version: 66.11
glider: 189
mission: 7
dive: 443
start: 1 31 113 3 54 48
data:
$ID,189
$MISSION,7
$DIVE,443
$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,-48211.426
$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
$GPS1,310113,034434,2429.747,-3747.930,22,0.9,22,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-59.9
$GPS2,310113,035347,2429.764,-3747.926,16,2.0,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115,-0.005
$KALMAN_X,221716.2,-309.1,479.4,-198360.6,-1456.6
$KALMAN_Y,41191.3,68.8,55.5,-52146.0,2262.9
$MHEAD_RNG_PITCHd_Wd,106.6,2289,-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,18,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.57,0.000,2,0.000,0.000,152,2129,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.2,0.0,1,104,9.15,2.70,-50.75,0.000,4,0.188,0.051,2562,3747,2720,0,0,0,0,0,0,25.37,25.98,26.70
$GC,394,-1.25,-97.7,25.8,-9.2,37,403,0.10,2.47,0.00,0.000,6,0.132,0.021,2594,2087,2721,0,0,0,0,0,0,25.96,26.37,28.83
$GC,705,-1.22,-97.7,48.5,-7.4,68,713,0.00,2.42,0.00,0.000,4,0.000,0.037,2595,548,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,904,-1.16,-97.7,64.8,-8.2,88,913,0.10,2.45,0.00,0.000,6,0.135,0.024,2618,2182,2721,0,0,0,0,0,0,25.97,26.40,28.83
$GC,1214,-1.16,-97.7,89.5,-7.9,107,1221,0.00,2.50,0.00,0.000,4,0.000,0.039,2608,3739,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1427,-1.16,-97.7,107.3,-8.7,114,1432,0.00,2.38,0.00,0.000,6,0.000,0.021,2608,2099,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1755,-1.16,-97.7,134.9,-8.5,125,1761,0.00,2.65,0.00,0.000,4,0.000,0.039,2596,3747,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2044,-1.14,-97.7,152.7,-6.9,133,2053,0.15,2.45,0.00,0.000,6,0.143,0.020,2636,2093,2723,0,0,0,0,0,0,26.03,26.48,28.83
$GC,2356,-1.17,-97.7,168.8,-4.0,139,2361,0.00,2.62,0.00,0.000,4,0.000,0.039,2625,3758,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2454,-1.20,-97.7,171.3,-4.0,140,2461,0.00,2.45,0.00,0.000,6,0.000,0.020,2625,2102,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2776,-1.23,-97.7,189.3,-5.4,146,2781,0.00,2.40,0.00,0.000,4,0.000,0.037,2625,539,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2874,-1.25,-97.7,193.3,-5.8,147,2882,0.00,2.45,0.00,0.000,6,0.000,0.022,2613,2187,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3194,-1.25,-97.7,217.6,-6.7,153,3201,0.00,2.53,0.00,0.000,4,0.000,0.040,2601,3752,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3295,-1.25,-97.7,221.8,-6.8,154,3301,0.00,2.40,0.00,0.000,6,0.000,0.021,2601,2098,2724,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3614,-1.25,-97.7,249.6,-7.7,160,3621,0.00,2.65,0.00,0.000,4,0.000,0.038,2589,3747,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3723,-1.25,-97.7,254.3,-7.9,161,3732,0.00,2.47,0.00,0.000,6,0.000,0.021,2589,2087,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4035,-1.25,-97.7,281.0,-7.3,167,4041,0.00,2.65,0.00,0.000,4,0.000,0.040,2577,3758,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4263,-1.25,-97.7,295.3,-7.8,170,4272,0.00,2.47,0.00,0.000,6,0.000,0.020,2577,2100,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4574,-1.25,-97.7,325.9,-8.7,176,4582,0.00,2.65,0.00,0.000,4,0.000,0.039,2565,3748,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4674,-1.25,-97.7,331.1,-8.7,177,4682,0.08,2.45,0.00,0.000,6,0.132,0.021,2590,2087,2723,0,0,0,0,0,0,26.15,26.49,28.83
$GC,4995,-1.25,-97.7,358.8,-7.6,183,5001,0.00,2.67,0.00,0.000,4,0.000,0.040,2580,3751,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5045,-1.25,-97.7,358.8,-7.6,183,5052,0.00,2.42,0.00,0.000,6,0.000,0.021,2579,2104,2722,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5355,-1.25,-97.7,385.4,-7.4,189,5361,0.00,2.42,0.00,0.000,4,0.000,0.037,2580,546,2721,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5483,-1.25,-97.7,394.8,-7.7,191,5491,0.00,2.47,0.00,0.000,6,0.000,0.024,2567,2190,2721,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5835,-1.25,-97.7,421.1,-7.1,197,5837,0.12,0.00,0.00,0.000,6,0.155,0.000,2601,2191,2720,0,0,0,0,0,0,26.36,28.83,28.83
$GC,6135,-1.28,-97.7,439.9,-6.2,202,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2187,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6435,-1.32,-97.7,461.8,-7.4,207,6441,0.00,2.50,0.00,0.000,4,0.000,0.041,2591,3739,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6556,-1.34,-97.7,472.1,-8.2,209,6561,0.00,2.40,0.00,0.000,6,0.000,0.021,2590,2094,2718,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6915,-1.37,-97.7,503.2,-8.7,215,6921,0.00,2.42,0.00,0.000,4,0.000,0.039,2590,549,2717,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6974,-1.41,-97.7,503.2,-8.7,215,6981,0.00,2.47,0.00,0.000,6,0.000,0.024,2579,2190,2717,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7395,-1.43,-97.7,545.3,-8.8,219,7402,0.12,2.47,0.00,0.000,4,0.081,0.042,2505,3757,2715,0,0,0,0,0,0,26.65,26.16,28.83
$GC,7533,-1.43,-97.7,556.4,-8.9,220,7541,0.12,2.47,0.00,0.000,6,0.161,0.021,2535,2097,2715,0,0,0,0,0,0,26.04,26.46,28.83
$GC,7875,-1.40,-97.7,584.8,-8.2,223,7882,0.00,2.62,0.00,0.000,4,0.000,0.041,2524,3751,2714,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8034,-1.36,-97.7,594.2,-7.8,224,8042,0.10,2.45,0.00,0.000,6,0.134,0.021,2556,2097,2713,0,0,0,0,0,0,26.03,26.45,28.83
$GC,8355,-1.36,-97.7,620.3,-7.4,227,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2098,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8715,-1.36,-97.7,646.2,-7.2,230,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2097,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9075,-1.36,-97.7,671.8,-7.2,233,9081,0.00,2.70,0.00,0.000,4,0.000,0.042,2546,3749,2711,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9205,-1.36,-97.7,680.6,-7.2,234,9211,0.00,2.45,0.00,0.000,6,0.000,0.022,2546,2109,2710,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9555,-1.36,-97.7,706.0,-7.1,237,9561,0.00,2.62,0.00,0.000,4,0.000,0.041,2534,3741,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9663,-1.36,-97.7,706.0,-7.1,237,9672,0.00,2.47,0.00,0.000,6,0.000,0.022,2534,2095,2709,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10034,-1.36,-97.7,750.1,-9.2,241,10041,0.00,2.45,0.00,0.000,4,0.000,0.040,2534,547,2708,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10064,-1.36,-97.7,750.1,-9.2,241,10072,0.10,2.47,0.00,0.000,6,0.144,0.024,2554,2185,2707,0,0,0,0,0,0,25.92,26.38,28.83
$GC,10394,-1.36,-97.7,787.4,-10.4,244,10401,0.00,2.50,0.00,0.000,4,0.000,0.043,2544,3738,2707,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10473,-1.36,-97.7,787.4,-10.4,244,10481,0.00,2.47,0.00,0.000,6,0.000,0.022,2544,2093,2706,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10875,-1.36,-97.7,829.5,-8.8,248,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2092,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11234,-1.36,-97.7,854.2,-7.0,251,11242,0.00,2.70,0.00,0.000,4,0.000,0.042,2532,3742,2703,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11373,-1.36,-97.7,862.5,-6.9,252,11382,0.12,2.47,0.00,0.000,6,0.151,0.023,2563,2100,2703,0,0,0,0,0,0,26.01,26.39,28.83
$GC,11716,-1.38,-97.7,888.3,-7.1,255,11721,0.00,2.42,0.00,0.000,4,0.000,0.041,2564,542,2702,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11844,-1.41,-97.7,898.1,-7.4,256,11852,0.00,2.53,0.00,0.000,6,0.000,0.025,2553,2196,2702,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12195,-1.43,-97.7,926.9,-8.0,259,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2196,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12556,-1.46,-97.7,955.2,-7.9,262,12561,0.00,2.58,0.00,0.000,4,0.000,0.041,2553,549,2700,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12754,-1.48,-97.7,964.7,-7.9,263,12762,0.00,2.53,0.00,0.000,6,0.000,0.025,2542,2194,2699,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,13031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13032,begin apogee
$GC,13041,-0.29,0.0,994.8,-8.3,266,13134,1.15,0.05,85.72,1.691,6,0.130,0.124,2898,1625,2320,0,0,0,0,0,0,25.10,24.73,22.96
$STATE,13136,end apogee,CONTROL_FINISHED_OK
$STATE,13136,begin climb
$GC,13139,1.33,97.7,999.5,0.0,271,13242,1.48,2.20,92.07,1.697,4,0.063,0.047,3434,351,1921,0,0,0,0,0,0,25.27,24.89,23.01
$GC,13464,1.17,97.7,985.1,6.9,287,13473,0.20,1.98,0.00,0.000,6,0.164,0.024,3382,1665,1910,0,0,0,0,0,0,25.72,26.24,28.83
$GC,13836,1.08,107.3,961.5,6.2,291,13852,0.12,2.50,7.50,1.419,4,0.177,0.036,3351,3200,1883,0,0,0,0,0,0,26.15,26.16,23.93
$GC,13904,0.99,116.9,961.5,6.2,291,13923,0.12,2.55,11.20,1.506,6,0.151,0.031,3324,1577,1842,0,0,0,0,0,0,25.82,26.20,23.87
$GC,14315,0.98,127.9,932.2,6.1,295,14332,0.00,1.98,11.12,1.510,4,0.000,0.050,3331,351,1797,0,0,0,0,0,0,28.83,25.99,23.96
$GC,14435,0.98,134.4,923.9,6.3,296,14447,0.00,1.98,7.38,1.405,6,0.000,0.025,3331,1646,1771,0,0,0,0,0,0,28.83,26.28,23.89
$GC,14786,0.98,134.4,900.6,6.7,299,14793,0.00,2.08,0.00,0.000,4,0.000,0.048,3341,360,1769,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14866,0.98,134.4,900.6,6.7,299,14873,0.00,1.92,0.00,0.000,6,0.000,0.025,3341,1650,1769,0,0,0,0,0,0,28.83,26.42,28.83
$GC,15266,0.98,134.4,865.6,7.3,303,15273,0.00,2.10,0.00,0.000,4,0.000,0.047,3351,347,1767,0,0,0,0,0,0,28.83,26.17,28.83
$GC,15405,0.98,134.4,856.4,7.3,304,15413,0.12,1.98,0.00,0.000,6,0.163,0.025,3320,1671,1767,0,0,0,0,0,0,26.07,26.48,28.83
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$STATE,25667,end climb,SURFACE_DEPTH_REACHED
$STATE,25667,begin surface coast
$FINISH,1.5,1.002246
$STATE,25686,end surface coast,CONTROL_FINISHED_OK
$STATE,25686,begin surface
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$XPDR_PINGS,0
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$TM_FREEKB,4719552
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$10V_AH,10.1,67.775
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,343704
$DATA_FILE_SIZE,13462,520
$CAP_FILE_SIZE,189688,0
$CFSIZE,260034560,210489344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,110534,2429.700,-3746.821,39,0.9,39,-14.0