version: 66.11
glider: 189
mission: 7
dive: 547
start: 3 3 113 6 53 8
data:
$ID,189
$MISSION,7
$DIVE,547
$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,-48342.332
$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
$GPS1,030313,063904,2432.318,-3746.857,37,0.9,37,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-53.3
$GPS2,030313,065206,2432.282,-3746.808,15,1.1,15,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,0.047
$KALMAN_X,129573.4,393.2,-346.0,-104224.6,1285.8
$KALMAN_Y,91209.1,78.4,325.9,-97797.9,-3413.9
$MHEAD_RNG_PITCHd_Wd,306.8,3420,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-10.23,0.000,2,0.000,0.000,153,2134,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.2,0.0,1,104,9.10,0.00,-51.45,0.000,6,0.181,0.000,2586,2132,2720,0,0,0,0,0,0,25.28,28.83,26.70
$GC,409,-1.21,-97.7,25.1,-7.5,38,415,0.00,2.58,0.00,0.000,4,0.000,0.041,2576,3750,2721,0,0,0,0,0,0,28.83,26.00,28.83
$GC,516,-1.15,-97.7,33.2,-7.6,49,524,0.15,2.45,0.00,0.000,6,0.127,0.021,2624,2091,2721,0,0,0,0,0,0,25.78,26.35,28.83
$GC,826,-1.15,-97.7,56.5,-8.0,80,833,0.00,2.42,0.00,0.000,4,0.000,0.037,2625,547,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,906,-1.11,-97.7,63.2,-8.5,88,914,0.00,2.47,0.00,0.000,6,0.000,0.024,2614,2193,2721,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1236,-1.11,-97.7,88.9,-7.5,109,1242,0.00,2.50,0.00,0.000,4,0.000,0.040,2602,3742,2724,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1315,-1.11,-97.7,93.3,-7.4,111,1324,0.10,2.42,0.00,0.000,6,0.126,0.021,2636,2094,2722,0,0,0,0,0,0,25.98,26.40,28.83
$GC,1628,-1.11,-97.7,116.7,-7.2,122,1633,0.00,2.62,0.00,0.000,4,0.000,0.039,2625,3748,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1705,-1.11,-97.7,121.2,-7.3,124,1714,0.00,2.47,0.00,0.000,6,0.000,0.021,2625,2089,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2017,-1.11,-97.7,143.3,-6.6,135,2023,0.00,2.65,0.00,0.000,4,0.000,0.039,2612,3757,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2125,-1.11,-97.7,149.5,-6.8,138,2134,0.12,2.47,0.00,0.000,6,0.145,0.020,2645,2088,2722,0,0,0,0,0,0,26.03,26.41,28.83
$GC,2437,-1.14,-97.7,174.2,-7.7,144,2442,0.00,2.38,0.00,0.000,4,0.000,0.037,2646,546,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2505,-1.17,-97.7,178.9,-7.8,145,2512,0.00,2.47,0.00,0.000,6,0.000,0.023,2635,2195,2723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2856,-1.20,-97.7,203.8,-6.5,151,2862,0.00,2.45,0.00,0.000,4,0.000,0.040,2623,3750,2723,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2926,-1.23,-97.7,207.0,-5.9,152,2932,0.00,2.42,0.00,0.000,6,0.000,0.021,2623,2080,2724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3276,-1.23,-97.7,227.3,-5.9,158,3282,0.00,2.40,0.00,0.000,4,0.000,0.037,2623,543,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3416,-1.23,-97.7,236.0,-6.8,160,3422,0.00,2.53,0.00,0.000,6,0.000,0.024,2610,2193,2723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3756,-1.23,-97.7,264.3,-8.1,166,3762,0.00,2.58,0.00,0.000,4,0.000,0.035,2611,546,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3816,-1.23,-97.7,269.4,-8.2,167,3822,0.00,2.47,0.00,0.000,6,0.000,0.024,2599,2196,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4177,-1.23,-97.7,297.1,-7.7,173,4183,0.00,2.55,0.00,0.000,4,0.000,0.035,2599,540,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4245,-1.23,-97.7,301.7,-7.6,174,4253,0.00,2.50,0.00,0.000,6,0.000,0.023,2587,2195,2723,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4596,-1.23,-97.7,325.3,-6.3,180,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2195,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4897,-1.23,-97.7,343.4,-6.0,185,4903,0.00,2.58,0.00,0.000,4,0.000,0.036,2587,538,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4965,-1.23,-97.7,347.0,-6.0,186,4972,0.00,2.47,0.00,0.000,6,0.000,0.024,2574,2187,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5316,-1.23,-97.7,370.5,-6.7,192,5323,0.12,2.58,0.00,0.000,4,0.158,0.036,2608,544,2722,0,0,0,0,0,0,26.32,26.12,28.83
$GC,5456,-1.23,-97.7,379.3,-7.1,194,5462,0.00,2.47,0.00,0.000,6,0.000,0.024,2597,2195,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5796,-1.23,-97.7,407.7,-8.1,200,5802,0.00,2.58,0.00,0.000,4,0.000,0.036,2597,550,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5865,-1.23,-97.7,413.3,-8.5,201,5872,0.00,2.50,0.00,0.000,6,0.000,0.024,2585,2199,2721,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6217,-1.23,-97.7,446.6,-9.4,207,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2199,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-1.23,-97.7,473.8,-9.0,212,6522,0.00,2.60,0.00,0.000,4,0.000,0.037,2585,547,2719,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6605,-1.23,-97.7,478.9,-8.7,213,6613,0.12,2.50,0.00,0.000,6,0.157,0.024,2604,2192,2719,0,0,0,0,0,0,25.96,26.34,28.83
$GC,6997,-1.26,-97.7,507.1,-6.2,219,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2190,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7356,-1.29,-97.7,525.7,-5.3,222,7363,0.00,2.60,0.00,0.000,4,0.000,0.037,2605,538,2717,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7405,-1.33,-97.7,525.7,-5.3,222,7412,0.00,2.50,0.00,0.000,6,0.000,0.024,2594,2189,2717,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7718,-1.36,-97.7,549.3,-6.2,225,7723,0.00,2.55,0.00,0.000,4,0.000,0.038,2594,547,2717,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7785,-1.39,-97.7,549.3,-6.2,225,7792,0.00,2.47,0.00,0.000,6,0.000,0.024,2582,2187,2716,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8197,-1.39,-97.7,594.4,-9.4,229,8202,0.00,2.58,0.00,0.000,4,0.000,0.038,2582,539,2715,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8265,-1.39,-97.7,594.4,-9.4,229,8272,0.00,2.53,0.00,0.000,6,0.000,0.024,2570,2197,2714,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8676,-1.39,-97.7,641.1,-9.7,233,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2197,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9036,-1.39,-97.7,671.3,-8.6,236,9042,0.00,2.62,0.00,0.000,4,0.000,0.038,2570,548,2712,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9137,-1.39,-97.7,671.3,-8.6,236,9142,0.00,2.45,0.00,0.000,6,0.000,0.025,2557,2193,2712,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9516,-1.39,-97.7,698.6,-5.6,240,9523,0.00,2.60,0.00,0.000,4,0.000,0.039,2558,550,2714,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9636,-1.39,-97.7,704.9,-5.2,241,9642,0.00,2.55,0.00,0.000,6,0.000,0.026,2546,2184,2710,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9997,-1.39,-97.7,726.0,-5.6,244,10003,0.00,2.53,0.00,0.000,4,0.000,0.043,2534,3749,2710,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10055,-1.39,-97.7,726.0,-5.6,244,10063,0.00,2.45,0.00,0.000,6,0.000,0.023,2534,2111,2710,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10476,-1.39,-97.7,769.1,-9.0,248,10483,0.00,2.47,0.00,0.000,4,0.000,0.040,2534,553,2708,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10565,-1.39,-97.7,769.1,-9.0,248,10573,0.08,2.47,0.00,0.000,6,0.144,0.024,2546,2182,2708,0,0,0,0,0,0,25.92,26.29,28.83
$GC,10956,-1.39,-97.7,820.7,-10.7,252,10963,0.00,2.60,0.00,0.000,4,0.000,0.040,2547,550,2707,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11025,-1.39,-97.7,820.7,-10.7,252,11033,0.00,2.53,0.00,0.000,6,0.000,0.024,2536,2198,2707,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11436,-1.39,-97.7,862.3,-8.7,256,11443,0.00,2.60,0.00,0.000,4,0.000,0.040,2536,547,2705,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11495,-1.39,-97.7,862.3,-8.7,256,11503,0.00,2.53,0.00,0.000,6,0.000,0.025,2524,2194,2706,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11916,-1.37,-97.7,892.0,-6.2,260,11923,0.12,2.60,0.00,0.000,4,0.161,0.040,2556,542,2704,0,0,0,0,0,0,26.28,25.94,28.83
$GC,11997,-1.35,-97.7,892.0,-6.2,260,12002,0.00,2.47,0.00,0.000,6,0.000,0.026,2545,2192,2703,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12396,-1.35,-97.7,919.9,-5.8,264,12403,0.00,2.62,0.00,0.000,4,0.000,0.041,2545,543,2702,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12476,-1.35,-97.7,919.9,-5.8,264,12483,0.12,2.47,0.00,0.000,6,0.165,0.026,2563,2193,2702,0,0,0,0,0,0,25.83,26.23,28.83
$GC,12876,-1.37,-97.7,959.2,-8.2,268,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2193,2702,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13232,begin apogee
$GC,13242,-0.29,0.0,995.1,-9.8,271,13334,1.08,0.00,85.93,1.641,6,0.121,0.000,2903,1574,2319,0,0,0,0,0,0,24.98,28.83,22.96
$STATE,13336,end apogee,CONTROL_FINISHED_OK
$STATE,13336,begin climb
$GC,13341,1.26,97.7,1001.6,0.0,276,13442,1.40,2.80,92.12,1.639,4,0.061,0.034,3407,3199,1920,0,0,0,0,0,0,25.32,25.01,22.95
$GC,13565,1.15,132.6,998.7,5.0,287,13603,0.15,2.55,31.75,1.584,6,0.158,0.030,3375,1579,1779,0,0,0,0,0,0,25.53,25.98,23.39
$GC,13906,1.07,132.6,976.4,6.7,299,13913,0.12,1.98,0.00,0.000,4,0.177,0.048,3352,350,1772,0,0,0,0,0,0,26.04,26.06,28.83
$GC,13986,0.99,132.6,976.4,6.7,299,13993,0.10,1.95,0.00,0.000,6,0.146,0.025,3321,1655,1771,0,0,0,0,0,0,25.91,26.34,28.83
$GC,14386,0.96,132.6,941.9,7.2,303,14392,0.00,2.47,0.00,0.000,4,0.000,0.037,3321,3216,1770,0,0,0,0,0,0,28.83,26.18,28.83
$GC,14576,0.93,132.6,933.0,7.3,304,14583,0.08,2.55,0.00,0.000,6,0.152,0.030,3307,1578,1769,0,0,0,0,0,0,25.91,26.25,28.83
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$STATE,25684,end climb,SURFACE_DEPTH_REACHED
$STATE,25684,begin surface coast
$FINISH,1.3,1.025838
$STATE,25705,end surface coast,CONTROL_FINISHED_OK
$STATE,25705,begin surface
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$XPDR_PINGS,1
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$TM_FREEKB,4280000
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$10V_AH,10.0,81.258
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,235.100,317.600,22.925,0.000,53.520,92.625,263.963,0.250,0.000,16.990,2098.017,20913.920,714.565,2124.462,676.466,33.263,1686.171,0.000,1621.428,0.000,0.537,0.000
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$MEM,343608
$DATA_FILE_SIZE,13436,513
$CAP_FILE_SIZE,193261,0
$CFSIZE,260034560,201347072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030313,140334,2432.253,-3748.586,28,0.9,28,-14.0