version: 66.11
glider: 189
mission: 7
dive: 557
start: 3 6 113 5 1 47
data:
$ID,189
$MISSION,7
$DIVE,557
$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,-48354.914
$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
$GPS1,060313,045122,2430.041,-3749.470,37,0.9,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-57.0
$GPS2,060313,050047,2430.071,-3749.491,14,1.3,14,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117,-0.025
$KALMAN_X,121457.9,-650.3,173.7,-100076.2,-1897.7
$KALMAN_Y,94324.7,-241.6,-352.2,-103993.9,1996.9
$MHEAD_RNG_PITCHd_Wd,116.2,2692,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.25,0.000,2,0.000,0.000,154,2123,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.20,2.75,-50.53,0.000,4,0.184,0.050,2579,3755,2718,0,0,0,0,0,0,25.36,25.90,26.69
$GC,395,-1.19,-97.7,24.5,-8.0,37,403,0.10,2.47,0.00,0.000,6,0.132,0.021,2611,2097,2720,0,0,0,0,0,0,25.88,26.31,28.83
$GC,705,-1.19,-97.7,48.4,-7.8,68,713,0.00,2.65,0.00,0.000,4,0.000,0.040,2600,3752,2721,0,0,0,0,0,0,28.83,26.01,28.83
$GC,825,-1.16,-97.7,58.0,-8.0,80,833,0.00,2.47,0.00,0.000,6,0.000,0.021,2600,2095,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1155,-1.13,-97.7,85.3,-8.4,105,1162,0.12,2.42,0.00,0.000,4,0.152,0.037,2633,536,2721,0,0,0,0,0,0,26.30,26.07,28.83
$GC,1215,-1.10,-97.7,90.6,-8.6,107,1221,0.00,2.47,0.00,0.000,6,0.000,0.024,2622,2186,2721,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1545,-1.10,-97.7,114.9,-6.6,118,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2186,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,-1.10,-97.7,131.6,-5.6,128,1851,0.00,2.55,0.00,0.000,4,0.000,0.035,2622,535,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1935,-1.10,-97.7,137.1,-6.0,131,1942,0.10,2.47,0.00,0.000,6,0.128,0.023,2644,2187,2723,0,0,0,0,0,0,25.94,26.34,28.83
$GC,2299,-1.13,-97.7,155.2,-4.3,141,2304,0.00,2.50,0.00,0.000,4,0.000,0.041,2634,3756,2723,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2395,-1.16,-97.7,157.8,-4.2,142,2401,0.00,2.45,0.00,0.000,6,0.000,0.021,2633,2101,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2715,-1.18,-97.7,176.4,-5.6,148,2722,0.00,2.65,0.00,0.000,4,0.000,0.040,2621,3754,2724,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2776,-1.20,-97.7,180.7,-6.2,149,2782,0.00,2.42,0.00,0.000,6,0.000,0.021,2621,2086,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3135,-1.20,-97.7,214.1,-9.7,155,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2085,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-1.22,-97.7,244.8,-10.2,160,3441,0.00,2.40,0.00,0.000,4,0.000,0.037,2621,539,2724,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3555,-1.22,-97.7,255.9,-9.6,162,3561,0.00,2.47,0.00,0.000,6,0.000,0.023,2609,2188,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3915,-1.22,-97.7,278.4,-5.7,168,3921,0.00,2.55,0.00,0.000,4,0.000,0.036,2609,539,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3955,-1.22,-97.7,278.4,-5.7,168,3961,0.00,2.47,0.00,0.000,6,0.000,0.023,2598,2190,2724,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4275,-1.22,-97.7,293.2,-3.8,174,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2190,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4575,-1.22,-97.7,306.5,-4.6,179,4581,0.00,2.55,0.00,0.000,4,0.000,0.036,2597,543,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4636,-1.22,-97.7,310.0,-5.0,180,4641,0.00,2.42,0.00,0.000,6,0.000,0.023,2585,2193,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4995,-1.22,-97.7,337.0,-8.0,186,5001,0.00,2.60,0.00,0.000,4,0.000,0.036,2585,548,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5074,-1.22,-97.7,342.6,-8.6,187,5082,0.08,2.50,0.00,0.000,6,0.142,0.023,2598,2197,2723,0,0,0,0,0,0,25.98,26.34,28.83
$GC,5416,-1.22,-97.7,377.3,-9.8,193,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2197,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-1.22,-97.7,407.8,-10.2,198,5721,0.00,2.58,0.00,0.000,4,0.000,0.037,2598,543,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5765,-1.22,-97.7,407.8,-10.2,198,5773,0.00,2.42,0.00,0.000,6,0.000,0.024,2588,2189,2722,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6076,-1.22,-97.7,444.2,-10.0,204,6082,0.00,2.58,0.00,0.000,4,0.000,0.037,2588,546,2721,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6144,-1.22,-97.7,450.3,-10.0,205,6152,0.00,2.50,0.00,0.000,6,0.000,0.023,2576,2193,2721,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6495,-1.22,-97.7,484.3,-9.2,211,6502,0.12,2.62,0.00,0.000,4,0.156,0.037,2609,546,2720,0,0,0,0,0,0,26.31,26.08,28.83
$GC,6575,-1.22,-97.7,489.2,-8.9,212,6581,0.00,2.47,0.00,0.000,6,0.000,0.024,2598,2186,2719,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6976,-1.25,-97.7,517.2,-6.5,217,6981,0.00,2.55,0.00,0.000,4,0.000,0.038,2599,546,2719,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7044,-1.28,-97.7,517.2,-6.5,217,7051,0.00,2.47,0.00,0.000,6,0.000,0.024,2587,2187,2718,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7457,-1.30,-97.7,546.0,-6.0,221,7462,0.00,2.55,0.00,0.000,4,0.000,0.038,2587,547,2717,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7505,-1.32,-97.7,546.0,-6.0,221,7511,0.00,2.47,0.00,0.000,6,0.000,0.024,2575,2188,2717,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7815,-1.32,-97.7,576.4,-8.0,224,7821,0.00,2.55,0.00,0.000,4,0.000,0.038,2575,545,2717,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7875,-1.32,-97.7,576.4,-8.0,224,7881,0.00,2.47,0.00,0.000,6,0.000,0.024,2563,2184,2716,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8295,-1.32,-97.7,622.7,-9.7,228,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2184,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8655,-1.32,-97.7,649.3,-7.8,231,8661,0.00,2.58,0.00,0.000,4,0.000,0.039,2563,544,2713,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8765,-1.32,-97.7,649.3,-7.8,231,8773,0.00,2.50,0.00,0.000,6,0.000,0.024,2551,2192,2713,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9135,-1.32,-97.7,680.9,-6.6,235,9141,0.00,2.58,0.00,0.000,4,0.000,0.039,2551,546,2712,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9244,-1.32,-97.7,680.9,-6.6,235,9253,0.10,2.50,0.00,0.000,6,0.138,0.024,2571,2191,2712,0,0,0,0,0,0,25.85,26.29,28.83
$GC,9616,-1.32,-97.7,718.2,-7.7,239,9622,0.00,2.60,0.00,0.000,4,0.000,0.040,2571,542,2711,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9654,-1.32,-97.7,718.2,-7.7,239,9661,0.00,2.53,0.00,0.000,6,0.000,0.025,2561,2187,2711,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9975,-1.32,-97.7,749.6,-8.7,242,9981,0.00,2.62,0.00,0.000,4,0.000,0.040,2560,546,2710,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10024,-1.32,-97.7,749.6,-8.7,242,10031,0.00,2.53,0.00,0.000,6,0.000,0.024,2549,2192,2710,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10336,-1.32,-97.7,779.5,-8.4,245,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2192,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10695,-1.32,-97.7,806.9,-7.7,248,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2192,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11055,-1.32,-97.7,835.7,-7.9,251,11061,0.00,2.65,0.00,0.000,4,0.000,0.040,2549,553,2707,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11165,-1.32,-97.7,835.7,-7.9,251,11173,0.15,2.50,0.00,0.000,6,0.155,0.026,2575,2190,2706,0,0,0,0,0,0,25.80,26.24,28.83
$GC,11535,-1.32,-97.7,876.2,-8.4,255,11541,0.00,2.62,0.00,0.000,4,0.000,0.041,2576,553,2706,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11604,-1.32,-97.7,876.2,-8.4,255,11611,0.00,2.53,0.00,0.000,6,0.000,0.025,2565,2191,2706,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12016,-1.36,-97.7,913.5,-7.8,259,12021,0.00,2.60,0.00,0.000,4,0.000,0.041,2565,543,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12084,-1.39,-97.7,913.5,-7.8,259,12091,0.00,2.50,0.00,0.000,6,0.000,0.026,2553,2179,2707,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12495,-1.41,-97.7,947.1,-7.0,263,12501,0.00,2.60,0.00,0.000,4,0.000,0.041,2553,540,2700,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12575,-1.44,-97.7,947.1,-7.0,263,12582,0.00,2.53,0.00,0.000,6,0.000,0.027,2541,2187,2703,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12975,-1.44,-97.7,986.4,-8.2,267,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2188,2701,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13011,begin apogee
$GC,13020,-0.29,0.0,990.1,-8.6,269,13114,1.15,0.05,85.80,1.645,6,0.123,0.122,2899,1626,2322,0,0,0,0,0,0,24.91,24.72,22.95
$STATE,13116,end apogee,CONTROL_FINISHED_OK
$STATE,13116,begin climb
$GC,13121,1.26,97.7,995.3,0.0,274,13223,1.45,2.12,93.35,1.660,4,0.060,0.048,3424,354,1917,0,0,0,0,0,0,25.32,24.94,22.92
$GC,13315,1.12,121.3,992.4,5.6,284,13343,0.20,1.98,21.80,1.560,6,0.152,0.024,3365,1652,1824,0,0,0,0,0,0,25.44,26.01,23.42
$GC,13699,1.05,125.8,968.3,6.5,293,13705,0.00,0.00,4.28,1.155,6,0.000,0.000,3365,1652,1806,0,0,0,0,0,0,28.83,28.83,23.94
$GC,14055,0.97,125.8,942.1,7.1,296,14062,0.17,2.55,0.00,0.000,4,0.161,0.037,3313,3201,1805,0,0,0,0,0,0,25.98,26.16,28.83
$GC,14136,0.90,125.8,942.1,7.1,296,14142,0.15,2.50,0.00,0.000,6,0.168,0.031,3291,1572,1805,0,0,0,0,0,0,25.81,26.22,28.83
$GC,14535,0.90,125.8,907.6,7.1,300,14542,0.00,2.65,0.00,0.000,4,0.000,0.035,3290,3204,1803,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,26101,end climb,SURFACE_DEPTH_REACHED
$STATE,26101,begin surface coast
$FINISH,1.5,1.025803
$STATE,26122,end surface coast,CONTROL_FINISHED_OK
$STATE,26122,begin surface
$SM_CCo,26150,63.47,0.123,0,0,1095,300.00
$SM_GC,2.15,8.38,2.83,63.47,0.027,0.029,0.123,153,2181,1095,-8.83,-0.65,300.00,0,0,0,0,0,0,26.19,26.08,25.34
$IRIDIUM_FIX,2420.48,-3730.07,050313,222255
$TT8_MAMPS,0.027713,0.027713
$HUMID,62.79
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7555936
$TM_FREEKB,4238400
$24V_AH,22.9,92.831
$10V_AH,9.4,82.606
$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,22.050,253.475,241.100,63.475,0.000,27.195,38.312,191.707,0.000,0.000,16.228,2072.493,21412.238,707.822,1885.538,685.132,33.265,1639.171,0.000,1527.277,0.000,0.536,0.000
$DEVICE_MAMPS,184.365,121.635,1660.050,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26137.000,3046.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.413,13.742,0.000,0.000
$MEM,343664
$DATA_FILE_SIZE,13398,530
$CAP_FILE_SIZE,191874,0
$CFSIZE,260034560,200495104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060313,121958,2429.938,-3748.917,36,1.1,36,-14.0