version: 66.11
glider: 189
mission: 7
dive: 562
start: 3 7 113 16 15 20
data:
$ID,189
$MISSION,7
$DIVE,562
$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,-48361.199
$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
$GPS1,070313,160422,2431.347,-3746.976,39,1.0,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-60.1
$GPS2,070313,161418,2431.323,-3747.007,19,1.2,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.103,-0.053
$KALMAN_X,108420.2,270.7,369.1,-83991.6,-4410.2
$KALMAN_Y,93336.5,-22.6,-513.3,-100754.2,545.6
$MHEAD_RNG_PITCHd_Wd,131.0,2169,-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,-10.60,0.000,2,0.000,0.000,150,2120,1397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.4,0.0,1,105,8.98,2.58,-50.40,0.000,4,0.181,0.050,2564,545,2719,0,0,0,0,0,0,25.22,25.92,26.70
$GC,396,-1.24,-97.7,25.0,-8.8,37,404,0.12,2.47,0.00,0.000,6,0.136,0.024,2593,2189,2721,0,0,0,0,0,0,25.75,26.28,28.83
$GC,706,-1.24,-97.7,48.0,-7.0,68,714,0.00,2.50,0.00,0.000,4,0.000,0.041,2583,3741,2721,0,0,0,0,0,0,28.83,26.01,28.83
$GC,849,-1.20,-97.7,58.7,-7.6,82,856,0.12,2.40,0.00,0.000,6,0.152,0.021,2615,2084,2722,0,0,0,0,0,0,25.96,26.36,28.83
$GC,1166,-1.20,-97.7,82.4,-7.9,108,1172,0.00,2.67,0.00,0.000,4,0.000,0.039,2604,3741,2722,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1225,-1.20,-97.7,87.4,-8.2,110,1232,0.00,2.42,0.00,0.000,6,0.000,0.021,2604,2106,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1556,-1.20,-97.7,116.9,-8.9,121,1562,0.00,2.62,0.00,0.000,4,0.000,0.039,2592,3758,2723,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1625,-1.20,-97.7,122.5,-9.1,123,1632,0.00,2.45,0.00,0.000,6,0.000,0.020,2592,2101,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1946,-1.20,-97.7,148.3,-6.7,134,1952,0.00,2.42,0.00,0.000,4,0.000,0.037,2592,546,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2086,-1.17,-97.7,155.2,-5.9,137,2093,0.15,2.42,0.00,0.000,6,0.148,0.023,2620,2201,2723,0,0,0,0,0,0,25.89,26.34,28.83
$GC,2426,-1.21,-97.7,174.1,-5.2,143,2432,0.00,2.45,0.00,0.000,4,0.000,0.041,2609,3751,2724,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2486,-1.24,-97.7,177.2,-5.2,144,2492,0.00,2.40,0.00,0.000,6,0.000,0.021,2609,2096,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2847,-1.26,-97.7,193.1,-4.3,150,2853,0.00,2.40,0.00,0.000,4,0.000,0.037,2610,539,2724,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2906,-1.26,-97.7,195.8,-4.3,151,2912,0.00,2.47,0.00,0.000,6,0.000,0.023,2598,2199,2725,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3267,-1.26,-97.7,217.4,-6.6,157,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2194,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3566,-1.26,-97.7,240.6,-7.9,162,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2194,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3866,-1.28,-97.7,268.3,-9.3,167,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2194,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4167,-1.30,-97.7,295.4,-9.0,172,4173,0.00,2.58,0.00,0.000,4,0.000,0.036,2597,537,2724,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4235,-1.30,-97.7,300.7,-8.8,173,4242,0.00,2.50,0.00,0.000,6,0.000,0.023,2585,2191,2724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4586,-1.30,-97.7,326.7,-6.8,179,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2191,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4887,-1.30,-97.7,341.7,-4.8,184,4892,0.00,2.55,0.00,0.000,4,0.000,0.036,2585,545,2723,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4975,-1.30,-97.7,344.5,-4.7,185,4982,0.00,2.47,0.00,0.000,6,0.000,0.023,2573,2196,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5306,-1.30,-97.7,366.2,-6.4,191,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2196,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5607,-1.30,-97.7,392.2,-9.0,196,5613,0.00,2.58,0.00,0.000,4,0.000,0.036,2573,537,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5705,-1.30,-97.7,398.4,-9.5,197,5712,0.00,2.50,0.00,0.000,6,0.000,0.023,2561,2189,2722,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6026,-1.30,-97.7,435.0,-10.1,203,6032,0.00,2.53,0.00,0.000,4,0.000,0.042,2551,3745,2721,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6125,-1.30,-97.7,440.8,-9.9,204,6133,0.08,2.45,0.00,0.000,6,0.134,0.021,2574,2087,2721,0,0,0,0,0,0,26.03,26.39,28.83
$GC,6446,-1.33,-97.7,468.2,-7.2,210,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2087,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,-1.35,-97.7,487.9,-6.5,215,6752,0.00,2.40,0.00,0.000,4,0.000,0.038,2574,539,2719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6836,-1.35,-97.7,492.0,-6.5,216,6843,0.00,2.50,0.00,0.000,6,0.000,0.024,2565,2194,2719,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7166,-1.35,-97.7,521.0,-8.0,220,7172,0.00,2.60,0.00,0.000,4,0.000,0.037,2564,548,2718,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7245,-1.35,-97.7,521.0,-8.0,220,7253,0.00,2.50,0.00,0.000,6,0.000,0.024,2552,2194,2717,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7647,-1.35,-97.7,565.9,-9.4,224,7652,0.00,2.55,0.00,0.000,4,0.000,0.037,2552,546,2717,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7695,-1.35,-97.7,565.9,-9.4,224,7702,0.00,2.50,0.00,0.000,6,0.000,0.024,2540,2191,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8006,-1.35,-97.7,593.6,-8.0,227,8012,0.00,2.53,0.00,0.000,4,0.000,0.042,2528,3740,2715,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8115,-1.35,-97.7,593.6,-8.0,227,8125,0.10,2.42,0.00,0.000,6,0.134,0.021,2561,2100,2715,0,0,0,0,0,0,25.93,26.36,28.83
$GC,8487,-1.35,-97.7,629.3,-7.4,231,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2100,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,-1.38,-97.7,660.0,-8.4,234,8852,0.00,2.47,0.00,0.000,4,0.000,0.039,2561,543,2712,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8955,-1.40,-97.7,660.0,-8.4,234,8964,0.00,2.50,0.00,0.000,6,0.000,0.024,2551,2189,2712,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9327,-1.40,-97.7,700.7,-8.5,238,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2189,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,-1.40,-97.7,731.4,-8.5,241,9692,0.00,2.62,0.00,0.000,4,0.000,0.038,2550,546,2711,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9806,-1.40,-97.7,742.2,-8.6,242,9812,0.00,2.50,0.00,0.000,6,0.000,0.024,2539,2192,2710,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10167,-1.40,-97.7,774.3,-8.9,245,10173,0.00,2.58,0.00,0.000,4,0.000,0.039,2538,548,2710,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10235,-1.40,-97.7,774.3,-8.9,245,10243,0.00,2.53,0.00,0.000,6,0.000,0.024,2527,2196,2709,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10646,-1.40,-97.7,817.4,-9.0,249,10652,0.00,2.62,0.00,0.000,4,0.000,0.038,2527,542,2708,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10766,-1.40,-97.7,828.2,-8.9,250,10773,0.12,2.45,0.00,0.000,6,0.164,0.025,2545,2188,2707,0,0,0,0,0,0,25.86,26.27,28.83
$GC,11126,-1.40,-97.7,857.4,-8.3,253,11132,0.00,2.62,0.00,0.000,4,0.000,0.039,2546,543,2706,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11165,-1.40,-97.7,857.4,-8.3,253,11172,0.00,2.53,0.00,0.000,6,0.000,0.025,2535,2188,2706,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11487,-1.42,-97.7,886.4,-8.1,256,11492,0.00,2.58,0.00,0.000,4,0.000,0.039,2535,542,2705,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11545,-1.44,-97.7,886.4,-8.1,256,11552,0.00,2.50,0.00,0.000,6,0.000,0.025,2523,2179,2705,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11966,-1.44,-97.7,923.7,-7.7,260,11972,0.00,2.60,0.00,0.000,4,0.000,0.041,2523,546,2704,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12045,-1.44,-97.7,923.7,-7.7,260,12053,0.00,2.50,0.00,0.000,6,0.000,0.026,2511,2180,2704,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12446,-1.44,-97.7,964.7,-8.6,264,12452,0.00,2.60,0.00,0.000,4,0.000,0.041,2511,546,2702,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12525,-1.44,-97.7,964.7,-8.6,264,12533,0.10,2.53,0.00,0.000,6,0.176,0.026,2528,2186,2702,0,0,0,0,0,0,25.81,26.20,28.83
$STATE,12722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12722,begin apogee
$GC,12732,-0.29,0.0,991.6,-9.6,268,12824,1.20,0.00,86.07,1.648,6,0.125,0.000,2900,1576,2320,0,0,0,0,0,0,24.88,28.83,22.99
$STATE,12826,end apogee,CONTROL_FINISHED_OK
$STATE,12826,begin climb
$GC,12830,1.33,97.7,997.0,0.0,273,12927,1.50,0.00,92.70,1.651,6,0.059,0.000,3436,1575,1921,0,0,0,0,0,0,25.30,28.83,22.97
$GC,13286,1.19,97.7,976.2,6.7,291,13288,0.20,0.00,0.00,0.000,6,0.171,0.000,3384,1574,1909,0,0,0,0,0,0,25.79,28.83,28.83
$GC,13647,1.09,97.7,949.2,7.3,294,13653,0.12,2.65,0.00,0.000,4,0.181,0.037,3353,3208,1907,0,0,0,0,0,0,26.14,26.15,28.83
$GC,13695,0.98,97.7,949.2,7.3,294,13703,0.15,2.53,0.00,0.000,6,0.151,0.030,3318,1585,1906,0,0,0,0,0,0,25.70,26.22,28.83
$GC,14006,0.94,97.7,921.5,7.8,297,14012,0.00,2.60,0.00,0.000,4,0.000,0.034,3318,3210,1906,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14146,0.91,97.7,912.6,7.6,298,14153,0.15,2.53,0.00,0.000,6,0.167,0.030,3292,1580,1905,0,0,0,0,0,0,25.81,26.23,28.83
$GC,14486,0.91,104.2,890.9,6.3,301,14495,0.00,2.67,3.85,1.111,4,0.000,0.035,3291,3207,1894,0,0,0,0,0,0,28.83,26.19,24.03
$GC,14646,0.93,119.7,884.8,5.9,302,14667,0.00,2.53,16.45,1.545,6,0.000,0.029,3302,1582,1830,0,0,0,0,0,0,28.83,26.22,23.72
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$STATE,23903,end climb,SURFACE_DEPTH_REACHED
$STATE,23903,begin surface coast
$FINISH,1.3,1.000903
$STATE,23934,end surface coast,CONTROL_FINISHED_OK
$STATE,23935,begin surface
$SM_CCo,23961,35.17,0.125,0,0,1096,300.00
$SM_GC,2.47,8.65,0.80,35.17,0.036,0.037,0.125,152,2185,1096,-8.82,-0.68,300.00,0,0,0,0,0,0,26.17,26.29,25.15
$IRIDIUM_FIX,2427.58,-3736.28,070313,090929
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.68
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.30
$XPDR_PINGS,99
$SC_FREEKB,7554016
$TM_FREEKB,4219552
$24V_AH,23.0,93.625
$10V_AH,8.3,83.300
$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,22.600,209.875,296.725,35.175,0.000,25.837,47.304,201.853,24.750,0.000,21.083,2008.906,19353.199,677.875,1899.315,638.858,33.283,1589.527,0.000,1518.862,0.000,0.535,0.000
$DEVICE_MAMPS,181.305,78.795,1650.870,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23935.000,2439.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.922,13.969,0.000,0.000
$MEM,343684
$DATA_FILE_SIZE,13451,493
$CAP_FILE_SIZE,179661,0
$CFSIZE,260034560,200077312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070313,225635,2430.833,-3746.456,36,0.9,36,-13.9