version: 66.11
glider: 189
mission: 7
dive: 499
start: 2 17 113 1 59 1
data:
$ID,189
$MISSION,7
$DIVE,499
$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,-48281.859
$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
$GPS1,170213,014452,2431.365,-3747.658,45,1.3,45,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-59.4
$GPS2,170213,015759,2431.362,-3747.667,15,1.3,15,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,-0.005
$KALMAN_X,168030.0,-54.9,-1050.8,-142966.6,2020.1
$KALMAN_Y,73119.7,-148.1,501.2,-81356.6,-604.4
$MHEAD_RNG_PITCHd_Wd,281.5,1201,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.98,0.000,2,0.000,0.000,150,2126,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.07,2.65,-50.10,0.000,4,0.185,0.050,2570,3751,2718,0,0,0,0,0,0,25.37,25.96,26.70
$GC,396,-1.29,-97.7,17.8,-8.7,37,404,0.00,2.47,0.00,0.000,6,0.000,0.021,2570,2102,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,706,-1.24,-97.7,43.0,-8.1,68,714,0.10,2.67,0.00,0.000,4,0.166,0.039,2585,3745,2719,0,0,0,0,0,0,26.39,26.10,28.83
$GC,946,-1.20,-97.7,62.8,-8.0,92,953,0.00,2.45,0.00,0.000,6,0.000,0.021,2585,2097,2719,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1266,-1.18,-97.7,86.6,-7.2,114,1268,0.12,0.00,0.00,0.000,6,0.151,0.000,2617,2097,2720,0,0,0,0,0,0,26.33,28.83,28.83
$GC,1566,-1.18,-97.7,106.7,-6.7,124,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2097,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-1.18,-97.7,127.3,-6.8,134,1872,0.00,2.45,0.00,0.000,4,0.000,0.037,2618,548,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1935,-1.18,-97.7,131.3,-6.8,136,1943,0.00,2.47,0.00,0.000,6,0.000,0.023,2607,2198,2721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2256,-1.18,-97.7,151.7,-6.1,147,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2198,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2555,-1.18,-97.7,171.5,-6.8,152,2562,0.00,2.58,0.00,0.000,4,0.000,0.035,2607,550,2721,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2616,-1.18,-97.7,176.2,-7.1,153,2622,0.00,2.45,0.00,0.000,6,0.000,0.023,2595,2189,2720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2975,-1.18,-97.7,200.9,-6.7,159,2982,0.00,2.58,0.00,0.000,4,0.000,0.035,2595,545,2721,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3024,-1.18,-97.7,200.9,-6.7,159,3034,0.12,2.47,0.00,0.000,6,0.157,0.022,2616,2193,2720,0,0,0,0,0,0,26.02,26.41,28.83
$GC,3337,-1.21,-97.7,223.1,-6.2,165,3343,0.00,2.55,0.00,0.000,4,0.000,0.036,2616,543,2719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3445,-1.23,-97.7,227.2,-6.5,166,3454,0.00,2.47,0.00,0.000,6,0.000,0.023,2606,2196,2721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3757,-1.26,-97.7,254.4,-7.6,172,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2196,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4056,-1.28,-97.7,277.8,-7.8,177,4063,0.00,2.60,0.00,0.000,4,0.000,0.036,2606,546,2721,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4164,-1.28,-97.7,282.5,-7.8,178,4173,0.00,2.50,0.00,0.000,6,0.000,0.023,2594,2200,2721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4477,-1.28,-97.7,313.4,-8.6,184,4482,0.00,2.55,0.00,0.000,4,0.000,0.037,2594,545,2721,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4535,-1.28,-97.7,318.6,-8.6,185,4542,0.00,2.47,0.00,0.000,6,0.000,0.024,2582,2194,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4895,-1.28,-97.7,347.4,-7.8,191,4902,0.00,2.60,0.00,0.000,4,0.000,0.035,2582,541,2720,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4975,-1.28,-97.7,351.6,-7.5,192,4982,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2189,2720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5315,-1.28,-97.7,376.9,-7.0,198,5322,0.00,2.53,0.00,0.000,4,0.000,0.041,2558,3744,2719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5424,-1.28,-97.7,381.5,-7.2,199,5433,0.00,2.47,0.00,0.000,6,0.000,0.021,2558,2091,2719,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5736,-1.28,-97.7,410.4,-8.2,205,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2091,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6036,-1.28,-97.7,435.7,-8.5,210,6038,0.10,0.00,0.00,0.000,6,0.165,0.000,2583,2091,2718,0,0,0,0,0,0,26.43,28.83,28.83
$GC,6336,-1.30,-97.7,457.0,-7.0,215,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2090,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6636,-1.30,-97.7,477.3,-6.8,220,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2091,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6936,-1.33,-97.7,500.0,-7.6,225,6942,0.00,2.65,0.00,0.000,4,0.000,0.041,2572,3747,2715,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6996,-1.33,-97.7,504.9,-7.8,226,7002,0.00,2.45,0.00,0.000,6,0.000,0.022,2572,2102,2713,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7416,-1.33,-97.7,542.2,-8.9,230,7422,0.00,2.45,0.00,0.000,4,0.000,0.038,2568,550,2714,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7515,-1.33,-97.7,542.2,-8.9,230,7522,0.00,2.47,0.00,0.000,6,0.000,0.024,2560,2189,2715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7896,-1.33,-97.7,586.6,-9.2,234,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2189,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,-1.33,-97.7,617.2,-8.6,237,8262,0.00,2.60,0.00,0.000,4,0.000,0.038,2560,545,2712,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8325,-1.33,-97.7,617.2,-8.6,237,8332,0.00,2.55,0.00,0.000,6,0.000,0.024,2548,2189,2712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8736,-1.33,-97.7,660.7,-9.0,241,8742,0.00,2.53,0.00,0.000,4,0.000,0.042,2537,3743,2710,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8794,-1.33,-97.7,660.7,-9.0,241,8803,0.15,2.47,0.00,0.000,6,0.144,0.022,2576,2091,2710,0,0,0,0,0,0,25.95,26.39,28.83
$GC,9217,-1.36,-97.7,702.9,-8.8,245,9222,0.00,2.40,0.00,0.000,4,0.000,0.040,2576,541,2709,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9305,-1.39,-97.7,702.9,-8.8,245,9313,0.00,2.47,0.00,0.000,6,0.000,0.024,2566,2182,2709,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9696,-1.42,-97.7,740.6,-7.9,249,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2182,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10057,-1.46,-97.7,762.1,-6.2,252,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2182,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10416,-1.49,-97.7,784.2,-6.0,255,10423,0.15,2.60,0.00,0.000,4,0.076,0.040,2493,549,2706,0,0,0,0,0,0,26.59,26.06,28.83
$GC,10545,-1.49,-97.7,794.0,-6.5,256,10553,0.10,2.47,0.00,0.000,6,0.147,0.024,2512,2181,2706,0,0,0,0,0,0,25.86,26.33,28.83
$GC,10896,-1.49,-97.7,826.1,-8.7,259,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2181,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11255,-1.49,-97.7,865.9,-10.6,262,11263,0.00,2.60,0.00,0.000,4,0.000,0.040,2513,549,2703,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11324,-1.49,-97.7,865.9,-10.6,262,11332,0.00,2.53,0.00,0.000,6,0.000,0.024,2502,2198,2702,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11737,-1.47,-97.7,926.5,-12.6,266,11743,0.00,2.53,0.00,0.000,4,0.000,0.044,2490,3751,2701,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11785,-1.45,-97.7,926.5,-12.6,266,11793,0.12,2.47,0.00,0.000,6,0.142,0.024,2528,2099,2703,0,0,0,0,0,0,25.78,26.32,28.83
$GC,12096,-1.45,-97.7,964.4,-10.9,269,12102,0.00,2.45,0.00,0.000,4,0.000,0.041,2528,555,2700,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12216,-1.45,-97.7,975.3,-10.1,270,12222,0.00,2.47,0.00,0.000,6,0.000,0.026,2518,2194,2700,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,12452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12452,begin apogee
$GC,12461,-0.29,0.0,993.5,-8.5,272,12554,1.25,0.00,86.18,1.692,6,0.130,0.000,2902,1576,2320,0,0,0,0,0,0,24.98,28.83,22.94
$STATE,12556,end apogee,CONTROL_FINISHED_OK
$STATE,12556,begin climb
$GC,12560,1.33,97.7,996.2,0.0,277,12663,1.45,2.08,93.15,1.727,4,0.061,0.047,3433,353,1920,0,0,0,0,0,0,25.31,24.93,22.98
$GC,12756,1.18,97.7,986.1,9.3,287,12763,0.15,1.95,0.00,0.000,6,0.150,0.024,3388,1650,1915,0,0,0,0,0,0,25.58,26.03,28.83
$GC,13137,1.08,97.7,955.4,8.1,291,13143,0.15,2.10,0.00,0.000,4,0.169,0.047,3357,353,1908,0,0,0,0,0,0,26.05,26.14,28.83
$GC,13265,0.99,97.7,946.9,7.8,292,13273,0.15,1.95,0.00,0.000,6,0.158,0.024,3319,1663,1907,0,0,0,0,0,0,25.96,26.42,28.83
$GC,13617,0.97,105.5,925.2,6.3,295,13625,0.00,0.00,5.72,1.322,6,0.000,0.000,3319,1661,1888,0,0,0,0,0,0,28.83,28.83,23.99
$GC,13976,0.99,124.1,904.6,5.7,298,13996,0.00,0.00,18.23,1.577,6,0.000,0.000,3319,1661,1815,0,0,0,0,0,0,28.83,28.83,23.80
$GC,14336,1.01,139.4,883.1,5.9,301,14356,0.00,2.58,15.48,1.566,4,0.000,0.037,3315,3203,1751,0,0,0,0,0,0,28.83,25.89,23.84
$GC,14455,1.02,149.9,875.5,6.1,302,14473,0.00,2.55,11.00,1.486,6,0.000,0.031,3329,1588,1706,0,0,0,0,0,0,28.83,26.08,23.79
$GC,14805,1.02,149.9,850.8,6.9,305,14813,0.00,1.98,0.00,0.000,4,0.000,0.048,3339,348,1705,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14935,1.02,149.9,842.5,6.9,306,14942,0.00,1.98,0.00,0.000,6,0.000,0.024,3339,1667,1704,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15286,1.02,150.9,819.0,6.6,309,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1667,1704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15646,1.03,155.6,795.8,6.4,312,15656,0.00,2.15,5.85,1.311,4,0.000,0.048,3349,354,1685,0,0,0,0,0,0,28.83,26.19,24.03
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$STATE,25014,end climb,SURFACE_DEPTH_REACHED
$STATE,25014,begin surface coast
$FINISH,1.3,1.012492
$STATE,25045,end surface coast,CONTROL_FINISHED_OK
$STATE,25045,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,63.34
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$TCM_TEMP,22.20
$XPDR_PINGS,1
$SC_FREEKB,7578240
$TM_FREEKB,4478720
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$10V_AH,10.0,74.930
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.525,207.075,266.900,52.000,0.000,53.678,76.598,277.130,0.250,0.000,16.311,2034.939,20529.098,687.356,2016.868,625.395,33.267,1591.775,0.000,1520.282,0.000,0.537,0.000
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$MEM,343700
$DATA_FILE_SIZE,13447,513
$CAP_FILE_SIZE,188498,0
$CFSIZE,260034560,205541376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170213,085900,2431.646,-3748.833,36,1.9,36,-14.0