version: 66.11
glider: 189
mission: 7
dive: 532
start: 2 26 113 22 3 19
data:
$ID,189
$MISSION,7
$DIVE,532
$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,-48323.465
$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
$GPS1,260213,215234,2428.914,-3746.686,35,0.8,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-63.2
$GPS2,260213,220217,2428.915,-3746.685,18,1.0,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.003,0.115
$KALMAN_X,144598.2,183.5,-143.7,-119023.7,-2560.4
$KALMAN_Y,110921.0,-178.1,-406.4,-122737.4,2076.8
$MHEAD_RNG_PITCHd_Wd,12.5,4613,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.10,0.000,2,0.000,0.000,151,2118,1383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.3,0.0,1,105,9.15,2.55,-50.55,0.000,4,0.187,0.048,2568,546,2721,0,0,0,0,0,0,25.29,25.95,26.70
$GC,369,-1.24,-97.7,24.5,-8.7,34,376,0.15,2.45,0.00,0.000,6,0.156,0.024,2596,2200,2722,0,0,0,0,0,0,25.80,26.28,28.83
$GC,676,-1.24,-97.7,48.4,-7.7,65,684,0.00,2.50,0.00,0.000,4,0.000,0.041,2586,3745,2722,0,0,0,0,0,0,28.83,26.04,28.83
$GC,846,-1.21,-97.7,62.5,-8.6,82,853,0.00,2.45,0.00,0.000,6,0.000,0.021,2586,2099,2722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1156,-1.19,-97.7,87.7,-8.2,103,1163,0.12,2.42,0.00,0.000,4,0.154,0.037,2618,549,2722,0,0,0,0,0,0,26.31,26.10,28.83
$GC,1246,-1.16,-97.7,95.0,-8.1,106,1252,0.00,2.47,0.00,0.000,6,0.000,0.024,2608,2191,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1576,-1.16,-97.7,121.0,-8.1,117,1582,0.00,2.50,0.00,0.000,4,0.000,0.040,2596,3745,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1685,-1.16,-97.7,128.4,-8.3,120,1694,0.08,2.42,0.00,0.000,6,0.129,0.021,2621,2095,2723,0,0,0,0,0,0,26.07,26.41,28.83
$GC,2029,-1.19,-97.7,154.9,-7.1,131,2034,0.00,2.40,0.00,0.000,4,0.000,0.037,2621,539,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2076,-1.21,-97.7,154.9,-7.1,131,2084,0.00,2.47,0.00,0.000,6,0.000,0.023,2610,2192,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2386,-1.21,-97.7,179.7,-6.8,137,2392,0.00,2.50,0.00,0.000,4,0.000,0.040,2598,3745,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2436,-1.21,-97.7,179.7,-6.8,137,2444,0.00,2.42,0.00,0.000,6,0.000,0.021,2598,2103,2724,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2747,-1.21,-97.7,202.5,-6.1,143,2752,0.00,2.38,0.00,0.000,4,0.000,0.037,2598,545,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2845,-1.21,-97.7,206.0,-5.9,144,2852,0.00,2.47,0.00,0.000,6,0.000,0.023,2586,2196,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3166,-1.21,-97.7,227.9,-6.1,150,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2196,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3467,-1.21,-97.7,248.8,-7.1,155,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2196,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,-1.21,-97.7,272.9,-8.1,160,3772,0.00,2.58,0.00,0.000,4,0.000,0.035,2586,548,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3905,-1.21,-97.7,283.2,-8.4,162,3913,0.12,2.47,0.00,0.000,6,0.158,0.022,2606,2192,2724,0,0,0,0,0,0,25.98,26.37,28.83
$GC,4247,-1.24,-97.7,309.4,-7.0,168,4252,0.00,2.55,0.00,0.000,4,0.000,0.036,2606,538,2727,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4295,-1.28,-97.7,309.4,-7.0,168,4304,0.00,2.47,0.00,0.000,6,0.000,0.023,2596,2190,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4607,-1.30,-97.7,333.0,-6.5,174,4612,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,3750,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4668,-1.32,-97.7,337.2,-6.6,175,4673,0.00,2.40,0.00,0.000,6,0.000,0.021,2583,2096,2724,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5026,-1.32,-97.7,362.0,-6.9,181,5032,0.00,2.45,0.00,0.000,4,0.000,0.037,2584,548,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5175,-1.32,-97.7,371.1,-7.3,183,5182,0.00,2.50,0.00,0.000,6,0.000,0.023,2572,2197,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5507,-1.32,-97.7,395.2,-6.5,189,5512,0.00,2.55,0.00,0.000,4,0.000,0.036,2572,544,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5595,-1.32,-97.7,399.4,-6.6,190,5603,0.00,2.47,0.00,0.000,6,0.000,0.023,2560,2191,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5926,-1.32,-97.7,425.2,-7.3,196,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2190,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6226,-1.32,-97.7,448.3,-7.7,201,6232,0.00,2.60,0.00,0.000,4,0.000,0.036,2560,543,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6335,-1.32,-97.7,453.0,-7.7,202,6344,0.00,2.50,0.00,0.000,6,0.000,0.024,2548,2190,2721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6647,-1.32,-97.7,482.1,-8.1,208,6652,0.00,2.55,0.00,0.000,4,0.000,0.037,2548,537,2720,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6734,-1.32,-97.7,487.3,-8.4,209,6743,0.15,2.53,0.00,0.000,6,0.155,0.024,2575,2199,2719,0,0,0,0,0,0,25.88,26.34,28.83
$GC,7126,-1.35,-97.7,522.7,-8.4,214,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2198,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,-1.38,-97.7,555.4,-9.0,217,7492,0.00,2.60,0.00,0.000,4,0.000,0.037,2575,540,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7645,-1.40,-97.7,566.7,-9.2,218,7652,0.00,2.50,0.00,0.000,6,0.000,0.024,2565,2186,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7966,-1.40,-97.7,598.9,-9.1,221,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2186,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8326,-1.42,-97.7,629.5,-8.5,224,8332,0.00,2.58,0.00,0.000,4,0.000,0.038,2565,540,2715,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8395,-1.44,-97.7,629.5,-8.5,224,8402,0.00,2.50,0.00,0.000,6,0.000,0.024,2553,2190,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8806,-1.44,-97.7,670.3,-8.5,228,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2189,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9166,-1.44,-97.7,699.7,-8.2,231,9172,0.00,2.62,0.00,0.000,4,0.000,0.038,2553,546,2713,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9267,-1.44,-97.7,699.7,-8.2,231,9272,0.00,2.47,0.00,0.000,6,0.000,0.025,2541,2198,2712,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9646,-1.44,-97.7,740.1,-8.4,235,9653,0.00,2.62,0.00,0.000,4,0.000,0.038,2541,552,2710,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9684,-1.44,-97.7,740.1,-8.4,235,9692,0.00,2.50,0.00,0.000,6,0.000,0.024,2529,2189,2710,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10007,-1.44,-97.7,770.8,-8.5,238,10012,0.00,2.50,0.00,0.000,4,0.000,0.044,2517,3747,2710,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10084,-1.44,-97.7,770.8,-8.5,238,10093,0.00,2.50,0.00,0.000,6,0.000,0.023,2517,2093,2709,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10486,-1.44,-97.7,812.8,-8.8,242,10492,0.00,2.70,0.00,0.000,4,0.000,0.042,2505,3742,2708,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10546,-1.44,-97.7,812.8,-8.8,242,10553,0.08,2.45,0.00,0.000,6,0.143,0.023,2528,2101,2708,0,0,0,0,0,0,25.95,26.34,28.83
$GC,10966,-1.44,-97.7,852.6,-8.2,246,10972,0.00,2.47,0.00,0.000,4,0.000,0.041,2530,546,2707,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11015,-1.44,-97.7,852.6,-8.2,246,11022,0.00,2.58,0.00,0.000,6,0.000,0.025,2519,2190,2709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11327,-1.44,-97.7,886.1,-9.1,249,11332,0.00,2.58,0.00,0.000,4,0.000,0.040,2518,542,2707,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11375,-1.44,-97.7,886.1,-9.1,249,11382,0.00,2.50,0.00,0.000,6,0.000,0.024,2507,2189,2705,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11686,-1.44,-97.7,923.6,-10.3,252,11693,0.00,2.62,0.00,0.000,4,0.000,0.039,2507,546,2705,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11755,-1.44,-97.7,923.6,-10.3,252,11763,0.15,2.53,0.00,0.000,6,0.164,0.025,2533,2189,2705,0,0,0,0,0,0,25.75,26.27,28.83
$GC,12167,-1.44,-97.7,968.1,-9.3,256,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2189,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12466,-1.44,-97.7,989.6,-7.0,261,12473,0.00,2.62,0.00,0.000,4,0.000,0.041,2534,550,2703,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,12482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12482,begin apogee
$GC,12492,-0.29,0.0,991.0,-7.0,262,12585,1.20,0.10,86.35,1.649,6,0.129,0.088,2895,1580,2320,0,0,0,0,0,0,24.92,24.87,22.99
$STATE,12587,end apogee,CONTROL_FINISHED_OK
$STATE,12587,begin climb
$GC,12592,1.33,97.7,993.6,0.0,267,12688,1.50,0.00,92.18,1.646,6,0.060,0.000,3428,1580,1922,0,0,0,0,0,0,25.33,28.83,23.01
$GC,13027,1.20,97.7,964.8,8.2,279,13033,0.15,1.95,0.00,0.000,4,0.170,0.047,3399,347,1914,0,0,0,0,0,0,25.97,26.07,28.83
$GC,13238,1.07,97.7,955.3,8.1,280,13243,0.20,1.92,0.00,0.000,6,0.161,0.025,3347,1674,1909,0,0,0,0,0,0,25.77,26.39,28.83
$GC,13628,1.03,111.9,926.7,6.0,284,13645,0.00,2.55,12.12,1.502,4,0.000,0.037,3347,3210,1862,0,0,0,0,0,0,28.83,26.05,23.86
$GC,13745,1.01,138.8,921.4,5.3,285,13777,0.08,2.55,26.02,1.572,6,0.160,0.030,3334,1582,1752,0,0,0,0,0,0,25.83,26.14,23.55
$GC,14091,1.02,169.3,903.1,5.1,288,14121,0.00,0.00,28.95,1.586,6,0.000,0.000,3334,1583,1628,0,0,0,0,0,0,28.83,28.83,23.53
$GC,14446,1.04,181.3,880.5,6.1,291,14460,0.00,0.00,11.90,1.497,6,0.000,0.000,3334,1583,1580,0,0,0,0,0,0,28.83,28.83,23.82
$GC,14807,1.06,181.3,855.2,6.9,294,14813,0.00,2.65,0.00,0.000,4,0.000,0.035,3333,3206,1577,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,24443,end climb,SURFACE_DEPTH_REACHED
$STATE,24446,begin surface coast
$FINISH,1.3,1.011809
$STATE,24474,end surface coast,CONTROL_FINISHED_OK
$STATE,24474,begin surface
$SM_CCo,24499,53.95,0.123,0,0,1093,300.00
$SM_GC,2.28,8.75,0.80,53.95,0.043,0.034,0.123,150,2187,1093,-8.84,-0.68,300.00,0,0,0,0,0,0,26.17,26.35,25.27
$IRIDIUM_FIX,2415.74,-3731.95,260213,151509
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.79
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7565536
$TM_FREEKB,4340800
$24V_AH,23.0,89.135
$10V_AH,10.1,79.269
$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,22.325,219.700,257.525,53.950,0.000,24.768,39.800,207.361,0.000,0.000,19.447,1927.218,20059.902,700.558,1785.156,651.568,33.287,1567.699,0.000,1414.801,0.000,0.535,0.000
$DEVICE_MAMPS,186.660,95.625,1649.340,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.741,13.410,0.000,0.000
$MEM,343684
$DATA_FILE_SIZE,13401,496
$CAP_FILE_SIZE,179490,0
$CFSIZE,260034560,202633216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270213,045352,2430.177,-3747.141,37,0.8,37,-14.0