version: 66.11
glider: 189
mission: 7
dive: 560
start: 3 7 113 2 8 19
data:
$ID,189
$MISSION,7
$DIVE,560
$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,-48358.688
$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
$GPS1,070313,015335,2430.186,-3747.806,33,0.8,33,-14.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-61.2
$GPS2,070313,020719,2430.188,-3747.897,17,1.8,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,0.001
$KALMAN_X,112609.5,-17.4,888.2,-89911.1,-6100.9
$KALMAN_Y,93629.8,-75.8,-523.8,-103082.3,1393.4
$MHEAD_RNG_PITCHd_Wd,103.5,1553,-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,-10.27,0.000,2,0.000,0.000,151,2121,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,105,9.25,2.58,-51.12,0.000,4,0.189,0.050,2587,549,2721,0,0,0,0,0,0,25.39,25.90,26.68
$GC,388,-1.17,-97.7,26.6,-9.2,36,395,0.17,2.42,0.00,0.000,6,0.146,0.024,2624,2192,2721,0,0,0,0,0,0,25.77,26.29,28.83
$GC,695,-1.17,-97.7,50.9,-7.7,67,703,0.00,2.60,0.00,0.000,4,0.000,0.036,2625,546,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,745,-1.14,-97.7,54.6,-7.6,72,753,0.00,2.47,0.00,0.000,6,0.000,0.024,2614,2194,2722,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1065,-1.14,-97.7,77.3,-6.5,102,1071,0.00,2.50,0.00,0.000,4,0.000,0.041,2601,3765,2722,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1164,-1.11,-97.7,83.4,-6.8,105,1172,0.10,2.47,0.00,0.000,6,0.125,0.021,2635,2084,2722,0,0,0,0,0,0,25.97,26.39,28.83
$GC,1488,-1.11,-97.7,104.9,-6.8,116,1493,0.00,2.40,0.00,0.000,4,0.000,0.037,2636,536,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1534,-1.11,-97.7,107.0,-6.9,117,1543,0.00,2.50,0.00,0.000,6,0.000,0.023,2625,2192,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1846,-1.11,-97.7,129.4,-6.7,128,1851,0.00,2.55,0.00,0.000,4,0.000,0.035,2625,542,2723,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1894,-1.11,-97.7,131.4,-6.7,129,1902,0.00,2.47,0.00,0.000,6,0.000,0.023,2613,2196,2723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2235,-1.11,-97.7,156.1,-7.1,140,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2196,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,-1.11,-97.7,176.5,-6.7,145,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2196,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-1.11,-97.7,195.8,-6.5,150,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2196,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3135,-1.11,-97.7,215.7,-6.6,155,3142,0.00,2.60,0.00,0.000,4,0.000,0.035,2613,549,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3224,-1.11,-97.7,219.2,-6.2,156,3232,0.10,2.47,0.00,0.000,6,0.125,0.023,2635,2193,2724,0,0,0,0,0,0,25.95,26.35,28.83
$GC,3557,-1.15,-97.7,238.3,-5.3,162,3562,0.00,2.47,0.00,0.000,4,0.000,0.041,2625,3748,2724,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3624,-1.18,-97.7,241.9,-5.6,163,3631,0.00,2.45,0.00,0.000,6,0.000,0.021,2625,2093,2722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3976,-1.21,-97.7,264.8,-6.4,169,3982,0.00,2.38,0.00,0.000,4,0.000,0.037,2625,546,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4024,-1.24,-97.7,264.8,-6.4,169,4033,0.00,2.45,0.00,0.000,6,0.000,0.023,2613,2183,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4336,-1.26,-97.7,287.9,-6.4,175,4341,0.00,2.53,0.00,0.000,4,0.000,0.036,2613,542,2724,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4396,-1.26,-97.7,291.7,-6.3,176,4401,0.00,2.42,0.00,0.000,6,0.000,0.023,2601,2195,2726,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4755,-1.26,-97.7,313.3,-6.0,182,4761,0.00,2.53,0.00,0.000,4,0.000,0.036,2601,545,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4824,-1.26,-97.7,317.1,-6.1,183,4831,0.00,2.47,0.00,0.000,6,0.000,0.023,2589,2189,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5176,-1.26,-97.7,342.0,-7.2,189,5181,0.00,2.53,0.00,0.000,4,0.000,0.036,2589,548,2722,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5224,-1.26,-97.7,342.0,-7.2,189,5232,0.00,2.50,0.00,0.000,6,0.000,0.024,2575,2197,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5535,-1.26,-97.7,373.7,-9.0,195,5541,0.00,2.55,0.00,0.000,4,0.000,0.036,2577,545,2721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5586,-1.26,-97.7,373.7,-9.0,195,5593,0.12,2.47,0.00,0.000,6,0.156,0.024,2597,2189,2721,0,0,0,0,0,0,25.95,26.33,28.83
$GC,5895,-1.26,-97.7,404.2,-8.3,201,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2189,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6195,-1.26,-97.7,427.5,-7.7,206,6201,0.00,2.60,0.00,0.000,4,0.000,0.037,2597,522,2719,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6265,-1.26,-97.7,432.1,-7.7,207,6271,0.00,2.53,0.00,0.000,6,0.000,0.024,2586,2189,2719,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6615,-1.26,-97.7,460.3,-7.9,213,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2189,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,-1.26,-97.7,485.9,-8.6,218,6921,0.00,2.62,0.00,0.000,4,0.000,0.037,2586,543,2718,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7015,-1.26,-97.7,491.3,-8.7,219,7021,0.00,2.58,0.00,0.000,6,0.000,0.025,2574,2186,2717,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7335,-1.26,-97.7,521.9,-8.5,223,7341,0.00,2.62,0.00,0.000,4,0.000,0.037,2574,545,2717,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7414,-1.26,-97.7,521.9,-8.5,223,7422,0.08,2.50,0.00,0.000,6,0.138,0.024,2587,2189,2716,0,0,0,0,0,0,25.98,26.32,28.83
$GC,7815,-1.26,-97.7,553.2,-6.5,227,7821,0.00,2.58,0.00,0.000,4,0.000,0.037,2587,540,2715,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7854,-1.26,-97.7,553.2,-6.5,227,7861,0.00,2.47,0.00,0.000,6,0.000,0.024,2577,2183,2715,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8175,-1.26,-97.7,570.5,-4.9,230,8181,0.00,2.55,0.00,0.000,4,0.000,0.037,2577,539,2715,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8245,-1.26,-97.7,570.5,-4.9,230,8251,0.00,2.50,0.00,0.000,6,0.000,0.024,2565,2188,2714,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8655,-1.26,-97.7,597.8,-5.7,234,8662,0.12,2.58,0.00,0.000,4,0.155,0.037,2598,539,2713,0,0,0,0,0,0,26.28,26.04,28.83
$GC,8724,-1.26,-97.7,597.8,-5.7,234,8731,0.00,2.50,0.00,0.000,6,0.000,0.024,2587,2188,2713,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9136,-1.28,-97.7,638.9,-8.6,238,9142,0.00,2.55,0.00,0.000,4,0.000,0.038,2587,549,2712,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9234,-1.30,-97.7,638.9,-8.6,238,9241,0.00,2.47,0.00,0.000,6,0.000,0.024,2576,2182,2711,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9615,-1.30,-97.7,685.4,-9.7,242,9621,0.00,2.55,0.00,0.000,4,0.000,0.039,2576,542,2711,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9705,-1.30,-97.7,685.4,-9.7,242,9711,0.00,2.50,0.00,0.000,6,0.000,0.024,2564,2189,2710,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10095,-1.30,-97.7,728.4,-8.9,246,10101,0.00,2.55,0.00,0.000,4,0.000,0.039,2564,548,2709,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10164,-1.30,-97.7,728.4,-8.9,246,10172,0.08,2.53,0.00,0.000,6,0.138,0.024,2576,2194,2709,0,0,0,0,0,0,25.96,26.28,28.83
$GC,10576,-1.32,-97.7,763.8,-7.3,250,10582,0.00,2.60,0.00,0.000,4,0.000,0.039,2577,540,2708,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10695,-1.32,-97.7,771.8,-7.0,251,10702,0.00,2.50,0.00,0.000,6,0.000,0.025,2566,2184,2707,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11055,-1.32,-97.7,796.0,-6.7,254,11061,0.00,2.58,0.00,0.000,4,0.000,0.039,2567,543,2706,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11165,-1.32,-97.7,796.0,-6.7,254,11173,0.00,2.50,0.00,0.000,6,0.000,0.025,2554,2188,2705,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11535,-1.32,-97.7,834.5,-8.0,258,11541,0.00,2.58,0.00,0.000,4,0.000,0.039,2554,543,2705,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11684,-1.32,-97.7,845.1,-8.3,259,11692,0.08,2.50,0.00,0.000,6,0.142,0.024,2567,2182,2705,0,0,0,0,0,0,25.87,26.26,28.83
$GC,12016,-1.32,-97.7,875.7,-8.6,262,12021,0.00,2.58,0.00,0.000,4,0.000,0.041,2567,539,2707,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12124,-1.32,-97.7,875.7,-8.6,262,12133,0.00,2.55,0.00,0.000,6,0.000,0.024,2557,2196,2704,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12495,-1.32,-97.7,915.6,-8.3,266,12501,0.00,2.60,0.00,0.000,4,0.000,0.040,2557,539,2702,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12645,-1.32,-97.7,925.7,-8.2,267,12651,0.00,2.50,0.00,0.000,6,0.000,0.025,2545,2178,2701,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12975,-1.32,-97.7,954.5,-8.1,270,12981,0.00,2.60,0.00,0.000,4,0.000,0.041,2545,552,2701,0,0,0,0,0,0,28.83,25.89,28.83
$GC,13145,-1.32,-97.7,964.3,-8.0,271,13152,0.10,2.50,0.00,0.000,6,0.138,0.026,2565,2182,2700,0,0,0,0,0,0,25.75,26.22,28.83
$STATE,13451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13451,begin apogee
$GC,13460,-0.29,0.0,992.0,-7.8,274,13553,1.05,0.00,85.18,1.649,6,0.119,0.000,2899,1577,2322,0,0,0,0,0,0,24.94,28.83,22.95
$STATE,13555,end apogee,CONTROL_FINISHED_OK
$STATE,13555,begin climb
$GC,13559,1.26,97.7,996.4,0.0,279,13662,1.40,2.80,92.62,1.633,4,0.063,0.034,3401,3200,1920,0,0,0,0,0,0,25.32,25.02,22.97
$GC,13795,1.12,107.3,989.6,6.2,291,13814,0.20,2.53,8.95,1.437,6,0.171,0.031,3366,1570,1884,0,0,0,0,0,0,25.53,25.99,23.65
$GC,14139,1.07,134.8,971.1,5.4,298,14172,0.00,2.70,25.80,1.583,4,0.000,0.035,3365,3208,1770,0,0,0,0,0,0,28.83,25.63,23.59
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$STATE,25063,end climb,SURFACE_DEPTH_REACHED
$STATE,25064,begin surface coast
$FINISH,1.4,1.025884
$STATE,25084,end surface coast,CONTROL_FINISHED_OK
$STATE,25085,begin surface
$SM_CCo,25110,31.48,0.126,0,0,1095,300.00
$SM_GC,2.65,8.77,0.80,31.48,0.041,0.032,0.126,152,2189,1095,-8.84,-0.76,300.00,0,0,0,0,0,0,26.20,26.36,25.43
$IRIDIUM_FIX,2408.65,-3750.84,060313,181846
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.64
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,120
$SC_FREEKB,7554784
$TM_FREEKB,4227392
$24V_AH,23.0,93.322
$10V_AH,8.7,83.022
$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,22.175,250.775,309.625,31.475,0.000,78.877,76.008,215.969,30.000,0.000,19.129,2087.593,20363.160,735.811,2079.803,684.213,33.258,1702.054,0.000,1597.051,0.000,0.535,0.000
$DEVICE_MAMPS,188.955,95.625,1648.575,126.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25100.000,2388.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.902,13.803,0.000,0.000
$MEM,343712
$DATA_FILE_SIZE,13391,501
$CAP_FILE_SIZE,192403,0
$CFSIZE,260034560,200241152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070313,090834,2430.740,-3747.348,30,1.0,30,-13.9