version: 66.11
glider: 189
mission: 7
dive: 509
start: 2 20 113 1 31 7
data:
$ID,189
$MISSION,7
$DIVE,509
$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,-48294.531
$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
$GPS1,200213,012022,2431.309,-3746.847,38,0.9,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-58.4
$GPS2,200213,013005,2431.322,-3746.849,15,1.2,15,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.002
$KALMAN_X,167258.1,-113.3,-913.3,-140894.4,2635.6
$KALMAN_Y,76412.6,-116.7,126.8,-84379.7,-333.7
$MHEAD_RNG_PITCHd_Wd,285.1,2424,-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,-10.18,0.000,2,0.000,0.000,151,2121,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.4,0.0,1,104,9.27,2.72,-50.80,0.000,4,0.189,0.051,2590,3745,2717,0,0,0,0,0,0,25.34,25.93,26.70
$GC,118,-1.60,-97.7,1.6,-0.3,9,125,0.30,2.42,0.00,0.000,6,0.053,0.022,2467,2098,2718,0,0,0,0,0,0,26.15,26.24,28.83
$GC,425,-1.43,-97.7,25.5,-8.4,40,433,0.25,2.45,0.00,0.000,4,0.160,0.037,2534,545,2718,0,0,0,0,0,0,25.71,26.08,28.83
$GC,725,-1.29,-97.7,51.7,-9.1,70,734,0.15,2.55,0.00,0.000,6,0.140,0.025,2571,2188,2718,0,0,0,0,0,0,25.73,26.33,28.83
$GC,1035,-1.23,-97.7,77.5,-8.0,99,1042,0.12,2.50,0.00,0.000,4,0.163,0.040,2594,3756,2719,0,0,0,0,0,0,26.29,26.09,28.83
$GC,1227,-1.19,-97.7,91.6,-8.0,105,1232,0.00,2.42,0.00,0.000,6,0.000,0.021,2594,2098,2719,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1549,-1.15,-97.7,114.8,-6.3,116,1551,0.12,0.00,0.00,0.000,6,0.153,0.000,2626,2102,2720,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1845,-1.15,-97.7,132.2,-5.6,126,1851,0.00,2.45,0.00,0.000,4,0.000,0.037,2627,549,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1906,-1.15,-97.7,135.7,-5.8,128,1911,0.00,2.45,0.00,0.000,6,0.000,0.024,2616,2198,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2235,-1.15,-97.7,154.1,-5.6,138,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2198,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2535,-1.15,-97.7,173.4,-6.5,143,2541,0.00,2.58,0.00,0.000,4,0.000,0.035,2616,543,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2624,-1.15,-97.7,177.8,-6.8,144,2631,0.00,2.47,0.00,0.000,6,0.000,0.023,2603,2193,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2954,-1.15,-97.7,206.8,-8.1,150,2961,0.00,2.58,0.00,0.000,4,0.000,0.035,2604,550,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3093,-1.15,-97.7,216.3,-8.0,152,3102,0.15,2.47,0.00,0.000,6,0.151,0.023,2632,2191,2721,0,0,0,0,0,0,25.94,26.39,28.83
$GC,3436,-1.18,-97.7,238.4,-5.8,158,3441,0.00,2.55,0.00,0.000,4,0.000,0.037,2632,545,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3574,-1.18,-97.7,245.8,-5.9,160,3581,0.00,2.45,0.00,0.000,6,0.000,0.023,2622,2184,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3916,-1.20,-97.7,270.4,-7.1,166,3921,0.00,2.55,0.00,0.000,4,0.000,0.037,2622,542,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3993,-1.20,-97.7,275.0,-7.3,167,4001,0.00,2.50,0.00,0.000,6,0.000,0.023,2609,2196,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4334,-1.20,-97.7,303.1,-7.8,173,4341,0.00,2.58,0.00,0.000,4,0.000,0.037,2610,550,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4424,-1.20,-97.7,307.7,-7.7,174,4432,0.00,2.45,0.00,0.000,6,0.000,0.024,2597,2187,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4755,-1.20,-97.7,331.5,-6.4,180,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2186,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5055,-1.20,-97.7,349.4,-6.0,185,5062,0.00,2.58,0.00,0.000,4,0.000,0.037,2597,546,2720,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5145,-1.20,-97.7,353.4,-6.1,186,5151,0.00,2.47,0.00,0.000,6,0.000,0.024,2586,2193,2720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5475,-1.20,-97.7,378.4,-7.0,192,5481,0.00,2.60,0.00,0.000,4,0.000,0.037,2585,545,2719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5643,-1.20,-97.7,387.9,-7.5,194,5653,0.15,2.50,0.00,0.000,6,0.152,0.024,2613,2196,2719,0,0,0,0,0,0,25.93,26.38,28.83
$GC,5956,-1.23,-97.7,416.1,-7.8,200,5961,0.00,2.58,0.00,0.000,4,0.000,0.037,2614,539,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6034,-1.25,-97.7,421.2,-8.0,201,6041,0.00,2.47,0.00,0.000,6,0.000,0.024,2603,2185,2718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6376,-1.28,-97.7,450.1,-8.0,207,6381,0.00,2.55,0.00,0.000,4,0.000,0.037,2603,542,2717,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6473,-1.28,-97.7,454.8,-8.0,208,6481,0.00,2.50,0.00,0.000,6,0.000,0.024,2591,2193,2717,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6794,-1.28,-97.7,480.8,-7.1,214,6801,0.00,2.60,0.00,0.000,4,0.000,0.037,2591,550,2716,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6864,-1.28,-97.7,485.2,-7.0,215,6871,0.00,2.47,0.00,0.000,6,0.000,0.024,2579,2194,2716,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7214,-1.28,-97.7,509.1,-6.7,220,7221,0.00,2.60,0.00,0.000,4,0.000,0.037,2579,540,2716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7293,-1.28,-97.7,509.1,-6.7,220,7301,0.00,2.50,0.00,0.000,6,0.000,0.024,2567,2189,2715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7695,-1.28,-97.7,546.1,-7.7,224,7701,0.00,2.55,0.00,0.000,4,0.000,0.037,2567,543,2717,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7783,-1.28,-97.7,546.1,-7.7,224,7792,0.12,2.55,0.00,0.000,6,0.164,0.024,2585,2185,2714,0,0,0,0,0,0,25.95,26.35,28.83
$GC,8174,-1.28,-97.7,591.1,-9.4,228,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2185,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8534,-1.28,-97.7,625.6,-9.7,231,8541,0.00,2.60,0.00,0.000,4,0.000,0.039,2586,549,2712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8636,-1.28,-97.7,625.6,-9.7,231,8641,0.00,2.45,0.00,0.000,6,0.000,0.024,2576,2198,2712,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9014,-1.28,-97.7,668.4,-8.9,235,9021,0.00,2.60,0.00,0.000,4,0.000,0.038,2576,549,2711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9124,-1.28,-97.7,668.4,-8.9,235,9133,0.00,2.50,0.00,0.000,6,0.000,0.024,2564,2200,2711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9495,-1.28,-97.7,702.2,-7.0,239,9501,0.00,2.58,0.00,0.000,4,0.000,0.039,2564,545,2710,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9563,-1.28,-97.7,702.2,-7.0,239,9572,0.15,2.50,0.00,0.000,6,0.155,0.024,2590,2186,2710,0,0,0,0,0,0,25.86,26.33,28.83
$GC,9975,-1.31,-97.7,737.1,-7.2,243,9981,0.00,2.58,0.00,0.000,4,0.000,0.040,2591,532,2708,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10076,-1.34,-97.7,737.1,-7.2,243,10082,0.00,2.47,0.00,0.000,6,0.000,0.025,2580,2199,2708,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10455,-1.37,-97.7,781.3,-9.2,247,10462,0.00,2.62,0.00,0.000,4,0.000,0.040,2580,548,2707,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10564,-1.40,-97.7,781.3,-9.2,247,10573,0.00,2.50,0.00,0.000,6,0.000,0.025,2568,2188,2707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10935,-1.40,-97.7,826.6,-9.5,251,10942,0.00,2.62,0.00,0.000,4,0.000,0.040,2568,545,2705,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11094,-1.40,-97.7,837.2,-9.1,252,11101,0.00,2.50,0.00,0.000,6,0.000,0.025,2557,2181,2705,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11416,-1.40,-97.7,865.0,-8.0,255,11421,0.00,2.58,0.00,0.000,4,0.000,0.041,2556,549,2704,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11483,-1.40,-97.7,865.0,-8.0,255,11491,0.00,2.53,0.00,0.000,6,0.000,0.025,2545,2195,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11895,-1.40,-97.7,898.7,-7.0,259,11901,0.00,2.62,0.00,0.000,4,0.000,0.041,2544,548,2703,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12015,-1.40,-97.7,908.4,-7.2,260,12022,0.00,2.50,0.00,0.000,6,0.000,0.026,2532,2191,2702,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12375,-1.40,-97.7,940.0,-8.6,263,12381,0.00,2.62,0.00,0.000,4,0.000,0.041,2533,546,2702,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12453,-1.40,-97.7,940.0,-8.6,263,12461,0.00,2.53,0.00,0.000,6,0.000,0.026,2520,2188,2701,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12856,-1.40,-97.7,987.3,-9.9,267,12861,0.00,2.58,0.00,0.000,4,0.000,0.041,2520,549,2701,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,12891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12891,begin apogee
$GC,12900,-0.29,0.0,991.2,-9.7,269,12994,1.27,0.08,85.93,1.660,6,0.134,0.106,2900,1595,2320,0,0,0,0,0,0,24.89,24.81,22.99
$STATE,12996,end apogee,CONTROL_FINISHED_OK
$STATE,12996,begin climb
$GC,12999,1.26,97.7,996.2,0.0,274,13102,1.40,2.80,91.75,1.651,4,0.059,0.034,3408,3213,1920,0,0,0,0,0,0,25.32,25.01,23.03
$GC,13135,1.21,172.9,995.0,3.2,281,13214,0.08,2.60,68.75,1.638,6,0.164,0.031,3391,1591,1613,0,0,0,0,0,0,25.34,25.64,23.23
$GC,13519,1.12,172.9,961.6,9.2,290,13524,0.00,1.95,0.00,0.000,4,0.000,0.049,3399,350,1605,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13584,1.04,172.9,961.6,9.2,290,13592,0.22,1.98,0.00,0.000,6,0.155,0.024,3338,1668,1604,0,0,0,0,0,0,25.79,26.35,28.83
$GC,13995,1.01,172.9,921.5,8.3,294,14001,0.00,2.12,0.00,0.000,4,0.000,0.048,3348,351,1601,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14238,0.98,172.9,902.0,8.0,296,14244,0.12,1.90,0.00,0.000,6,0.161,0.026,3316,1658,1600,0,0,0,0,0,0,26.06,26.46,28.83
$GC,14594,0.98,172.9,876.8,7.3,299,14602,0.00,2.50,0.00,0.000,4,0.000,0.037,3316,3204,1600,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,25061,end climb,SURFACE_DEPTH_REACHED
$STATE,25061,begin surface coast
$FINISH,1.4,1.012955
$STATE,25092,end surface coast,CONTROL_FINISHED_OK
$STATE,25093,begin surface
$SM_CCo,25117,57.00,0.123,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.99
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7574400
$TM_FREEKB,4437312
$24V_AH,23.0,85.906
$10V_AH,10.1,76.188
$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,23.050,241.600,246.425,57.000,0.000,25.836,39.261,209.722,0.000,0.000,17.046,2135.267,20222.328,722.844,2016.176,648.379,33.265,1700.389,0.000,1648.655,0.000,0.535,0.000
$DEVICE_MAMPS,188.955,105.570,1660.050,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.224,13.418,0.000,0.000
$MEM,343700
$DATA_FILE_SIZE,13404,512
$CAP_FILE_SIZE,191673,0
$CFSIZE,260034560,204636160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200213,083200,2431.920,-3748.131,37,0.9,37,-14.0