version: 66.11
glider: 189
mission: 7
dive: 393
start: 1 15 113 22 46 36
data:
$ID,189
$MISSION,7
$DIVE,393
$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,-48148.375
$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
$GPS1,150113,223322,2439.892,-3756.225,42,1.0,43,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-50.7
$GPS2,150113,224536,2439.958,-3756.207,16,1.4,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.061,-0.103
$KALMAN_X,219955.1,308.9,-514.0,-210170.8,-331.1
$KALMAN_Y,-55116.0,-150.8,-212.3,63518.7,1237.8
$MHEAD_RNG_PITCHd_Wd,163.5,21395,-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,-97.7,0.0,0.0,0,43,0.00,0.00,-20.52,0.000,2,0.000,0.000,153,2112,1129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.26,-97.7,2.1,0.0,2,124,9.05,0.00,-60.97,0.000,6,0.183,0.000,2591,2112,2719,0,0,0,0,0,0,25.44,28.83,26.67
$GC,424,-1.19,-97.7,21.0,-7.2,40,433,0.00,2.65,0.00,0.000,4,0.000,0.041,2581,3748,2720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,494,-1.11,-97.7,27.2,-9.1,47,503,0.17,2.45,0.00,0.000,6,0.126,0.021,2637,2097,2723,0,0,0,0,0,0,25.82,26.39,28.83
$GC,804,-1.11,-97.7,53.5,-8.8,78,812,0.00,2.65,0.00,0.000,4,0.000,0.040,2626,3742,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1063,-1.11,-97.7,75.8,-8.5,103,1072,0.00,2.45,0.00,0.000,6,0.000,0.021,2626,2102,2720,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1374,-1.11,-97.7,96.7,-6.7,114,1381,0.00,2.45,0.00,0.000,4,0.000,0.037,2626,543,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1503,-1.07,-97.7,105.9,-7.7,118,1512,0.15,2.47,0.00,0.000,6,0.151,0.023,2654,2192,2720,0,0,0,0,0,0,26.01,26.44,28.83
$GC,1827,-1.10,-97.7,127.0,-6.0,129,1832,0.00,2.45,0.00,0.000,4,0.000,0.041,2644,3754,2720,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1964,-1.10,-97.7,134.5,-6.3,133,1973,0.00,2.45,0.00,0.000,6,0.000,0.020,2644,2094,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2275,-1.12,-97.7,154.4,-6.0,143,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2094,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2576,-1.14,-97.7,169.2,-4.8,148,2581,0.00,2.60,0.00,0.000,4,0.000,0.039,2632,3750,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2653,-1.14,-97.7,171.4,-4.3,149,2661,0.00,2.47,0.00,0.000,6,0.000,0.020,2629,2087,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2994,-1.14,-97.7,189.3,-5.4,155,3001,0.00,2.40,0.00,0.000,4,0.000,0.037,2632,550,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3115,-1.14,-97.7,198.2,-6.7,157,3121,0.00,2.45,0.00,0.000,6,0.000,0.024,2620,2190,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3474,-1.14,-97.7,230.3,-9.2,163,3481,0.00,2.50,0.00,0.000,4,0.000,0.041,2608,3749,2721,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3774,-1.14,-97.7,256.9,-8.8,168,3781,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2097,2721,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4134,-1.14,-97.7,285.9,-7.9,174,4141,0.00,2.65,0.00,0.000,4,0.000,0.040,2596,3746,2720,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4434,-1.12,-97.7,306.6,-6.8,179,4442,0.10,2.42,0.00,0.000,6,0.123,0.021,2630,2101,2720,0,0,0,0,0,0,26.12,26.51,28.83
$GC,4795,-1.15,-97.7,326.8,-5.5,185,4801,0.00,2.62,0.00,0.000,4,0.000,0.041,2619,3741,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5073,-1.15,-97.7,341.7,-6.2,189,5081,0.00,2.45,0.00,0.000,6,0.000,0.021,2620,2102,2719,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5395,-1.17,-97.7,368.8,-7.9,195,5401,0.00,2.42,0.00,0.000,4,0.000,0.038,2619,552,2718,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5464,-1.17,-97.7,374.1,-8.3,196,5471,0.00,2.47,0.00,0.000,6,0.000,0.024,2608,2195,2718,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5814,-1.17,-97.7,407.5,-9.2,202,5821,0.00,2.60,0.00,0.000,4,0.000,0.037,2608,542,2717,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5863,-1.17,-97.7,407.5,-9.2,202,5872,0.00,2.50,0.00,0.000,6,0.000,0.024,2595,2198,2717,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6175,-1.17,-97.7,434.6,-7.1,208,6182,0.00,2.47,0.00,0.000,4,0.000,0.042,2584,3738,2716,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6323,-1.17,-97.7,442.1,-6.4,210,6332,0.15,2.45,0.00,0.000,6,0.139,0.021,2625,2100,2716,0,0,0,0,0,0,26.08,26.49,28.83
$GC,6656,-1.21,-97.7,462.1,-5.5,216,6661,0.00,2.40,0.00,0.000,4,0.000,0.039,2625,547,2715,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6704,-1.25,-97.7,462.1,-5.5,216,6713,0.00,2.50,0.00,0.000,6,0.000,0.024,2615,2199,2715,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7015,-1.27,-97.7,485.3,-6.6,222,7021,0.00,2.45,0.00,0.000,4,0.000,0.043,2602,3748,2714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7084,-1.30,-97.7,489.6,-6.8,223,7091,0.00,2.47,0.00,0.000,6,0.000,0.021,2602,2096,2714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7494,-1.30,-97.7,525.4,-8.7,228,7501,0.00,2.67,0.00,0.000,4,0.000,0.041,2590,3749,2713,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7734,-1.30,-97.7,548.2,-9.3,230,7741,0.00,2.45,0.00,0.000,6,0.000,0.022,2590,2108,2712,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8095,-1.30,-97.7,579.5,-8.9,233,8102,0.00,2.65,0.00,0.000,4,0.000,0.041,2579,3751,2712,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8153,-1.30,-97.7,579.5,-8.9,233,8161,0.00,2.47,0.00,0.000,6,0.000,0.021,2579,2102,2711,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8574,-1.30,-97.7,614.3,-7.2,237,8582,0.00,2.65,0.00,0.000,4,0.000,0.041,2567,3748,2710,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8873,-1.30,-97.7,634.1,-7.6,239,8881,0.00,2.50,0.00,0.000,6,0.000,0.022,2567,2094,2709,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9294,-1.30,-97.7,676.0,-8.8,243,9302,0.00,2.67,0.00,0.000,4,0.000,0.041,2555,3744,2708,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9593,-1.30,-97.7,696.2,-8.5,245,9601,0.00,2.47,0.00,0.000,6,0.000,0.022,2554,2106,2707,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10014,-1.30,-97.7,735.0,-8.1,249,10022,0.00,2.67,0.00,0.000,4,0.000,0.042,2542,3747,2706,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10313,-1.27,-97.7,755.8,-8.4,251,10322,0.17,2.50,0.00,0.000,6,0.144,0.023,2589,2097,2705,0,0,0,0,0,0,25.91,26.43,28.83
$GC,10734,-1.27,-97.7,797.5,-8.7,255,10742,0.00,2.70,0.00,0.000,4,0.000,0.043,2579,3752,2704,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11023,-1.29,-97.7,821.2,-9.4,257,11031,0.00,2.50,0.00,0.000,6,0.000,0.023,2579,2105,2703,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11334,-1.29,-97.7,857.7,-10.1,260,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2105,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11694,-1.29,-97.7,889.8,-9.2,263,11701,0.00,2.47,0.00,0.000,4,0.000,0.041,2579,554,2701,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11744,-1.29,-97.7,889.8,-9.2,263,11751,0.00,2.50,0.00,0.000,6,0.000,0.025,2567,2198,2700,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12054,-1.29,-97.7,917.0,-7.7,266,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2197,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12414,-1.29,-97.7,942.0,-7.0,269,12421,0.00,2.53,0.00,0.000,4,0.000,0.045,2555,3742,2699,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12494,-1.29,-97.7,942.0,-7.0,269,12501,0.00,2.50,0.00,0.000,6,0.000,0.024,2555,2097,2699,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12894,-1.29,-97.7,976.3,-7.1,273,12901,0.00,2.70,0.00,0.000,4,0.000,0.044,2544,3742,2697,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12963,-1.29,-97.7,976.3,-7.1,273,12971,0.15,2.50,0.00,0.000,6,0.147,0.024,2582,2095,2697,0,0,0,0,0,0,25.91,26.37,28.83
$STATE,13131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13131,begin apogee
$GC,13140,-0.29,0.0,993.1,-7.1,275,13233,1.00,0.00,85.28,1.672,6,0.125,0.000,2899,1576,2319,0,0,0,0,0,0,25.22,28.83,23.01
$STATE,13235,end apogee,CONTROL_FINISHED_OK
$STATE,13235,begin climb
$GC,13238,1.26,97.7,996.3,0.0,280,13337,1.45,2.80,91.78,1.657,4,0.064,0.037,3408,3200,1920,0,0,0,0,0,0,25.25,24.90,23.05
$GC,13415,1.10,97.7,990.8,6.8,289,13425,0.25,2.60,0.00,0.000,6,0.170,0.030,3358,1576,1916,0,0,0,0,0,0,25.41,25.81,28.83
$GC,13747,1.02,97.7,967.6,6.7,296,13753,0.00,1.98,0.00,0.000,4,0.000,0.048,3365,353,1908,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13906,0.93,97.7,959.2,6.8,297,13914,0.20,2.00,0.00,0.000,6,0.149,0.024,3304,1665,1906,0,0,0,0,0,0,25.81,26.40,28.83
$GC,14227,0.90,112.8,938.9,6.0,300,14245,0.00,2.45,12.27,1.536,4,0.000,0.035,3303,3206,1859,0,0,0,0,0,0,28.83,26.07,23.99
$GC,14338,0.86,127.9,938.9,6.0,300,14359,0.15,2.50,15.48,1.553,6,0.168,0.031,3277,1584,1797,0,0,0,0,0,0,25.82,26.17,23.85
$GC,14700,0.89,151.8,912.6,5.6,304,14728,0.00,2.70,22.45,1.583,4,0.000,0.036,3277,3205,1700,0,0,0,0,0,0,28.83,25.69,23.83
$GC,14798,0.92,175.7,912.6,5.6,304,14826,0.00,2.58,23.20,1.575,6,0.000,0.030,3287,1579,1604,0,0,0,0,0,0,28.83,25.97,23.63
$GC,15160,0.95,175.7,878.0,7.6,308,15166,0.00,2.58,0.00,0.000,4,0.000,0.035,3287,3205,1599,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15217,0.99,175.7,878.0,7.6,308,15225,0.00,2.55,0.00,0.000,6,0.000,0.030,3300,1581,1599,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15639,1.02,175.7,842.4,7.4,312,15645,0.00,1.95,0.00,0.000,4,0.000,0.049,3309,356,1595,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15767,1.05,175.7,834.2,7.1,313,15774,0.00,1.95,0.00,0.000,6,0.000,0.025,3309,1656,1596,0,0,0,0,0,0,28.83,26.48,28.83
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$STATE,25197,end climb,SURFACE_DEPTH_REACHED
$STATE,25197,begin surface coast
$FINISH,1.3,1.025675
$STATE,25219,end surface coast,CONTROL_FINISHED_OK
$STATE,25219,begin surface
$SM_CCo,25242,43.42,0.129,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
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$XPDR_PINGS,0
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$TM_FREEKB,4939008
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$10V_AH,10.1,60.899
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.625,221.650,278.325,43.425,0.000,28.034,36.032,367.918,0.000,0.000,17.066,2310.740,19997.707,760.214,2339.355,596.071,33.290,1803.746,0.000,1824.298,0.000,0.535,0.000
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$MEM,343680
$DATA_FILE_SIZE,13391,516
$CAP_FILE_SIZE,198818,0
$CFSIZE,260034560,214863872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160113,054923,2439.072,-3755.464,42,0.7,42,-14.0