version: 66.11
glider: 189
mission: 7
dive: 537
start: 2 28 113 9 33 20
data:
$ID,189
$MISSION,7
$DIVE,537
$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,-48329.75
$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
$GPS1,280213,092235,2431.365,-3746.758,28,1.0,28,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-62.4
$GPS2,280213,093218,2431.309,-3746.810,16,1.5,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,0.113
$KALMAN_X,136034.8,221.5,-419.8,-110435.2,-1902.9
$KALMAN_Y,104034.2,124.2,406.9,-112550.8,-2849.4
$MHEAD_RNG_PITCHd_Wd,1.5,2481,-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,-90.7,0.0,0.0,0,34,0.00,0.00,-10.05,0.000,2,0.000,0.000,152,2144,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.2,0.0,1,105,9.07,2.60,-51.50,0.000,4,0.184,0.050,2567,553,2720,0,0,0,0,0,0,25.27,25.93,26.70
$GC,235,-1.25,-97.7,11.6,-9.8,21,244,0.12,2.47,0.00,0.000,6,0.132,0.023,2596,2189,2720,0,0,0,0,0,0,25.76,26.25,28.83
$GC,545,-1.25,-97.7,34.3,-8.0,52,553,0.00,2.53,0.00,0.000,4,0.000,0.040,2586,3743,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,688,-1.22,-97.7,43.7,-6.5,66,695,0.00,2.40,0.00,0.000,6,0.000,0.021,2586,2098,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,995,-1.19,-97.7,66.9,-7.8,97,1003,0.12,2.62,0.00,0.000,4,0.153,0.039,2607,3749,2721,0,0,0,0,0,0,26.31,26.05,28.83
$GC,1085,-1.19,-97.7,73.3,-6.9,106,1093,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2097,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1418,-1.19,-97.7,94.9,-6.5,119,1423,0.00,2.58,0.00,0.000,4,0.000,0.039,2595,3750,2721,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1485,-1.19,-97.7,99.1,-6.6,121,1491,0.00,2.42,0.00,0.000,6,0.000,0.021,2595,2101,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1805,-1.19,-97.7,125.5,-8.6,132,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2100,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-1.19,-97.7,149.1,-8.0,142,2111,0.00,2.58,0.00,0.000,4,0.000,0.038,2583,3754,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2174,-1.19,-97.7,153.8,-7.7,144,2182,0.12,2.45,0.00,0.000,6,0.148,0.020,2615,2091,2723,0,0,0,0,0,0,26.03,26.42,28.83
$GC,2525,-1.21,-97.7,178.5,-6.6,150,2531,0.00,2.38,0.00,0.000,4,0.000,0.037,2615,538,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2635,-1.21,-97.7,182.5,-6.6,151,2643,0.00,2.50,0.00,0.000,6,0.000,0.024,2605,2191,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2945,-1.21,-97.7,204.6,-6.0,157,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2191,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3246,-1.24,-97.7,220.1,-5.1,162,3251,0.00,2.53,0.00,0.000,4,0.000,0.035,2605,542,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3355,-1.24,-97.7,223.5,-5.2,163,3363,0.00,2.45,0.00,0.000,6,0.000,0.023,2592,2186,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3665,-1.24,-97.7,248.4,-7.4,169,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2186,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-1.24,-97.7,274.8,-8.9,174,3971,0.00,2.55,0.00,0.000,4,0.000,0.035,2592,544,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4054,-1.24,-97.7,280.4,-9.0,175,4062,0.00,2.45,0.00,0.000,6,0.000,0.023,2581,2186,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4385,-1.24,-97.7,311.2,-8.2,181,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2186,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4685,-1.24,-97.7,331.0,-6.5,186,4692,0.00,2.55,0.00,0.000,4,0.000,0.036,2581,546,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4735,-1.24,-97.7,331.0,-6.5,186,4744,0.08,2.45,0.00,0.000,6,0.139,0.023,2594,2187,2723,0,0,0,0,0,0,26.02,26.38,28.83
$GC,5045,-1.26,-97.7,351.4,-5.5,192,5051,0.00,2.53,0.00,0.000,4,0.000,0.036,2594,535,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5124,-1.26,-97.7,354.8,-5.6,193,5131,0.00,2.47,0.00,0.000,6,0.000,0.023,2584,2190,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5466,-1.26,-97.7,375.7,-5.9,199,5471,0.00,2.53,0.00,0.000,4,0.000,0.036,2584,539,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5594,-1.26,-97.7,384.1,-6.6,201,5601,0.00,2.47,0.00,0.000,6,0.000,0.023,2572,2193,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5946,-1.26,-97.7,413.3,-8.6,207,5951,0.00,2.53,0.00,0.000,4,0.000,0.037,2572,536,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6004,-1.26,-97.7,419.0,-9.0,208,6011,0.00,2.47,0.00,0.000,6,0.000,0.023,2560,2190,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6365,-1.26,-97.7,454.4,-9.9,214,6372,0.12,2.58,0.00,0.000,4,0.158,0.037,2592,543,2720,0,0,0,0,0,0,26.32,26.10,28.83
$GC,6414,-1.26,-97.7,454.4,-9.9,214,6423,0.00,2.47,0.00,0.000,6,0.000,0.024,2582,2192,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6725,-1.29,-97.7,486.2,-8.6,220,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2191,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7086,-1.32,-97.7,512.2,-7.0,225,7091,0.00,2.55,0.00,0.000,4,0.000,0.037,2582,537,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7206,-1.34,-97.7,520.1,-6.8,226,7211,0.00,2.45,0.00,0.000,6,0.000,0.024,2570,2198,2717,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7565,-1.34,-97.7,543.5,-6.5,229,7571,0.00,2.60,0.00,0.000,4,0.000,0.037,2570,542,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7654,-1.34,-97.7,543.5,-6.5,229,7662,0.00,2.47,0.00,0.000,6,0.000,0.024,2558,2187,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8045,-1.34,-97.7,575.7,-6.7,233,8051,0.00,2.47,0.00,0.000,4,0.000,0.042,2547,3756,2715,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8114,-1.34,-97.7,575.7,-6.7,233,8121,0.00,2.47,0.00,0.000,6,0.000,0.021,2545,2102,2715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8525,-1.34,-97.7,609.8,-7.1,237,8531,0.00,2.42,0.00,0.000,4,0.000,0.039,2546,552,2714,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8645,-1.34,-97.7,619.3,-7.4,238,8652,0.12,2.47,0.00,0.000,6,0.161,0.025,2565,2189,2714,0,0,0,0,0,0,25.93,26.32,28.83
$GC,9005,-1.34,-97.7,647.2,-7.8,241,9012,0.00,2.50,0.00,0.000,4,0.000,0.042,2555,3741,2712,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9064,-1.34,-97.7,647.2,-7.8,241,9071,0.00,2.47,0.00,0.000,6,0.000,0.022,2554,2084,2712,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9486,-1.37,-97.7,686.8,-8.3,245,9492,0.00,2.40,0.00,0.000,4,0.000,0.039,2555,540,2711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9645,-1.37,-97.7,697.1,-8.3,246,9651,0.00,2.47,0.00,0.000,6,0.000,0.024,2543,2211,2710,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9965,-1.37,-97.7,729.2,-8.8,249,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2211,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10326,-1.37,-97.7,764.3,-9.6,252,10331,0.00,2.60,0.00,0.000,4,0.000,0.038,2542,546,2709,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10444,-1.37,-97.7,777.4,-10.0,253,10452,0.00,2.47,0.00,0.000,6,0.000,0.024,2531,2184,2708,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10805,-1.37,-97.7,815.2,-10.6,256,10812,0.12,2.55,0.00,0.000,4,0.161,0.039,2563,543,2707,0,0,0,0,0,0,26.29,25.99,28.83
$GC,10874,-1.37,-97.7,815.2,-10.6,256,10881,0.00,2.47,0.00,0.000,6,0.000,0.024,2552,2181,2707,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11285,-1.39,-97.7,858.6,-9.0,260,11291,0.00,2.55,0.00,0.000,4,0.000,0.040,2553,548,2708,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11354,-1.41,-97.7,858.6,-9.0,260,11361,0.00,2.50,0.00,0.000,6,0.000,0.025,2540,2192,2705,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11766,-1.44,-97.7,895.8,-7.8,264,11772,0.00,2.58,0.00,0.000,4,0.000,0.040,2540,549,2704,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11844,-1.46,-97.7,895.8,-7.8,264,11851,0.00,2.47,0.00,0.000,6,0.000,0.025,2528,2183,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12246,-1.46,-97.7,933.8,-7.9,268,12251,0.00,2.58,0.00,0.000,4,0.000,0.041,2525,542,2703,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12303,-1.46,-97.7,933.8,-7.9,268,12311,0.00,2.53,0.00,0.000,6,0.000,0.025,2516,2190,2702,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12725,-1.46,-97.7,975.0,-8.6,272,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2190,2701,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12902,begin apogee
$GC,12911,-0.29,0.0,990.7,-8.7,276,13003,1.25,0.00,85.88,1.650,6,0.129,0.000,2899,1578,2319,0,0,0,0,0,0,24.87,28.83,22.99
$STATE,13005,end apogee,CONTROL_FINISHED_OK
$STATE,13005,begin climb
$GC,13009,1.33,97.7,995.4,0.0,281,13106,1.48,0.00,92.22,1.629,6,0.062,0.000,3429,1578,1920,0,0,0,0,0,0,25.30,28.83,23.02
$GC,13426,1.20,106.3,976.8,6.2,297,13436,0.15,0.00,7.38,1.389,6,0.177,0.000,3393,1578,1886,0,0,0,0,0,0,25.94,28.83,23.84
$GC,13785,1.11,117.4,954.9,6.1,300,13803,0.12,2.62,11.40,1.496,4,0.181,0.034,3362,3209,1841,0,0,0,0,0,0,26.11,26.02,23.87
$GC,13855,1.02,128.5,954.9,6.1,300,13873,0.17,2.50,11.77,1.493,6,0.170,0.030,3329,1580,1795,0,0,0,0,0,0,25.70,26.10,23.75
$GC,14265,1.00,128.5,922.3,6.8,304,14271,0.00,2.58,0.00,0.000,4,0.000,0.035,3328,3210,1792,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14344,0.97,128.5,922.3,6.8,304,14351,0.00,2.53,0.00,0.000,6,0.000,0.030,3339,1582,1792,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14745,0.97,128.5,886.6,7.5,308,14751,0.00,1.98,0.00,0.000,4,0.000,0.048,3349,349,1790,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,24394,end climb,SURFACE_DEPTH_REACHED
$STATE,24394,begin surface coast
$FINISH,1.3,1.009840
$STATE,24419,end surface coast,CONTROL_FINISHED_OK
$STATE,24419,begin surface
$SM_CCo,24446,28.62,0.126,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,64.37
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$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7563616
$TM_FREEKB,4319296
$24V_AH,23.0,89.845
$10V_AH,10.1,79.942
$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
$DEVICE_SECS,22.450,220.950,315.625,28.625,0.000,25.325,39.207,208.139,0.000,0.000,17.982,2004.334,19825.059,703.085,1880.107,632.363,33.286,1615.206,0.000,1507.804,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.736,13.411,0.000,0.000
$MEM,343692
$DATA_FILE_SIZE,13423,497
$CAP_FILE_SIZE,183400,0
$CFSIZE,260034560,202203136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280213,162234,2432.580,-3747.586,37,0.8,37,-13.9