version: 66.11
glider: 189
mission: 7
dive: 536
start: 2 28 113 2 31 56
data:
$ID,189
$MISSION,7
$DIVE,536
$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,-48328.492
$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
$GPS1,280213,022104,2432.534,-3747.147,30,0.9,30,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-55.4
$GPS2,280213,023054,2432.512,-3747.181,19,1.0,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.104,-0.050
$KALMAN_X,137858.6,38.0,369.4,-113487.2,-3639.2
$KALMAN_Y,104895.8,405.1,-30.3,-111029.2,-1959.6
$MHEAD_RNG_PITCHd_Wd,129.4,3364,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.38,0.000,2,0.000,0.000,152,2127,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,8.88,2.72,-51.38,0.000,4,0.177,0.051,2558,3744,2720,0,0,0,0,0,0,25.34,25.87,26.70
$GC,395,-1.26,-97.7,21.1,-7.1,37,403,0.10,2.45,0.00,0.000,6,0.133,0.021,2590,2095,2721,0,0,0,0,0,0,25.89,26.33,28.83
$GC,706,-1.24,-97.7,41.6,-6.4,68,713,0.00,2.65,0.00,0.000,4,0.000,0.039,2580,3755,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,867,-1.20,-97.7,55.5,-10.4,84,875,0.12,2.42,0.00,0.000,6,0.151,0.021,2611,2094,2721,0,0,0,0,0,0,25.98,26.38,28.83
$GC,1185,-1.20,-97.7,82.4,-7.7,110,1191,0.00,2.42,0.00,0.000,4,0.000,0.037,2611,548,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1263,-1.20,-97.7,87.1,-7.7,112,1272,0.00,2.50,0.00,0.000,6,0.000,0.023,2600,2204,2721,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1574,-1.20,-97.7,112.7,-7.9,123,1581,0.00,2.47,0.00,0.000,4,0.000,0.039,2589,3741,2721,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1675,-1.20,-97.7,120.2,-8.4,126,1681,0.00,2.45,0.00,0.000,6,0.000,0.021,2589,2092,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1995,-1.20,-97.7,145.4,-7.2,137,2001,0.00,2.42,0.00,0.000,4,0.000,0.037,2589,542,2722,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2056,-1.17,-97.7,149.7,-7.2,139,2062,0.17,2.42,0.00,0.000,6,0.144,0.023,2625,2195,2722,0,0,0,0,0,0,25.84,26.36,28.83
$GC,2385,-1.20,-97.7,171.6,-6.7,145,2391,0.00,2.60,0.00,0.000,4,0.000,0.035,2625,541,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2464,-1.23,-97.7,175.6,-6.7,146,2471,0.00,2.47,0.00,0.000,6,0.000,0.022,2614,2193,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2806,-1.25,-97.7,198.1,-6.0,152,2811,0.00,2.55,0.00,0.000,4,0.000,0.035,2614,539,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2934,-1.25,-97.7,205.5,-6.1,154,2941,0.00,2.47,0.00,0.000,6,0.000,0.022,2602,2194,2723,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3286,-1.25,-97.7,228.1,-6.2,160,3291,0.00,2.55,0.00,0.000,4,0.000,0.035,2601,540,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3354,-1.25,-97.7,232.0,-6.2,161,3361,0.00,2.47,0.00,0.000,6,0.000,0.022,2590,2198,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3705,-1.25,-97.7,257.2,-7.1,167,3711,0.00,2.60,0.00,0.000,4,0.000,0.035,2590,542,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3806,-1.25,-97.7,261.7,-7.2,168,3811,0.00,2.47,0.00,0.000,6,0.000,0.024,2578,2194,2723,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4125,-1.25,-97.7,287.6,-7.1,174,4131,0.00,2.58,0.00,0.000,4,0.000,0.035,2578,549,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4233,-1.25,-97.7,292.0,-7.1,175,4243,0.10,2.50,0.00,0.000,6,0.169,0.023,2592,2203,2723,0,0,0,0,0,0,26.02,26.36,28.83
$GC,4546,-1.27,-97.7,317.1,-7.0,181,4551,0.00,2.55,0.00,0.000,4,0.000,0.036,2593,545,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4595,-1.29,-97.7,317.1,-7.0,181,4603,0.00,2.42,0.00,0.000,6,0.000,0.024,2582,2194,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4905,-1.29,-97.7,344.0,-7.6,187,4911,0.00,2.58,0.00,0.000,4,0.000,0.036,2582,549,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4944,-1.29,-97.7,344.0,-7.6,187,4951,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2190,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5265,-1.29,-97.7,374.3,-8.6,193,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2190,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-1.29,-97.7,399.5,-8.3,198,5571,0.00,2.60,0.00,0.000,4,0.000,0.037,2570,549,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5686,-1.29,-97.7,409.4,-8.2,200,5691,0.00,2.42,0.00,0.000,6,0.000,0.024,2558,2192,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6045,-1.29,-97.7,435.6,-7.1,206,6051,0.00,2.60,0.00,0.000,4,0.000,0.036,2558,545,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6104,-1.29,-97.7,439.8,-6.9,207,6112,0.10,2.47,0.00,0.000,6,0.134,0.024,2578,2186,2721,0,0,0,0,0,0,25.94,26.36,28.83
$GC,6466,-1.31,-97.7,462.5,-6.4,213,6472,0.00,2.55,0.00,0.000,4,0.000,0.037,2579,539,2720,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6574,-1.31,-97.7,466.7,-6.5,214,6583,0.00,2.47,0.00,0.000,6,0.000,0.023,2568,2185,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6885,-1.31,-97.7,492.8,-7.4,220,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2185,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7245,-1.31,-97.7,520.8,-7.8,224,7251,0.00,2.60,0.00,0.000,4,0.000,0.037,2568,545,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7364,-1.31,-97.7,531.0,-8.0,225,7371,0.00,2.47,0.00,0.000,6,0.000,0.024,2556,2185,2717,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7726,-1.31,-97.7,560.0,-8.2,228,7731,0.00,2.55,0.00,0.000,4,0.000,0.037,2556,537,2716,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7803,-1.31,-97.7,560.0,-8.2,228,7812,0.12,2.53,0.00,0.000,6,0.158,0.024,2575,2199,2716,0,0,0,0,0,0,25.96,26.34,28.83
$GC,8205,-1.34,-97.7,596.5,-7.6,232,8211,0.00,2.58,0.00,0.000,4,0.000,0.037,2576,539,2714,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8255,-1.37,-97.7,596.5,-7.6,232,8261,0.00,2.50,0.00,0.000,6,0.000,0.024,2565,2189,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8565,-1.40,-97.7,624.5,-7.7,235,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2189,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8925,-1.42,-97.7,654.9,-8.3,238,8931,0.00,2.55,0.00,0.000,4,0.000,0.038,2565,547,2712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9124,-1.42,-97.7,666.8,-8.8,239,9131,0.00,2.50,0.00,0.000,6,0.000,0.024,2553,2191,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9525,-1.42,-97.7,714.6,-10.0,243,9531,0.00,2.60,0.00,0.000,4,0.000,0.039,2553,552,2711,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9614,-1.42,-97.7,714.6,-10.0,243,9621,0.00,2.50,0.00,0.000,6,0.000,0.024,2541,2188,2710,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10005,-1.42,-97.7,752.4,-7.9,247,10011,0.00,2.55,0.00,0.000,4,0.000,0.038,2541,548,2709,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10134,-1.42,-97.7,759.9,-7.1,248,10141,0.00,2.58,0.00,0.000,6,0.000,0.024,2529,2185,2708,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10485,-1.42,-97.7,779.6,-5.6,251,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2184,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10846,-1.42,-97.7,804.1,-6.4,254,10851,0.00,2.58,0.00,0.000,4,0.000,0.039,2529,544,2706,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11044,-1.42,-97.7,814.5,-7.3,255,11051,0.00,2.50,0.00,0.000,6,0.000,0.025,2517,2186,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11445,-1.42,-97.7,861.8,-9.8,259,11451,0.00,2.62,0.00,0.000,4,0.000,0.040,2517,541,2705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11544,-1.42,-97.7,861.8,-9.8,259,11552,0.10,2.50,0.00,0.000,6,0.138,0.024,2538,2187,2704,0,0,0,0,0,0,25.83,26.27,28.83
$GC,11925,-1.42,-97.7,912.1,-10.4,263,11932,0.00,2.60,0.00,0.000,4,0.000,0.040,2538,551,2703,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12054,-1.42,-97.7,924.3,-10.2,264,12061,0.00,2.58,0.00,0.000,6,0.000,0.025,2527,2185,2703,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12405,-1.42,-97.7,957.2,-9.4,267,12412,0.00,2.58,0.00,0.000,4,0.000,0.041,2527,546,2701,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12524,-1.42,-97.7,967.6,-9.0,268,12531,0.00,2.50,0.00,0.000,6,0.000,0.025,2514,2182,2701,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,12801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12801,begin apogee
$GC,12811,-0.29,0.0,990.8,-8.3,272,12903,1.25,0.00,85.80,1.655,6,0.128,0.000,2898,1575,2320,0,0,0,0,0,0,24.88,28.83,23.01
$STATE,12905,end apogee,CONTROL_FINISHED_OK
$STATE,12905,begin climb
$GC,12909,1.33,97.7,995.1,0.0,277,13005,1.50,0.00,92.15,1.645,6,0.064,0.000,3430,1575,1920,0,0,0,0,0,0,25.31,28.83,23.03
$GC,13305,1.21,111.7,977.8,6.0,292,13324,0.15,2.72,12.43,1.499,4,0.175,0.034,3395,3212,1863,0,0,0,0,0,0,25.94,25.91,23.76
$GC,13354,1.10,125.6,977.8,6.0,292,13375,0.15,2.58,14.45,1.514,6,0.155,0.030,3361,1582,1806,0,0,0,0,0,0,25.62,26.01,23.63
$GC,13769,1.05,136.9,949.8,6.1,296,13784,0.00,2.03,10.25,1.475,4,0.000,0.049,3368,353,1764,0,0,0,0,0,0,28.83,25.99,23.87
$GC,13937,1.01,145.8,942.5,6.2,297,13953,0.17,1.92,10.00,1.483,6,0.159,0.026,3324,1663,1724,0,0,0,0,0,0,25.80,26.31,23.85
$GC,14355,1.01,145.8,906.0,7.6,301,14357,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1663,1722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14714,1.01,145.8,876.6,8.2,304,14722,0.00,2.50,0.00,0.000,4,0.000,0.035,3323,3203,1721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14784,1.01,145.8,876.6,8.2,304,14792,0.00,2.55,0.00,0.000,6,0.000,0.030,3333,1579,1721,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,24471,end climb,SURFACE_DEPTH_REACHED
$STATE,24471,begin surface coast
$FINISH,1.3,1.004845
$STATE,24502,end surface coast,CONTROL_FINISHED_OK
$STATE,24502,begin surface
$SM_CCo,24527,40.70,0.124,0,0,1094,300.00
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$IRIDIUM_FIX,2415.74,-3752.29,270213,191946
$TT8_MAMPS,0.026964,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7564000
$TM_FREEKB,4323104
$24V_AH,23.0,89.691
$10V_AH,9.8,79.811
$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,22.275,216.075,288.275,40.700,0.000,26.286,40.519,207.599,0.000,0.000,21.034,2086.245,19762.725,699.070,1973.481,624.162,33.263,1640.287,0.000,1599.124,0.000,0.535,0.000
$DEVICE_MAMPS,176.715,94.860,1654.695,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.746,13.399,0.000,0.000
$MEM,343696
$DATA_FILE_SIZE,13432,503
$CAP_FILE_SIZE,184870,0
$CFSIZE,260034560,202285056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280213,092235,2431.365,-3746.758,28,1.0,28,-13.9