version: 66.11
glider: 189
mission: 7
dive: 548
start: 3 3 113 14 14 20
data:
$ID,189
$MISSION,7
$DIVE,548
$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,-48343.59
$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
$GPS1,030313,140334,2432.253,-3748.586,28,0.9,28,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-56.6
$GPS2,030313,141318,2432.155,-3748.524,18,1.2,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,0.010
$KALMAN_X,129037.4,42.8,919.3,-107473.5,-3213.4
$KALMAN_Y,89804.5,280.8,-21.5,-96483.7,-2496.5
$MHEAD_RNG_PITCHd_Wd,99.3,2252,-19.9,-6.667,-29.07
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-10.02,0.000,2,0.000,0.000,153,2138,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.2,0.0,1,106,9.15,2.60,-51.50,0.000,4,0.184,0.050,2596,549,2719,0,0,0,0,0,0,25.43,25.94,26.70
$GC,396,-1.17,-97.7,22.4,-7.8,37,404,0.10,2.47,0.00,0.000,6,0.135,0.024,2617,2191,2721,0,0,0,0,0,0,25.86,26.29,28.83
$GC,706,-1.17,-97.7,44.6,-7.1,68,713,0.00,2.60,0.00,0.000,4,0.000,0.036,2618,543,2721,0,0,0,0,0,0,28.83,26.10,28.83
$GC,839,-1.13,-97.7,54.6,-7.8,81,846,0.12,2.42,0.00,0.000,6,0.158,0.024,2638,2191,2721,0,0,0,0,0,0,25.94,26.32,28.83
$GC,1156,-1.13,-97.7,77.3,-7.2,111,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2191,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1456,-1.13,-97.7,101.4,-8.3,121,1462,0.00,2.60,0.00,0.000,4,0.000,0.036,2638,545,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1515,-1.13,-97.7,106.5,-8.3,123,1522,0.00,2.47,0.00,0.000,6,0.000,0.024,2628,2190,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1846,-1.13,-97.7,132.7,-7.6,134,1852,0.00,2.47,0.00,0.000,4,0.000,0.041,2616,3757,2723,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1895,-1.13,-97.7,134.8,-7.3,135,1903,0.00,2.47,0.00,0.000,6,0.000,0.020,2616,2097,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2237,-1.13,-97.7,157.5,-6.2,145,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2097,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,-1.13,-97.7,173.5,-5.1,150,2542,0.00,2.62,0.00,0.000,4,0.000,0.039,2604,3755,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2596,-1.13,-97.7,176.6,-5.1,151,2603,0.12,2.42,0.00,0.000,6,0.142,0.021,2637,2077,2724,0,0,0,0,0,0,26.04,26.41,28.83
$GC,2957,-1.16,-97.7,195.2,-5.4,157,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2077,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-1.19,-97.7,215.8,-7.0,162,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2077,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3556,-1.23,-97.7,238.0,-7.4,167,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2077,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3857,-1.27,-97.7,259.6,-7.3,172,3859,0.12,0.00,0.00,0.000,6,0.081,0.000,2568,2077,2724,0,0,0,0,0,0,26.61,28.83,28.83
$GC,4156,-1.23,-97.7,284.8,-8.5,177,4163,0.12,2.42,0.00,0.000,4,0.149,0.037,2601,542,2724,0,0,0,0,0,0,26.34,26.13,28.83
$GC,4205,-1.20,-97.7,284.8,-8.5,177,4214,0.00,2.47,0.00,0.000,6,0.000,0.023,2590,2189,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4517,-1.20,-97.7,316.4,-8.8,183,4522,0.00,2.47,0.00,0.000,4,0.000,0.041,2579,3752,2724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4605,-1.20,-97.7,321.6,-8.8,184,4613,0.12,2.47,0.00,0.000,6,0.145,0.021,2611,2085,2724,0,0,0,0,0,0,26.05,26.41,28.83
$GC,4936,-1.22,-97.7,348.8,-7.2,190,4942,0.00,2.42,0.00,0.000,4,0.000,0.037,2611,543,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5006,-1.22,-97.7,352.7,-7.0,191,5012,0.00,2.47,0.00,0.000,6,0.000,0.023,2600,2191,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5356,-1.22,-97.7,375.5,-6.4,197,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2190,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5656,-1.22,-97.7,395.8,-6.9,202,5663,0.00,2.60,0.00,0.000,4,0.000,0.037,2600,546,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5746,-1.22,-97.7,400.6,-7.3,203,5752,0.00,2.47,0.00,0.000,6,0.000,0.024,2588,2190,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6076,-1.22,-97.7,430.2,-8.3,209,6082,0.00,2.50,0.00,0.000,4,0.000,0.041,2577,3741,2721,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6136,-1.22,-97.7,435.1,-8.2,210,6142,0.00,2.45,0.00,0.000,6,0.000,0.021,2576,2094,2721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6497,-1.22,-97.7,463.3,-7.7,216,6503,0.12,2.38,0.00,0.000,4,0.146,0.037,2610,546,2721,0,0,0,0,0,0,26.35,26.11,28.83
$GC,6595,-1.22,-97.7,467.7,-7.6,217,6603,0.00,2.50,0.00,0.000,6,0.000,0.024,2600,2198,2720,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6917,-1.25,-97.7,493.1,-7.0,223,6922,0.00,2.45,0.00,0.000,4,0.000,0.042,2588,3747,2719,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7005,-1.27,-97.7,497.6,-7.2,224,7013,0.00,2.45,0.00,0.000,6,0.000,0.021,2590,2096,2719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7396,-1.27,-97.7,531.0,-7.9,228,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2097,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7756,-1.27,-97.7,561.0,-8.3,231,7762,0.00,2.45,0.00,0.000,4,0.000,0.038,2588,546,2718,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7836,-1.27,-97.7,561.0,-8.3,231,7843,0.00,2.47,0.00,0.000,6,0.000,0.024,2577,2189,2717,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8236,-1.27,-97.7,600.4,-8.2,235,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2189,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8596,-1.27,-97.7,628.1,-7.8,238,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2189,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8957,-1.27,-97.7,655.0,-7.4,241,8962,0.00,2.58,0.00,0.000,4,0.000,0.038,2577,542,2713,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9005,-1.27,-97.7,655.0,-7.4,241,9012,0.00,2.53,0.00,0.000,6,0.000,0.024,2565,2196,2712,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9316,-1.27,-97.7,683.5,-7.8,244,9322,0.00,2.58,0.00,0.000,4,0.000,0.038,2565,542,2712,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9415,-1.27,-97.7,683.5,-7.8,244,9423,0.12,2.58,0.00,0.000,6,0.161,0.024,2587,2193,2712,0,0,0,0,0,0,25.88,26.29,28.83
$GC,9797,-1.30,-97.7,721.7,-7.9,248,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2193,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10156,-1.33,-97.7,749.7,-7.8,251,10162,0.00,2.58,0.00,0.000,4,0.000,0.039,2588,543,2711,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10195,-1.37,-97.7,749.7,-7.8,251,10202,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2195,2710,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10517,-1.41,-97.7,776.0,-7.4,254,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2194,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10876,-1.44,-97.7,803.0,-7.4,257,10878,0.12,0.00,0.00,0.000,6,0.084,0.000,2510,2195,2708,0,0,0,0,0,0,26.59,28.83,28.83
$GC,11236,-1.44,-97.7,835.4,-8.7,260,11243,0.00,2.65,0.00,0.000,4,0.000,0.040,2511,543,2707,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11296,-1.44,-97.7,835.4,-8.7,260,11303,0.10,2.50,0.00,0.000,6,0.140,0.025,2531,2180,2706,0,0,0,0,0,0,25.81,26.27,28.83
$GC,11716,-1.42,-97.7,882.7,-9.9,264,11723,0.00,2.60,0.00,0.000,4,0.000,0.041,2531,549,2705,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11765,-1.40,-97.7,882.7,-9.9,264,11773,0.00,2.50,0.00,0.000,6,0.000,0.025,2520,2193,2705,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12077,-1.38,-97.7,917.1,-9.7,267,12083,0.12,2.50,0.00,0.000,4,0.158,0.043,2542,3746,2704,0,0,0,0,0,0,26.29,25.89,28.83
$GC,12215,-1.38,-97.7,926.7,-9.2,268,12222,0.00,2.50,0.00,0.000,6,0.000,0.024,2542,2098,2704,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12556,-1.38,-97.7,949.6,-6.8,271,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2098,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12917,-1.38,-97.7,971.1,-5.9,274,12922,0.00,2.42,0.00,0.000,4,0.000,0.042,2542,549,2702,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13005,-1.38,-97.7,971.1,-5.9,274,13013,0.00,2.50,0.00,0.000,6,0.000,0.026,2530,2188,2701,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,13172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13172,begin apogee
$GC,13182,-0.29,0.0,990.7,-7.2,277,13274,1.20,0.00,86.03,1.642,6,0.124,0.000,2902,1575,2319,0,0,0,0,0,0,24.92,28.83,22.97
$STATE,13276,end apogee,CONTROL_FINISHED_OK
$STATE,13276,begin climb
$GC,13280,1.26,97.7,995.5,0.0,282,13376,1.42,0.00,92.32,1.633,6,0.061,0.000,3406,1575,1921,0,0,0,0,0,0,25.29,28.83,22.96
$GC,13677,1.20,162.2,985.6,3.7,302,13743,0.00,2.08,58.35,1.616,4,0.000,0.049,3415,352,1657,0,0,0,0,0,0,28.83,25.20,23.26
$GC,13858,1.12,200.2,979.4,4.9,304,13899,0.20,1.92,35.05,1.590,6,0.160,0.025,3364,1671,1502,0,0,0,0,0,0,25.60,26.11,23.41
$GC,14269,1.06,200.2,947.9,6.7,308,14275,0.00,2.10,0.00,0.000,4,0.000,0.048,3373,351,1495,0,0,0,0,0,0,28.83,26.09,28.83
$GC,14427,1.02,200.2,936.4,7.6,309,14435,0.17,1.98,0.00,0.000,6,0.155,0.025,3321,1669,1492,0,0,0,0,0,0,25.83,26.39,28.83
$GC,14749,1.02,200.2,897.4,10.5,312,14754,0.00,2.45,0.00,0.000,4,0.000,0.037,3320,3208,1492,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14837,1.02,200.2,897.4,10.5,312,14845,0.00,2.55,0.00,0.000,6,0.000,0.030,3331,1578,1492,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15228,1.02,200.2,842.1,11.5,316,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1578,1490,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24904,end climb,SURFACE_DEPTH_REACHED
$STATE,24904,begin surface coast
$FINISH,1.4,1.025876
$STATE,24926,end surface coast,CONTROL_FINISHED_OK
$STATE,24926,begin surface
$SM_CCo,24953,45.50,0.123,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.30
$XPDR_PINGS,1
$SC_FREEKB,7559392
$TM_FREEKB,4275648
$24V_AH,23.0,91.517
$10V_AH,9.8,81.392
$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,22.800,207.425,271.750,45.500,0.000,28.244,39.629,200.050,0.250,0.000,19.969,1977.685,20446.885,677.366,1820.556,647.985,33.257,1554.712,0.000,1455.613,0.000,0.536,0.000
$DEVICE_MAMPS,183.600,97.920,1641.690,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.856,13.477,0.000,0.000
$MEM,343676
$DATA_FILE_SIZE,13419,521
$CAP_FILE_SIZE,180679,0
$CFSIZE,260034560,201273344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030313,211222,2432.032,-3747.031,40,0.8,40,-13.9