version: 66.11
glider: 189
mission: 7
dive: 511
start: 2 20 113 15 35 13
data:
$ID,189
$MISSION,7
$DIVE,511
$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,-48297.047
$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
$GPS1,200213,152423,2430.791,-3748.270,36,0.8,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-60.1
$GPS2,200213,153411,2430.808,-3748.315,15,1.4,15,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.012,0.115
$KALMAN_X,167148.9,82.1,-202.0,-144154.6,-37.6
$KALMAN_Y,78155.9,-118.4,831.8,-87776.9,-1302.6
$MHEAD_RNG_PITCHd_Wd,20.2,327,-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,-90.7,0.0,0.0,0,35,0.00,0.00,-10.43,0.000,2,0.000,0.000,152,2120,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.4,0.0,1,105,9.10,2.75,-50.78,0.000,4,0.187,0.053,2556,3749,2719,0,0,0,0,0,0,25.30,25.91,26.68
$GC,306,-1.25,-97.7,16.3,-8.5,28,315,0.10,2.45,0.00,0.000,6,0.137,0.021,2588,2101,2722,0,0,0,0,0,0,25.86,26.32,28.83
$GC,616,-1.23,-97.7,40.9,-7.9,59,623,0.00,2.65,0.00,0.000,4,0.000,0.040,2577,3758,2720,0,0,0,0,0,0,28.83,26.03,28.83
$GC,779,-1.19,-97.7,54.3,-8.3,75,786,0.15,2.42,0.00,0.000,6,0.146,0.021,2617,2088,2721,0,0,0,0,0,0,25.91,26.39,28.83
$GC,1106,-1.19,-97.7,80.1,-8.3,104,1112,0.00,2.67,0.00,0.000,4,0.000,0.039,2606,3751,2721,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1394,-1.19,-97.7,103.3,-8.8,113,1404,0.00,2.50,0.00,0.000,6,0.000,0.021,2606,2090,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1706,-1.19,-97.7,133.3,-9.1,124,1713,0.00,2.45,0.00,0.000,4,0.000,0.037,2606,546,2722,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1845,-1.17,-97.7,144.6,-9.4,128,1854,0.00,2.47,0.00,0.000,6,0.000,0.023,2594,2199,2722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2156,-1.17,-97.7,174.4,-9.1,135,2163,0.12,2.47,0.00,0.000,4,0.156,0.041,2616,3752,2723,0,0,0,0,0,0,26.33,26.09,28.83
$GC,2377,-1.17,-97.7,190.5,-9.1,138,2382,0.00,2.40,0.00,0.000,6,0.000,0.021,2617,2100,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2696,-1.20,-97.7,215.1,-6.4,144,2702,0.00,2.40,0.00,0.000,4,0.000,0.037,2616,541,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2836,-1.20,-97.7,222.4,-6.2,146,2842,0.00,2.47,0.00,0.000,6,0.000,0.023,2604,2195,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3176,-1.22,-97.7,242.3,-5.5,152,3182,0.00,2.55,0.00,0.000,4,0.000,0.035,2604,536,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3256,-1.22,-97.7,245.6,-5.5,153,3262,0.00,2.47,0.00,0.000,6,0.000,0.023,2593,2192,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3596,-1.22,-97.7,266.1,-5.7,159,3602,0.00,2.58,0.00,0.000,4,0.000,0.035,2592,548,2723,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3735,-1.22,-97.7,273.4,-5.9,161,3742,0.00,2.45,0.00,0.000,6,0.000,0.023,2581,2188,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4077,-1.22,-97.7,294.1,-5.8,167,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2188,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4375,-1.22,-97.7,314.3,-6.8,172,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2188,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4676,-1.22,-97.7,337.8,-8.0,177,4682,0.00,2.58,0.00,0.000,4,0.000,0.036,2581,549,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4805,-1.22,-97.7,347.8,-8.2,179,4813,0.10,2.45,0.00,0.000,6,0.136,0.024,2601,2182,2723,0,0,0,0,0,0,25.95,26.38,28.83
$GC,5156,-1.25,-97.7,374.0,-7.2,185,5163,0.00,2.58,0.00,0.000,4,0.000,0.037,2602,548,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5226,-1.28,-97.7,378.3,-7.2,186,5233,0.00,2.47,0.00,0.000,6,0.000,0.024,2591,2193,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5576,-1.30,-97.7,401.9,-6.5,192,5583,0.00,2.60,0.00,0.000,4,0.000,0.037,2591,543,2719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5704,-1.30,-97.7,410.9,-6.9,194,5712,0.00,2.55,0.00,0.000,6,0.000,0.024,2579,2187,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6056,-1.30,-97.7,441.4,-8.7,200,6062,0.00,2.55,0.00,0.000,4,0.000,0.037,2579,540,2720,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6194,-1.30,-97.7,452.7,-9.2,202,6202,0.00,2.50,0.00,0.000,6,0.000,0.024,2567,2190,2720,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6536,-1.30,-97.7,486.8,-9.4,208,6542,0.00,2.55,0.00,0.000,4,0.000,0.037,2567,542,2719,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6604,-1.30,-97.7,492.5,-9.3,209,6612,0.00,2.50,0.00,0.000,6,0.000,0.024,2551,2189,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6956,-1.30,-97.7,524.9,-9.0,213,6962,0.00,2.53,0.00,0.000,4,0.000,0.042,2543,3745,2718,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7094,-1.30,-97.7,535.2,-8.9,214,7103,0.12,2.47,0.00,0.000,6,0.155,0.021,2574,2088,2718,0,0,0,0,0,0,26.01,26.40,28.83
$GC,7436,-1.30,-97.7,560.7,-7.4,217,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2088,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7796,-1.33,-97.7,582.0,-6.1,220,7803,0.00,2.42,0.00,0.000,4,0.000,0.039,2574,550,2716,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7966,-1.35,-97.7,589.4,-6.0,221,7972,0.00,2.47,0.00,0.000,6,0.000,0.024,2564,2190,2715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8277,-1.35,-97.7,613.0,-6.4,224,8282,0.00,2.55,0.00,0.000,4,0.000,0.038,2564,548,2714,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8395,-1.35,-97.7,621.9,-6.7,225,8403,0.00,2.47,0.00,0.000,6,0.000,0.024,2552,2188,2714,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8757,-1.35,-97.7,650.4,-7.8,228,8762,0.00,2.58,0.00,0.000,4,0.000,0.038,2552,538,2713,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8805,-1.35,-97.7,650.4,-7.8,228,8812,0.00,2.50,0.00,0.000,6,0.000,0.024,2540,2193,2712,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9115,-1.35,-97.7,683.3,-9.0,231,9123,0.00,2.60,0.00,0.000,4,0.000,0.037,2540,550,2712,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9225,-1.35,-97.7,683.3,-9.0,231,9234,0.10,2.50,0.00,0.000,6,0.144,0.024,2559,2193,2712,0,0,0,0,0,0,25.87,26.33,28.83
$GC,9595,-1.35,-97.7,724.9,-8.6,235,9603,0.00,2.60,0.00,0.000,4,0.000,0.038,2560,552,2711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9654,-1.35,-97.7,724.9,-8.6,235,9662,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2190,2711,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10076,-1.35,-97.7,764.6,-8.3,239,10083,0.00,2.60,0.00,0.000,4,0.000,0.039,2549,548,2710,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10204,-1.35,-97.7,775.2,-8.4,240,10212,0.00,2.53,0.00,0.000,6,0.000,0.025,2538,2194,2709,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10555,-1.35,-97.7,807.4,-8.9,243,10563,0.12,2.62,0.00,0.000,4,0.161,0.039,2569,549,2708,0,0,0,0,0,0,26.29,26.03,28.83
$GC,10695,-1.35,-97.7,818.3,-9.0,244,10703,0.00,2.50,0.00,0.000,6,0.000,0.025,2559,2188,2708,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11036,-1.37,-97.7,849.2,-8.7,247,11042,0.00,2.55,0.00,0.000,4,0.000,0.040,2559,549,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11196,-1.40,-97.7,859.8,-8.6,248,11202,0.00,2.50,0.00,0.000,6,0.000,0.025,2547,2191,2706,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11516,-1.40,-97.7,892.7,-9.1,251,11522,0.00,2.60,0.00,0.000,4,0.000,0.040,2547,555,2705,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11704,-1.40,-97.7,904.4,-9.3,252,11712,0.00,2.50,0.00,0.000,6,0.000,0.025,2535,2187,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12116,-1.40,-97.7,947.4,-9.0,256,12122,0.00,2.58,0.00,0.000,4,0.000,0.041,2535,547,2703,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12254,-1.40,-97.7,958.1,-8.9,257,12262,0.00,2.53,0.00,0.000,6,0.000,0.026,2523,2190,2703,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12596,-1.40,-97.7,988.7,-8.6,260,12602,0.00,2.60,0.00,0.000,4,0.000,0.041,2523,541,2702,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,12613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12613,begin apogee
$GC,12622,-0.29,0.0,990.5,-8.5,261,12715,1.25,0.10,86.07,1.644,6,0.132,0.090,2897,1582,2320,0,0,0,0,0,0,24.90,24.87,23.01
$STATE,12717,end apogee,CONTROL_FINISHED_OK
$STATE,12717,begin climb
$GC,12720,1.33,97.7,994.9,0.0,266,12823,1.48,2.80,91.68,1.619,4,0.062,0.034,3426,3204,1920,0,0,0,0,0,0,25.30,25.03,23.03
$GC,12956,1.18,101.7,986.7,6.5,278,12966,0.22,2.55,3.83,1.089,6,0.175,0.031,3382,1584,1905,0,0,0,0,0,0,25.53,26.01,23.69
$GC,13347,1.10,114.4,963.1,6.0,282,13362,0.00,0.00,12.62,1.505,6,0.000,0.000,3382,1584,1853,0,0,0,0,0,0,28.83,28.83,23.83
$GC,13706,1.04,122.8,940.4,6.2,285,13718,0.17,0.00,8.93,1.436,6,0.167,0.000,3336,1584,1818,0,0,0,0,0,0,25.96,28.83,23.90
$GC,14066,1.01,126.4,916.8,6.5,288,14076,0.00,2.70,4.50,1.193,4,0.000,0.035,3335,3210,1804,0,0,0,0,0,0,28.83,26.22,23.98
$GC,14196,0.98,126.4,908.8,6.7,289,14203,0.10,2.55,0.00,0.000,6,0.151,0.031,3315,1579,1804,0,0,0,0,0,0,25.86,26.24,28.83
$GC,14535,0.98,126.4,882.8,7.2,292,14542,0.00,2.62,0.00,0.000,4,0.000,0.035,3315,3205,1803,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14625,0.98,126.4,882.8,7.2,292,14633,0.00,2.53,0.00,0.000,6,0.000,0.030,3326,1586,1802,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15015,0.98,126.4,846.8,7.5,296,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1586,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15375,0.98,126.4,821.5,7.1,299,15377,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1586,1801,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25447,end climb,SURFACE_DEPTH_REACHED
$STATE,25447,begin surface coast
$FINISH,1.3,1.025894
$STATE,25464,end surface coast,CONTROL_FINISHED_OK
$STATE,25464,begin surface
$SM_CCo,25489,48.47,0.126,0,0,1096,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.99
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$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7573600
$TM_FREEKB,4428768
$24V_AH,23.0,86.189
$10V_AH,9.8,76.439
$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
$DEVICE_SECS,21.975,226.625,275.425,48.475,0.000,27.315,41.280,211.427,0.000,0.000,16.617,2205.897,20490.873,710.438,2084.129,620.723,33.258,1698.888,0.000,1711.240,0.000,0.535,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.257,13.408,0.000,0.000
$MEM,343668
$DATA_FILE_SIZE,13457,513
$CAP_FILE_SIZE,191016,0
$CFSIZE,260034560,204455936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200213,224205,2432.568,-3748.341,33,0.8,33,-13.9