version: 66.11
glider: 189
mission: 7
dive: 522
start: 2 23 113 22 13 7
data:
$ID,189
$MISSION,7
$DIVE,522
$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,-48310.883
$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
$GPS1,230213,220158,2429.517,-3747.801,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-57.4
$GPS2,230213,221205,2429.625,-3747.810,19,1.0,19,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.047,-0.106
$KALMAN_X,161101.0,181.6,-274.3,-137292.0,118.2
$KALMAN_Y,99141.4,-271.3,-257.1,-109708.1,4340.1
$MHEAD_RNG_PITCHd_Wd,217.9,2587,-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,-10.90,0.000,2,0.000,0.000,154,2120,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,8.95,2.58,-50.80,0.000,4,0.179,0.051,2570,547,2720,0,0,0,0,0,0,25.36,25.96,26.70
$GC,129,-1.62,-97.7,1.5,-0.2,10,136,0.22,2.53,0.00,0.000,6,0.056,0.028,2459,2184,2721,0,0,0,0,0,0,26.13,26.16,28.83
$GC,436,-1.46,-97.7,28.8,-8.7,41,444,0.25,2.50,0.00,0.000,4,0.155,0.040,2517,3748,2720,0,0,0,0,0,0,25.72,26.01,28.83
$GC,586,-1.35,-97.7,42.7,-9.3,56,595,0.12,2.45,0.00,0.000,6,0.138,0.021,2561,2088,2721,0,0,0,0,0,0,25.82,26.36,28.83
$GC,896,-1.29,-97.7,68.3,-7.3,87,904,0.00,2.62,0.00,0.000,4,0.000,0.039,2545,3748,2721,0,0,0,0,0,0,28.83,26.05,28.83
$GC,986,-1.22,-97.7,75.4,-8.5,96,993,0.22,2.42,0.00,0.000,6,0.140,0.021,2608,2076,2721,0,0,0,0,0,0,25.72,26.39,28.83
$GC,1319,-1.22,-97.7,99.0,-6.6,107,1324,0.00,2.38,0.00,0.000,4,0.000,0.037,2609,538,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1385,-1.22,-97.7,103.1,-6.8,109,1392,0.00,2.47,0.00,0.000,6,0.000,0.023,2598,2190,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1705,-1.22,-97.7,126.0,-7.1,120,1713,0.00,2.50,0.00,0.000,4,0.000,0.040,2586,3750,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1785,-1.22,-97.7,130.5,-7.1,122,1793,0.00,2.45,0.00,0.000,6,0.000,0.021,2586,2089,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2126,-1.22,-97.7,155.6,-7.0,133,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2090,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-1.22,-97.7,179.6,-8.0,138,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2089,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2726,-1.22,-97.7,202.5,-7.5,143,2732,0.00,2.42,0.00,0.000,4,0.000,0.037,2586,543,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2787,-1.22,-97.7,207.0,-7.4,144,2793,0.12,2.42,0.00,0.000,6,0.158,0.023,2605,2195,2723,0,0,0,0,0,0,25.98,26.37,28.83
$GC,3146,-1.22,-97.7,233.1,-7.4,150,3152,0.00,2.50,0.00,0.000,4,0.000,0.041,2595,3748,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3215,-1.22,-97.7,238.0,-7.6,151,3222,0.00,2.42,0.00,0.000,6,0.000,0.021,2595,2102,2724,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3565,-1.22,-97.7,266.6,-8.0,157,3572,0.00,2.45,0.00,0.000,4,0.000,0.036,2595,539,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3655,-1.22,-97.7,271.2,-7.8,158,3663,0.00,2.50,0.00,0.000,6,0.000,0.023,2583,2196,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3986,-1.22,-97.7,296.1,-6.7,164,3992,0.00,2.45,0.00,0.000,4,0.000,0.041,2572,3749,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4075,-1.22,-97.7,300.0,-6.6,165,4083,0.10,2.45,0.00,0.000,6,0.127,0.020,2605,2080,2724,0,0,0,0,0,0,26.01,26.44,28.83
$GC,4406,-1.25,-97.7,319.8,-5.4,171,4412,0.00,2.35,0.00,0.000,4,0.000,0.037,2605,546,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4517,-1.27,-97.7,323.3,-5.4,172,4524,0.00,2.42,0.00,0.000,6,0.000,0.024,2594,2196,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4826,-1.29,-97.7,347.9,-7.2,178,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2199,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5126,-1.32,-97.7,373.1,-8.5,183,5132,0.00,2.55,0.00,0.000,4,0.000,0.036,2594,541,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5166,-1.35,-97.7,373.1,-8.5,183,5173,0.00,2.47,0.00,0.000,6,0.000,0.024,2583,2188,2722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5485,-1.35,-97.7,401.4,-7.6,189,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2188,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-1.37,-97.7,419.7,-6.0,194,5793,0.00,2.60,0.00,0.000,4,0.000,0.037,2582,545,2721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5996,-1.37,-97.7,430.3,-5.8,197,6002,0.00,2.53,0.00,0.000,6,0.000,0.024,2571,2184,2720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6326,-1.37,-97.7,454.4,-7.1,203,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2183,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,-1.37,-97.7,482.4,-9.6,208,6632,0.00,2.55,0.00,0.000,4,0.000,0.037,2571,539,2718,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6685,-1.37,-97.7,488.8,-10.0,209,6692,0.00,2.47,0.00,0.000,6,0.000,0.024,2558,2184,2718,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7046,-1.37,-97.7,526.1,-10.4,213,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2184,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7405,-1.37,-97.7,559.0,-9.4,216,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2184,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7766,-1.37,-97.7,584.8,-7.5,219,7772,0.00,2.55,0.00,0.000,4,0.000,0.037,2559,547,2715,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7814,-1.37,-97.7,584.8,-7.5,219,7822,0.00,2.50,0.00,0.000,6,0.000,0.024,2547,2190,2715,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8126,-1.37,-97.7,607.0,-6.3,222,8132,0.00,2.55,0.00,0.000,4,0.000,0.037,2547,546,2714,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8177,-1.37,-97.7,607.0,-6.3,222,8183,0.00,2.45,0.00,0.000,6,0.000,0.024,2534,2200,2713,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8489,-1.37,-97.7,630.5,-6.4,225,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2199,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,-1.37,-97.7,658.1,-7.5,228,8852,0.00,2.62,0.00,0.000,4,0.000,0.039,2535,543,2712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8935,-1.37,-97.7,658.1,-7.5,228,8943,0.15,2.53,0.00,0.000,6,0.158,0.025,2561,2196,2712,0,0,0,0,0,0,25.84,26.31,28.83
$GC,9327,-1.37,-97.7,696.2,-7.9,232,9332,0.00,2.58,0.00,0.000,4,0.000,0.040,2561,549,2711,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9434,-1.37,-97.7,696.2,-7.9,232,9444,0.00,2.53,0.00,0.000,6,0.000,0.025,2551,2196,2709,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9806,-1.37,-97.7,734.6,-8.0,236,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2196,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10167,-1.37,-97.7,763.6,-8.0,239,10172,0.00,2.58,0.00,0.000,4,0.000,0.039,2550,546,2709,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10254,-1.37,-97.7,763.6,-8.0,239,10262,0.00,2.53,0.00,0.000,6,0.000,0.025,2539,2193,2708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10646,-1.37,-97.7,802.6,-8.1,243,10652,0.00,2.58,0.00,0.000,4,0.000,0.040,2539,546,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10725,-1.37,-97.7,802.6,-8.1,243,10733,0.10,2.50,0.00,0.000,6,0.140,0.026,2558,2184,2706,0,0,0,0,0,0,25.84,26.29,28.83
$GC,11126,-1.39,-97.7,840.3,-7.8,247,11132,0.00,2.55,0.00,0.000,4,0.000,0.044,2548,3742,2705,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11175,-1.42,-97.7,840.3,-7.8,247,11182,0.00,2.45,0.00,0.000,6,0.000,0.023,2548,2114,2705,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11487,-1.45,-97.7,869.6,-8.1,250,11493,0.00,2.45,0.00,0.000,4,0.000,0.041,2548,545,2704,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11565,-1.48,-97.7,869.6,-8.1,250,11572,0.00,2.50,0.00,0.000,6,0.000,0.025,2536,2190,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11966,-1.48,-97.7,914.2,-9.3,254,11972,0.00,2.60,0.00,0.000,4,0.000,0.040,2536,529,2703,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12035,-1.48,-97.7,914.2,-9.3,254,12042,0.00,2.55,0.00,0.000,6,0.000,0.025,2524,2195,2702,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12446,-1.48,-97.7,959.8,-9.5,258,12452,0.00,2.62,0.00,0.000,4,0.000,0.041,2524,518,2702,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12555,-1.48,-97.7,959.8,-9.5,258,12564,0.00,2.58,0.00,0.000,6,0.000,0.024,2512,2191,2701,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,12802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12802,begin apogee
$GC,12812,-0.29,0.0,990.0,-8.6,261,12905,1.27,0.08,85.75,1.649,6,0.130,0.098,2903,1635,2317,0,0,0,0,0,0,24.87,24.82,23.00
$STATE,12907,end apogee,CONTROL_FINISHED_OK
$STATE,12907,begin climb
$GC,12910,1.33,97.7,993.2,0.0,266,13013,1.45,2.20,91.95,1.643,4,0.060,0.047,3437,351,1921,0,0,0,0,0,0,25.32,24.98,23.01
$GC,13126,1.17,97.7,983.6,8.3,277,13133,0.20,1.98,0.00,0.000,6,0.155,0.024,3378,1659,1914,0,0,0,0,0,0,25.53,26.09,28.83
$GC,13526,1.07,97.7,956.3,6.8,281,13533,0.12,2.45,0.00,0.000,4,0.177,0.035,3347,3206,1909,0,0,0,0,0,0,26.13,26.19,28.83
$GC,13586,0.98,97.7,956.3,6.8,281,13593,0.12,2.53,0.00,0.000,6,0.155,0.031,3319,1585,1909,0,0,0,0,0,0,25.78,26.24,28.83
$GC,14006,0.98,118.6,929.4,5.6,285,14028,0.00,2.05,17.58,1.559,4,0.000,0.049,3328,347,1836,0,0,0,0,0,0,28.83,25.86,23.80
$GC,14068,0.97,139.6,929.4,5.6,285,14095,0.00,1.98,20.70,1.556,6,0.000,0.025,3327,1650,1751,0,0,0,0,0,0,28.83,26.13,23.52
$GC,14478,0.97,139.6,897.3,6.8,289,14484,0.00,2.50,0.00,0.000,4,0.000,0.035,3327,3197,1746,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,25466,end climb,SURFACE_DEPTH_REACHED
$STATE,25466,begin surface coast
$FINISH,1.2,1.025786
$STATE,25497,end surface coast,CONTROL_FINISHED_OK
$STATE,25498,begin surface
$SM_CCo,25522,57.78,0.122,0,0,1092,300.00
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$IRIDIUM_FIX,2411.01,-3643.21,230213,141417
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7569376
$TM_FREEKB,4383456
$24V_AH,23.0,87.748
$10V_AH,9.6,77.907
$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
$DEVICE_SECS,22.525,228.025,252.100,57.775,0.000,27.897,47.561,214.698,0.000,0.000,20.494,1989.399,20978.186,695.420,1856.517,653.926,33.262,1589.961,0.000,1471.830,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.819,13.408,0.000,0.000
$MEM,343716
$DATA_FILE_SIZE,13406,512
$CAP_FILE_SIZE,186477,0
$CFSIZE,260034560,203489280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240213,052034,2429.156,-3748.844,25,0.8,25,-14.0