version: 66.11
glider: 189
mission: 7
dive: 482
start: 2 11 113 22 52 32
data:
$ID,189
$MISSION,7
$DIVE,482
$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,-48260.477
$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
$GPS1,110213,223304,2430.851,-3748.608,34,1.2,34,-14.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-57.8
$GPS2,110213,225130,2430.831,-3748.823,15,1.3,15,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.116,-0.030
$KALMAN_X,177136.5,729.9,330.8,-156187.8,-4674.9
$KALMAN_Y,63473.8,133.9,172.5,-72651.5,569.5
$MHEAD_RNG_PITCHd_Wd,118.4,1024,-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,-10.70,0.000,2,0.000,0.000,152,2113,1405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,103,9.18,0.00,-50.30,0.000,6,0.185,0.000,2589,2112,2720,0,0,0,0,0,0,25.38,28.83,26.70
$GC,407,-1.21,-97.7,21.3,-6.4,38,414,0.00,2.62,0.00,0.000,4,0.000,0.039,2578,3758,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,567,-1.13,-97.7,32.4,-7.1,54,575,0.20,2.42,0.00,0.000,6,0.143,0.021,2633,2082,2721,0,0,0,0,0,0,25.80,26.39,28.83
$GC,874,-1.13,-97.7,53.7,-7.3,85,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2083,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-1.13,-97.7,74.4,-6.7,115,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2082,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1494,-1.13,-97.7,95.7,-7.0,127,1501,0.00,2.42,0.00,0.000,4,0.000,0.037,2634,543,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1615,-1.13,-97.7,103.4,-6.4,131,1621,0.00,2.42,0.00,0.000,6,0.000,0.023,2622,2197,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1947,-1.13,-97.7,120.0,-5.7,142,1952,0.00,2.55,0.00,0.000,4,0.000,0.036,2622,540,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2045,-1.11,-97.7,125.8,-6.3,145,2052,0.12,2.42,0.00,0.000,6,0.161,0.023,2642,2199,2719,0,0,0,0,0,0,26.03,26.41,28.83
$GC,2367,-1.14,-97.7,150.1,-7.7,156,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-1.17,-97.7,173.8,-7.9,161,2671,0.00,2.60,0.00,0.000,4,0.000,0.036,2642,542,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2794,-1.17,-97.7,183.3,-7.8,163,2801,0.00,2.45,0.00,0.000,6,0.000,0.023,2632,2187,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3145,-1.19,-97.7,207.6,-6.6,169,3151,0.00,2.53,0.00,0.000,4,0.000,0.036,2632,539,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3275,-1.19,-97.7,215.5,-6.5,171,3281,0.00,2.47,0.00,0.000,6,0.000,0.023,2620,2195,2722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3624,-1.19,-97.7,240.0,-7.1,177,3631,0.00,2.58,0.00,0.000,4,0.000,0.035,2620,552,2722,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3745,-1.19,-97.7,249.7,-7.7,179,3751,0.00,2.45,0.00,0.000,6,0.000,0.024,2608,2190,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4106,-1.19,-97.7,274.0,-6.4,185,4111,0.00,2.53,0.00,0.000,4,0.000,0.036,2608,545,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4184,-1.19,-97.7,277.6,-6.2,186,4191,0.00,2.55,0.00,0.000,6,0.000,0.024,2596,2199,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4525,-1.19,-97.7,296.8,-5.2,192,4531,0.00,2.60,0.00,0.000,4,0.000,0.037,2596,546,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4615,-1.19,-97.7,300.1,-5.2,193,4622,0.08,2.47,0.00,0.000,6,0.142,0.024,2609,2189,2722,0,0,0,0,0,0,26.05,26.39,28.83
$GC,4945,-1.19,-97.7,318.9,-5.4,199,4951,0.00,2.58,0.00,0.000,4,0.000,0.037,2610,547,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5014,-1.19,-97.7,322.9,-5.7,200,5021,0.00,2.45,0.00,0.000,6,0.000,0.024,2599,2184,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5364,-1.19,-97.7,350.5,-8.1,206,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2184,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5664,-1.19,-97.7,376.5,-8.6,211,5671,0.00,2.58,0.00,0.000,4,0.000,0.037,2599,543,2720,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5744,-1.19,-97.7,381.8,-8.7,212,5751,0.00,2.47,0.00,0.000,6,0.000,0.024,2587,2196,2719,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6085,-1.19,-97.7,410.5,-7.8,218,6092,0.12,2.50,0.00,0.000,4,0.155,0.041,2610,3744,2719,0,0,0,0,0,0,26.36,26.15,28.83
$GC,6134,-1.19,-97.7,410.5,-7.8,218,6143,0.00,2.45,0.00,0.000,6,0.000,0.021,2610,2103,2719,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6446,-1.22,-97.7,436.2,-7.1,224,6451,0.00,2.40,0.00,0.000,4,0.000,0.038,2609,546,2718,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6544,-1.25,-97.7,440.7,-7.1,225,6551,0.00,2.50,0.00,0.000,6,0.000,0.023,2598,2201,2718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6865,-1.25,-97.7,468.9,-7.9,231,6871,0.00,2.60,0.00,0.000,4,0.000,0.037,2598,543,2717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6944,-1.25,-97.7,473.8,-8.1,232,6951,0.00,2.47,0.00,0.000,6,0.000,0.023,2586,2196,2716,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7284,-1.25,-97.7,500.8,-7.2,238,7291,0.00,2.60,0.00,0.000,4,0.000,0.037,2585,546,2716,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7373,-1.25,-97.7,500.8,-7.2,238,7381,0.00,2.50,0.00,0.000,6,0.000,0.024,2574,2195,2715,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7765,-1.25,-97.7,533.4,-6.7,242,7771,0.00,2.55,0.00,0.000,4,0.000,0.037,2573,547,2714,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7853,-1.25,-97.7,533.4,-6.7,242,7862,0.15,2.50,0.00,0.000,6,0.155,0.024,2600,2196,2714,0,0,0,0,0,0,25.92,26.38,28.83
$GC,8245,-1.27,-97.7,568.9,-7.4,246,8251,0.00,2.60,0.00,0.000,4,0.000,0.038,2601,543,2713,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8395,-1.29,-97.7,579.0,-7.7,247,8401,0.00,2.47,0.00,0.000,6,0.000,0.024,2590,2184,2712,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8725,-1.31,-97.7,609.8,-8.5,250,8731,0.00,2.60,0.00,0.000,4,0.000,0.038,2590,546,2712,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8863,-1.31,-97.7,620.1,-8.6,251,8871,0.00,2.50,0.00,0.000,6,0.000,0.024,2578,2192,2712,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9205,-1.31,-97.7,647.3,-7.8,254,9211,0.00,2.58,0.00,0.000,4,0.000,0.038,2578,539,2711,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9293,-1.31,-97.7,647.3,-7.8,254,9301,0.00,2.53,0.00,0.000,6,0.000,0.024,2566,2196,2710,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9684,-1.31,-97.7,679.9,-6.8,258,9691,0.00,2.60,0.00,0.000,4,0.000,0.038,2566,550,2709,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9824,-1.31,-97.7,689.2,-6.9,259,9831,0.00,2.47,0.00,0.000,6,0.000,0.024,2554,2179,2709,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10164,-1.31,-97.7,718.6,-8.1,262,10172,0.00,2.58,0.00,0.000,4,0.000,0.039,2554,553,2708,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10203,-1.31,-97.7,718.6,-8.1,262,10212,0.12,2.50,0.00,0.000,6,0.168,0.025,2572,2190,2708,0,0,0,0,0,0,25.94,26.35,28.83
$GC,10525,-1.31,-97.7,748.1,-8.2,265,10531,0.00,2.55,0.00,0.000,4,0.000,0.039,2572,548,2709,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10593,-1.31,-97.7,748.1,-8.2,265,10601,0.00,2.53,0.00,0.000,6,0.000,0.025,2562,2198,2706,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11004,-1.31,-97.7,783.7,-7.4,269,11011,0.00,2.62,0.00,0.000,4,0.000,0.039,2562,545,2706,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11054,-1.31,-97.7,783.7,-7.4,269,11061,0.00,2.53,0.00,0.000,6,0.000,0.026,2550,2187,2706,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11365,-1.31,-97.7,810.0,-7.2,272,11367,0.10,0.00,0.00,0.000,6,0.170,0.000,2574,2186,2705,0,0,0,0,0,0,26.43,28.83,28.83
$GC,11724,-1.31,-97.7,840.3,-8.2,275,11731,0.00,2.60,0.00,0.000,4,0.000,0.040,2574,553,2704,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11834,-1.31,-97.7,840.3,-8.2,275,11843,0.00,2.47,0.00,0.000,6,0.000,0.025,2564,2184,2702,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12204,-1.31,-97.7,887.5,-9.8,279,12211,0.00,2.60,0.00,0.000,4,0.000,0.041,2564,550,2702,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12363,-1.31,-97.7,899.6,-9.9,280,12371,0.00,2.58,0.00,0.000,6,0.000,0.025,2552,2188,2702,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12685,-1.31,-97.7,930.1,-8.8,283,12691,0.00,2.58,0.00,0.000,4,0.000,0.041,2551,540,2699,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12773,-1.31,-97.7,930.1,-8.8,283,12782,0.15,2.53,0.00,0.000,6,0.158,0.025,2578,2187,2701,0,0,0,0,0,0,25.84,26.31,28.83
$GC,13165,-1.35,-97.7,965.4,-7.3,287,13171,0.00,2.62,0.00,0.000,4,0.000,0.041,2580,548,2700,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13345,-1.38,-97.7,974.5,-7.3,288,13352,0.00,2.58,0.00,0.000,6,0.000,0.026,2568,2179,2700,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,13522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13522,begin apogee
$GC,13530,-0.29,0.0,992.4,-7.4,290,13623,1.05,0.00,86.07,1.708,6,0.120,0.000,2901,1574,2320,0,0,0,0,0,0,25.16,28.83,22.94
$STATE,13625,end apogee,CONTROL_FINISHED_OK
$STATE,13625,begin climb
$GC,13629,1.26,97.7,996.2,0.0,295,13726,1.42,0.00,93.12,1.712,6,0.060,0.000,3406,1574,1920,0,0,0,0,0,0,25.29,28.83,22.98
$GC,14046,1.13,97.7,975.7,6.7,311,14052,0.17,1.98,0.00,0.000,4,0.167,0.049,3370,354,1909,0,0,0,0,0,0,25.90,26.08,28.83
$GC,14165,1.00,97.7,967.7,6.7,312,14172,0.12,1.92,0.00,0.000,6,0.148,0.024,3331,1646,1908,0,0,0,0,0,0,25.88,26.38,28.83
$GC,14525,0.93,102.7,944.7,6.4,315,14532,0.12,2.50,0.00,0.000,4,0.167,0.035,3298,3197,1906,0,0,0,0,0,0,26.23,26.25,28.83
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$STATE,24813,end climb,SURFACE_DEPTH_REACHED
$STATE,24813,begin surface coast
$FINISH,1.3,1.025972
$STATE,24834,end surface coast,CONTROL_FINISHED_OK
$STATE,24834,begin surface
$SM_CCo,24861,32.42,0.125,0,0,1093,300.00
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$HUMID,64.29
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7584768
$TM_FREEKB,4550400
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$10V_AH,10.0,72.752
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.675,217.100,303.825,32.425,0.000,150.863,124.122,258.208,0.000,0.000,16.721,2191.008,20103.715,734.770,2352.678,605.643,33.262,1716.348,0.000,1694.533,0.000,0.535,0.000
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$MEM,343668
$DATA_FILE_SIZE,13407,511
$CAP_FILE_SIZE,193649,0
$CFSIZE,260034560,207060992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120213,054835,2430.635,-3747.876,29,1.0,29,-14.0