version: 66.11
glider: 189
mission: 7
dive: 558
start: 3 6 113 12 30 55
data:
$ID,189
$MISSION,7
$DIVE,558
$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,-48356.172
$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
$GPS1,060313,121958,2429.938,-3748.917,36,1.1,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-57.8
$GPS2,060313,122953,2429.969,-3748.983,16,0.9,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115,0.003
$KALMAN_X,118678.4,-100.6,-257.5,-96567.6,-1748.7
$KALMAN_Y,94548.6,-23.9,-283.7,-104694.6,1773.6
$MHEAD_RNG_PITCHd_Wd,102.7,2240,-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,-10.60,0.000,2,0.000,0.000,152,2110,1397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.3,0.0,1,105,9.00,2.75,-50.20,0.000,4,0.179,0.051,2558,3750,2720,0,0,0,0,0,0,25.20,25.92,26.69
$GC,396,-1.25,-97.7,28.5,-9.5,37,404,0.10,2.47,0.00,0.000,6,0.137,0.022,2589,2090,2722,0,0,0,0,0,0,25.84,26.29,28.83
$GC,707,-1.23,-97.7,54.6,-8.6,68,714,0.00,2.65,0.00,0.000,4,0.000,0.040,2578,3754,2722,0,0,0,0,0,0,28.83,25.98,28.83
$GC,916,-1.19,-97.7,73.9,-9.0,89,924,0.10,2.45,0.00,0.000,6,0.131,0.021,2611,2093,2722,0,0,0,0,0,0,25.91,26.35,28.83
$GC,1239,-1.19,-97.7,98.1,-7.2,101,1244,0.00,2.65,0.00,0.000,4,0.000,0.040,2600,3748,2723,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1425,-1.19,-97.7,111.2,-7.3,107,1432,0.00,2.47,0.00,0.000,6,0.000,0.021,2600,2094,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1746,-1.19,-97.7,136.1,-8.1,118,1753,0.00,2.42,0.00,0.000,4,0.000,0.036,2600,544,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1856,-1.17,-97.7,144.8,-9.4,121,1864,0.10,2.47,0.00,0.000,6,0.134,0.024,2621,2193,2723,0,0,0,0,0,0,25.88,26.32,28.83
$GC,2196,-1.20,-97.7,178.2,-9.3,128,2202,0.00,2.47,0.00,0.000,4,0.000,0.041,2610,3757,2723,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2306,-1.23,-97.7,183.2,-9.0,129,2314,0.00,2.42,0.00,0.000,6,0.000,0.021,2610,2090,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2617,-1.25,-97.7,206.8,-6.0,135,2623,0.00,2.42,0.00,0.000,4,0.000,0.037,2611,546,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2745,-1.25,-97.7,212.7,-5.2,137,2752,0.00,2.47,0.00,0.000,6,0.000,0.023,2598,2193,2724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3097,-1.25,-97.7,229.6,-4.8,143,3102,0.00,2.55,0.00,0.000,4,0.000,0.035,2598,536,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3175,-1.25,-97.7,233.1,-5.1,144,3183,0.00,2.47,0.00,0.000,6,0.000,0.023,2586,2189,2724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3517,-1.25,-97.7,260.8,-8.3,150,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2189,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-1.25,-97.7,288.8,-9.4,155,3822,0.00,2.55,0.00,0.000,4,0.000,0.035,2586,545,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3925,-1.25,-97.7,294.7,-9.5,156,3934,0.00,2.50,0.00,0.000,6,0.000,0.023,2574,2202,2724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4237,-1.25,-97.7,326.6,-8.6,162,4242,0.00,2.45,0.00,0.000,4,0.000,0.041,2563,3748,2724,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4315,-1.25,-97.7,331.5,-8.4,163,4323,0.12,2.47,0.00,0.000,6,0.150,0.021,2594,2088,2724,0,0,0,0,0,0,26.00,26.39,28.83
$GC,4656,-1.28,-97.7,356.1,-6.7,169,4662,0.00,2.42,0.00,0.000,4,0.000,0.037,2595,522,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4767,-1.30,-97.7,359.9,-6.6,170,4774,0.00,2.47,0.00,0.000,6,0.000,0.024,2584,2196,2724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5076,-1.30,-97.7,382.0,-6.0,176,5083,0.00,2.53,0.00,0.000,4,0.000,0.042,2573,3748,2723,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5165,-1.30,-97.7,386.0,-6.1,177,5172,0.00,2.45,0.00,0.000,6,0.000,0.021,2572,2106,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5497,-1.30,-97.7,410.6,-7.0,183,5502,0.00,2.42,0.00,0.000,4,0.000,0.037,2572,546,2721,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5575,-1.30,-97.7,415.7,-7.5,184,5582,0.00,2.50,0.00,0.000,6,0.000,0.024,2561,2194,2721,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5916,-1.30,-97.7,449.2,-9.7,190,5922,0.00,2.60,0.00,0.000,4,0.000,0.036,2560,550,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5966,-1.30,-97.7,449.2,-9.7,190,5974,0.08,2.53,0.00,0.000,6,0.143,0.024,2573,2185,2720,0,0,0,0,0,0,25.94,26.32,28.83
$GC,6276,-1.30,-97.7,483.3,-9.3,196,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2186,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6636,-1.33,-97.7,510.5,-7.3,201,6642,0.00,2.58,0.00,0.000,4,0.000,0.037,2574,540,2718,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6716,-1.35,-97.7,510.5,-7.3,201,6723,0.00,2.47,0.00,0.000,6,0.000,0.024,2563,2184,2718,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7116,-1.35,-97.7,546.6,-7.5,205,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2184,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,-1.35,-97.7,572.5,-7.3,208,7482,0.00,2.60,0.00,0.000,4,0.000,0.037,2563,549,2716,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7546,-1.35,-97.7,572.5,-7.3,208,7552,0.00,2.47,0.00,0.000,6,0.000,0.024,2551,2183,2718,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7956,-1.35,-97.7,603.6,-6.4,212,7962,0.00,2.55,0.00,0.000,4,0.000,0.037,2552,543,2715,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8105,-1.35,-97.7,612.9,-6.7,213,8112,0.00,2.58,0.00,0.000,6,0.000,0.024,2539,2193,2714,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8437,-1.35,-97.7,648.4,-9.3,216,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2193,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8796,-1.35,-97.7,692.0,-11.9,219,8803,0.00,2.60,0.00,0.000,4,0.000,0.038,2539,549,2712,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8925,-1.35,-97.7,705.5,-11.9,220,8933,0.10,2.55,0.00,0.000,6,0.138,0.025,2559,2183,2712,0,0,0,0,0,0,25.83,26.27,28.83
$GC,9276,-1.35,-97.7,732.8,-8.5,223,9283,0.00,2.60,0.00,0.000,4,0.000,0.039,2560,546,2711,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9355,-1.35,-97.7,732.8,-8.5,223,9362,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2194,2710,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9757,-1.37,-97.7,758.1,-5.2,227,9763,0.00,2.60,0.00,0.000,4,0.000,0.039,2549,540,2710,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9866,-1.39,-97.7,758.1,-5.2,227,9874,0.00,2.47,0.00,0.000,6,0.000,0.025,2537,2194,2709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10236,-1.39,-97.7,797.7,-8.2,231,10243,0.00,2.62,0.00,0.000,4,0.000,0.039,2537,550,2708,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10315,-1.39,-97.7,797.7,-8.2,231,10322,0.00,2.47,0.00,0.000,6,0.000,0.025,2526,2180,2708,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10717,-1.39,-97.7,850.9,-11.1,235,10723,0.00,2.58,0.00,0.000,4,0.000,0.041,2526,549,2706,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10755,-1.39,-97.7,850.9,-11.1,235,10763,0.15,2.53,0.00,0.000,6,0.156,0.025,2558,2189,2706,0,0,0,0,0,0,25.70,26.24,28.83
$GC,11076,-1.42,-97.7,885.3,-9.9,238,11082,0.00,2.58,0.00,0.000,4,0.000,0.041,2558,548,2706,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11166,-1.44,-97.7,885.3,-9.9,238,11173,0.00,2.50,0.00,0.000,6,0.000,0.026,2548,2187,2705,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11556,-1.48,-97.7,923.5,-8.0,242,11562,0.00,2.60,0.00,0.000,4,0.000,0.041,2548,540,2703,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11685,-1.51,-97.7,933.2,-7.8,243,11692,0.00,2.53,0.00,0.000,6,0.000,0.026,2542,2187,2703,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12037,-1.51,-97.7,961.3,-7.9,246,12043,0.00,2.58,0.00,0.000,4,0.000,0.041,2536,548,2703,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12135,-1.51,-97.7,961.3,-7.9,246,12142,0.00,2.53,0.00,0.000,6,0.000,0.026,2524,2187,2702,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,12412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12412,begin apogee
$GC,12422,-0.29,0.0,990.7,-7.7,250,12514,1.23,0.00,85.65,1.654,6,0.125,0.000,2902,1579,2321,0,0,0,0,0,0,24.84,28.83,22.96
$STATE,12516,end apogee,CONTROL_FINISHED_OK
$STATE,12516,begin climb
$GC,12520,1.33,97.7,994.6,0.0,255,12617,1.50,0.00,92.97,1.633,6,0.059,0.000,3436,1579,1920,0,0,0,0,0,0,25.29,28.83,22.94
$GC,12916,1.20,111.5,977.7,6.0,270,12934,0.17,2.65,11.68,1.495,4,0.176,0.034,3392,3203,1865,0,0,0,0,0,0,25.82,25.91,23.72
$GC,13048,1.09,129.3,971.2,5.8,271,13074,0.20,2.50,18.33,1.552,6,0.170,0.031,3353,1576,1791,0,0,0,0,0,0,25.63,26.10,23.64
$GC,13400,1.08,175.0,956.7,4.4,274,13445,0.00,0.00,42.70,1.614,6,0.000,0.000,3353,1576,1605,0,0,0,0,0,0,28.83,28.83,23.36
$GC,13756,1.12,226.2,941.2,4.1,277,13812,0.00,2.08,47.83,1.607,4,0.000,0.050,3360,354,1395,0,0,0,0,0,0,28.83,25.27,23.36
$GC,13916,1.16,265.7,933.8,4.7,278,13957,0.00,1.95,36.60,1.579,6,0.000,0.026,3360,1641,1235,0,0,0,0,0,0,28.83,26.09,23.41
$GC,14347,1.19,265.7,884.9,10.4,282,14353,0.00,2.08,0.00,0.000,4,0.000,0.049,3370,362,1228,0,0,0,0,0,0,28.83,26.08,28.83
$GC,14426,1.22,265.7,884.9,10.4,282,14433,0.00,1.95,0.00,0.000,6,0.000,0.025,3370,1649,1227,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14828,1.25,265.7,816.6,14.3,286,14833,0.00,2.05,0.00,0.000,4,0.000,0.048,3379,354,1226,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14976,1.27,265.7,800.2,14.1,287,14983,0.00,1.98,0.00,0.000,6,0.000,0.025,3379,1658,1225,0,0,0,0,0,0,28.83,26.41,28.83
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$STATE,22486,end climb,SURFACE_DEPTH_REACHED
$STATE,22486,begin surface coast
$FINISH,1.4,1.004090
$STATE,22504,end surface coast,CONTROL_FINISHED_OK
$STATE,22504,begin surface
$SM_CCo,22529,15.12,0.132,0,0,1096,300.00
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$IRIDIUM_FIX,2432.32,-3801.44,060313,040404
$TT8_MAMPS,0.026964,0.026964
$HUMID,65.83
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,21.90
$XPDR_PINGS,18
$SC_FREEKB,7555552
$TM_FREEKB,4234944
$24V_AH,22.9,93.001
$10V_AH,9.2,82.735
$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,22.500,201.575,335.750,15.125,0.000,26.595,44.423,202.306,4.500,0.000,17.627,1947.139,17984.385,688.456,1876.719,628.072,33.284,1580.165,0.000,1509.568,0.000,0.534,0.000
$DEVICE_MAMPS,179.010,130.815,1653.930,131.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22518.000,2202.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.245,13.654,0.000,0.000
$MEM,343732
$DATA_FILE_SIZE,13396,454
$CAP_FILE_SIZE,172700,0
$CFSIZE,260034560,200425472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060313,184800,2429.827,-3748.454,37,1.9,37,-14.0