version: 66.11
glider: 189
mission: 7
dive: 487
start: 2 13 113 11 10 36
data:
$ID,189
$MISSION,7
$DIVE,487
$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,-48266.762
$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
$GPS1,130213,110004,2429.901,-3746.231,31,0.9,31,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-62.9
$GPS2,130213,110934,2429.930,-3746.240,18,1.3,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.108,-0.040
$KALMAN_X,168737.0,-80.0,120.5,-142426.4,-2265.8
$KALMAN_Y,69582.4,-308.0,-140.5,-79659.2,2314.2
$MHEAD_RNG_PITCHd_Wd,263.5,3870,-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,-10.38,0.000,2,0.000,0.000,151,2120,1392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.07,2.65,-49.83,0.000,4,0.184,0.049,2557,3751,2719,0,0,0,0,0,0,25.34,26.00,26.70
$GC,395,-1.25,-97.7,26.6,-9.2,37,403,0.10,2.47,0.00,0.000,6,0.138,0.021,2589,2093,2721,0,0,0,0,0,0,25.89,26.34,28.83
$GC,705,-1.23,-97.7,54.8,-9.0,68,713,0.00,2.67,0.00,0.000,4,0.000,0.039,2579,3752,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,885,-1.19,-97.7,72.0,-9.7,86,893,0.10,2.47,0.00,0.000,6,0.131,0.021,2611,2085,2722,0,0,0,0,0,0,25.98,26.40,28.83
$GC,1197,-1.19,-97.7,99.5,-8.6,99,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2085,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1495,-1.19,-97.7,121.1,-6.3,109,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2085,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1795,-1.19,-97.7,139.3,-6.2,119,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2085,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-1.19,-97.7,159.1,-6.0,128,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2085,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-1.19,-97.7,181.1,-7.4,133,2431,0.00,2.42,0.00,0.000,4,0.000,0.037,2612,549,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2573,-1.19,-97.7,190.1,-7.5,135,2581,0.00,2.47,0.00,0.000,6,0.000,0.022,2601,2195,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2906,-1.19,-97.7,214.5,-6.4,141,2911,0.00,2.47,0.00,0.000,4,0.000,0.040,2590,3758,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3074,-1.19,-97.7,222.6,-6.4,143,3083,0.00,2.47,0.00,0.000,6,0.000,0.020,2590,2098,2724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3385,-1.19,-97.7,249.3,-7.4,149,3391,0.00,2.38,0.00,0.000,4,0.000,0.037,2589,546,2724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3513,-1.19,-97.7,258.3,-7.4,151,3522,0.15,2.50,0.00,0.000,6,0.151,0.023,2617,2204,2724,0,0,0,0,0,0,25.95,26.39,28.83
$GC,3865,-1.23,-97.7,283.7,-7.0,157,3871,0.00,2.60,0.00,0.000,4,0.000,0.036,2618,540,2724,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3985,-1.26,-97.7,292.4,-7.1,159,3991,0.00,2.42,0.00,0.000,6,0.000,0.024,2607,2198,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4345,-1.29,-97.7,318.8,-7.4,165,4351,0.00,2.58,0.00,0.000,4,0.000,0.036,2607,551,2724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4494,-1.29,-97.7,328.3,-7.7,167,4502,0.00,2.50,0.00,0.000,6,0.000,0.024,2595,2195,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4824,-1.29,-97.7,358.2,-8.5,173,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2195,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5125,-1.31,-97.7,382.5,-8.1,178,5131,0.00,2.60,0.00,0.000,4,0.000,0.036,2596,545,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5214,-1.31,-97.7,387.4,-8.0,179,5221,0.00,2.47,0.00,0.000,6,0.000,0.024,2583,2192,2722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5545,-1.31,-97.7,414.0,-7.2,185,5551,0.00,2.58,0.00,0.000,4,0.000,0.036,2583,546,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5623,-1.31,-97.7,418.4,-7.1,186,5631,0.00,2.50,0.00,0.000,6,0.000,0.024,2571,2198,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5965,-1.31,-97.7,443.7,-7.0,192,5971,0.00,2.53,0.00,0.000,4,0.000,0.037,2571,546,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6033,-1.31,-97.7,448.3,-7.1,193,6041,0.00,2.50,0.00,0.000,6,0.000,0.024,2559,2198,2721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6384,-1.31,-97.7,474.6,-7.3,199,6391,0.00,2.58,0.00,0.000,4,0.000,0.037,2559,550,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6454,-1.31,-97.7,479.1,-7.3,200,6462,0.08,2.53,0.00,0.000,6,0.145,0.025,2571,2189,2719,0,0,0,0,0,0,26.01,26.37,28.83
$GC,6864,-1.31,-97.7,509.3,-7.2,206,6871,0.00,2.53,0.00,0.000,4,0.000,0.042,2562,3752,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7003,-1.31,-97.7,518.3,-7.3,207,7011,0.00,2.47,0.00,0.000,6,0.000,0.021,2562,2095,2718,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7345,-1.31,-97.7,544.3,-7.3,210,7351,0.00,2.42,0.00,0.000,4,0.000,0.039,2561,549,2718,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7423,-1.31,-97.7,544.3,-7.3,210,7431,0.00,2.50,0.00,0.000,6,0.000,0.024,2550,2197,2717,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7824,-1.31,-97.7,580.8,-7.6,214,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2195,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-1.31,-97.7,603.9,-6.6,217,8191,0.00,2.58,0.00,0.000,4,0.000,0.037,2550,543,2714,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8214,-1.31,-97.7,603.9,-6.6,217,8222,0.12,2.53,0.00,0.000,6,0.160,0.024,2575,2198,2715,0,0,0,0,0,0,25.90,26.34,28.83
$GC,8545,-1.31,-97.7,623.6,-5.6,220,8551,0.00,2.60,0.00,0.000,4,0.000,0.038,2576,547,2714,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8656,-1.31,-97.7,623.6,-5.6,220,8663,0.00,2.42,0.00,0.000,6,0.000,0.025,2565,2188,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9024,-1.31,-97.7,656.8,-6.9,224,9031,0.00,2.58,0.00,0.000,4,0.000,0.038,2565,549,2712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9063,-1.31,-97.7,656.8,-6.9,224,9071,0.00,2.50,0.00,0.000,6,0.000,0.024,2553,2190,2712,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9386,-1.31,-97.7,692.3,-9.4,227,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2189,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9744,-1.31,-97.7,731.4,-10.8,230,9751,0.00,2.60,0.00,0.000,4,0.000,0.039,2550,551,2711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9953,-1.31,-97.7,743.9,-10.8,231,9962,0.15,2.53,0.00,0.000,6,0.156,0.026,2580,2196,2710,0,0,0,0,0,0,25.85,26.29,28.83
$GC,10346,-1.35,-97.7,783.4,-8.2,235,10352,0.00,2.60,0.00,0.000,4,0.000,0.040,2580,543,2709,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10404,-1.38,-97.7,783.4,-8.2,235,10412,0.00,2.55,0.00,0.000,6,0.000,0.027,2570,2181,2708,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10825,-1.42,-97.7,818.4,-7.3,239,10831,0.00,2.60,0.00,0.000,4,0.000,0.041,2570,550,2708,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10915,-1.46,-97.7,818.4,-7.3,239,10921,0.00,2.50,0.00,0.000,6,0.000,0.026,2558,2189,2707,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11305,-1.49,-97.7,859.7,-8.6,243,11312,0.12,2.62,0.00,0.000,4,0.084,0.041,2495,546,2706,0,0,0,0,0,0,26.61,26.02,28.83
$GC,11425,-1.49,-97.7,872.1,-9.1,244,11432,0.08,2.50,0.00,0.000,6,0.152,0.027,2514,2181,2705,0,0,0,0,0,0,25.80,26.29,28.83
$GC,11784,-1.49,-97.7,906.6,-9.8,247,11791,0.00,2.55,0.00,0.000,4,0.000,0.045,2505,3741,2704,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11864,-1.49,-97.7,906.6,-9.8,247,11871,0.00,2.47,0.00,0.000,6,0.000,0.024,2504,2105,2704,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12266,-1.47,-97.7,950.1,-9.1,251,12272,0.00,2.45,0.00,0.000,4,0.000,0.041,2504,543,2703,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12314,-1.45,-97.7,950.1,-9.1,251,12322,0.12,2.50,0.00,0.000,6,0.145,0.026,2531,2184,2703,0,0,0,0,0,0,25.72,26.28,28.83
$GC,12624,-1.45,-97.7,983.8,-9.3,254,12631,0.00,2.62,0.00,0.000,4,0.000,0.041,2531,545,2702,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12694,-1.45,-97.7,983.8,-9.3,254,12701,0.00,2.50,0.00,0.000,6,0.000,0.026,2520,2181,2700,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,12741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12741,begin apogee
$GC,12750,-0.29,0.0,995.5,-9.4,255,12843,1.23,0.00,87.15,1.698,6,0.129,0.000,2901,1573,2320,0,0,0,0,0,0,24.96,28.83,22.92
$STATE,12845,end apogee,CONTROL_FINISHED_OK
$STATE,12845,begin climb
$GC,12848,1.33,97.7,1000.8,0.0,260,12951,1.48,2.08,93.70,1.711,4,0.061,0.048,3436,357,1920,0,0,0,0,0,0,25.27,24.89,22.94
$GC,13043,1.19,107.3,996.4,6.2,270,13057,0.20,1.98,8.55,1.448,6,0.163,0.024,3384,1664,1882,0,0,0,0,0,0,25.53,26.00,23.58
$GC,13358,1.10,107.3,976.3,6.7,280,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1663,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13715,1.02,107.3,951.0,7.0,283,13722,0.20,2.10,0.00,0.000,4,0.162,0.047,3338,361,1877,0,0,0,0,0,0,25.95,26.15,28.83
$GC,14014,0.95,107.3,933.5,7.2,285,14021,0.12,1.95,0.00,0.000,6,0.161,0.025,3307,1659,1875,0,0,0,0,0,0,26.05,26.45,28.83
$GC,14435,0.97,116.0,903.7,6.2,289,14451,0.00,2.55,8.00,1.432,4,0.000,0.036,3307,3211,1848,0,0,0,0,0,0,28.83,26.19,23.91
$GC,14556,0.99,133.9,897.7,5.8,290,14582,0.00,2.50,18.23,1.584,6,0.000,0.030,3318,1573,1773,0,0,0,0,0,0,28.83,26.22,23.70
$GC,14915,1.03,169.3,880.3,4.9,293,14954,0.00,2.78,33.78,1.620,4,0.000,0.036,3318,3208,1628,0,0,0,0,0,0,28.83,25.47,23.46
$GC,15128,1.07,203.4,874.2,5.0,294,15166,0.00,2.53,32.50,1.608,6,0.000,0.031,3330,1573,1489,0,0,0,0,0,0,28.83,26.07,23.45
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$STATE,24382,end climb,SURFACE_DEPTH_REACHED
$STATE,24382,begin surface coast
$FINISH,1.3,1.025650
$STATE,24416,end surface coast,CONTROL_FINISHED_OK
$STATE,24417,begin surface
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$XPDR_PINGS,0
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$TM_FREEKB,4528352
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$10V_AH,9.8,73.389
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.325,218.175,281.900,43.650,0.000,27.773,37.739,199.066,0.000,0.000,19.508,2078.193,19680.781,708.256,1983.363,589.656,33.292,1664.784,0.000,1614.560,0.000,0.535,0.000
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$MEM,343664
$DATA_FILE_SIZE,13417,491
$CAP_FILE_SIZE,187223,0
$CFSIZE,260034560,206622720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130213,180006,2429.996,-3747.592,45,1.3,45,-14.0