version: 66.11
glider: 189
mission: 7
dive: 384
start: 1 13 113 4 20 29
data:
$ID,189
$MISSION,7
$DIVE,384
$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,-48137.066
$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
$GPS1,130113,041004,2438.045,-3757.979,35,1.0,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-53.2
$GPS2,130113,041929,2438.019,-3757.894,17,1.1,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_N
$TGT_LATLONG,2444.464,-3756.424
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.008,0.120
$KALMAN_X,217461.9,-6.7,591.9,-211302.5,695.2
$KALMAN_Y,-55365.4,674.5,-120.2,59245.8,-1341.4
$MHEAD_RNG_PITCHd_Wd,10.2,12190,-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,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.98,0.000,2,0.000,0.000,155,2115,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,104,8.98,2.58,-50.95,0.000,4,0.181,0.054,2592,547,2718,0,0,0,0,0,0,25.61,26.01,26.68
$GC,394,-1.17,-97.7,25.3,-7.1,37,403,0.12,2.47,0.00,0.000,6,0.140,0.024,2621,2184,2720,0,0,0,0,0,0,25.82,26.33,28.83
$GC,704,-1.14,-97.7,46.9,-7.8,68,713,0.00,2.58,0.00,0.000,4,0.000,0.037,2621,548,2723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,775,-1.09,-97.7,52.6,-8.4,75,783,0.10,2.47,0.00,0.000,6,0.138,0.024,2642,2194,2720,0,0,0,0,0,0,25.98,26.41,28.83
$GC,1084,-1.09,-97.7,74.9,-7.5,106,1093,0.00,2.50,0.00,0.000,4,0.000,0.041,2633,3748,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1243,-1.09,-97.7,86.0,-7.4,112,1251,0.00,2.47,0.00,0.000,6,0.000,0.021,2633,2090,2721,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1565,-1.09,-97.7,108.9,-6.6,123,1571,0.00,2.62,0.00,0.000,4,0.000,0.039,2620,3755,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1733,-1.07,-97.7,119.8,-7.3,128,1743,0.12,2.47,0.00,0.000,6,0.145,0.020,2653,2083,2722,0,0,0,0,0,0,26.13,26.50,28.83
$GC,2047,-1.09,-97.7,143.3,-7.2,139,2053,0.00,2.65,0.00,0.000,4,0.000,0.039,2642,3756,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2143,-1.09,-97.7,149.7,-7.2,142,2150,0.00,2.47,0.00,0.000,6,0.000,0.020,2642,2091,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2465,-1.09,-97.7,168.0,-5.2,148,2471,0.00,2.65,0.00,0.000,4,0.000,0.039,2630,3744,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2634,-1.09,-97.7,173.6,-4.7,150,2643,0.00,2.42,0.00,0.000,6,0.000,0.021,2629,2106,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2945,-1.09,-97.7,192.8,-5.4,156,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2106,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3244,-1.09,-97.7,212.6,-6.7,161,3251,0.00,2.62,0.00,0.000,4,0.000,0.039,2618,3743,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3425,-1.09,-97.7,226.8,-7.7,164,3432,0.08,2.42,0.00,0.000,6,0.125,0.021,2644,2100,2723,0,0,0,0,0,0,26.21,26.52,28.83
$GC,3785,-1.12,-97.7,252.8,-6.9,170,3791,0.00,2.65,0.00,0.000,4,0.000,0.040,2633,3744,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3894,-1.14,-97.7,256.4,-6.5,171,3902,0.00,2.42,0.00,0.000,6,0.000,0.021,2633,2103,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4205,-1.16,-97.7,272.4,-4.1,177,4211,0.00,2.60,0.00,0.000,4,0.000,0.040,2621,3754,2722,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4426,-1.16,-97.7,279.7,-4.0,180,4431,0.00,2.40,0.00,0.000,6,0.000,0.021,2621,2102,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4744,-1.16,-97.7,295.7,-4.6,186,4752,0.00,2.62,0.00,0.000,4,0.000,0.040,2609,3739,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4934,-1.16,-97.7,307.0,-6.0,189,4941,0.00,2.42,0.00,0.000,6,0.000,0.021,2609,2102,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5284,-1.16,-97.7,338.2,-9.2,195,5291,0.00,2.62,0.00,0.000,4,0.000,0.040,2597,3739,2721,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5584,-1.16,-97.7,371.6,-11.2,200,5591,0.00,2.45,0.00,0.000,6,0.000,0.021,2597,2089,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5945,-1.16,-97.7,409.0,-10.1,206,5951,0.00,2.65,0.00,0.000,4,0.000,0.041,2585,3743,2720,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6103,-1.16,-97.7,419.8,-9.3,208,6111,0.15,2.45,0.00,0.000,6,0.142,0.021,2625,2098,2719,0,0,0,0,0,0,26.08,26.51,28.83
$GC,6425,-1.19,-97.7,445.0,-6.6,214,6431,0.00,2.62,0.00,0.000,4,0.000,0.041,2615,3759,2719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6574,-1.22,-97.7,453.0,-6.6,216,6581,0.00,2.50,0.00,0.000,6,0.000,0.021,2615,2095,2718,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6905,-1.22,-97.7,475.4,-6.1,222,6911,0.00,2.62,0.00,0.000,4,0.000,0.041,2602,3749,2718,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7063,-1.22,-97.7,483.3,-6.4,224,7071,0.00,2.47,0.00,0.000,6,0.000,0.021,2602,2098,2717,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7444,-1.22,-97.7,513.0,-7.2,230,7451,0.00,2.65,0.00,0.000,4,0.000,0.041,2590,3744,2716,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7635,-1.22,-97.7,522.8,-7.5,231,7641,0.00,2.42,0.00,0.000,6,0.000,0.022,2591,2086,2716,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8044,-1.22,-97.7,563.4,-8.5,235,8052,0.00,2.67,0.00,0.000,4,0.000,0.041,2578,3747,2715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8224,-1.22,-97.7,573.1,-8.4,236,8232,0.12,2.47,0.00,0.000,6,0.146,0.022,2610,2100,2714,0,0,0,0,0,0,26.13,26.48,28.83
$GC,8645,-1.24,-97.7,602.5,-6.1,240,8651,0.00,2.45,0.00,0.000,4,0.000,0.039,2611,551,2713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8684,-1.26,-97.7,602.5,-6.1,240,8691,0.00,2.53,0.00,0.000,6,0.000,0.024,2600,2188,2714,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9006,-1.29,-97.7,618.8,-4.6,243,9011,0.00,2.47,0.00,0.000,4,0.000,0.042,2589,3749,2713,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9125,-1.31,-97.7,625.0,-4.6,244,9132,0.00,2.45,0.00,0.000,6,0.000,0.022,2589,2109,2712,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9485,-1.31,-97.7,648.0,-6.0,247,9491,0.00,2.42,0.00,0.000,4,0.000,0.039,2588,541,2711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9553,-1.31,-97.7,648.0,-6.0,247,9561,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2189,2711,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9964,-1.31,-97.7,691.9,-9.2,251,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2189,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10324,-1.31,-97.7,728.2,-10.0,254,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2189,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10685,-1.31,-97.7,761.2,-9.4,257,10691,0.00,2.53,0.00,0.000,4,0.000,0.044,2565,3745,2708,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10743,-1.31,-97.7,761.2,-9.4,257,10750,0.00,2.47,0.00,0.000,6,0.000,0.024,2565,2108,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11164,-1.31,-97.7,800.0,-8.1,261,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2107,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11524,-1.31,-97.7,825.0,-7.1,264,11531,0.00,2.65,0.00,0.000,4,0.000,0.042,2553,3738,2705,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11665,-1.31,-97.7,832.2,-6.7,265,11671,0.00,2.45,0.00,0.000,6,0.000,0.024,2553,2109,2705,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12005,-1.31,-97.7,853.7,-6.0,268,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2110,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12365,-1.31,-97.7,878.6,-6.8,271,12371,0.00,2.62,0.00,0.000,4,0.000,0.043,2541,3758,2703,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12484,-1.31,-97.7,888.0,-7.1,272,12492,0.10,2.47,0.00,0.000,6,0.133,0.024,2573,2106,2702,0,0,0,0,0,0,25.98,26.41,28.83
$GC,12844,-1.31,-97.7,915.4,-7.6,275,12846,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2106,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13205,-1.34,-97.7,944.8,-8.1,278,13211,0.00,2.42,0.00,0.000,4,0.000,0.041,2574,549,2700,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13283,-1.36,-97.7,944.8,-8.1,278,13291,0.00,2.50,0.00,0.000,6,0.000,0.025,2563,2187,2700,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13684,-1.36,-97.7,989.9,-9.4,282,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2188,2699,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13701,begin apogee
$GC,13710,-0.29,0.0,992.0,-9.6,283,13803,1.08,0.00,85.65,1.678,6,0.129,0.000,2898,1576,2319,0,0,0,0,0,0,25.17,28.83,23.05
$STATE,13805,end apogee,CONTROL_FINISHED_OK
$STATE,13805,begin climb
$GC,13808,1.26,97.7,998.0,0.0,288,13908,1.45,2.80,91.93,1.656,4,0.064,0.036,3406,3200,1921,0,0,0,0,0,0,25.24,24.87,23.05
$GC,13959,1.19,162.9,997.5,3.6,296,14025,0.15,2.55,59.50,1.644,6,0.179,0.030,3384,1583,1654,0,0,0,0,0,0,25.34,25.65,23.25
$GC,14386,1.11,162.9,966.4,7.7,307,14393,0.00,1.98,0.00,0.000,4,0.000,0.048,3391,357,1645,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14588,1.03,162.9,956.1,7.9,308,14594,0.15,1.92,0.00,0.000,6,0.148,0.024,3331,1658,1644,0,0,0,0,0,0,25.85,26.42,28.83
$GC,14986,0.99,162.9,918.8,7.7,312,14994,0.00,2.10,0.00,0.000,4,0.000,0.048,3340,359,1642,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15136,0.97,162.9,909.2,7.6,313,15143,0.00,1.95,0.00,0.000,6,0.000,0.024,3340,1656,1641,0,0,0,0,0,0,28.83,26.49,28.83
$GC,15466,0.94,162.9,882.9,7.5,316,15474,0.15,2.10,0.00,0.000,4,0.157,0.048,3309,353,1640,0,0,0,0,0,0,26.20,26.22,28.83
$GC,15595,0.92,162.9,874.6,7.2,317,15602,0.00,1.95,0.00,0.000,6,0.000,0.024,3309,1652,1639,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15947,0.92,162.9,849.4,7.0,320,15954,0.00,2.10,0.00,0.000,4,0.000,0.049,3318,352,1639,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,25859,end climb,SURFACE_DEPTH_REACHED
$STATE,25859,begin surface coast
$FINISH,1.2,1.013985
$STATE,25891,end surface coast,CONTROL_FINISHED_OK
$STATE,25891,begin surface
$SM_CCo,25914,42.65,0.128,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.01
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7622400
$TM_FREEKB,4977056
$24V_AH,23.0,68.157
$10V_AH,10.1,59.604
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,218.000,266.225,42.650,0.000,26.503,51.177,207.972,0.000,0.000,18.541,2282.639,20830.473,708.292,2167.235,520.032,33.262,1713.131,0.000,1769.527,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,343684
$DATA_FILE_SIZE,13466,532
$CAP_FILE_SIZE,193868,0
$CFSIZE,260034560,215699456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130113,113423,2439.562,-3757.741,37,0.8,38,-14.0