version: 66.11
glider: 189
mission: 7
dive: 535
start: 2 27 113 19 24 43
data:
$ID,189
$MISSION,7
$DIVE,535
$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,-48327.234
$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
$GPS1,270213,191404,2431.255,-3747.183,29,1.0,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-55.5
$GPS2,270213,192341,2431.233,-3747.177,15,1.0,15,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.060,0.098
$KALMAN_X,139799.3,-2.4,241.7,-115251.3,-2591.1
$KALMAN_Y,105867.7,-209.3,137.0,-113906.4,-1827.2
$MHEAD_RNG_PITCHd_Wd,45.4,1848,-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,-11.00,0.000,2,0.000,0.000,150,2116,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.07,2.55,-50.58,0.000,4,0.184,0.050,2568,549,2720,0,0,0,0,0,0,25.33,25.93,26.70
$GC,396,-1.25,-97.7,19.2,-8.1,37,404,0.10,2.47,0.00,0.000,6,0.145,0.024,2588,2187,2721,0,0,0,0,0,0,25.82,26.29,28.83
$GC,706,-1.25,-97.7,42.9,-7.1,68,714,0.00,2.60,0.00,0.000,4,0.000,0.036,2589,543,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,869,-1.19,-97.7,55.3,-8.0,84,876,0.15,2.45,0.00,0.000,6,0.154,0.024,2617,2202,2721,0,0,0,0,0,0,25.86,26.33,28.83
$GC,1176,-1.19,-97.7,77.2,-7.2,113,1182,0.00,2.50,0.00,0.000,4,0.000,0.040,2607,3749,2721,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1236,-1.19,-97.7,81.7,-7.3,115,1242,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2101,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1566,-1.19,-97.7,105.7,-7.5,126,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2101,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-1.19,-97.7,126.3,-6.7,136,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2101,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-1.19,-97.7,147.9,-7.4,146,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2101,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2497,-1.19,-97.7,173.1,-7.6,152,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2101,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-1.19,-97.7,194.7,-7.3,157,2802,0.00,2.45,0.00,0.000,4,0.000,0.037,2607,547,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2995,-1.19,-97.7,208.2,-7.4,160,3002,0.00,2.50,0.00,0.000,6,0.000,0.023,2595,2201,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3336,-1.19,-97.7,233.8,-7.0,166,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2201,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3636,-1.19,-97.7,253.8,-6.5,171,3643,0.00,2.60,0.00,0.000,4,0.000,0.035,2595,542,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3785,-1.19,-97.7,261.2,-6.3,173,3793,0.08,2.47,0.00,0.000,6,0.136,0.022,2609,2190,2724,0,0,0,0,0,0,26.02,26.37,28.83
$GC,4117,-1.22,-97.7,281.5,-5.6,179,4122,0.00,2.55,0.00,0.000,4,0.000,0.035,2610,536,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4205,-1.25,-97.7,285.2,-5.7,180,4213,0.00,2.47,0.00,0.000,6,0.000,0.023,2599,2186,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4537,-1.28,-97.7,308.1,-6.4,186,4543,0.00,2.55,0.00,0.000,4,0.000,0.036,2599,535,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4605,-1.28,-97.7,312.3,-6.6,187,4612,0.00,2.47,0.00,0.000,6,0.000,0.022,2587,2186,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4956,-1.28,-97.7,336.7,-6.8,193,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2186,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5256,-1.28,-97.7,359.2,-7.6,198,5263,0.00,2.58,0.00,0.000,4,0.000,0.036,2587,550,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5364,-1.28,-97.7,364.4,-8.0,199,5373,0.00,2.50,0.00,0.000,6,0.000,0.023,2575,2202,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5676,-1.28,-97.7,397.2,-9.3,205,5682,0.00,2.60,0.00,0.000,4,0.000,0.036,2575,546,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5775,-1.28,-97.7,403.3,-9.6,206,5782,0.00,2.47,0.00,0.000,6,0.000,0.024,2563,2192,2721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6096,-1.28,-97.7,437.2,-9.2,212,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2190,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,-1.28,-97.7,461.2,-7.9,217,6402,0.00,2.60,0.00,0.000,4,0.000,0.037,2562,549,2720,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6536,-1.28,-97.7,470.8,-7.8,219,6543,0.10,2.47,0.00,0.000,6,0.134,0.024,2583,2185,2719,0,0,0,0,0,0,25.96,26.37,28.83
$GC,6876,-1.31,-97.7,495.5,-6.9,225,6882,0.00,2.55,0.00,0.000,4,0.000,0.037,2584,539,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6955,-1.33,-97.7,500.1,-7.2,226,6963,0.00,2.50,0.00,0.000,6,0.000,0.024,2573,2192,2718,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7357,-1.33,-97.7,537.0,-8.8,230,7362,0.00,2.55,0.00,0.000,4,0.000,0.037,2573,542,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7444,-1.33,-97.7,537.0,-8.8,230,7453,0.00,2.55,0.00,0.000,6,0.000,0.024,2561,2186,2717,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7836,-1.33,-97.7,585.6,-10.1,234,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2186,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8196,-1.33,-97.7,617.8,-9.2,237,8202,0.00,2.55,0.00,0.000,4,0.000,0.037,2561,547,2715,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8296,-1.33,-97.7,617.8,-9.2,237,8302,0.00,2.47,0.00,0.000,6,0.000,0.024,2549,2185,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8676,-1.33,-97.7,654.9,-7.7,241,8683,0.00,2.60,0.00,0.000,4,0.000,0.037,2548,549,2713,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8756,-1.33,-97.7,654.9,-7.7,241,8763,0.10,2.47,0.00,0.000,6,0.136,0.024,2569,2185,2713,0,0,0,0,0,0,25.90,26.34,28.83
$GC,9156,-1.36,-97.7,692.3,-7.8,245,9163,0.00,2.58,0.00,0.000,4,0.000,0.038,2569,555,2712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9355,-1.39,-97.7,702.2,-7.8,246,9362,0.00,2.47,0.00,0.000,6,0.000,0.024,2559,2182,2711,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9757,-1.39,-97.7,738.9,-7.7,250,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2182,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10116,-1.42,-97.7,763.6,-6.9,253,10123,0.00,2.60,0.00,0.000,4,0.000,0.039,2559,549,2710,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10296,-1.44,-97.7,772.9,-7.0,254,10302,0.00,2.50,0.00,0.000,6,0.000,0.024,2547,2187,2708,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10716,-1.44,-97.7,811.2,-8.0,258,10722,0.00,2.60,0.00,0.000,4,0.000,0.039,2547,553,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10885,-1.44,-97.7,821.6,-8.2,259,10893,0.00,2.58,0.00,0.000,6,0.000,0.025,2535,2184,2706,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11197,-1.44,-97.7,852.3,-8.5,262,11202,0.00,2.58,0.00,0.000,4,0.000,0.040,2535,542,2706,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11296,-1.44,-97.7,852.3,-8.5,262,11302,0.00,2.50,0.00,0.000,6,0.000,0.026,2523,2181,2705,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11676,-1.44,-97.7,895.9,-9.1,266,11682,0.00,2.60,0.00,0.000,4,0.000,0.041,2523,549,2704,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11736,-1.44,-97.7,895.9,-9.1,266,11742,0.00,2.50,0.00,0.000,6,0.000,0.025,2511,2189,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12156,-1.44,-97.7,938.1,-8.8,270,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2189,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12515,-1.44,-97.7,965.7,-7.8,273,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2189,2702,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12872,begin apogee
$GC,12882,-0.29,0.0,992.9,-7.5,276,12974,1.27,0.00,86.00,1.661,6,0.131,0.000,2900,1572,2319,0,0,0,0,0,0,24.83,28.83,22.97
$STATE,12976,end apogee,CONTROL_FINISHED_OK
$STATE,12976,begin climb
$GC,12980,1.33,97.7,996.9,0.0,281,13077,1.50,0.00,92.53,1.644,6,0.062,0.000,3430,1572,1921,0,0,0,0,0,0,25.29,28.83,23.00
$GC,13418,1.21,113.8,977.6,5.9,298,13435,0.15,0.00,14.10,1.530,6,0.176,0.000,3394,1571,1856,0,0,0,0,0,0,25.95,28.83,23.74
$GC,13776,1.14,138.2,958.4,5.4,301,13805,0.00,2.78,23.27,1.581,4,0.000,0.034,3394,3207,1755,0,0,0,0,0,0,28.83,25.70,23.66
$GC,13846,1.06,162.6,958.4,5.4,301,13876,0.22,2.53,23.88,1.577,6,0.168,0.031,3347,1579,1656,0,0,0,0,0,0,25.49,25.92,23.46
$GC,14236,1.04,182.6,931.8,5.7,304,14257,0.00,0.00,18.77,1.574,6,0.000,0.000,3347,1582,1574,0,0,0,0,0,0,28.83,28.83,23.74
$GC,14596,1.04,182.6,904.6,7.2,307,14603,0.00,2.60,0.00,0.000,4,0.000,0.035,3347,3196,1571,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14746,1.04,182.6,893.7,7.9,308,14753,0.00,2.53,0.00,0.000,6,0.000,0.030,3358,1579,1571,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15076,1.04,182.6,859.2,9.5,311,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1578,1569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15436,1.04,182.6,825.3,9.5,314,15443,0.00,2.62,0.00,0.000,4,0.000,0.034,3357,3206,1568,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15536,1.04,182.6,825.3,9.5,314,15543,0.10,2.53,0.00,0.000,6,0.144,0.030,3338,1578,1568,0,0,0,0,0,0,25.86,26.25,28.83
$GC,15916,1.04,182.6,788.4,7.7,318,15923,0.00,2.62,0.00,0.000,4,0.000,0.035,3338,3200,1567,0,0,0,0,0,0,28.83,26.16,28.83
$GC,15985,1.04,182.6,788.4,7.7,318,15993,0.00,2.55,0.00,0.000,6,0.000,0.029,3348,1570,1567,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16397,1.06,191.8,758.4,6.2,322,16413,0.00,2.00,8.10,1.375,4,0.000,0.049,3358,351,1537,0,0,0,0,0,0,28.83,26.09,23.97
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$STATE,24807,end climb,SURFACE_DEPTH_REACHED
$STATE,24807,begin surface coast
$FINISH,1.2,1.024622
$STATE,24835,end surface coast,CONTROL_FINISHED_OK
$STATE,24835,begin surface
$SM_CCo,24860,47.38,0.123,0,0,1095,300.00
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$IRIDIUM_FIX,2427.58,-3754.79,270213,121213
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,7564384
$TM_FREEKB,4327232
$24V_AH,23.0,89.544
$10V_AH,10.1,79.676
$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,21.900,194.800,273.925,47.375,0.000,25.572,38.669,202.519,0.250,0.000,16.673,1998.845,20329.996,662.551,1849.525,631.144,33.288,1543.551,0.000,1485.974,0.000,0.535,0.000
$DEVICE_MAMPS,183.600,130.815,1660.815,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.782,13.437,0.000,0.000
$MEM,343712
$DATA_FILE_SIZE,13438,517
$CAP_FILE_SIZE,176366,0
$CFSIZE,260034560,202375168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280213,022104,2432.534,-3747.147,30,0.9,30,-13.9