version: 66.11
glider: 189
mission: 7
dive: 567
start: 3 9 113 3 44 53
data:
$ID,189
$MISSION,7
$DIVE,567
$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,-48367.496
$T_RSLEEP,28
$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
$GPS1,090313,033335,2431.852,-3747.203,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-64.0
$GPS2,090313,034353,2431.854,-3747.271,18,1.0,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.064,-0.096
$KALMAN_X,97724.5,-135.6,55.9,-73019.8,-2710.6
$KALMAN_Y,92566.0,377.3,-405.0,-99517.0,13.8
$MHEAD_RNG_PITCHd_Wd,160.2,2306,-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,22,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.25,0.000,2,0.000,0.000,151,2178,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.23,2.67,-50.40,0.000,4,0.190,0.048,2569,537,2719,0,0,0,0,0,0,25.32,25.98,26.67
$GC,195,-1.24,-97.7,9.6,-9.2,17,203,0.12,2.50,0.00,0.000,6,0.135,0.024,2598,2190,2721,0,0,0,0,0,0,25.72,26.22,28.83
$GC,505,-1.24,-97.7,34.5,-7.8,48,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2190,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,805,-1.24,-97.7,57.2,-7.1,78,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2190,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1125,-1.24,-97.7,79.7,-7.1,106,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2190,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1425,-1.24,-97.7,101.6,-7.5,116,1431,0.00,2.60,0.00,0.000,4,0.000,0.036,2598,550,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1474,-1.24,-97.7,104.1,-7.6,117,1483,0.00,2.55,0.00,0.000,6,0.000,0.024,2588,2196,2722,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1786,-1.24,-97.7,131.8,-8.3,128,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2196,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2085,-1.24,-97.7,151.6,-5.8,138,2091,0.00,2.50,0.00,0.000,4,0.000,0.041,2576,3747,2723,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2174,-1.24,-97.7,154.9,-5.6,139,2181,0.00,2.42,0.00,0.000,6,0.000,0.021,2576,2106,2723,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2506,-1.24,-97.7,175.5,-5.9,145,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2105,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2805,-1.24,-97.7,194.0,-6.1,150,2811,0.00,2.60,0.00,0.000,4,0.000,0.039,2565,3750,2723,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2884,-1.24,-97.7,197.7,-6.1,151,2892,0.10,2.45,0.00,0.000,6,0.127,0.020,2597,2085,2724,0,0,0,0,0,0,25.96,26.38,28.83
$GC,3226,-1.24,-97.7,221.3,-6.7,157,3231,0.00,2.38,0.00,0.000,4,0.000,0.037,2597,539,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3335,-1.24,-97.7,225.8,-6.9,158,3343,0.00,2.47,0.00,0.000,6,0.000,0.023,2587,2189,2724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3645,-1.24,-97.7,254.3,-8.1,164,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2189,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3946,-1.24,-97.7,282.6,-9.6,169,3951,0.00,2.53,0.00,0.000,4,0.000,0.035,2587,543,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4005,-1.24,-97.7,288.6,-9.8,170,4011,0.00,2.53,0.00,0.000,6,0.000,0.024,2575,2193,2724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4365,-1.24,-97.7,319.7,-8.3,176,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2193,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-1.24,-97.7,338.0,-5.8,181,4671,0.00,2.55,0.00,0.000,4,0.000,0.036,2575,537,2724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4704,-1.24,-97.7,338.0,-5.8,181,4712,0.10,2.47,0.00,0.000,6,0.134,0.023,2596,2188,2724,0,0,0,0,0,0,25.91,26.34,28.83
$GC,5026,-1.27,-97.7,357.3,-5.5,187,5031,0.00,2.55,0.00,0.000,4,0.000,0.036,2596,536,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5087,-1.30,-97.7,361.0,-5.8,188,5092,0.00,2.42,0.00,0.000,6,0.000,0.024,2585,2191,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5445,-1.32,-97.7,387.3,-7.5,194,5451,0.00,2.47,0.00,0.000,4,0.000,0.041,2574,3750,2723,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5495,-1.35,-97.7,387.3,-7.5,194,5503,0.00,2.45,0.00,0.000,6,0.000,0.021,2574,2095,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5805,-1.35,-97.7,415.4,-7.7,200,5811,0.00,2.42,0.00,0.000,4,0.000,0.037,2574,544,2722,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5834,-1.35,-97.7,415.4,-7.7,200,5842,0.00,2.50,0.00,0.000,6,0.000,0.023,2562,2196,2721,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6165,-1.35,-97.7,441.5,-7.3,206,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2196,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6466,-1.35,-97.7,462.1,-6.9,211,6472,0.00,2.58,0.00,0.000,4,0.000,0.036,2562,546,2720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6554,-1.35,-97.7,466.2,-6.8,212,6561,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2190,2719,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6885,-1.35,-97.7,491.9,-7.2,218,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2190,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7246,-1.35,-97.7,522.6,-8.5,222,7251,0.00,2.58,0.00,0.000,4,0.000,0.037,2550,539,2718,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7354,-1.35,-97.7,522.6,-8.5,222,7363,0.00,2.50,0.00,0.000,6,0.000,0.024,2538,2187,2717,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7725,-1.35,-97.7,570.8,-10.1,226,7731,0.00,2.60,0.00,0.000,4,0.000,0.037,2538,545,2716,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7785,-1.35,-97.7,570.8,-10.1,226,7792,0.10,2.55,0.00,0.000,6,0.135,0.024,2558,2188,2716,0,0,0,0,0,0,25.86,26.29,28.83
$GC,8206,-1.35,-97.7,613.1,-8.8,230,8211,0.00,2.55,0.00,0.000,4,0.000,0.037,2558,546,2716,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8264,-1.35,-97.7,613.1,-8.8,230,8271,0.00,2.50,0.00,0.000,6,0.000,0.024,2548,2190,2715,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8686,-1.35,-97.7,646.6,-7.0,234,8691,0.00,2.55,0.00,0.000,4,0.000,0.037,2544,540,2714,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8764,-1.35,-97.7,646.6,-7.0,234,8772,0.12,2.53,0.00,0.000,6,0.161,0.024,2571,2196,2713,0,0,0,0,0,0,25.86,26.29,28.83
$GC,9165,-1.38,-97.7,686.1,-8.2,238,9171,0.00,2.58,0.00,0.000,4,0.000,0.037,2571,543,2713,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9215,-1.42,-97.7,686.1,-8.2,238,9221,0.00,2.50,0.00,0.000,6,0.000,0.025,2561,2219,2712,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9525,-1.46,-97.7,718.4,-8.9,241,9531,0.00,2.60,0.00,0.000,4,0.000,0.037,2561,546,2711,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9576,-1.49,-97.7,718.4,-8.9,241,9581,0.00,2.45,0.00,0.000,6,0.000,0.025,2549,2191,2711,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9886,-1.51,-97.7,749.3,-8.7,244,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2191,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10245,-1.54,-97.7,778.2,-8.1,247,10252,0.12,2.62,0.00,0.000,4,0.082,0.039,2485,550,2709,0,0,0,0,0,0,26.59,25.98,28.83
$GC,10334,-1.56,-97.7,778.2,-8.1,247,10341,0.00,2.50,0.00,0.000,6,0.000,0.025,2473,2186,2708,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10726,-1.52,-97.7,818.4,-8.4,251,10732,0.15,2.60,0.00,0.000,4,0.160,0.037,2519,536,2707,0,0,0,0,0,0,26.06,25.95,28.83
$GC,10796,-1.48,-97.7,818.4,-8.4,251,10801,0.00,2.47,0.00,0.000,6,0.000,0.025,2508,2191,2707,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11205,-1.45,-97.7,861.3,-8.9,255,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2191,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11566,-1.45,-97.7,900.1,-10.5,258,11572,0.00,2.58,0.00,0.000,4,0.000,0.040,2508,548,2705,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11714,-1.45,-97.7,913.9,-11.0,259,11722,0.10,2.60,0.00,0.000,6,0.138,0.026,2528,2185,2702,0,0,0,0,0,0,25.76,26.21,28.83
$GC,12045,-1.45,-97.7,951.9,-10.8,262,12052,0.00,2.62,0.00,0.000,4,0.000,0.041,2528,548,2704,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12115,-1.45,-97.7,951.9,-10.8,262,12122,0.00,2.50,0.00,0.000,6,0.000,0.025,2517,2187,2703,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,12521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12521,begin apogee
$GC,12531,-0.29,0.0,993.2,-8.6,266,12623,1.23,0.00,85.72,1.646,6,0.125,0.000,2897,1578,2322,0,0,0,0,0,0,24.87,28.83,22.97
$STATE,12625,end apogee,CONTROL_FINISHED_OK
$STATE,12625,begin climb
$GC,12630,1.33,97.7,996.1,0.0,271,12732,1.48,2.80,92.47,1.622,4,0.060,0.034,3430,3198,1921,0,0,0,0,0,0,25.34,25.06,23.00
$GC,12904,1.18,97.7,982.4,8.7,284,12912,0.20,2.55,0.00,0.000,6,0.160,0.030,3383,1575,1917,0,0,0,0,0,0,25.53,26.06,28.83
$GC,13246,1.06,97.7,955.2,7.7,287,13252,0.15,2.60,0.00,0.000,4,0.173,0.033,3338,3203,1908,0,0,0,0,0,0,25.94,26.16,28.83
$GC,13324,0.95,97.7,955.2,7.7,287,13332,0.12,2.53,0.00,0.000,6,0.151,0.030,3311,1585,1908,0,0,0,0,0,0,25.76,26.22,28.83
$GC,13726,0.98,137.7,932.8,4.7,291,13767,0.00,2.75,35.05,1.588,4,0.000,0.034,3311,3202,1757,0,0,0,0,0,0,28.83,25.53,23.48
$GC,13940,1.03,180.9,927.1,4.5,292,13986,0.00,2.50,40.67,1.587,6,0.000,0.030,3322,1574,1581,0,0,0,0,0,0,28.83,26.08,23.35
$GC,14307,1.03,180.9,894.4,7.0,296,14313,0.00,2.60,0.00,0.000,4,0.000,0.035,3322,3203,1575,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14446,1.05,180.9,884.0,7.8,297,14453,0.00,2.53,0.00,0.000,6,0.000,0.029,3333,1580,1574,0,0,0,0,0,0,28.83,26.21,28.83
$GC,14788,1.08,180.9,850.4,9.2,300,14793,0.00,2.60,0.00,0.000,4,0.000,0.036,3333,3202,1572,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,24893,end climb,SURFACE_DEPTH_REACHED
$STATE,24893,begin surface coast
$FINISH,1.3,1.019008
$STATE,24924,end surface coast,CONTROL_FINISHED_OK
$STATE,24924,begin surface
$SM_CCo,24950,54.50,0.121,0,0,1095,300.00
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$TT8_MAMPS,0.029211,0.029211
$HUMID,62.75
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,363
$SC_FREEKB,7552096
$TM_FREEKB,4197312
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$10V_AH,8.1,84.048
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.500,223.200,253.925,54.500,0.000,28.754,47.203,217.906,90.750,0.000,19.700,2030.016,20337.246,664.822,1902.862,672.865,33.255,1580.239,0.000,1512.315,0.000,0.535,0.000
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$MEM,343744
$DATA_FILE_SIZE,13445,515
$CAP_FILE_SIZE,183957,0
$CFSIZE,260034560,199643136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090313,104258,2431.095,-3747.296,37,0.8,37,-13.9