version: 66.11
glider: 189
mission: 7
dive: 571
start: 3 10 113 17 36 47
data:
$ID,189
$MISSION,7
$DIVE,571
$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,-48838.359
$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,7.9000001
$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
$GPS1,100313,173048,2432.250,-3747.452,16,1.2,16,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-59.7
$GPS2,100313,173547,2432.273,-3747.467,20,1.2,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.075,-0.088
$KALMAN_X,88337.6,-189.1,-397.4,-63453.9,-503.6
$KALMAN_Y,98994.8,544.5,1563.5,-107311.7,-1486.8
$MHEAD_RNG_PITCHd_Wd,234.5,2740,-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,19,begin dive
$GC,23,-1.32,-90.7,0.0,0.0,0,54,0.00,0.00,-29.60,0.000,2,0.000,0.000,160,2179,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.33,-97.7,2.1,-2.1,3,105,9.77,2.60,-26.73,0.000,4,0.210,0.047,2566,545,2720,0,0,0,0,0,0,24.82,26.18,26.82
$GC,216,-1.22,-97.7,10.2,-8.3,19,224,0.15,2.45,0.00,0.000,6,0.132,0.022,2603,2197,2720,0,0,0,0,0,0,25.90,26.44,28.83
$GC,527,-1.22,-97.7,33.9,-7.7,50,534,0.00,2.40,0.00,0.000,4,0.000,0.040,2593,3751,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,817,-1.22,-97.7,56.3,-7.1,79,824,0.00,2.42,0.00,0.000,6,0.000,0.021,2593,2101,2720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1126,-1.24,-97.7,77.3,-7.0,108,1132,0.00,2.55,0.00,0.000,4,0.000,0.037,2584,3753,2720,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1405,-1.19,-97.7,99.1,-8.3,117,1413,0.10,2.42,0.00,0.000,6,0.131,0.020,2613,2087,2720,0,0,0,0,0,0,26.06,26.48,28.83
$GC,1729,-1.19,-97.7,124.9,-7.8,128,1735,0.00,2.58,0.00,0.000,4,0.000,0.039,2602,3753,2720,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1835,-1.19,-97.7,131.5,-7.3,131,1844,0.00,2.45,0.00,0.000,6,0.000,0.020,2602,2090,2720,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2146,-1.19,-97.7,150.8,-5.5,142,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2090,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2447,-1.19,-97.7,166.8,-5.3,147,2453,0.00,2.38,0.00,0.000,4,0.000,0.037,2602,539,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2495,-1.19,-97.7,166.8,-5.3,147,2504,0.00,2.45,0.00,0.000,6,0.000,0.022,2590,2190,2719,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2806,-1.19,-97.7,188.2,-6.2,153,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2190,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3107,-1.19,-97.7,208.6,-6.8,158,3112,0.00,2.50,0.00,0.000,4,0.000,0.035,2590,546,2720,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3166,-1.19,-97.7,212.9,-6.9,159,3173,0.10,2.45,0.00,0.000,6,0.133,0.023,2612,2194,2719,0,0,0,0,0,0,26.04,26.43,28.83
$GC,3526,-1.22,-97.7,237.5,-7.0,165,3532,0.00,2.45,0.00,0.000,4,0.000,0.041,2601,3748,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3596,-1.25,-97.7,242.3,-7.3,166,3603,0.00,2.42,0.00,0.000,6,0.000,0.020,2602,2098,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3946,-1.27,-97.7,274.3,-9.3,172,3952,0.00,2.40,0.00,0.000,4,0.000,0.037,2601,550,2721,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4015,-1.27,-97.7,280.3,-9.5,173,4023,0.00,2.47,0.00,0.000,6,0.000,0.023,2590,2199,2719,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4367,-1.27,-97.7,313.3,-9.0,179,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-1.27,-97.7,334.9,-7.0,184,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2199,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4966,-1.30,-97.7,352.1,-5.6,189,4972,0.00,2.55,0.00,0.000,4,0.000,0.037,2591,539,2717,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5087,-1.30,-97.7,359.0,-5.6,191,5092,0.00,2.42,0.00,0.000,6,0.000,0.024,2578,2192,2717,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5446,-1.30,-97.7,381.2,-6.4,197,5452,0.00,2.50,0.00,0.000,4,0.000,0.041,2566,3750,2715,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5536,-1.30,-97.7,385.8,-6.8,198,5543,0.00,2.45,0.00,0.000,6,0.000,0.021,2566,2091,2713,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5866,-1.30,-97.7,419.0,-9.7,204,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2091,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6166,-1.30,-97.7,448.7,-9.9,209,6172,0.00,2.40,0.00,0.000,4,0.000,0.037,2566,548,2713,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6206,-1.30,-97.7,448.7,-9.9,209,6212,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2189,2713,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6526,-1.30,-97.7,479.2,-8.1,215,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2188,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6826,-1.30,-97.7,501.1,-7.1,220,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2189,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7186,-1.30,-97.7,525.6,-6.8,223,7193,0.00,2.58,0.00,0.000,4,0.000,0.037,2554,546,2710,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7286,-1.30,-97.7,525.6,-6.8,223,7293,0.10,2.47,0.00,0.000,6,0.136,0.024,2575,2189,2713,0,0,0,0,0,0,25.95,26.36,28.83
$GC,7667,-1.32,-97.7,560.9,-7.3,227,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2188,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,-1.35,-97.7,591.9,-8.4,230,8033,0.00,2.60,0.00,0.000,4,0.000,0.037,2575,543,2708,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8156,-1.38,-97.7,603.1,-8.8,231,8162,0.00,2.53,0.00,0.000,6,0.000,0.025,2565,2177,2707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8506,-1.40,-97.7,635.6,-9.1,234,8513,0.00,2.58,0.00,0.000,4,0.000,0.037,2565,540,2706,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8565,-1.42,-97.7,635.6,-9.1,234,8573,0.00,2.50,0.00,0.000,6,0.000,0.025,2553,2190,2706,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8987,-1.42,-97.7,671.3,-7.4,238,8993,0.00,2.55,0.00,0.000,4,0.000,0.037,2553,546,2705,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9035,-1.42,-97.7,671.3,-7.4,238,9043,0.00,2.50,0.00,0.000,6,0.000,0.025,2541,2188,2704,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9346,-1.42,-97.7,697.2,-7.1,241,9352,0.00,2.58,0.00,0.000,4,0.000,0.037,2541,547,2703,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9406,-1.42,-97.7,697.2,-7.1,241,9412,0.00,2.47,0.00,0.000,6,0.000,0.025,2529,2180,2703,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9826,-1.42,-97.7,742.6,-9.5,245,9832,0.00,2.58,0.00,0.000,4,0.000,0.038,2529,547,2702,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9875,-1.42,-97.7,742.6,-9.5,245,9882,0.00,2.53,0.00,0.000,6,0.000,0.025,2517,2197,2701,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10187,-1.42,-97.7,778.4,-10.0,248,10192,0.00,2.50,0.00,0.000,4,0.000,0.044,2505,3753,2701,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10265,-1.42,-97.7,778.4,-10.0,248,10273,0.10,2.50,0.00,0.000,6,0.139,0.023,2537,2087,2700,0,0,0,0,0,0,25.92,26.34,28.83
$GC,10666,-1.42,-97.7,814.7,-7.5,252,10672,0.00,2.42,0.00,0.000,4,0.000,0.040,2537,552,2699,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10816,-1.42,-97.7,822.2,-6.8,253,10822,0.00,2.53,0.00,0.000,6,0.000,0.026,2527,2181,2698,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11146,-1.42,-97.7,843.2,-5.9,256,11152,0.00,2.53,0.00,0.000,4,0.000,0.039,2527,547,2696,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11255,-1.42,-97.7,843.2,-5.9,256,11264,0.00,2.47,0.00,0.000,6,0.000,0.025,2515,2181,2697,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11627,-1.42,-97.7,882.8,-8.2,260,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2181,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11986,-1.42,-97.7,920.9,-10.3,263,11993,0.00,2.60,0.00,0.000,4,0.000,0.039,2515,546,2695,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12125,-1.42,-97.7,934.7,-10.8,264,12133,0.10,2.50,0.00,0.000,6,0.141,0.026,2534,2183,2695,0,0,0,0,0,0,25.77,26.22,28.83
$GC,12467,-1.42,-97.7,970.5,-10.3,267,12472,0.00,2.58,0.00,0.000,4,0.000,0.040,2535,544,2694,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12635,-1.42,-97.7,981.6,-9.7,268,12642,0.00,2.60,0.00,0.000,6,0.000,0.027,2525,2187,2693,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,12702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12702,begin apogee
$GC,12712,-0.29,0.0,992.0,-9.3,269,12804,1.20,0.00,84.55,1.655,6,0.125,0.000,2898,1575,2320,0,0,0,0,0,0,24.90,28.83,23.08
$STATE,12806,end apogee,CONTROL_FINISHED_OK
$STATE,12806,begin climb
$GC,12810,1.33,97.7,996.0,0.0,274,12907,1.50,0.00,92.62,1.651,6,0.062,0.000,3432,1575,1920,0,0,0,0,0,0,25.41,28.83,23.16
$GC,13306,1.19,97.7,967.9,7.1,289,13308,0.17,0.00,0.00,0.000,6,0.175,0.000,3388,1574,1908,0,0,0,0,0,0,25.92,28.83,28.83
$GC,13666,1.11,113.3,947.7,5.9,292,13682,0.12,0.00,12.45,1.515,6,0.182,0.000,3358,1574,1859,0,0,0,0,0,0,26.17,28.83,23.87
$GC,14027,1.08,145.5,929.8,5.1,295,14064,0.00,2.00,31.35,1.595,4,0.000,0.047,3365,351,1724,0,0,0,0,0,0,28.83,25.56,23.59
$GC,14208,1.06,175.7,922.7,5.2,296,14243,0.00,1.92,28.62,1.576,6,0.000,0.026,3365,1652,1603,0,0,0,0,0,0,28.83,26.23,23.56
$GC,14627,1.03,175.7,887.5,7.4,300,14633,0.12,2.45,0.00,0.000,4,0.167,0.036,3334,3203,1597,0,0,0,0,0,0,26.15,26.17,28.83
$GC,14686,1.01,175.7,887.5,7.4,300,14692,0.00,2.53,0.00,0.000,6,0.000,0.031,3345,1582,1597,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15106,1.01,175.7,845.5,8.7,304,15112,0.00,2.62,0.00,0.000,4,0.000,0.035,3346,3206,1594,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15207,1.01,175.7,845.5,8.7,304,15213,0.12,2.47,0.00,0.000,6,0.170,0.030,3327,1581,1595,0,0,0,0,0,0,25.90,26.25,28.83
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$STATE,24532,end climb,SURFACE_DEPTH_REACHED
$STATE,24532,begin surface coast
$FINISH,1.2,1.013256
$STATE,24554,end surface coast,CONTROL_FINISHED_OK
$STATE,24554,begin surface
$SM_CCo,24585,38.30,0.125,0,0,1093,300.00
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$TT8_MAMPS,0.029211,0.029211
$HUMID,64.53
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,581
$SC_FREEKB,7550560
$TM_FREEKB,4181920
$24V_AH,23.1,95.095
$10V_AH,8.1,84.694
$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
$DEVICE_SECS,23.025,206.525,286.875,38.300,0.000,0.000,0.000,0.000,145.250,0.000,21.114,1994.187,20006.707,666.203,1583.148,457.642,33.265,1555.951,0.000,1496.611,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.637,14.484,0.000,0.000
$MEM,343812
$DATA_FILE_SIZE,13406,503
$CAP_FILE_SIZE,244993,1
$CFSIZE,260034560,199237632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110313,002830,2431.734,-3749.196,37,1.1,37,-14.0