version: 66.11
glider: 189
mission: 7
dive: 569
start: 3 9 113 17 48 50
data:
$ID,189
$MISSION,7
$DIVE,569
$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,-48370.012
$T_RSLEEP,28
$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
$GPS1,090313,173735,2431.378,-3746.555,26,0.9,26,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-59.7
$GPS2,090313,174747,2431.464,-3746.593,16,1.2,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.074,-0.089
$KALMAN_X,93231.3,506.5,-127.2,-67850.0,-3702.3
$KALMAN_Y,94311.4,-259.5,219.4,-101967.3,234.2
$MHEAD_RNG_PITCHd_Wd,154.3,2914,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.45,0.000,2,0.000,0.000,151,2122,1393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,105,9.00,2.72,-51.05,0.000,4,0.181,0.049,2564,3758,2720,0,0,0,0,0,0,25.37,25.94,26.68
$GC,395,-1.25,-97.7,12.2,-7.9,37,403,0.10,2.47,0.00,0.000,6,0.135,0.021,2595,2088,2722,0,0,0,0,0,0,25.85,26.29,28.83
$GC,705,-1.25,-97.7,36.1,-7.6,68,713,0.00,2.65,0.00,0.000,4,0.000,0.039,2584,3754,2722,0,0,0,0,0,0,28.83,25.98,28.83
$GC,838,-1.21,-97.7,46.2,-7.8,81,844,0.00,2.42,0.00,0.000,6,0.000,0.021,2584,2101,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1145,-1.19,-97.7,69.6,-7.1,112,1152,0.12,0.00,0.00,0.000,6,0.153,0.000,2617,2100,2723,0,0,0,0,0,0,26.29,28.83,28.83
$GC,1468,-1.19,-97.7,92.5,-7.1,128,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2100,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1766,-1.19,-97.7,114.2,-7.1,138,1772,0.00,2.40,0.00,0.000,4,0.000,0.037,2617,546,2723,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1814,-1.19,-97.7,116.5,-7.3,139,1823,0.00,2.50,0.00,0.000,6,0.000,0.023,2606,2204,2723,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2125,-1.19,-97.7,140.9,-7.5,150,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2204,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2456,-1.19,-97.7,165.5,-7.8,158,2461,0.00,2.42,0.00,0.000,4,0.000,0.039,2594,3748,2724,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2484,-1.19,-97.7,165.5,-7.8,158,2491,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,2086,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2815,-1.19,-97.7,194.9,-8.3,164,2821,0.00,2.40,0.00,0.000,4,0.000,0.036,2594,545,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2936,-1.19,-97.7,204.0,-7.8,166,2942,0.08,2.50,0.00,0.000,6,0.148,0.023,2617,2187,2725,0,0,0,0,0,0,24.13,26.33,28.83
$GC,3296,-1.23,-97.7,225.4,-5.8,172,3301,0.00,2.53,0.00,0.000,4,0.000,0.035,2618,539,2725,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3375,-1.26,-97.7,228.5,-5.6,173,3381,0.00,2.42,0.00,0.000,6,0.000,0.023,2607,2195,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3715,-1.29,-97.7,244.6,-4.3,179,3721,0.00,2.55,0.00,0.000,4,0.000,0.034,2607,536,2725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3844,-1.29,-97.7,250.8,-4.8,181,3851,0.00,2.47,0.00,0.000,6,0.000,0.022,2595,2194,2725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4196,-1.31,-97.7,273.9,-6.7,187,4201,0.00,2.53,0.00,0.000,4,0.000,0.035,2595,545,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4255,-1.31,-97.7,278.3,-7.0,188,4261,0.00,2.50,0.00,0.000,6,0.000,0.024,2583,2177,2725,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4615,-1.31,-97.7,305.1,-7.5,194,4621,0.00,2.55,0.00,0.000,4,0.000,0.035,2583,544,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4705,-1.31,-97.7,309.9,-7.6,195,4711,0.00,2.47,0.00,0.000,6,0.000,0.023,2571,2196,2724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5035,-1.31,-97.7,338.1,-7.9,201,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2196,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5335,-1.31,-97.7,363.6,-8.6,206,5342,0.00,2.60,0.00,0.000,4,0.000,0.035,2571,540,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5505,-1.31,-97.7,374.3,-8.8,208,5513,0.00,2.47,0.00,0.000,6,0.000,0.024,2558,2189,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5815,-1.31,-97.7,404.3,-8.1,214,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2189,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-1.31,-97.7,426.0,-7.1,219,6121,0.00,2.58,0.00,0.000,4,0.000,0.036,2559,537,2722,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6205,-1.31,-97.7,430.3,-7.1,220,6212,0.08,2.50,0.00,0.000,6,0.142,0.024,2576,2194,2722,0,0,0,0,0,0,25.96,26.33,28.83
$GC,6535,-1.31,-97.7,456.7,-7.5,226,6541,0.00,2.60,0.00,0.000,4,0.000,0.036,2572,543,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6635,-1.31,-97.7,462.0,-7.9,227,6642,0.00,2.47,0.00,0.000,6,0.000,0.024,2561,2189,2721,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6955,-1.31,-97.7,494.2,-9.1,233,6961,0.00,2.58,0.00,0.000,4,0.000,0.036,2561,548,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7075,-1.31,-97.7,505.2,-9.2,235,7081,0.00,2.47,0.00,0.000,6,0.000,0.024,2549,2187,2719,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7436,-1.31,-97.7,532.9,-7.9,238,7438,0.12,0.00,0.00,0.000,6,0.156,0.000,2581,2187,2718,0,0,0,0,0,0,26.31,28.83,28.83
$GC,7795,-1.33,-97.7,557.4,-6.8,241,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2187,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8155,-1.37,-97.7,584.5,-7.4,244,8162,0.00,2.60,0.00,0.000,4,0.000,0.037,2582,553,2716,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8245,-1.42,-97.7,584.5,-7.4,244,8251,0.00,2.47,0.00,0.000,6,0.000,0.024,2571,2191,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8635,-1.45,-97.7,622.1,-7.8,248,8642,0.12,2.60,0.00,0.000,4,0.084,0.037,2503,547,2714,0,0,0,0,0,0,26.56,26.03,28.83
$GC,8684,-1.49,-97.7,622.1,-7.8,248,8692,0.08,2.47,0.00,0.000,6,0.149,0.024,2515,2186,2714,0,0,0,0,0,0,25.91,26.29,28.83
$GC,8996,-1.49,-97.7,648.5,-7.4,251,9001,0.00,2.50,0.00,0.000,4,0.000,0.042,2505,3750,2713,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9104,-1.49,-97.7,648.5,-7.4,251,9113,0.00,2.45,0.00,0.000,6,0.000,0.022,2505,2111,2713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9475,-1.45,-97.7,685.7,-7.7,255,9482,0.12,2.62,0.00,0.000,4,0.158,0.041,2530,3747,2712,0,0,0,0,0,0,26.27,25.96,28.83
$GC,9565,-1.41,-97.7,685.7,-7.7,255,9572,0.00,2.45,0.00,0.000,6,0.000,0.022,2526,2108,2712,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9955,-1.41,-97.7,732.3,-9.7,259,9961,0.00,2.47,0.00,0.000,4,0.000,0.039,2526,546,2711,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10014,-1.41,-97.7,732.3,-9.7,259,10022,0.08,2.47,0.00,0.000,6,0.142,0.024,2538,2185,2711,0,0,0,0,0,0,25.90,26.28,28.83
$GC,10436,-1.41,-97.7,777.5,-9.4,263,10441,0.00,2.58,0.00,0.000,4,0.000,0.039,2539,538,2710,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10524,-1.41,-97.7,777.5,-9.4,263,10532,0.00,2.53,0.00,0.000,6,0.000,0.024,2524,2188,2709,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10915,-1.41,-97.7,815.4,-7.9,267,10921,0.00,2.55,0.00,0.000,4,0.000,0.043,2517,3745,2708,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10985,-1.41,-97.7,815.4,-7.9,267,10992,0.08,2.47,0.00,0.000,6,0.138,0.023,2541,2091,2708,0,0,0,0,0,0,25.92,26.28,28.83
$GC,11395,-1.41,-97.7,852.1,-7.6,271,11401,0.00,2.45,0.00,0.000,4,0.000,0.040,2541,546,2707,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11484,-1.41,-97.7,852.1,-7.6,271,11492,0.00,2.53,0.00,0.000,6,0.000,0.025,2531,2205,2706,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11876,-1.41,-97.7,895.2,-9.0,275,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2205,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12235,-1.41,-97.7,928.3,-9.2,278,12242,0.00,2.67,0.00,0.000,4,0.000,0.039,2530,544,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12324,-1.41,-97.7,928.3,-9.2,278,12331,0.00,2.53,0.00,0.000,6,0.000,0.024,2518,2188,2704,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12715,-1.41,-97.7,972.4,-9.2,282,12722,0.00,2.62,0.00,0.000,4,0.000,0.039,2518,547,2702,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12765,-1.41,-97.7,972.4,-9.2,282,12772,0.10,2.50,0.00,0.000,6,0.139,0.025,2539,2186,2702,0,0,0,0,0,0,25.75,26.22,28.83
$STATE,12951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12952,begin apogee
$GC,12961,-0.29,0.0,993.7,-9.0,284,13053,1.15,0.00,85.90,1.647,6,0.123,0.000,2900,1575,2320,0,0,0,0,0,0,24.87,28.83,22.98
$STATE,13055,end apogee,CONTROL_FINISHED_OK
$STATE,13055,begin climb
$GC,13060,1.33,97.7,998.6,0.0,289,13162,1.50,2.80,92.47,1.633,4,0.060,0.034,3436,3201,1920,0,0,0,0,0,0,25.32,25.05,22.97
$GC,13235,1.20,125.6,995.9,5.3,298,13267,0.17,2.55,25.73,1.582,6,0.164,0.030,3383,1584,1807,0,0,0,0,0,0,25.38,25.88,23.37
$GC,13646,1.14,130.1,969.5,6.4,308,13655,0.00,2.03,4.40,1.183,4,0.000,0.048,3391,346,1788,0,0,0,0,0,0,28.83,26.10,23.96
$GC,13764,1.06,131.8,961.7,6.6,309,13772,0.12,1.95,0.00,0.000,6,0.151,0.024,3353,1660,1787,0,0,0,0,0,0,25.82,26.34,28.83
$GC,14116,1.01,131.8,936.4,7.0,312,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1660,1787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14475,0.97,131.8,908.1,7.8,315,14482,0.15,2.47,0.00,0.000,4,0.166,0.035,3313,3194,1785,0,0,0,0,0,0,26.08,26.16,28.83
$GC,14585,0.94,131.8,908.1,7.8,315,14593,0.00,2.53,0.00,0.000,6,0.000,0.029,3323,1572,1785,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14955,0.94,131.8,872.8,7.3,319,14962,0.00,2.62,0.00,0.000,4,0.000,0.034,3323,3199,1784,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,24811,end climb,SURFACE_DEPTH_REACHED
$STATE,24811,begin surface coast
$FINISH,1.4,1.025938
$STATE,24842,end surface coast,CONTROL_FINISHED_OK
$STATE,24842,begin surface
$SM_CCo,24869,44.38,0.124,0,0,1095,300.00
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$TT8_MAMPS,0.029211,0.029211
$HUMID,63.27
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,303
$SC_FREEKB,7551328
$TM_FREEKB,4189376
$24V_AH,23.0,94.662
$10V_AH,8.0,84.338
$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
$DEVICE_SECS,22.775,214.125,276.200,44.375,0.000,26.513,50.819,216.360,75.750,0.000,17.759,2026.553,20234.289,678.641,1903.714,670.043,33.256,1587.754,0.000,1515.800,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.641,14.346,0.000,0.000
$MEM,343684
$DATA_FILE_SIZE,13431,520
$CAP_FILE_SIZE,183386,0
$CFSIZE,260034560,199471104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100313,004524,2430.868,-3746.498,38,1.1,38,-13.9