version: 66.11
glider: 189
mission: 7
dive: 552
start: 3 4 113 17 48 44
data:
$ID,189
$MISSION,7
$DIVE,552
$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,-48348.621
$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
$GPS1,040313,173805,2432.595,-3748.917,25,0.9,25,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-59.5
$GPS2,040313,174742,2432.586,-3748.876,16,1.3,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.106,-0.045
$KALMAN_X,128523.3,168.0,477.0,-107241.4,-1193.0
$KALMAN_Y,89046.6,99.3,516.2,-95287.3,-2020.3
$MHEAD_RNG_PITCHd_Wd,127.0,3187,-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,-10.52,0.000,2,0.000,0.000,159,2135,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.30,2.62,-51.05,0.000,4,0.194,0.050,2570,533,2720,0,0,0,0,0,0,25.29,25.98,26.69
$GC,149,-1.35,-97.7,3.4,-4.5,12,156,0.00,2.47,0.00,0.000,6,0.000,0.024,2559,2200,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,456,-1.31,-97.7,28.1,-8.6,43,464,0.00,2.60,0.00,0.000,4,0.000,0.037,2559,538,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,666,-1.21,-97.7,46.3,-8.9,64,675,0.17,2.50,0.00,0.000,6,0.134,0.024,2602,2193,2722,0,0,0,0,0,0,25.65,26.30,28.83
$GC,976,-1.21,-97.7,67.9,-6.6,95,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2193,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1296,-1.21,-97.7,89.4,-6.7,113,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2193,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-1.21,-97.7,107.9,-6.2,123,1603,0.00,2.53,0.00,0.000,4,0.000,0.041,2592,3744,2723,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1766,-1.21,-97.7,118.9,-7.4,128,1774,0.00,2.45,0.00,0.000,6,0.000,0.021,2592,2098,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2076,-1.21,-97.7,141.1,-6.4,139,2083,0.00,2.67,0.00,0.000,4,0.000,0.039,2581,3751,2722,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2227,-1.19,-97.7,151.3,-6.7,144,2234,0.15,2.40,0.00,0.000,6,0.140,0.021,2621,2091,2725,0,0,0,0,0,0,25.95,26.39,28.83
$GC,2557,-1.22,-97.7,172.8,-6.6,150,2563,0.00,2.38,0.00,0.000,4,0.000,0.037,2617,542,2725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2746,-1.22,-97.7,186.5,-7.5,153,2753,0.00,2.47,0.00,0.000,6,0.000,0.023,2610,2196,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3096,-1.25,-97.7,216.9,-8.5,159,3103,0.00,2.55,0.00,0.000,4,0.000,0.035,2610,534,2725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3175,-1.27,-97.7,222.5,-8.8,160,3183,0.00,2.47,0.00,0.000,6,0.000,0.023,2598,2188,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3517,-1.29,-97.7,252.1,-7.9,166,3523,0.00,2.53,0.00,0.000,4,0.000,0.036,2598,545,2725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3595,-1.29,-97.7,256.3,-7.6,167,3603,0.00,2.55,0.00,0.000,6,0.000,0.023,2586,2198,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3937,-1.29,-97.7,277.4,-5.6,173,3943,0.00,2.55,0.00,0.000,4,0.000,0.036,2586,544,2725,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4045,-1.29,-97.7,281.2,-5.8,174,4054,0.00,2.53,0.00,0.000,6,0.000,0.023,2574,2187,2725,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4356,-1.29,-97.7,309.3,-8.4,180,4363,0.00,2.58,0.00,0.000,4,0.000,0.035,2574,548,2725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4395,-1.29,-97.7,309.3,-8.4,180,4403,0.00,2.50,0.00,0.000,6,0.000,0.023,2562,2202,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4717,-1.29,-97.7,345.6,-10.2,186,4723,0.00,2.58,0.00,0.000,4,0.000,0.036,2564,543,2725,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4795,-1.29,-97.7,351.8,-10.2,187,4804,0.12,2.55,0.00,0.000,6,0.160,0.024,2580,2188,2725,0,0,0,0,0,0,25.95,26.34,28.83
$GC,5137,-1.29,-97.7,381.8,-7.8,193,5143,0.00,2.58,0.00,0.000,4,0.000,0.037,2581,533,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5205,-1.29,-97.7,386.2,-7.5,194,5213,0.00,2.53,0.00,0.000,6,0.000,0.023,2571,2202,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5556,-1.29,-97.7,407.4,-5.6,200,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2202,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5858,-1.29,-97.7,425.5,-6.1,205,5863,0.00,2.60,0.00,0.000,4,0.000,0.037,2571,538,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6055,-1.29,-97.7,437.6,-6.7,208,6063,0.00,2.50,0.00,0.000,6,0.000,0.024,2559,2189,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6396,-1.29,-97.7,464.9,-7.9,214,6403,0.00,2.53,0.00,0.000,4,0.000,0.041,2547,3740,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6446,-1.29,-97.7,464.9,-7.9,214,6455,0.10,2.45,0.00,0.000,6,0.127,0.021,2579,2086,2721,0,0,0,0,0,0,25.98,26.39,28.83
$GC,6757,-1.32,-97.7,491.4,-7.1,220,6762,0.00,2.42,0.00,0.000,4,0.000,0.038,2580,548,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6796,-1.34,-97.7,491.4,-7.1,220,6803,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2190,2720,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7177,-1.34,-97.7,518.4,-6.3,225,7183,0.00,2.55,0.00,0.000,4,0.000,0.037,2570,546,2719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7265,-1.34,-97.7,518.4,-6.3,225,7272,0.00,2.47,0.00,0.000,6,0.000,0.024,2558,2188,2719,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7656,-1.34,-97.7,556.1,-7.8,229,7663,0.00,2.60,0.00,0.000,4,0.000,0.037,2558,542,2718,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7715,-1.34,-97.7,556.1,-7.8,229,7723,0.00,2.50,0.00,0.000,6,0.000,0.024,2546,2190,2717,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8136,-1.34,-97.7,604.3,-10.1,233,8143,0.00,2.60,0.00,0.000,4,0.000,0.037,2546,551,2717,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8245,-1.34,-97.7,604.3,-10.1,233,8255,0.12,2.50,0.00,0.000,6,0.162,0.024,2564,2193,2716,0,0,0,0,0,0,25.91,26.31,28.83
$GC,8617,-1.34,-97.7,647.2,-8.9,237,8623,0.00,2.60,0.00,0.000,4,0.000,0.037,2565,541,2715,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8685,-1.34,-97.7,647.2,-8.9,237,8693,0.00,2.53,0.00,0.000,6,0.000,0.024,2554,2195,2715,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9096,-1.34,-97.7,683.2,-7.5,241,9103,0.00,2.60,0.00,0.000,4,0.000,0.038,2554,549,2713,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9266,-1.34,-97.7,692.8,-7.5,242,9273,0.00,2.47,0.00,0.000,6,0.000,0.024,2542,2183,2713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9576,-1.34,-97.7,723.7,-8.4,245,9583,0.00,2.60,0.00,0.000,4,0.000,0.038,2542,549,2712,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9645,-1.34,-97.7,723.7,-8.4,245,9654,0.12,2.50,0.00,0.000,6,0.161,0.024,2565,2188,2710,0,0,0,0,0,0,25.85,26.29,28.83
$GC,10057,-1.37,-97.7,761.5,-7.9,249,10063,0.00,2.58,0.00,0.000,4,0.000,0.040,2565,548,2713,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10176,-1.40,-97.7,770.2,-7.4,250,10183,0.00,2.50,0.00,0.000,6,0.000,0.025,2555,2191,2711,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10537,-1.43,-97.7,794.7,-6.9,253,10543,0.00,2.58,0.00,0.000,4,0.000,0.040,2555,546,2711,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10685,-1.43,-97.7,803.7,-6.9,254,10693,0.00,2.53,0.00,0.000,6,0.000,0.024,2541,2193,2710,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11016,-1.43,-97.7,831.3,-7.6,257,11023,0.00,2.62,0.00,0.000,4,0.000,0.040,2543,546,2709,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11066,-1.43,-97.7,831.3,-7.6,257,11073,0.00,2.50,0.00,0.000,6,0.000,0.025,2531,2190,2708,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11376,-1.43,-97.7,861.8,-8.3,260,11382,0.00,2.62,0.00,0.000,4,0.000,0.040,2531,545,2707,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11515,-1.43,-97.7,872.9,-8.7,261,11523,0.00,2.53,0.00,0.000,6,0.000,0.026,2519,2186,2707,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11857,-1.43,-97.7,904.3,-8.8,264,11863,0.00,2.60,0.00,0.000,4,0.000,0.041,2519,545,2706,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11976,-1.43,-97.7,914.8,-8.7,265,11983,0.08,2.50,0.00,0.000,6,0.147,0.025,2531,2182,2706,0,0,0,0,0,0,25.86,26.25,28.83
$GC,12336,-1.43,-97.7,943.3,-8.1,268,12343,0.00,2.62,0.00,0.000,4,0.000,0.041,2532,540,2705,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12496,-1.43,-97.7,954.2,-8.2,269,12503,0.00,2.53,0.00,0.000,6,0.000,0.026,2521,2189,2704,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12816,-1.43,-97.7,989.6,-9.6,272,12823,0.00,2.60,0.00,0.000,4,0.000,0.041,2521,541,2704,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,12833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12833,begin apogee
$GC,12843,-0.29,0.0,991.7,-9.9,273,12936,1.25,0.10,86.10,1.634,6,0.129,0.090,2897,1590,2322,0,0,0,0,0,0,24.84,24.85,22.97
$STATE,12937,end apogee,CONTROL_FINISHED_OK
$STATE,12937,begin climb
$GC,12941,1.33,97.7,997.9,0.0,278,13044,1.48,2.78,92.20,1.613,4,0.061,0.034,3426,3204,1920,0,0,0,0,0,0,25.29,25.03,22.97
$GC,13117,1.25,156.9,997.8,3.7,287,13177,0.15,2.53,53.95,1.598,6,0.182,0.030,3402,1581,1679,0,0,0,0,0,0,25.47,25.86,23.22
$GC,13568,1.18,156.9,965.4,7.7,300,13573,0.00,1.95,0.00,0.000,4,0.000,0.049,3410,347,1671,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13789,1.10,156.9,955.1,8.0,301,13795,0.20,1.90,0.00,0.000,6,0.160,0.026,3358,1666,1669,0,0,0,0,0,0,25.77,26.40,28.83
$GC,14167,1.07,156.9,913.9,8.5,305,14173,0.00,2.12,0.00,0.000,4,0.000,0.048,3363,353,1668,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14227,1.03,156.9,913.9,8.5,305,14234,0.10,1.92,0.00,0.000,6,0.148,0.025,3336,1649,1667,0,0,0,0,0,0,25.96,26.41,28.83
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$STATE,25464,end climb,SURFACE_DEPTH_REACHED
$STATE,25464,begin surface coast
$FINISH,1.4,1.026010
$STATE,25498,end surface coast,CONTROL_FINISHED_OK
$STATE,25498,begin surface
$SM_CCo,25526,57.45,0.122,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7557856
$TM_FREEKB,4259392
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$10V_AH,9.9,81.920
$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
$DEVICE_SECS,22.875,242.850,249.625,57.450,0.000,27.368,36.301,199.595,0.000,0.000,17.544,2223.423,20476.023,696.285,2077.756,674.240,33.254,1704.909,0.000,1714.798,0.000,0.535,0.000
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$MEM,343696
$DATA_FILE_SIZE,13426,535
$CAP_FILE_SIZE,194285,0
$CFSIZE,260034560,200925184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050313,005628,2432.307,-3748.194,38,1.1,38,-13.9