version: 66.11
glider: 189
mission: 7
dive: 533
start: 2 27 113 5 4 37
data:
$ID,189
$MISSION,7
$DIVE,533
$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,-48324.723
$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
$GPS1,270213,045352,2430.177,-3747.141,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-61.4
$GPS2,270213,050335,2430.116,-3747.150,16,0.9,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.095,0.066
$KALMAN_X,143033.0,69.1,903.6,-119178.1,-4530.3
$KALMAN_Y,109329.8,-69.8,-241.8,-119190.6,-340.1
$MHEAD_RNG_PITCHd_Wd,69.0,2413,-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,-10.68,0.000,2,0.000,0.000,150,2118,1398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.4,0.0,1,105,9.10,2.72,-50.25,0.000,4,0.186,0.050,2555,3748,2719,0,0,0,0,0,0,25.38,25.94,26.70
$GC,396,-1.26,-97.7,25.3,-10.0,37,404,0.10,2.45,0.00,0.000,6,0.143,0.021,2586,2097,2721,0,0,0,0,0,0,25.85,26.34,28.83
$GC,706,-1.24,-97.7,50.6,-7.8,68,714,0.00,2.65,0.00,0.000,4,0.000,0.039,2576,3750,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1006,-1.20,-97.7,75.0,-8.1,98,1013,0.10,2.45,0.00,0.000,6,0.132,0.021,2607,2096,2721,0,0,0,0,0,0,25.94,26.39,28.83
$GC,1338,-1.20,-97.7,99.0,-7.1,109,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2096,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-1.20,-97.7,119.8,-6.9,119,1642,0.00,2.42,0.00,0.000,4,0.000,0.037,2609,550,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1725,-1.20,-97.7,126.7,-7.5,122,1732,0.00,2.45,0.00,0.000,6,0.000,0.023,2598,2186,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2056,-1.20,-97.7,151.7,-7.7,133,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2187,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,-1.20,-97.7,176.3,-8.3,138,2362,0.00,2.50,0.00,0.000,4,0.000,0.039,2587,3741,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2555,-1.20,-97.7,191.3,-8.3,141,2563,0.00,2.42,0.00,0.000,6,0.000,0.021,2587,2103,2723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2896,-1.20,-97.7,215.7,-6.3,147,2902,0.00,2.45,0.00,0.000,4,0.000,0.037,2586,541,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2975,-1.20,-97.7,219.4,-6.2,148,2983,0.10,2.47,0.00,0.000,6,0.132,0.023,2608,2193,2723,0,0,0,0,0,0,25.94,26.37,28.83
$GC,3318,-1.22,-97.7,239.5,-5.4,154,3323,0.00,2.45,0.00,0.000,4,0.000,0.040,2598,3748,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3405,-1.22,-97.7,242.9,-5.6,155,3412,0.00,2.42,0.00,0.000,6,0.000,0.020,2598,2103,2725,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3736,-1.22,-97.7,271.4,-8.5,161,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2104,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4036,-1.24,-97.7,301.7,-10.2,166,4042,0.00,2.45,0.00,0.000,4,0.000,0.037,2598,540,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4115,-1.24,-97.7,307.9,-10.3,167,4122,0.00,2.47,0.00,0.000,6,0.000,0.023,2586,2193,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4457,-1.24,-97.7,340.7,-8.7,173,4462,0.00,2.55,0.00,0.000,4,0.000,0.036,2586,540,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4516,-1.24,-97.7,345.8,-8.5,174,4522,0.00,2.47,0.00,0.000,6,0.000,0.023,2574,2191,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4876,-1.24,-97.7,370.3,-6.5,180,4882,0.00,2.53,0.00,0.000,4,0.000,0.041,2563,3751,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4937,-1.24,-97.7,374.2,-6.5,181,4943,0.15,2.40,0.00,0.000,6,0.143,0.021,2603,2093,2724,0,0,0,0,0,0,25.97,26.42,28.83
$GC,5296,-1.28,-97.7,396.2,-6.2,187,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2093,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5596,-1.32,-97.7,418.3,-7.5,192,5602,0.00,2.42,0.00,0.000,4,0.000,0.037,2603,551,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5676,-1.35,-97.7,423.4,-7.8,193,5682,0.00,2.47,0.00,0.000,6,0.000,0.024,2591,2195,2722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6016,-1.38,-97.7,453.8,-8.5,199,6023,0.12,2.55,0.00,0.000,4,0.083,0.036,2523,543,2721,0,0,0,0,0,0,26.61,26.13,28.83
$GC,6104,-1.38,-97.7,459.6,-8.8,200,6113,0.17,2.50,0.00,0.000,6,0.153,0.023,2556,2192,2721,0,0,0,0,0,0,25.81,26.35,28.83
$GC,6436,-1.38,-97.7,492.4,-8.9,206,6442,0.00,2.47,0.00,0.000,4,0.000,0.042,2546,3751,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6495,-1.38,-97.7,497.9,-8.8,207,6502,0.00,2.45,0.00,0.000,6,0.000,0.021,2546,2097,2718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6916,-1.38,-97.7,529.5,-7.5,211,6922,0.00,2.40,0.00,0.000,4,0.000,0.037,2546,541,2718,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7055,-1.38,-97.7,537.9,-7.3,212,7062,0.00,2.53,0.00,0.000,6,0.000,0.024,2534,2200,2718,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7396,-1.35,-97.7,561.9,-6.7,215,7403,0.12,2.47,0.00,0.000,4,0.158,0.041,2555,3755,2717,0,0,0,0,0,0,26.31,26.03,28.83
$GC,7436,-1.33,-97.7,561.9,-6.7,215,7442,0.00,2.45,0.00,0.000,6,0.000,0.021,2555,2106,2717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7756,-1.33,-97.7,588.8,-7.3,218,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2106,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8116,-1.33,-97.7,620.2,-8.5,221,8122,0.00,2.47,0.00,0.000,4,0.000,0.038,2556,543,2715,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8175,-1.33,-97.7,620.2,-8.5,221,8182,0.00,2.53,0.00,0.000,6,0.000,0.024,2544,2200,2715,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8597,-1.33,-97.7,667.4,-9.8,225,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2199,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8956,-1.33,-97.7,702.7,-9.8,228,8963,0.12,2.65,0.00,0.000,4,0.158,0.038,2576,545,2712,0,0,0,0,0,0,26.32,26.05,28.83
$GC,9044,-1.33,-97.7,702.7,-9.8,228,9052,0.00,2.53,0.00,0.000,6,0.000,0.024,2566,2198,2712,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9437,-1.35,-97.7,748.5,-9.5,232,9442,0.00,2.58,0.00,0.000,4,0.000,0.038,2566,548,2711,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9595,-1.38,-97.7,760.5,-9.6,233,9602,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2187,2711,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9917,-1.40,-97.7,793.5,-9.4,236,9922,0.00,2.58,0.00,0.000,4,0.000,0.039,2554,543,2710,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10044,-1.40,-97.7,803.8,-9.0,237,10052,0.00,2.53,0.00,0.000,6,0.000,0.024,2542,2191,2709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10396,-1.40,-97.7,830.9,-7.8,240,10402,0.00,2.60,0.00,0.000,4,0.000,0.039,2542,552,2709,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10465,-1.40,-97.7,830.9,-7.8,240,10472,0.00,2.55,0.00,0.000,6,0.000,0.026,2530,2189,2708,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10876,-1.40,-97.7,866.2,-7.4,244,10882,0.00,2.60,0.00,0.000,4,0.000,0.039,2530,552,2706,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10925,-1.40,-97.7,866.2,-7.4,244,10933,0.12,2.53,0.00,0.000,6,0.164,0.025,2548,2195,2706,0,0,0,0,0,0,25.86,26.27,28.83
$GC,11236,-1.40,-97.7,895.8,-8.0,247,11242,0.00,2.58,0.00,0.000,4,0.000,0.039,2549,544,2703,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11355,-1.40,-97.7,907.0,-8.5,248,11362,0.00,2.50,0.00,0.000,6,0.000,0.025,2539,2183,2705,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11716,-1.40,-97.7,942.9,-9.8,251,11722,0.00,2.60,0.00,0.000,4,0.000,0.040,2539,552,2704,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11805,-1.40,-97.7,942.9,-9.8,251,11813,0.00,2.50,0.00,0.000,6,0.000,0.025,2527,2189,2704,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,12192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12192,begin apogee
$GC,12201,-0.29,0.0,993.7,-10.6,255,12294,1.20,0.00,86.62,1.655,6,0.125,0.000,2899,1580,2319,0,0,0,0,0,0,24.94,28.83,23.01
$STATE,12296,end apogee,CONTROL_FINISHED_OK
$STATE,12296,begin climb
$GC,12300,1.33,97.7,999.5,0.0,260,12402,1.48,2.78,92.32,1.637,4,0.060,0.035,3428,3203,1920,0,0,0,0,0,0,25.34,25.06,23.03
$GC,12484,1.21,124.1,997.1,5.3,269,12515,0.20,2.60,24.27,1.580,6,0.174,0.030,3391,1570,1813,0,0,0,0,0,0,25.48,25.90,23.44
$GC,12906,1.13,124.1,964.2,8.0,281,12908,0.10,0.00,0.00,0.000,6,0.187,0.000,3368,1570,1807,0,0,0,0,0,0,26.20,28.83,28.83
$GC,13266,1.06,124.1,935.1,8.1,284,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1570,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13627,1.01,124.1,906.9,7.9,287,13633,0.15,1.98,0.00,0.000,4,0.167,0.049,3336,350,1803,0,0,0,0,0,0,26.12,26.11,28.83
$GC,13735,0.96,124.1,906.9,7.9,287,13743,0.00,1.98,0.00,0.000,6,0.000,0.024,3336,1661,1802,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14106,0.94,124.1,872.6,7.1,291,14113,0.12,2.10,0.00,0.000,4,0.164,0.047,3313,356,1802,0,0,0,0,0,0,26.25,26.08,28.83
$GC,14285,0.94,124.1,864.0,7.1,292,14292,0.00,1.92,0.00,0.000,6,0.000,0.025,3313,1648,1800,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14706,0.94,124.1,829.2,7.3,296,14712,0.00,2.53,0.00,0.000,4,0.000,0.036,3313,3207,1800,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14846,0.94,124.1,820.3,7.4,297,14852,0.00,2.53,0.00,0.000,6,0.000,0.030,3326,1585,1800,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15187,0.94,124.1,795.7,7.0,300,15192,0.00,1.95,0.00,0.000,4,0.000,0.048,3335,344,1799,0,0,0,0,0,0,28.83,26.01,28.83
$GC,15345,0.94,124.1,788.0,6.7,301,15352,0.12,1.98,0.00,0.000,6,0.157,0.025,3303,1662,1798,0,0,0,0,0,0,25.98,26.41,28.83
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$STATE,25052,end climb,SURFACE_DEPTH_REACHED
$STATE,25053,begin surface coast
$FINISH,1.3,1.014303
$STATE,25084,end surface coast,CONTROL_FINISHED_OK
$STATE,25084,begin surface
$SM_CCo,25109,61.28,0.121,0,0,1094,300.00
$SM_GC,2.18,8.68,0.82,61.28,0.039,0.031,0.121,154,2205,1094,-8.83,-0.51,300.00,0,0,0,0,0,0,26.21,26.36,25.39
$IRIDIUM_FIX,2411.01,-3745.65,260213,212118
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.41
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7565152
$TM_FREEKB,4336128
$24V_AH,23.0,89.263
$10V_AH,9.5,79.406
$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,22.825,210.200,242.475,61.275,0.000,28.301,42.875,200.432,0.000,0.000,17.407,2092.970,20395.797,665.282,1966.833,619.072,33.278,1597.735,0.000,1596.710,0.000,0.535,0.000
$DEVICE_MAMPS,186.660,95.625,1654.695,120.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.736,13.446,0.000,0.000
$MEM,343700
$DATA_FILE_SIZE,13420,524
$CAP_FILE_SIZE,185482,0
$CFSIZE,260034560,202539008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270213,120528,2430.396,-3746.953,38,1.0,38,-13.9