version: 66.11
glider: 189
mission: 7
dive: 523
start: 2 24 113 5 31 32
data:
$ID,189
$MISSION,7
$DIVE,523
$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,-48312.141
$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
$GPS1,240213,052034,2429.156,-3748.844,25,0.8,25,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-50.0
$GPS2,240213,053030,2429.249,-3748.854,17,0.9,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115,-0.007
$KALMAN_X,160393.1,-245.2,488.2,-138667.5,-1322.9
$KALMAN_Y,101163.5,-105.6,-64.1,-112777.4,3324.3
$MHEAD_RNG_PITCHd_Wd,107.7,3351,-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,-10.90,0.000,2,0.000,0.000,152,2117,1403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,8.55,2.75,-51.42,0.000,4,0.161,0.052,2557,3754,2720,0,0,0,0,0,0,25.24,25.89,26.70
$GC,396,-1.25,-97.7,28.1,-8.7,37,404,0.10,2.47,0.00,0.000,6,0.132,0.021,2590,2090,2721,0,0,0,0,0,0,25.89,26.34,28.83
$GC,706,-1.25,-97.7,53.1,-8.9,68,713,0.00,2.67,0.00,0.000,4,0.000,0.039,2579,3775,2722,0,0,0,0,0,0,28.83,26.02,28.83
$GC,926,-1.21,-97.7,71.5,-9.6,90,935,0.08,2.50,0.00,0.000,6,0.132,0.021,2604,2086,2722,0,0,0,0,0,0,26.03,26.39,28.83
$GC,1238,-1.21,-97.7,99.2,-8.8,103,1244,0.00,2.65,0.00,0.000,4,0.000,0.039,2593,3755,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1334,-1.21,-97.7,107.4,-9.0,106,1342,0.00,2.47,0.00,0.000,6,0.000,0.021,2593,2098,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1656,-1.21,-97.7,134.1,-8.1,117,1662,0.00,2.65,0.00,0.000,4,0.000,0.039,2581,3747,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1747,-1.19,-97.7,140.5,-7.3,120,1753,0.12,2.40,0.00,0.000,6,0.148,0.021,2614,2081,2723,0,0,0,0,0,0,26.01,26.41,28.83
$GC,2106,-1.19,-97.7,161.4,-5.5,129,2113,0.00,2.40,0.00,0.000,4,0.000,0.037,2614,545,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2186,-1.19,-97.7,164.7,-5.5,130,2192,0.00,2.47,0.00,0.000,6,0.000,0.024,2603,2194,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2526,-1.19,-97.7,185.1,-5.8,136,2532,0.00,2.45,0.00,0.000,4,0.000,0.040,2591,3751,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2646,-1.19,-97.7,193.3,-6.3,138,2652,0.00,2.45,0.00,0.000,6,0.000,0.021,2592,2090,2724,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3007,-1.19,-97.7,218.5,-7.1,144,3012,0.00,2.62,0.00,0.000,4,0.000,0.039,2580,3748,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3084,-1.19,-97.7,222.5,-7.0,145,3093,0.15,2.47,0.00,0.000,6,0.139,0.020,2620,2077,2724,0,0,0,0,0,0,25.98,26.43,28.83
$GC,3427,-1.23,-97.7,246.0,-6.6,151,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2077,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3726,-1.27,-97.7,266.2,-6.9,156,3732,0.00,2.38,0.00,0.000,4,0.000,0.037,2620,538,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3786,-1.31,-97.7,270.6,-7.0,157,3793,0.10,2.42,0.00,0.000,6,0.093,0.023,2554,2194,2724,0,0,0,0,0,0,26.27,26.37,28.83
$GC,4147,-1.28,-97.7,297.3,-7.3,163,4153,0.12,2.55,0.00,0.000,4,0.151,0.035,2587,535,2724,0,0,0,0,0,0,26.34,26.15,28.83
$GC,4225,-1.26,-97.7,301.5,-7.2,164,4232,0.00,2.47,0.00,0.000,6,0.000,0.023,2576,2185,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4566,-1.26,-97.7,327.5,-7.3,170,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2185,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4866,-1.26,-97.7,348.4,-7.0,175,4873,0.00,2.55,0.00,0.000,4,0.000,0.036,2576,551,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4934,-1.26,-97.7,352.6,-6.9,176,4943,0.12,2.50,0.00,0.000,6,0.159,0.023,2596,2201,2724,0,0,0,0,0,0,25.98,26.36,28.83
$GC,5286,-1.29,-97.7,375.0,-6.2,182,5293,0.00,2.60,0.00,0.000,4,0.000,0.037,2596,545,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5367,-1.31,-97.7,379.2,-6.4,183,5372,0.00,2.42,0.00,0.000,6,0.000,0.024,2585,2193,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5706,-1.34,-97.7,406.4,-7.7,189,5712,0.00,2.55,0.00,0.000,4,0.000,0.037,2585,540,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5805,-1.34,-97.7,411.5,-8.0,190,5812,0.00,2.50,0.00,0.000,6,0.000,0.024,2571,2196,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6125,-1.34,-97.7,440.3,-7.9,196,6132,0.00,2.50,0.00,0.000,4,0.000,0.042,2562,3750,2721,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6255,-1.34,-97.7,449.6,-7.7,198,6262,0.00,2.47,0.00,0.000,6,0.000,0.021,2562,2096,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6607,-1.34,-97.7,473.4,-6.3,204,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2096,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6906,-1.34,-97.7,490.9,-5.8,209,6913,0.00,2.45,0.00,0.000,4,0.000,0.038,2562,549,2721,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6955,-1.34,-97.7,490.9,-5.8,209,6964,0.00,2.47,0.00,0.000,6,0.000,0.024,2550,2190,2719,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7327,-1.34,-97.7,518.4,-6.6,214,7332,0.00,2.55,0.00,0.000,4,0.000,0.037,2550,545,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7415,-1.34,-97.7,518.4,-6.6,214,7423,0.08,2.47,0.00,0.000,6,0.146,0.024,2562,2185,2717,0,0,0,0,0,0,25.98,26.35,28.83
$GC,7806,-1.34,-97.7,558.4,-8.3,218,7812,0.00,2.60,0.00,0.000,4,0.000,0.037,2563,546,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7945,-1.34,-97.7,569.6,-8.8,219,7952,0.00,2.47,0.00,0.000,6,0.000,0.024,2553,2182,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8285,-1.34,-97.7,601.1,-8.9,222,8292,0.00,2.58,0.00,0.000,4,0.000,0.037,2553,550,2715,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8365,-1.34,-97.7,601.1,-8.9,222,8372,0.00,2.47,0.00,0.000,6,0.000,0.024,2541,2186,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8766,-1.34,-97.7,637.8,-7.6,226,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2186,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9125,-1.34,-97.7,662.2,-6.8,229,9133,0.00,2.60,0.00,0.000,4,0.000,0.038,2541,549,2713,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9215,-1.34,-97.7,662.2,-6.8,229,9223,0.15,2.53,0.00,0.000,6,0.156,0.024,2567,2199,2715,0,0,0,0,0,0,25.86,26.33,28.83
$GC,9607,-1.36,-97.7,692.3,-6.3,233,9613,0.00,2.60,0.00,0.000,4,0.000,0.039,2568,539,2711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9705,-1.39,-97.7,692.3,-6.3,233,9712,0.00,2.53,0.00,0.000,6,0.000,0.024,2557,2192,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10086,-1.41,-97.7,724.0,-6.6,237,10093,0.00,2.60,0.00,0.000,4,0.000,0.039,2557,551,2710,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10295,-1.41,-97.7,733.1,-6.8,238,10302,0.00,2.50,0.00,0.000,6,0.000,0.025,2545,2187,2710,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10686,-1.41,-97.7,773.4,-8.4,242,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2186,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11046,-1.41,-97.7,807.5,-9.3,245,11052,0.00,2.62,0.00,0.000,4,0.000,0.039,2545,544,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11145,-1.41,-97.7,807.5,-9.3,245,11152,0.00,2.50,0.00,0.000,6,0.000,0.025,2533,2182,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11526,-1.41,-97.7,856.4,-10.2,249,11532,0.00,2.60,0.00,0.000,4,0.000,0.040,2533,548,2705,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11615,-1.41,-97.7,856.4,-10.2,249,11622,0.00,2.53,0.00,0.000,6,0.000,0.025,2521,2191,2705,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12007,-1.41,-97.7,902.9,-9.7,253,12012,0.00,2.53,0.00,0.000,4,0.000,0.044,2509,3754,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12055,-1.41,-97.7,902.9,-9.7,253,12063,0.10,2.47,0.00,0.000,6,0.135,0.023,2541,2098,2704,0,0,0,0,0,0,25.86,26.30,28.83
$GC,12366,-1.41,-97.7,932.0,-8.3,256,12373,0.00,2.47,0.00,0.000,4,0.000,0.042,2541,549,2703,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12425,-1.41,-97.7,932.0,-8.3,256,12433,0.00,2.53,0.00,0.000,6,0.000,0.026,2531,2192,2703,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12846,-1.41,-97.7,970.6,-8.0,260,12848,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2192,2702,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13082,begin apogee
$GC,13091,-0.29,0.0,991.4,-8.4,262,13184,1.20,0.00,85.72,1.649,6,0.125,0.000,2903,1578,2320,0,0,0,0,0,0,24.93,28.83,23.01
$STATE,13186,end apogee,CONTROL_FINISHED_OK
$STATE,13186,begin climb
$GC,13190,1.33,97.7,996.5,0.0,267,13293,1.45,2.80,91.55,1.617,4,0.061,0.034,3426,3203,1921,0,0,0,0,0,0,25.34,25.05,23.05
$GC,13376,1.23,139.1,994.6,4.6,276,13424,0.12,2.58,37.97,1.579,6,0.163,0.030,3402,1577,1752,0,0,0,0,0,0,25.51,25.91,23.36
$GC,13770,1.16,146.2,969.7,6.3,286,13784,0.12,1.98,6.45,1.323,4,0.180,0.050,3373,361,1723,0,0,0,0,0,0,26.00,26.06,23.91
$GC,13985,1.09,155.8,962.6,6.2,287,14004,0.00,2.00,9.82,1.456,6,0.000,0.025,3373,1646,1685,0,0,0,0,0,0,28.83,26.36,23.88
$GC,14366,1.03,155.8,929.3,6.9,291,14373,0.15,2.08,0.00,0.000,4,0.165,0.047,3344,360,1684,0,0,0,0,0,0,26.06,26.13,28.83
$GC,14436,0.98,155.8,929.3,6.9,291,14442,0.00,1.92,0.00,0.000,6,0.000,0.026,3344,1647,1683,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14846,0.98,155.8,886.0,9.1,295,14853,0.00,2.10,0.00,0.000,4,0.000,0.048,3354,349,1681,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15015,0.98,155.8,874.4,9.4,296,15023,0.15,1.98,0.00,0.000,6,0.157,0.025,3315,1665,1680,0,0,0,0,0,0,25.95,26.44,28.83
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$STATE,25702,end climb,SURFACE_DEPTH_REACHED
$STATE,25703,begin surface coast
$FINISH,1.2,1.025941
$STATE,25737,end surface coast,CONTROL_FINISHED_OK
$STATE,25737,begin surface
$SM_CCo,25761,58.17,0.125,0,0,1094,300.00
$SM_GC,2.31,8.75,0.80,58.17,0.041,0.035,0.125,151,2197,1094,-8.81,-0.76,300.00,0,0,0,0,0,0,26.22,26.35,25.41
$IRIDIUM_FIX,2413.38,-3745.65,230213,222248
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7568992
$TM_FREEKB,4378912
$24V_AH,23.0,87.878
$10V_AH,10.1,78.045
$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,22.550,222.650,248.675,58.175,0.000,28.145,42.154,211.792,0.000,0.000,18.863,2054.233,21097.721,692.684,1923.988,633.609,33.286,1612.390,0.000,1541.642,0.000,0.535,0.000
$DEVICE_MAMPS,179.775,131.580,1648.575,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25750.000,2902.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.831,13.420,0.000,0.000
$MEM,343692
$DATA_FILE_SIZE,13457,513
$CAP_FILE_SIZE,188022,0
$CFSIZE,260034560,203403264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240213,124304,2430.098,-3747.940,31,0.8,31,-14.0