version: 66.11
glider: 189
mission: 7
dive: 534
start: 2 27 113 12 16 8
data:
$ID,189
$MISSION,7
$DIVE,534
$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,-48325.977
$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
$GPS1,270213,120528,2430.396,-3746.953,38,1.0,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-58.6
$GPS2,270213,121506,2430.369,-3747.006,19,1.0,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.041,0.108
$KALMAN_X,141615.0,134.9,-239.5,-116440.6,-2385.4
$KALMAN_Y,108037.3,-70.9,-501.2,-117179.9,249.2
$MHEAD_RNG_PITCHd_Wd,34.8,2347,-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,-10.60,0.000,2,0.000,0.000,153,2124,1397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.20,2.58,-50.33,0.000,4,0.189,0.049,2572,546,2719,0,0,0,0,0,0,25.34,25.99,26.70
$GC,396,-1.25,-97.7,27.0,-9.2,37,404,0.10,2.47,0.00,0.000,6,0.140,0.024,2592,2186,2721,0,0,0,0,0,0,25.84,26.28,28.83
$GC,706,-1.23,-97.7,54.5,-8.1,68,714,0.00,2.47,0.00,0.000,4,0.000,0.041,2583,3747,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,766,-1.19,-97.7,59.6,-8.5,74,774,0.10,2.45,0.00,0.000,6,0.129,0.021,2615,2084,2721,0,0,0,0,0,0,25.95,26.37,28.83
$GC,1076,-1.19,-97.7,84.9,-8.2,97,1082,0.00,2.67,0.00,0.000,4,0.000,0.038,2604,3741,2721,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1145,-1.19,-97.7,89.8,-8.2,99,1152,0.00,2.45,0.00,0.000,6,0.000,0.020,2604,2096,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1466,-1.19,-97.7,114.6,-7.4,110,1472,0.00,2.67,0.00,0.000,4,0.000,0.039,2592,3753,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1556,-1.19,-97.7,121.8,-7.8,113,1562,0.00,2.40,0.00,0.000,6,0.000,0.021,2592,2100,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1885,-1.19,-97.7,147.3,-7.3,124,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2100,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2186,-1.19,-97.7,167.5,-6.7,130,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2099,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2486,-1.19,-97.7,190.5,-7.9,135,2492,0.00,2.40,0.00,0.000,4,0.000,0.037,2592,544,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2634,-1.19,-97.7,201.6,-8.7,137,2643,0.12,2.50,0.00,0.000,6,0.153,0.022,2612,2199,2723,0,0,0,0,0,0,25.99,26.36,28.83
$GC,2966,-1.21,-97.7,232.8,-8.7,143,2972,0.00,2.58,0.00,0.000,4,0.000,0.035,2613,527,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3055,-1.21,-97.7,237.8,-8.6,144,3062,0.00,2.50,0.00,0.000,6,0.000,0.023,2602,2193,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3386,-1.21,-97.7,263.8,-6.9,150,3392,0.00,2.58,0.00,0.000,4,0.000,0.035,2602,544,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3506,-1.21,-97.7,271.3,-6.3,152,3512,0.00,2.42,0.00,0.000,6,0.000,0.023,2590,2195,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3867,-1.21,-97.7,292.1,-5.8,158,3872,0.00,2.45,0.00,0.000,4,0.000,0.041,2578,3748,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3926,-1.21,-97.7,296.1,-6.1,159,3933,0.08,2.45,0.00,0.000,6,0.127,0.021,2604,2083,2723,0,0,0,0,0,0,26.08,26.43,28.83
$GC,4287,-1.25,-97.7,322.0,-7.4,165,4292,0.00,2.38,0.00,0.000,4,0.000,0.037,2604,545,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4395,-1.27,-97.7,327.1,-7.8,166,4403,0.00,2.47,0.00,0.000,6,0.000,0.023,2594,2195,2723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4706,-1.30,-97.7,356.7,-8.2,172,4712,0.00,2.60,0.00,0.000,4,0.000,0.036,2593,539,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4775,-1.30,-97.7,361.4,-8.0,173,4783,0.00,2.47,0.00,0.000,6,0.000,0.024,2582,2189,2723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5126,-1.30,-97.7,384.6,-6.1,179,5133,0.00,2.58,0.00,0.000,4,0.000,0.037,2581,547,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5186,-1.30,-97.7,388.0,-5.9,180,5193,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2188,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5547,-1.30,-97.7,409.6,-6.1,186,5552,0.00,2.47,0.00,0.000,4,0.000,0.041,2558,3748,2719,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5645,-1.30,-97.7,413.8,-6.4,187,5652,0.00,2.45,0.00,0.000,6,0.000,0.021,2558,2092,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5967,-1.30,-97.7,441.5,-7.9,193,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2092,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6266,-1.30,-97.7,467.1,-8.6,198,6273,0.00,2.42,0.00,0.000,4,0.000,0.037,2558,548,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6365,-1.30,-97.7,472.6,-8.7,199,6373,0.12,2.50,0.00,0.000,6,0.161,0.023,2577,2196,2719,0,0,0,0,0,0,25.96,26.34,28.83
$GC,6687,-1.32,-97.7,502.7,-8.3,205,6692,0.00,2.55,0.00,0.000,4,0.000,0.037,2577,546,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6765,-1.35,-97.7,502.7,-8.3,205,6772,0.00,2.47,0.00,0.000,6,0.000,0.023,2567,2187,2718,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7166,-1.35,-97.7,540.3,-7.8,209,7172,0.00,2.58,0.00,0.000,4,0.000,0.037,2567,550,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7245,-1.35,-97.7,540.3,-7.8,209,7252,0.00,2.50,0.00,0.000,6,0.000,0.024,2555,2195,2717,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7647,-1.35,-97.7,574.7,-7.2,213,7652,0.00,2.55,0.00,0.000,4,0.000,0.037,2555,546,2716,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7715,-1.35,-97.7,574.7,-7.2,213,7722,0.00,2.50,0.00,0.000,6,0.000,0.024,2543,2189,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8126,-1.35,-97.7,611.1,-7.6,217,8132,0.00,2.58,0.00,0.000,4,0.000,0.037,2543,526,2715,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8255,-1.35,-97.7,621.3,-7.9,218,8263,0.10,2.53,0.00,0.000,6,0.138,0.024,2562,2187,2714,0,0,0,0,0,0,25.89,26.32,28.83
$GC,8606,-1.35,-97.7,650.4,-8.2,221,8612,0.00,2.58,0.00,0.000,4,0.000,0.037,2563,552,2712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8695,-1.35,-97.7,650.4,-8.2,221,8702,0.00,2.47,0.00,0.000,6,0.000,0.024,2552,2187,2713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9086,-1.35,-97.7,690.3,-8.3,225,9092,0.00,2.58,0.00,0.000,4,0.000,0.038,2553,533,2711,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9145,-1.35,-97.7,690.3,-8.3,225,9152,0.00,2.50,0.00,0.000,6,0.000,0.024,2540,2183,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9566,-1.35,-97.7,728.6,-8.0,229,9572,0.00,2.58,0.00,0.000,4,0.000,0.038,2540,535,2711,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9765,-1.35,-97.7,738.7,-8.0,230,9773,0.10,2.53,0.00,0.000,6,0.138,0.024,2560,2191,2709,0,0,0,0,0,0,25.86,26.29,28.83
$GC,10166,-1.35,-97.7,777.6,-8.0,234,10172,0.00,2.60,0.00,0.000,4,0.000,0.039,2561,553,2708,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10287,-1.37,-97.7,788.3,-8.2,235,10292,0.00,2.45,0.00,0.000,6,0.000,0.025,2550,2194,2707,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10646,-1.37,-97.7,822.6,-9.4,238,10652,0.00,2.62,0.00,0.000,4,0.000,0.040,2550,551,2707,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10725,-1.37,-97.7,822.6,-9.4,238,10733,0.00,2.53,0.00,0.000,6,0.000,0.026,2538,2188,2706,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11126,-1.37,-97.7,868.1,-9.5,242,11132,0.00,2.58,0.00,0.000,4,0.000,0.039,2538,548,2705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11245,-1.37,-97.7,878.8,-9.2,243,11253,0.08,2.50,0.00,0.000,6,0.142,0.026,2551,2183,2705,0,0,0,0,0,0,25.89,26.25,28.83
$GC,11606,-1.39,-97.7,907.9,-8.3,246,11612,0.00,2.58,0.00,0.000,4,0.000,0.041,2551,544,2704,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11716,-1.41,-97.7,907.9,-8.3,246,11724,0.00,2.47,0.00,0.000,6,0.000,0.026,2541,2194,2703,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12086,-1.44,-97.7,947.2,-8.2,250,12092,0.00,2.60,0.00,0.000,4,0.000,0.040,2541,546,2702,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12265,-1.44,-97.7,958.3,-8.4,251,12273,0.00,2.53,0.00,0.000,6,0.000,0.026,2528,2189,2702,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,12562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12562,begin apogee
$GC,12571,-0.29,0.0,993.5,-9.6,254,12665,1.20,0.05,86.07,1.672,6,0.128,0.130,2899,1625,2320,0,0,0,0,0,0,24.89,24.74,22.97
$STATE,12667,end apogee,CONTROL_FINISHED_OK
$STATE,12667,begin climb
$GC,12671,1.33,97.7,999.2,0.0,259,12773,1.48,2.70,92.43,1.646,4,0.062,0.035,3429,3199,1920,0,0,0,0,0,0,25.34,25.03,23.00
$GC,12895,1.21,124.5,995.7,5.3,270,12926,0.15,2.55,24.45,1.584,6,0.163,0.030,3396,1584,1811,0,0,0,0,0,0,25.55,26.00,23.45
$GC,13316,1.12,124.5,968.0,6.7,282,13323,0.12,1.98,0.00,0.000,4,0.184,0.048,3374,350,1805,0,0,0,0,0,0,26.08,26.10,28.83
$GC,13405,1.04,124.5,968.0,6.7,282,13413,0.15,1.98,0.00,0.000,6,0.165,0.024,3337,1667,1804,0,0,0,0,0,0,25.89,26.39,28.83
$GC,13797,1.00,124.5,934.5,6.9,286,13802,0.00,2.08,0.00,0.000,4,0.000,0.048,3346,351,1802,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13855,0.97,124.5,934.5,6.9,286,13863,0.12,1.98,0.00,0.000,6,0.167,0.025,3315,1670,1802,0,0,0,0,0,0,26.00,26.44,28.83
$GC,14277,0.97,124.5,899.7,7.2,290,14282,0.00,2.45,0.00,0.000,4,0.000,0.036,3315,3208,1802,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14395,0.97,124.5,891.8,7.1,291,14403,0.00,2.53,0.00,0.000,6,0.000,0.030,3326,1589,1801,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14756,0.98,132.5,869.6,6.3,294,14767,0.00,2.03,6.53,1.357,4,0.000,0.049,3335,354,1778,0,0,0,0,0,0,28.83,26.12,23.98
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$STATE,24893,end climb,SURFACE_DEPTH_REACHED
$STATE,24894,begin surface coast
$FINISH,1.3,1.014641
$STATE,24925,end surface coast,CONTROL_FINISHED_OK
$STATE,24925,begin surface
$SM_CCo,24956,49.28,0.122,0,0,1094,300.00
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$IRIDIUM_FIX,2422.84,-3617.14,270213,040443
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.41
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7564768
$TM_FREEKB,4331584
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$10V_AH,10.1,79.543
$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,22.425,225.475,269.575,49.275,0.000,26.233,40.108,196.262,0.000,0.000,20.989,2058.068,20243.318,708.418,1924.706,635.502,33.283,1644.272,0.000,1560.612,0.000,0.535,0.000
$DEVICE_MAMPS,188.955,130.050,1672.290,121.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.750,13.450,0.000,0.000
$MEM,343664
$DATA_FILE_SIZE,13393,508
$CAP_FILE_SIZE,185900,0
$CFSIZE,260034560,202452992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270213,191404,2431.255,-3747.183,29,1.0,29,-13.9