.00,2.12,0.00,0.000,4,0.000,0.048,3361,353,1662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14055,0.98,158.2,917.5,8.2,294,14062,0.12,1.95,0.00,0.000,6,0.139,0.025,3321,1657,1662,0,0,0,0,0,0,25.97,26.46,28.83
$GC,14474,0.98,158.2,876.6,8.5,298,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1657,1662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14835,1.01,158.2,851.2,7.3,301,14841,0.00,2.10,0.00,0.000,4,0.000,0.049,3330,360,1660,0,0,0,0,0,0,28.83,26.12,28.83
$GC,14936,1.03,158.2,851.2,7.3,301,14942,0.00,1.90,0.00,0.000,6,0.000,0.027,3329,1660,1659,0,0,0,0,0,0,28.83,26.46,28.83
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$STATE,25081,end climb,SURFACE_DEPTH_REACHED
$STATE,25082,begin surface coast
$FINISH,1.3,1.002896
$STATE,25122,end surface coast,CONTROL_FINISHED_OK
$STATE,25123,begin surface
$SM_CCo,25147,55.15,0.123,0,0,1096,300.00
$SM_GC,2.28,8.60,0.82,55.15,0.037,0.034,0.123,153,2193,1096,-8.81,-0.62,300.00,0,0,0,0,0,0,26.23,26.35,25.41
$IRIDIUM_FIX,2413.38,-3740.46,170213,161610
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.36
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7577472
$TM_FREEKB,4470112
$24V_AH,22.9,84.719
$10V_AH,10.1,75.189
$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,22.425,214.800,255.025,55.150,0.000,51.917,83.491,290.778,0.000,0.000,18.108,2093.649,20455.533,685.008,2124.913,636.004,33.258,1633.343,0.000,1606.088,0.000,0.535,0.000
$DEVICE_MAMPS,190.485,94.860,1737.315,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25136.000,2709.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.230,13.421,0.000,0.000
$MEM,343624
$DATA_FILE_SIZE,13412,521
$CAP_FILE_SIZE,189067,0
$CFSIZE,260034560,205357056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170213,233604,2430.816,-3747.492,24,0.8,24,-14.0