version: 66.11
glider: 189
mission: 7
dive: 469
start: 2 8 113 1 4 25
data:
$ID,189
$MISSION,7
$DIVE,469
$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,-48244.129
$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
$GPS1,080213,005359,2431.092,-3748.137,39,1.0,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-60.1
$GPS2,080213,010323,2431.009,-3748.198,18,1.1,18,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115,0.003
$KALMAN_X,204349.2,223.6,-422.0,-181083.5,-1047.4
$KALMAN_Y,60909.2,-135.7,-69.6,-69241.5,-96.9
$MHEAD_RNG_PITCHd_Wd,102.6,97,-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,-10.73,0.000,2,0.000,0.000,153,2130,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.2,0.0,1,104,9.02,2.53,-50.20,0.000,4,0.183,0.050,2570,547,2715,0,0,0,0,0,0,25.37,25.91,26.70
$GC,225,-1.24,-97.7,7.5,-7.0,20,233,0.10,2.47,0.00,0.000,6,0.143,0.024,2590,2184,2717,0,0,0,0,0,0,25.80,26.26,28.83
$GC,535,-1.21,-97.7,31.5,-8.3,51,542,0.00,2.50,0.00,0.000,4,0.000,0.040,2581,3739,2719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,615,-1.17,-97.7,37.3,-7.0,59,623,0.10,2.42,0.00,0.000,6,0.131,0.021,2614,2093,2717,0,0,0,0,0,0,25.96,26.40,28.83
$GC,924,-1.17,-97.7,59.8,-7.6,90,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2093,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1244,-1.17,-97.7,83.2,-6.8,114,1251,0.00,2.67,0.00,0.000,4,0.000,0.039,2603,3749,2717,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1343,-1.17,-97.7,89.3,-6.8,117,1351,0.00,2.47,0.00,0.000,6,0.000,0.021,2603,2092,2717,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1665,-1.17,-97.7,116.1,-8.7,128,1671,0.00,2.42,0.00,0.000,4,0.000,0.037,2603,547,2718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1703,-1.17,-97.7,119.0,-9.0,129,1712,0.12,2.50,0.00,0.000,6,0.157,0.023,2623,2205,2718,0,0,0,0,0,0,26.01,26.39,28.83
$GC,2028,-1.19,-97.7,143.3,-6.6,140,2033,0.00,2.58,0.00,0.000,4,0.000,0.036,2623,542,2718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2104,-1.19,-97.7,147.2,-6.6,142,2113,0.00,2.50,0.00,0.000,6,0.000,0.023,2613,2201,2718,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2445,-1.19,-97.7,169.2,-6.0,149,2451,0.00,2.60,0.00,0.000,4,0.000,0.035,2613,540,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2534,-1.19,-97.7,173.6,-6.3,150,2542,0.00,2.45,0.00,0.000,6,0.000,0.023,2600,2186,2719,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2864,-1.19,-97.7,200.4,-7.6,156,2871,0.00,2.50,0.00,0.000,4,0.000,0.040,2589,3747,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3003,-1.19,-97.7,210.7,-8.2,158,3011,0.00,2.45,0.00,0.000,6,0.000,0.020,2589,2099,2719,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3345,-1.19,-97.7,240.7,-8.2,164,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2099,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-1.19,-97.7,260.4,-6.4,169,3651,0.00,2.42,0.00,0.000,4,0.000,0.037,2592,548,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3694,-1.19,-97.7,260.4,-6.4,169,3703,0.12,2.47,0.00,0.000,6,0.160,0.023,2614,2193,2719,0,0,0,0,0,0,25.98,26.41,28.83
$GC,4006,-1.23,-97.7,280.5,-5.5,175,4012,0.00,2.55,0.00,0.000,4,0.000,0.036,2615,542,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4125,-1.23,-97.7,287.6,-5.7,177,4132,0.00,2.47,0.00,0.000,6,0.000,0.023,2604,2191,2719,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4486,-1.25,-97.7,310.6,-6.5,183,4492,0.00,2.47,0.00,0.000,4,0.000,0.041,2592,3758,2719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4534,-1.28,-97.7,310.6,-6.5,183,4543,0.00,2.45,0.00,0.000,6,0.000,0.021,2592,2106,2719,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4844,-1.28,-97.7,338.2,-7.9,189,4852,0.00,2.45,0.00,0.000,4,0.000,0.037,2592,549,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4905,-1.28,-97.7,343.4,-8.1,190,4912,0.00,2.47,0.00,0.000,6,0.000,0.024,2580,2194,2718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5265,-1.28,-97.7,374.6,-8.7,196,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2194,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5564,-1.28,-97.7,403.8,-9.9,201,5571,0.00,2.60,0.00,0.000,4,0.000,0.037,2580,549,2717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5634,-1.28,-97.7,409.9,-10.0,202,5641,0.00,2.47,0.00,0.000,6,0.000,0.024,2569,2195,2717,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5984,-1.28,-97.7,442.3,-8.7,208,5991,0.00,2.50,0.00,0.000,4,0.000,0.041,2557,3747,2716,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6123,-1.28,-97.7,451.6,-8.0,210,6132,0.12,2.47,0.00,0.000,6,0.150,0.021,2588,2088,2716,0,0,0,0,0,0,26.07,26.45,28.83
$GC,6466,-1.31,-97.7,474.1,-6.1,216,6471,0.00,2.40,0.00,0.000,4,0.000,0.038,2589,538,2715,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6504,-1.34,-97.7,474.1,-6.1,216,6511,0.00,2.50,0.00,0.000,6,0.000,0.024,2578,2196,2715,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6825,-1.34,-97.7,498.3,-7.1,222,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2196,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7125,-1.34,-97.7,523.1,-8.2,225,7131,0.00,2.58,0.00,0.000,4,0.000,0.037,2578,546,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7193,-1.34,-97.7,523.1,-8.2,225,7201,0.00,2.50,0.00,0.000,6,0.000,0.024,2566,2194,2713,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7605,-1.34,-97.7,564.3,-8.6,229,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2194,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7965,-1.34,-97.7,593.4,-8.2,232,7971,0.00,2.58,0.00,0.000,4,0.000,0.038,2566,540,2712,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8053,-1.34,-97.7,593.4,-8.2,232,8061,0.00,2.53,0.00,0.000,6,0.000,0.024,2554,2197,2711,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8444,-1.34,-97.7,631.5,-7.9,236,8451,0.00,2.53,0.00,0.000,4,0.000,0.043,2542,3750,2710,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8624,-1.34,-97.7,640.8,-7.8,237,8632,0.00,2.45,0.00,0.000,6,0.000,0.022,2542,2109,2710,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9044,-1.34,-97.7,680.9,-8.4,241,9051,0.00,2.47,0.00,0.000,4,0.000,0.039,2542,547,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9124,-1.34,-97.7,680.9,-8.4,241,9132,0.10,2.50,0.00,0.000,6,0.144,0.024,2563,2193,2708,0,0,0,0,0,0,25.94,26.36,28.83
$GC,9525,-1.34,-97.7,721.0,-8.3,245,9532,0.00,2.53,0.00,0.000,4,0.000,0.044,2553,3751,2707,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9583,-1.34,-97.7,721.0,-8.3,245,9591,0.00,2.47,0.00,0.000,6,0.000,0.022,2553,2105,2706,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10005,-1.36,-97.7,752.9,-6.6,249,10012,0.00,2.67,0.00,0.000,4,0.000,0.042,2542,3750,2705,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10055,-1.38,-97.7,752.9,-6.6,249,10062,0.00,2.45,0.00,0.000,6,0.000,0.023,2541,2111,2705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10365,-1.38,-97.7,773.9,-5.8,252,10371,0.00,2.47,0.00,0.000,4,0.000,0.040,2541,548,2704,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10434,-1.38,-97.7,773.9,-5.8,252,10441,0.00,2.50,0.00,0.000,6,0.000,0.024,2530,2191,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10845,-1.38,-97.7,808.3,-7.2,256,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2191,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11204,-1.38,-97.7,842.4,-9.1,259,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2191,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11564,-1.38,-97.7,879.5,-10.3,262,11572,0.00,2.53,0.00,0.000,4,0.000,0.044,2517,3744,2701,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11623,-1.38,-97.7,879.5,-10.3,262,11632,0.15,2.47,0.00,0.000,6,0.151,0.023,2556,2103,2701,0,0,0,0,0,0,25.89,26.36,28.83
$GC,12046,-1.41,-97.7,921.8,-8.8,266,12052,0.00,2.45,0.00,0.000,4,0.000,0.041,2557,545,2699,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12154,-1.44,-97.7,921.8,-8.8,266,12163,0.00,2.58,0.00,0.000,6,0.000,0.026,2546,2189,2699,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12525,-1.46,-97.7,959.0,-7.7,270,12532,0.00,2.62,0.00,0.000,4,0.000,0.040,2546,549,2698,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12615,-1.49,-97.7,959.0,-7.7,270,12621,0.00,2.50,0.00,0.000,6,0.000,0.026,2534,2187,2698,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,12921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12921,begin apogee
$GC,12930,-0.29,0.0,990.7,-7.8,275,13024,1.17,0.03,85.20,1.678,6,0.127,0.069,2899,1616,2318,0,0,0,0,0,0,25.04,24.41,22.97
$STATE,13026,end apogee,CONTROL_FINISHED_OK
$STATE,13026,begin climb
$GC,13030,1.33,97.7,994.5,0.0,280,13132,1.48,2.15,92.25,1.676,4,0.060,0.047,3441,357,1920,0,0,0,0,0,0,25.33,24.94,23.03
$GC,13245,1.17,97.7,985.8,7.9,291,13252,0.20,1.95,0.00,0.000,6,0.150,0.024,3381,1658,1912,0,0,0,0,0,0,25.57,26.08,28.83
$GC,13625,1.07,97.7,958.9,7.1,295,13632,0.15,2.47,0.00,0.000,4,0.168,0.036,3342,3202,1909,0,0,0,0,0,0,26.06,26.22,28.83
$GC,13674,0.97,97.7,958.9,7.1,295,13682,0.10,2.53,0.00,0.000,6,0.151,0.031,3321,1586,1908,0,0,0,0,0,0,25.89,26.27,28.83
$GC,13986,0.93,97.7,934.0,7.0,298,13991,0.00,1.98,0.00,0.000,4,0.000,0.049,3329,356,1906,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14105,0.90,97.7,925.4,6.9,299,14112,0.10,1.92,0.00,0.000,6,0.138,0.024,3296,1647,1906,0,0,0,0,0,0,26.03,26.47,28.83
$GC,14465,0.90,102.7,903.1,6.4,302,14471,0.00,2.45,0.00,0.000,4,0.000,0.036,3295,3210,1905,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,25681,end climb,SURFACE_DEPTH_REACHED
$STATE,25681,begin surface coast
$FINISH,1.3,1.020715
$STATE,25713,end surface coast,CONTROL_FINISHED_OK
$STATE,25713,begin surface
$SM_CCo,25737,59.95,0.123,0,0,1096,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.34
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.40
$XPDR_PINGS,1
$SC_FREEKB,7589760
$TM_FREEKB,4605408
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$10V_AH,10.0,71.099
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.550,227.600,245.400,59.950,0.000,25.081,37.651,200.821,0.250,0.000,19.258,2155.924,20866.785,726.287,2006.634,592.538,33.255,1698.055,0.000,1629.189,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.270,13.459,0.000,0.000
$MEM,343712
$DATA_FILE_SIZE,13407,532
$CAP_FILE_SIZE,194198,0
$CFSIZE,260034560,208224256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080213,081534,2430.728,-3747.551,31,0.8,31,-14.0