version: 66.11
glider: 189
mission: 7
dive: 528
start: 2 25 113 17 29 55
data:
$ID,189
$MISSION,7
$DIVE,528
$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,-48318.434
$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
$GPS1,250213,171904,2428.870,-3748.074,41,0.9,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-63.0
$GPS2,250213,172853,2428.865,-3748.146,17,1.0,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.116,0.030
$KALMAN_X,151665.1,37.6,554.3,-129094.1,-4050.4
$KALMAN_Y,109725.1,-330.4,-104.6,-121785.0,2885.4
$MHEAD_RNG_PITCHd_Wd,89.6,3898,-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,-97.7,0.0,0.0,0,35,0.00,0.00,-10.93,0.000,2,0.000,0.000,150,2120,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.3,0.0,1,105,9.23,2.50,-49.83,0.000,4,0.187,0.047,2590,535,2719,0,0,0,0,0,0,25.44,26.01,26.70
$GC,206,-1.16,-97.7,9.0,-8.0,18,214,0.12,2.50,0.00,0.000,6,0.136,0.024,2620,2180,2720,0,0,0,0,0,0,25.73,26.25,28.83
$GC,516,-1.16,-97.7,32.0,-7.6,49,523,0.00,2.55,0.00,0.000,4,0.000,0.041,2609,3745,2720,0,0,0,0,0,0,28.83,26.03,28.83
$GC,696,-1.13,-97.7,46.1,-8.1,67,703,0.00,2.45,0.00,0.000,6,0.000,0.021,2610,2101,2721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1006,-1.10,-97.7,68.6,-6.9,98,1014,0.12,2.62,0.00,0.000,4,0.154,0.039,2631,3749,2721,0,0,0,0,0,0,26.32,26.06,28.83
$GC,1085,-1.10,-97.7,74.5,-7.4,106,1094,0.00,2.45,0.00,0.000,6,0.000,0.021,2631,2103,2721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1396,-1.10,-97.7,96.4,-7.1,117,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2102,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-1.10,-97.7,117.4,-7.1,127,1702,0.00,2.62,0.00,0.000,4,0.000,0.039,2619,3754,2722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1825,-1.10,-97.7,126.4,-7.5,131,1832,0.00,2.47,0.00,0.000,6,0.000,0.020,2619,2095,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2146,-1.10,-97.7,152.1,-8.5,142,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2095,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,-1.10,-97.7,178.1,-8.6,147,2452,0.00,2.67,0.00,0.000,4,0.000,0.039,2607,3754,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2535,-1.10,-97.7,183.1,-8.5,148,2543,0.15,2.47,0.00,0.000,6,0.139,0.020,2648,2084,2723,0,0,0,0,0,0,25.98,26.42,28.83
$GC,2867,-1.14,-97.7,199.5,-3.6,154,2872,0.00,2.38,0.00,0.000,4,0.000,0.037,2648,542,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2995,-1.16,-97.7,202.0,-2.4,156,3002,0.00,2.47,0.00,0.000,6,0.000,0.023,2638,2193,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3346,-1.19,-97.7,213.0,-3.6,162,3352,0.00,2.53,0.00,0.000,4,0.000,0.035,2638,545,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3456,-1.22,-97.7,215.8,-4.0,163,3464,0.00,2.45,0.00,0.000,6,0.000,0.023,2626,2186,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3766,-1.24,-97.7,239.8,-7.3,169,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2189,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4067,-1.26,-97.7,264.7,-8.4,174,4072,0.00,2.53,0.00,0.000,4,0.000,0.035,2625,540,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4144,-1.26,-97.7,270.2,-8.7,175,4152,0.00,2.50,0.00,0.000,6,0.000,0.023,2613,2200,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4486,-1.26,-97.7,303.9,-9.3,181,4492,0.00,2.60,0.00,0.000,4,0.000,0.036,2615,542,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4535,-1.26,-97.7,303.9,-9.3,181,4544,0.00,2.50,0.00,0.000,6,0.000,0.023,2601,2193,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4846,-1.26,-97.7,336.3,-9.0,187,4852,0.00,2.53,0.00,0.000,4,0.000,0.036,2602,546,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4905,-1.26,-97.7,341.4,-8.7,188,4912,0.00,2.47,0.00,0.000,6,0.000,0.024,2589,2192,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5266,-1.26,-97.7,367.3,-6.9,194,5272,0.00,2.53,0.00,0.000,4,0.000,0.041,2578,3745,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5336,-1.26,-97.7,370.9,-6.6,195,5342,0.00,2.45,0.00,0.000,6,0.000,0.021,2578,2091,2726,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5686,-1.26,-97.7,392.4,-5.9,201,5692,0.00,2.42,0.00,0.000,4,0.000,0.037,2578,543,2721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5725,-1.26,-97.7,392.4,-5.9,201,5732,0.00,2.47,0.00,0.000,6,0.000,0.023,2566,2190,2721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6047,-1.24,-97.7,416.4,-6.9,207,6053,0.12,2.55,0.00,0.000,4,0.157,0.035,2604,546,2721,0,0,0,0,0,0,26.27,26.13,28.83
$GC,6106,-1.21,-97.7,420.8,-7.1,208,6112,0.00,2.47,0.00,0.000,6,0.000,0.024,2594,2191,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6466,-1.21,-97.7,448.0,-7.6,214,6472,0.00,2.55,0.00,0.000,4,0.000,0.037,2594,541,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6564,-1.21,-97.7,452.7,-7.5,215,6572,0.00,2.50,0.00,0.000,6,0.000,0.024,2582,2190,2720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6886,-1.21,-97.7,476.3,-6.3,221,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2190,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7187,-1.21,-97.7,494.3,-6.0,226,7193,0.00,2.58,0.00,0.000,4,0.000,0.037,2582,538,2718,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7285,-1.21,-97.7,498.4,-6.2,227,7293,0.10,2.50,0.00,0.000,6,0.133,0.024,2604,2183,2717,0,0,0,0,0,0,25.93,26.34,28.83
$GC,7666,-1.21,-97.7,528.3,-7.1,231,7673,0.00,2.60,0.00,0.000,4,0.000,0.037,2606,542,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7725,-1.21,-97.7,528.3,-7.1,231,7733,0.00,2.50,0.00,0.000,6,0.000,0.024,2593,2192,2716,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8146,-1.24,-97.7,569.5,-8.6,235,8153,0.00,2.60,0.00,0.000,4,0.000,0.037,2589,547,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8245,-1.27,-97.7,569.5,-8.6,235,8252,0.00,2.55,0.00,0.000,6,0.000,0.025,2581,2183,2715,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8627,-1.27,-97.7,609.5,-8.3,239,8633,0.00,2.55,0.00,0.000,4,0.000,0.037,2581,544,2717,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8664,-1.27,-97.7,609.5,-8.3,239,8672,0.00,2.50,0.00,0.000,6,0.000,0.024,2569,2190,2713,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8986,-1.27,-97.7,631.8,-6.5,242,8992,0.00,2.55,0.00,0.000,4,0.000,0.043,2558,3748,2712,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9046,-1.27,-97.7,631.8,-6.5,242,9053,0.10,2.45,0.00,0.000,6,0.129,0.022,2590,2096,2712,0,0,0,0,0,0,25.96,26.39,28.83
$GC,9466,-1.29,-97.7,661.7,-6.2,246,9472,0.00,2.42,0.00,0.000,4,0.000,0.039,2590,542,2711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9565,-1.31,-97.7,661.7,-6.2,246,9573,0.00,2.47,0.00,0.000,6,0.000,0.024,2580,2178,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9947,-1.33,-97.7,700.5,-8.1,250,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2178,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10306,-1.36,-97.7,731.3,-8.6,253,10313,0.00,2.60,0.00,0.000,4,0.000,0.039,2580,549,2709,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10375,-1.39,-97.7,731.3,-8.6,253,10383,0.00,2.50,0.00,0.000,6,0.000,0.024,2568,2192,2709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10786,-1.39,-97.7,769.9,-8.0,257,10793,0.00,2.58,0.00,0.000,4,0.000,0.039,2569,542,2708,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10854,-1.39,-97.7,769.9,-8.0,257,10862,0.00,2.53,0.00,0.000,6,0.000,0.025,2556,2187,2707,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11266,-1.39,-97.7,808.2,-8.0,261,11273,0.00,2.60,0.00,0.000,4,0.000,0.039,2556,552,2706,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11365,-1.39,-97.7,808.2,-8.0,261,11372,0.00,2.50,0.00,0.000,6,0.000,0.025,2544,2193,2705,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11746,-1.39,-97.7,847.9,-8.2,265,11753,0.00,2.60,0.00,0.000,4,0.000,0.039,2544,553,2704,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11875,-1.39,-97.7,858.7,-8.5,266,11882,0.00,2.53,0.00,0.000,6,0.000,0.025,2532,2189,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12227,-1.39,-97.7,889.1,-8.6,269,12233,0.00,2.58,0.00,0.000,4,0.000,0.040,2532,549,2703,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12365,-1.36,-97.7,899.6,-8.5,270,12373,0.12,2.53,0.00,0.000,6,0.138,0.026,2560,2188,2703,0,0,0,0,0,0,25.73,26.26,28.83
$GC,12706,-1.36,-97.7,928.5,-8.2,273,12712,0.00,2.58,0.00,0.000,4,0.000,0.041,2560,548,2702,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12795,-1.36,-97.7,928.5,-8.2,273,12802,0.00,2.53,0.00,0.000,6,0.000,0.026,2550,2189,2701,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13186,-1.36,-97.7,968.2,-8.3,277,13192,0.00,2.62,0.00,0.000,4,0.000,0.041,2549,525,2701,0,0,0,0,0,0,28.83,25.92,28.83
$GC,13375,-1.36,-97.7,978.7,-8.3,278,13382,0.00,2.55,0.00,0.000,6,0.000,0.027,2537,2182,2700,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,13442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13442,begin apogee
$GC,13451,-0.29,0.0,990.5,-8.4,280,13544,1.17,0.00,85.90,1.651,6,0.124,0.000,2903,1574,2319,0,0,0,0,0,0,24.95,28.83,22.99
$STATE,13546,end apogee,CONTROL_FINISHED_OK
$STATE,13546,begin climb
$GC,13550,1.26,97.7,994.7,0.0,285,13649,1.40,2.10,91.82,1.626,4,0.060,0.048,3418,350,1921,0,0,0,0,0,0,25.32,24.99,23.03
$GC,13698,1.15,141.1,992.5,4.6,293,13746,0.15,2.00,40.03,1.593,6,0.151,0.024,3375,1655,1742,0,0,0,0,0,0,25.40,25.85,23.29
$GC,14062,1.07,141.1,965.5,7.6,301,14067,0.00,2.08,0.00,0.000,4,0.000,0.048,3383,347,1736,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,26466,end climb,SURFACE_DEPTH_REACHED
$STATE,26466,begin surface coast
$FINISH,1.4,1.002031
$STATE,26497,end surface coast,CONTROL_FINISHED_OK
$STATE,26497,begin surface
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$HUMID,61.06
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$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7567072
$TM_FREEKB,4357696
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$10V_AH,10.1,78.733
$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
$DEVICE_SECS,22.175,259.025,259.375,54.975,0.000,28.004,44.969,203.195,0.000,0.000,18.758,2235.606,21419.512,749.314,2084.678,664.310,33.294,1771.744,0.000,1697.728,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.829,13.463,0.000,0.000
$MEM,343704
$DATA_FILE_SIZE,13408,535
$CAP_FILE_SIZE,202805,0
$CFSIZE,260034560,202956800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260213,005405,2429.810,-3747.382,30,0.9,30,-14.0