version: 66.11
glider: 189
mission: 7
dive: 418
start: 1 23 113 13 11 36
data:
$ID,189
$MISSION,7
$DIVE,418
$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,-48180
$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
$GPS1,230113,130134,2428.998,-3748.645,29,1.0,30,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-56.7
$GPS2,230113,131035,2429.027,-3748.689,18,0.9,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.029,-0.112
$KALMAN_X,236352.0,-140.7,-279.2,-213678.5,326.1
$KALMAN_Y,-5785.1,-260.7,-460.9,-5687.1,5223.8
$MHEAD_RNG_PITCHd_Wd,179.3,3675,-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,-11.20,0.000,2,0.000,0.000,151,2124,1421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.4,0.0,1,104,9.00,2.50,-49.10,0.000,4,0.184,0.050,2567,537,2719,0,0,0,0,0,0,25.25,26.02,26.70
$GC,377,-1.23,-97.7,23.2,-9.0,35,384,0.17,2.45,0.00,0.000,6,0.160,0.025,2601,2188,2721,0,0,0,0,0,0,25.78,26.33,28.83
$GC,685,-1.21,-97.7,48.8,-8.0,66,693,0.00,2.50,0.00,0.000,4,0.000,0.041,2591,3739,2721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,985,-1.18,-97.7,74.7,-8.1,96,993,0.00,2.42,0.00,0.000,6,0.000,0.021,2591,2106,2722,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1295,-1.14,-97.7,101.1,-8.0,107,1302,0.15,2.62,0.00,0.000,4,0.145,0.040,2622,3740,2722,0,0,0,0,0,0,26.28,26.18,28.83
$GC,1594,-1.14,-97.7,122.6,-7.2,117,1601,0.00,2.42,0.00,0.000,6,0.000,0.020,2622,2099,2721,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1925,-1.14,-97.7,147.7,-7.8,128,1932,0.00,2.42,0.00,0.000,4,0.000,0.037,2622,549,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2224,-1.12,-97.7,169.3,-7.1,134,2232,0.00,2.45,0.00,0.000,6,0.000,0.024,2610,2185,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2585,-1.12,-97.7,193.7,-6.8,140,2592,0.10,2.47,0.00,0.000,4,0.166,0.040,2625,3758,2724,0,0,0,0,0,0,26.47,26.21,28.83
$GC,2743,-1.12,-97.7,202.9,-7.3,142,2751,0.00,2.47,0.00,0.000,6,0.000,0.020,2624,2091,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3065,-1.15,-97.7,232.5,-8.2,148,3071,0.00,2.62,0.00,0.000,4,0.000,0.039,2612,3758,2727,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3364,-1.15,-97.7,254.1,-7.0,153,3371,0.00,2.45,0.00,0.000,6,0.000,0.021,2613,2098,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3726,-1.17,-97.7,275.6,-6.0,159,3731,0.00,2.60,0.00,0.000,4,0.000,0.040,2600,3748,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3853,-1.17,-97.7,283.9,-6.5,161,3861,0.00,2.45,0.00,0.000,6,0.000,0.020,2600,2101,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4205,-1.17,-97.7,309.1,-7.1,167,4211,0.00,2.62,0.00,0.000,4,0.000,0.040,2588,3740,2724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4423,-1.17,-97.7,323.3,-7.7,170,4431,0.12,2.45,0.00,0.000,6,0.143,0.021,2621,2092,2723,0,0,0,0,0,0,26.15,26.50,28.83
$GC,4745,-1.21,-97.7,348.1,-6.7,176,4751,0.00,2.42,0.00,0.000,4,0.000,0.038,2621,548,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4824,-1.25,-97.7,352.1,-6.7,177,4831,0.00,2.45,0.00,0.000,6,0.000,0.023,2611,2188,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5165,-1.29,-97.7,375.6,-6.5,183,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2188,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5466,-1.33,-97.7,394.1,-6.1,188,5472,0.12,2.58,0.00,0.000,4,0.079,0.037,2545,542,2721,0,0,0,0,0,0,26.67,26.24,28.83
$GC,5535,-1.33,-97.7,398.3,-6.2,189,5542,0.10,2.47,0.00,0.000,6,0.142,0.024,2573,2191,2721,0,0,0,0,0,0,25.94,26.44,28.83
$GC,5885,-1.33,-97.7,422.0,-6.6,195,5891,0.00,2.50,0.00,0.000,4,0.000,0.042,2563,3745,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6153,-1.33,-97.7,439.4,-7.2,199,6161,0.00,2.47,0.00,0.000,6,0.000,0.021,2563,2091,2717,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6485,-1.33,-97.7,470.2,-8.9,205,6491,0.00,2.67,0.00,0.000,4,0.000,0.041,2551,3745,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6728,-1.30,-97.7,494.0,-9.9,209,6733,0.00,2.42,0.00,0.000,6,0.000,0.022,2551,2091,2718,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7144,-1.30,-97.7,535.3,-9.8,213,7152,0.10,2.67,0.00,0.000,4,0.159,0.041,2565,3750,2717,0,0,0,0,0,0,26.48,26.19,28.83
$GC,7393,-1.30,-97.7,556.3,-9.2,215,7401,0.00,2.47,0.00,0.000,6,0.000,0.021,2565,2100,2716,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7745,-1.30,-97.7,579.1,-6.8,218,7751,0.00,2.42,0.00,0.000,4,0.000,0.039,2565,552,2715,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7853,-1.30,-97.7,579.1,-6.8,218,7862,0.00,2.47,0.00,0.000,6,0.000,0.024,2553,2190,2714,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8225,-1.30,-97.7,606.3,-5.7,222,8232,0.00,2.53,0.00,0.000,4,0.000,0.042,2542,3749,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8465,-1.30,-97.7,624.7,-6.8,224,8472,0.10,2.45,0.00,0.000,6,0.129,0.022,2574,2097,2713,0,0,0,0,0,0,26.06,26.46,28.83
$GC,8825,-1.30,-97.7,654.3,-8.1,227,8831,0.00,2.42,0.00,0.000,4,0.000,0.040,2574,555,2712,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8873,-1.30,-97.7,654.3,-8.1,227,8881,0.00,2.47,0.00,0.000,6,0.000,0.024,2564,2188,2711,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9185,-1.30,-97.7,687.8,-9.1,230,9191,0.00,2.53,0.00,0.000,4,0.000,0.042,2553,3746,2711,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9324,-1.30,-97.7,700.0,-9.5,231,9331,0.00,2.45,0.00,0.000,6,0.000,0.023,2552,2106,2711,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9664,-1.30,-97.7,736.8,-10.3,234,9671,0.00,2.65,0.00,0.000,4,0.000,0.041,2541,3741,2709,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9784,-1.30,-97.7,748.3,-10.1,235,9792,0.10,2.45,0.00,0.000,6,0.129,0.022,2573,2090,2709,0,0,0,0,0,0,26.03,26.44,28.83
$GC,10145,-1.32,-97.7,775.3,-8.0,238,10151,0.00,2.40,0.00,0.000,4,0.000,0.041,2574,541,2708,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10214,-1.35,-97.7,775.3,-8.0,238,10221,0.00,2.58,0.00,0.000,6,0.000,0.025,2563,2195,2708,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10625,-1.38,-97.7,808.7,-6.9,242,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2195,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10985,-1.41,-97.7,838.0,-7.9,245,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2196,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11345,-1.45,-97.7,870.5,-8.9,248,11352,0.00,2.62,0.00,0.000,4,0.000,0.040,2563,551,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11414,-1.49,-97.7,870.5,-8.9,248,11422,0.00,2.50,0.00,0.000,6,0.000,0.025,2551,2186,2704,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11825,-1.51,-97.7,910.3,-8.3,252,11832,0.12,2.53,0.00,0.000,4,0.083,0.044,2479,3744,2702,0,0,0,0,0,0,26.64,26.07,28.83
$GC,12123,-1.51,-97.7,930.7,-8.1,254,12132,0.12,2.47,0.00,0.000,6,0.162,0.024,2510,2104,2702,0,0,0,0,0,0,25.97,26.39,28.83
$GC,12545,-1.48,-97.7,972.3,-8.6,258,12552,0.00,2.67,0.00,0.000,4,0.000,0.043,2499,3744,2701,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,12784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12784,begin apogee
$GC,12796,-0.29,0.0,996.7,-9.6,260,12886,1.33,0.00,85.82,1.681,6,0.138,0.000,2899,1574,2320,0,0,0,0,0,0,24.98,28.83,22.99
$STATE,12887,end apogee,CONTROL_FINISHED_OK
$STATE,12888,begin climb
$GC,12891,1.33,97.7,1002.7,0.0,265,12991,1.48,2.10,92.07,1.693,4,0.063,0.049,3434,353,1924,0,0,0,0,0,0,25.21,24.87,23.01
$GC,13284,1.20,125.5,990.2,5.3,285,13315,0.17,1.95,24.60,1.606,6,0.165,0.023,3390,1653,1808,0,0,0,0,0,0,25.81,26.29,23.67
$GC,13618,1.13,134.9,969.6,6.2,292,13632,0.00,2.08,9.15,1.470,4,0.000,0.047,3398,354,1770,0,0,0,0,0,0,28.83,25.98,23.93
$GC,13913,1.04,134.9,951.0,7.0,294,13921,0.22,1.95,0.00,0.000,6,0.152,0.024,3337,1657,1767,0,0,0,0,0,0,25.83,26.38,28.83
$GC,14336,1.01,134.9,911.7,8.2,298,14341,0.00,2.05,0.00,0.000,4,0.000,0.049,3346,347,1766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14503,1.01,134.9,901.6,8.2,299,14507,0.00,1.98,0.00,0.000,6,0.000,0.025,3346,1662,1765,0,0,0,0,0,0,28.83,26.48,28.83
$GC,14807,0.99,134.9,874.1,8.0,302,14812,0.00,2.05,0.00,0.000,4,0.000,0.048,3356,354,1764,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14946,0.96,134.9,864.6,7.8,303,14953,0.12,1.92,0.00,0.000,6,0.141,0.025,3315,1649,1763,0,0,0,0,0,0,26.00,26.50,28.83
$GC,15285,0.96,134.9,837.9,7.5,306,15292,0.00,2.08,0.00,0.000,4,0.000,0.049,3323,356,1763,0,0,0,0,0,0,28.83,26.16,28.83
$GC,15415,0.96,134.9,828.6,7.5,307,15422,0.00,1.95,0.00,0.000,6,0.000,0.025,3324,1658,1762,0,0,0,0,0,0,28.83,26.50,28.83
$GC,15765,0.96,134.9,801.0,7.7,310,15772,0.00,2.10,0.00,0.000,4,0.000,0.047,3333,354,1762,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15886,0.96,134.9,791.3,7.8,311,15893,0.00,1.92,0.00,0.000,6,0.000,0.025,3333,1652,1761,0,0,0,0,0,0,28.83,26.50,28.83
$GC,16245,0.96,134.9,763.9,7.7,314,16252,0.00,2.10,0.00,0.000,4,0.000,0.047,3343,356,1761,0,0,0,0,0,0,28.83,26.12,28.83
$GC,16476,0.96,134.9,755.3,7.5,315,16484,0.10,1.92,0.00,0.000,6,0.132,0.026,3310,1655,1760,0,0,0,0,0,0,26.06,26.48,28.83
$GC,16846,0.98,154.7,727.8,5.7,319,16866,0.00,0.00,17.73,1.496,6,0.000,0.000,3309,1654,1688,0,0,0,0,0,0,28.83,28.83,23.78
$GC,17206,1.05,170.1,705.8,5.9,322,17226,0.00,2.58,15.23,1.454,4,0.000,0.037,3309,3202,1625,0,0,0,0,0,0,28.83,25.91,23.90
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$STATE,24935,end climb,SURFACE_DEPTH_REACHED
$STATE,24935,begin surface coast
$FINISH,1.3,1.010069
$STATE,24966,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,64.382
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$FG_AHR_10Vo,0.000
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$MEM,343720
$DATA_FILE_SIZE,13425,517
$CAP_FILE_SIZE,193335,0
$CFSIZE,260034560,212660224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230113,201023,2428.495,-3748.811,42,0.8,42,-14.0