version: 66.11
glider: 189
mission: 7
dive: 542
start: 3 1 113 20 0 20
data:
$ID,189
$MISSION,7
$DIVE,542
$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,-48336.043
$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
$GPS1,010313,194928,2431.309,-3746.304,39,0.9,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-62.1
$GPS2,010313,195918,2431.160,-3746.325,15,1.1,15,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.074,0.088
$KALMAN_X,130473.0,412.0,-316.7,-104358.9,-1340.4
$KALMAN_Y,98904.3,132.5,89.8,-107381.8,-2557.2
$MHEAD_RNG_PITCHd_Wd,333.7,3236,-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,-10.88,0.000,2,0.000,0.000,151,2132,1405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.12,2.58,-50.67,0.000,4,0.188,0.051,2567,547,2720,0,0,0,0,0,0,25.44,25.95,26.70
$GC,166,-1.23,-97.7,5.7,-7.4,14,174,0.15,2.47,0.00,0.000,6,0.142,0.024,2601,2187,2720,0,0,0,0,0,0,25.62,26.22,28.83
$GC,476,-1.23,-97.7,28.4,-7.1,45,483,0.00,2.50,0.00,0.000,4,0.000,0.040,2592,3741,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,556,-1.20,-97.7,34.5,-7.5,53,564,0.00,2.45,0.00,0.000,6,0.000,0.021,2591,2094,2721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,865,-1.20,-97.7,60.9,-8.7,84,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2094,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1185,-1.20,-97.7,89.0,-8.9,106,1192,0.00,2.67,0.00,0.000,4,0.000,0.039,2580,3751,2722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1315,-1.17,-97.7,100.2,-9.3,110,1323,0.12,2.45,0.00,0.000,6,0.129,0.021,2620,2086,2723,0,0,0,0,0,0,25.89,26.40,28.83
$GC,1640,-1.20,-97.7,127.6,-8.0,121,1645,0.00,2.38,0.00,0.000,4,0.000,0.037,2620,543,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1695,-1.20,-97.7,132.3,-7.8,123,1702,0.00,2.47,0.00,0.000,6,0.000,0.023,2610,2195,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2056,-1.20,-97.7,159.2,-7.6,133,2062,0.00,2.60,0.00,0.000,4,0.000,0.035,2610,540,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2145,-1.20,-97.7,164.2,-7.7,134,2152,0.00,2.47,0.00,0.000,6,0.000,0.023,2598,2194,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2476,-1.20,-97.7,196.2,-9.2,140,2482,0.00,2.58,0.00,0.000,4,0.000,0.035,2598,546,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2545,-1.20,-97.7,202.2,-9.4,141,2552,0.00,2.47,0.00,0.000,6,0.000,0.022,2586,2192,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2897,-1.20,-97.7,232.5,-8.1,147,2903,0.12,2.53,0.00,0.000,4,0.157,0.035,2619,545,2724,0,0,0,0,0,0,26.32,26.13,28.83
$GC,2975,-1.20,-97.7,236.2,-7.3,148,2982,0.00,2.47,0.00,0.000,6,0.000,0.022,2608,2193,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3317,-1.22,-97.7,251.7,-3.9,154,3322,0.00,2.55,0.00,0.000,4,0.000,0.035,2608,536,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3385,-1.22,-97.7,254.1,-3.8,155,3392,0.00,2.47,0.00,0.000,6,0.000,0.023,2596,2188,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3736,-1.22,-97.7,271.1,-4.9,161,3742,0.00,2.58,0.00,0.000,4,0.000,0.035,2596,515,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3786,-1.22,-97.7,271.1,-4.9,161,3794,0.00,2.50,0.00,0.000,6,0.000,0.023,2584,2188,2725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4096,-1.22,-97.7,294.9,-6.8,167,4102,0.00,2.55,0.00,0.000,4,0.000,0.035,2584,548,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4146,-1.22,-97.7,294.9,-6.8,167,4154,0.08,2.45,0.00,0.000,6,0.137,0.023,2604,2188,2724,0,0,0,0,0,0,25.94,26.35,28.83
$GC,4457,-1.26,-97.7,323.4,-8.3,173,4463,0.00,2.53,0.00,0.000,4,0.000,0.037,2606,539,2725,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4505,-1.29,-97.7,323.4,-8.3,173,4514,0.00,2.45,0.00,0.000,6,0.000,0.022,2595,2186,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4816,-1.32,-97.7,354.5,-8.6,179,4822,0.00,2.55,0.00,0.000,4,0.000,0.036,2595,550,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4906,-1.34,-97.7,359.6,-8.6,180,4912,0.00,2.47,0.00,0.000,6,0.000,0.024,2583,2184,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5236,-1.34,-97.7,388.5,-8.0,186,5242,0.00,2.50,0.00,0.000,4,0.000,0.040,2571,3743,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5325,-1.34,-97.7,393.0,-7.8,187,5333,0.00,2.45,0.00,0.000,6,0.000,0.021,2571,2094,2723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5656,-1.34,-97.7,419.5,-7.1,193,5662,0.00,2.38,0.00,0.000,4,0.000,0.037,2571,546,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5705,-1.34,-97.7,419.5,-7.1,193,5713,0.00,2.50,0.00,0.000,6,0.000,0.023,2559,2190,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6016,-1.34,-97.7,444.2,-6.8,199,6022,0.00,2.58,0.00,0.000,4,0.000,0.036,2559,522,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6095,-1.34,-97.7,448.6,-6.9,200,6102,0.00,2.50,0.00,0.000,6,0.000,0.023,2547,2189,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6436,-1.34,-97.7,477.3,-8.2,206,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2189,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,-1.34,-97.7,504.5,-9.1,211,6742,0.00,2.60,0.00,0.000,4,0.000,0.037,2547,546,2723,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6815,-1.34,-97.7,504.5,-9.1,211,6823,0.12,2.50,0.00,0.000,6,0.164,0.024,2569,2197,2720,0,0,0,0,0,0,25.91,26.35,28.83
$GC,7217,-1.34,-97.7,547.7,-9.0,215,7223,0.00,2.58,0.00,0.000,4,0.000,0.037,2570,543,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7335,-1.34,-97.7,558.1,-8.9,216,7342,0.00,2.47,0.00,0.000,6,0.000,0.024,2559,2185,2718,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7697,-1.34,-97.7,587.0,-8.2,219,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2185,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,-1.34,-97.7,617.1,-8.3,222,8063,0.00,2.60,0.00,0.000,4,0.000,0.038,2559,542,2717,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8125,-1.34,-97.7,617.1,-8.3,222,8133,0.00,2.55,0.00,0.000,6,0.000,0.024,2547,2189,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8536,-1.34,-97.7,662.7,-9.5,226,8543,0.00,2.60,0.00,0.000,4,0.000,0.037,2547,546,2715,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8616,-1.34,-97.7,662.7,-9.5,226,8623,0.10,2.47,0.00,0.000,6,0.136,0.024,2567,2184,2714,0,0,0,0,0,0,25.89,26.32,28.83
$GC,9016,-1.37,-97.7,709.5,-9.7,230,9023,0.00,2.58,0.00,0.000,4,0.000,0.039,2567,552,2713,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9075,-1.40,-97.7,709.5,-9.7,230,9083,0.00,2.47,0.00,0.000,6,0.000,0.024,2556,2189,2713,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9497,-1.43,-97.7,747.6,-7.9,234,9503,0.00,2.58,0.00,0.000,4,0.000,0.039,2557,543,2712,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9555,-1.46,-97.7,747.6,-7.9,234,9563,0.00,2.47,0.00,0.000,6,0.000,0.024,2545,2184,2711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9976,-1.46,-97.7,777.7,-6.3,238,9983,0.00,2.58,0.00,0.000,4,0.000,0.039,2544,552,2711,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10106,-1.46,-97.7,785.7,-6.2,239,10112,0.00,2.47,0.00,0.000,6,0.000,0.025,2532,2188,2710,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10456,-1.46,-97.7,809.5,-6.6,242,10462,0.00,2.53,0.00,0.000,4,0.000,0.043,2520,3746,2709,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10536,-1.46,-97.7,809.5,-6.6,242,10542,0.00,2.42,0.00,0.000,6,0.000,0.023,2520,2092,2709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10936,-1.46,-97.7,843.7,-7.1,246,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2092,2707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11296,-1.46,-97.7,870.6,-7.3,249,11303,0.00,2.70,0.00,0.000,4,0.000,0.042,2509,3744,2706,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11445,-1.46,-97.7,881.2,-7.8,250,11453,0.00,2.47,0.00,0.000,6,0.000,0.024,2509,2098,2705,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11776,-1.46,-97.7,915.6,-9.4,253,11783,0.00,2.67,0.00,0.000,4,0.000,0.042,2496,3740,2705,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11865,-1.46,-97.7,915.6,-9.4,253,11873,0.12,2.47,0.00,0.000,6,0.159,0.024,2526,2103,2705,0,0,0,0,0,0,25.87,26.29,28.83
$GC,12257,-1.46,-97.7,964.3,-10.1,257,12263,0.00,2.42,0.00,0.000,4,0.000,0.041,2527,549,2704,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12305,-1.46,-97.7,964.3,-10.1,257,12313,0.00,2.53,0.00,0.000,6,0.000,0.025,2516,2194,2704,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,12552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12552,begin apogee
$GC,12561,-0.29,0.0,991.3,-8.6,262,12655,1.25,0.05,86.12,1.644,6,0.128,0.130,2900,1630,2320,0,0,0,0,0,0,24.89,24.77,23.01
$STATE,12657,end apogee,CONTROL_FINISHED_OK
$STATE,12657,begin climb
$GC,12661,1.33,97.7,994.4,0.0,267,12763,1.48,2.17,91.78,1.633,4,0.061,0.047,3442,353,1920,0,0,0,0,0,0,25.35,25.01,23.04
$GC,12837,1.17,97.7,986.9,8.1,276,12843,0.20,1.95,0.00,0.000,6,0.156,0.024,3382,1650,1915,0,0,0,0,0,0,25.45,25.98,28.83
$GC,13236,1.09,97.7,952.4,8.6,281,13243,0.12,2.08,0.00,0.000,4,0.179,0.047,3360,359,1908,0,0,0,0,0,0,26.10,26.10,28.83
$GC,13337,1.01,97.7,952.4,8.6,281,13343,0.10,1.92,0.00,0.000,6,0.149,0.025,3330,1656,1907,0,0,0,0,0,0,25.94,26.40,28.83
$GC,13717,0.97,97.7,920.3,6.7,285,13718,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1656,1905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14076,1.00,141.9,905.3,4.4,288,14123,0.00,2.60,38.30,1.591,4,0.000,0.036,3329,3200,1742,0,0,0,0,0,0,28.83,25.48,23.44
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$STATE,23817,end climb,SURFACE_DEPTH_REACHED
$STATE,23817,begin surface coast
$FINISH,1.2,1.025802
$STATE,23841,end surface coast,CONTROL_FINISHED_OK
$STATE,23841,begin surface
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$TM_FREEKB,4300064
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$10V_AH,9.5,80.591
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,243.650,276.550,44.075,0.000,26.760,37.495,215.139,0.000,0.000,16.777,1981.262,19265.297,724.298,1869.635,646.625,33.280,1647.847,0.000,1499.278,0.000,0.536,0.000
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$MEM,343708
$DATA_FILE_SIZE,13414,485
$CAP_FILE_SIZE,184181,0
$CFSIZE,260034560,201777152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020313,024004,2431.768,-3747.594,31,0.8,31,-13.9