version: 66.11
glider: 189
mission: 7
dive: 512
start: 2 20 113 22 52 57
data:
$ID,189
$MISSION,7
$DIVE,512
$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,-48298.305
$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
$GPS1,200213,224205,2432.568,-3748.341,33,0.8,33,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-58.8
$GPS2,200213,225155,2432.591,-3748.389,19,0.8,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.053,-0.107
$KALMAN_X,167084.8,-100.9,-464.7,-143767.4,1589.2
$KALMAN_Y,79700.9,-31.2,-868.3,-84412.1,3180.8
$MHEAD_RNG_PITCHd_Wd,220.4,3017,-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,-10.62,0.000,2,0.000,0.000,154,2116,1398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,104,9.15,2.58,-50.35,0.000,4,0.187,0.053,2589,549,2720,0,0,0,0,0,0,25.39,25.91,26.70
$GC,128,-1.52,-97.7,1.8,-0.7,10,135,0.20,2.42,0.00,0.000,6,0.063,0.023,2488,2196,2720,0,0,0,0,0,0,26.15,26.26,28.83
$GC,435,-1.37,-97.7,28.6,-9.2,41,443,0.25,2.58,0.00,0.000,4,0.152,0.036,2557,543,2721,0,0,0,0,0,0,25.76,26.08,28.83
$GC,675,-1.26,-97.7,49.4,-8.7,65,683,0.12,2.47,0.00,0.000,6,0.139,0.024,2586,2188,2721,0,0,0,0,0,0,25.82,26.34,28.83
$GC,985,-1.21,-97.7,73.4,-7.3,96,993,0.00,2.47,0.00,0.000,4,0.000,0.040,2576,3756,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1124,-1.14,-97.7,83.0,-8.0,102,1133,0.15,2.45,0.00,0.000,6,0.129,0.021,2625,2088,2722,0,0,0,0,0,0,25.84,26.41,28.83
$GC,1434,-1.14,-97.7,106.2,-6.7,113,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2088,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1735,-1.14,-97.7,125.7,-6.7,123,1741,0.00,2.40,0.00,0.000,4,0.000,0.037,2625,540,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1824,-1.14,-97.7,133.0,-7.8,126,1831,0.00,2.47,0.00,0.000,6,0.000,0.023,2614,2197,2722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2155,-1.14,-97.7,162.9,-9.4,135,2161,0.00,2.58,0.00,0.000,4,0.000,0.036,2614,545,2723,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2274,-1.14,-97.7,173.7,-9.2,137,2281,0.00,2.45,0.00,0.000,6,0.000,0.023,2602,2186,2723,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2634,-1.14,-97.7,199.1,-6.7,143,2642,0.12,2.58,0.00,0.000,4,0.155,0.036,2636,540,2723,0,0,0,0,0,0,26.34,26.15,28.83
$GC,2796,-1.14,-97.7,207.5,-6.8,145,2801,0.00,2.42,0.00,0.000,6,0.000,0.023,2625,2193,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3115,-1.17,-97.7,234.9,-7.8,151,3121,0.00,2.58,0.00,0.000,4,0.000,0.036,2625,546,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3304,-1.17,-97.7,249.4,-8.0,154,3311,0.00,2.47,0.00,0.000,6,0.000,0.023,2613,2196,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3655,-1.17,-97.7,273.9,-6.6,160,3661,0.00,2.58,0.00,0.000,4,0.000,0.035,2613,546,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3764,-1.17,-97.7,277.5,-6.3,161,3773,0.00,2.45,0.00,0.000,6,0.000,0.023,2601,2189,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4076,-1.17,-97.7,298.1,-5.8,167,4082,0.00,2.55,0.00,0.000,4,0.000,0.036,2602,543,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4135,-1.17,-97.7,301.9,-6.0,168,4142,0.10,2.45,0.00,0.000,6,0.133,0.024,2623,2183,2724,0,0,0,0,0,0,25.97,26.39,28.83
$GC,4496,-1.20,-97.7,324.7,-6.5,174,4502,0.00,2.53,0.00,0.000,4,0.000,0.037,2622,545,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4594,-1.22,-97.7,329.0,-6.7,175,4601,0.00,2.47,0.00,0.000,6,0.000,0.023,2612,2191,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4915,-1.22,-97.7,356.6,-7.8,181,4921,0.00,2.58,0.00,0.000,4,0.000,0.036,2611,549,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5054,-1.22,-97.7,366.9,-8.3,183,5061,0.00,2.45,0.00,0.000,6,0.000,0.024,2600,2185,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5395,-1.22,-97.7,397.8,-8.6,189,5401,0.00,2.55,0.00,0.000,4,0.000,0.037,2600,552,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5473,-1.22,-97.7,403.2,-8.7,190,5481,0.00,2.47,0.00,0.000,6,0.000,0.023,2588,2191,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5815,-1.22,-97.7,432.1,-7.8,196,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2191,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-1.22,-97.7,454.1,-7.3,201,6121,0.00,2.60,0.00,0.000,4,0.000,0.037,2588,542,2721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6203,-1.22,-97.7,458.4,-7.2,202,6212,0.12,2.50,0.00,0.000,6,0.159,0.024,2607,2191,2720,0,0,0,0,0,0,25.99,26.37,28.83
$GC,6536,-1.26,-97.7,482.7,-6.7,208,6541,0.00,2.55,0.00,0.000,4,0.000,0.037,2607,539,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6644,-1.29,-97.7,487.1,-6.9,209,6653,0.00,2.47,0.00,0.000,6,0.000,0.024,2597,2186,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7014,-1.29,-97.7,518.0,-7.3,214,7022,0.00,2.60,0.00,0.000,4,0.000,0.037,2597,543,2716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7184,-1.29,-97.7,527.4,-7.5,215,7191,0.00,2.47,0.00,0.000,6,0.000,0.024,2585,2189,2717,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7495,-1.29,-97.7,557.4,-8.2,218,7501,0.00,2.58,0.00,0.000,4,0.000,0.037,2585,549,2717,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7664,-1.29,-97.7,567.6,-8.4,219,7671,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2189,2716,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7974,-1.29,-97.7,597.2,-8.3,222,7981,0.00,2.60,0.00,0.000,4,0.000,0.037,2573,547,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8053,-1.29,-97.7,597.2,-8.3,222,8061,0.00,2.50,0.00,0.000,6,0.000,0.024,2562,2189,2715,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8455,-1.29,-97.7,640.3,-9.0,226,8461,0.00,2.55,0.00,0.000,4,0.000,0.038,2561,544,2714,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8623,-1.29,-97.7,651.3,-9.0,227,8632,0.12,2.50,0.00,0.000,6,0.164,0.024,2580,2188,2713,0,0,0,0,0,0,25.94,26.34,28.83
$GC,8934,-1.29,-97.7,681.9,-8.7,230,8941,0.00,2.58,0.00,0.000,4,0.000,0.038,2580,550,2712,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9114,-1.29,-97.7,692.3,-8.5,231,9122,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2188,2711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9534,-1.29,-97.7,734.1,-8.7,235,9542,0.00,2.60,0.00,0.000,4,0.000,0.038,2570,546,2711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9744,-1.29,-97.7,746.4,-9.2,236,9751,0.00,2.50,0.00,0.000,6,0.000,0.025,2558,2191,2711,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10135,-1.29,-97.7,800.2,-11.2,240,10141,0.00,2.60,0.00,0.000,4,0.000,0.039,2557,551,2710,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10293,-1.29,-97.7,813.1,-11.1,241,10302,0.15,2.53,0.00,0.000,6,0.155,0.024,2584,2199,2709,0,0,0,0,0,0,25.84,26.31,28.83
$GC,10616,-1.31,-97.7,843.3,-9.0,244,10621,0.00,2.58,0.00,0.000,4,0.000,0.039,2584,547,2708,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10764,-1.33,-97.7,851.2,-7.9,245,10771,0.00,2.50,0.00,0.000,6,0.000,0.024,2574,2191,2707,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11096,-1.36,-97.7,872.9,-6.1,248,11102,0.00,2.58,0.00,0.000,4,0.000,0.040,2574,543,2706,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11215,-1.38,-97.7,881.0,-6.2,249,11222,0.00,2.58,0.00,0.000,6,0.000,0.027,2562,2188,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11575,-1.40,-97.7,907.5,-7.2,252,11581,0.00,2.58,0.00,0.000,4,0.000,0.040,2562,544,2705,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11754,-1.40,-97.7,917.7,-7.6,253,11761,0.00,2.58,0.00,0.000,6,0.000,0.026,2550,2188,2704,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12174,-1.40,-97.7,958.8,-8.6,257,12181,0.00,2.62,0.00,0.000,4,0.000,0.041,2550,545,2703,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12354,-1.40,-97.7,969.7,-8.6,258,12362,0.00,2.53,0.00,0.000,6,0.000,0.026,2538,2192,2703,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,12531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12532,begin apogee
$GC,12540,-0.29,0.0,990.8,-8.8,260,12634,1.15,0.05,86.15,1.660,6,0.125,0.124,2898,1627,2320,0,0,0,0,0,0,25.01,24.76,23.00
$STATE,12636,end apogee,CONTROL_FINISHED_OK
$STATE,12636,begin climb
$GC,12640,1.26,97.7,995.3,0.0,265,12743,1.45,2.70,91.80,1.631,4,0.062,0.034,3411,3201,1923,0,0,0,0,0,0,25.32,25.03,23.04
$GC,12824,1.14,129.3,992.5,5.2,274,12862,0.17,2.55,29.12,1.583,6,0.158,0.030,3372,1592,1791,0,0,0,0,0,0,25.48,25.90,23.42
$GC,13179,1.06,130.4,969.2,6.6,282,13181,0.12,0.00,0.00,0.000,6,0.176,0.000,3341,1592,1785,0,0,0,0,0,0,26.06,28.83,28.83
$GC,13535,1.01,142.9,947.7,6.1,285,13552,0.00,1.98,11.68,1.493,4,0.000,0.047,3349,354,1738,0,0,0,0,0,0,28.83,26.01,23.89
$GC,13675,0.97,156.5,940.1,6.0,286,13695,0.10,1.95,14.45,1.521,6,0.145,0.025,3318,1648,1678,0,0,0,0,0,0,25.91,26.31,23.80
$GC,14008,0.97,172.1,919.8,5.9,289,14028,0.00,2.17,15.00,1.532,4,0.000,0.048,3327,350,1617,0,0,0,0,0,0,28.83,25.85,23.84
$GC,14201,0.99,191.7,913.5,5.8,290,14224,0.00,1.92,19.40,1.553,6,0.000,0.026,3327,1651,1538,0,0,0,0,0,0,28.83,26.29,23.72
$GC,14597,1.00,197.7,882.7,6.4,294,14608,0.00,2.15,6.25,1.339,4,0.000,0.048,3336,348,1513,0,0,0,0,0,0,28.83,26.09,23.94
$GC,14677,1.00,203.7,882.7,6.4,294,14689,0.00,1.95,7.40,1.385,6,0.000,0.025,3335,1648,1488,0,0,0,0,0,0,28.83,26.32,23.88
$GC,15058,1.00,203.7,834.7,10.4,298,15064,0.00,2.08,0.00,0.000,4,0.000,0.047,3346,360,1486,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,23984,end climb,SURFACE_DEPTH_REACHED
$STATE,23984,begin surface coast
$FINISH,1.3,1.004781
$STATE,24016,end surface coast,CONTROL_FINISHED_OK
$STATE,24016,begin surface
$SM_CCo,24040,38.55,0.127,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,64.09
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,21.90
$XPDR_PINGS,2
$SC_FREEKB,7573216
$TM_FREEKB,4424736
$24V_AH,23.0,86.339
$10V_AH,10.0,76.565
$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
$DEVICE_SECS,23.175,216.050,295.475,38.550,0.000,25.765,38.309,214.488,0.500,0.000,20.833,2212.511,18999.539,697.069,2135.621,610.433,33.267,1700.178,0.000,1748.490,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.173,13.398,0.000,0.000
$MEM,343672
$DATA_FILE_SIZE,13444,488
$CAP_FILE_SIZE,188608,0
$CFSIZE,260034560,204369920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210213,053534,2431.762,-3749.127,35,0.9,35,-14.0