version: 66.11
glider: 189
mission: 7
dive: 502
start: 2 17 113 23 46 43
data:
$ID,189
$MISSION,7
$DIVE,502
$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,-48285.727
$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
$GPS1,170213,233604,2430.816,-3747.492,24,0.8,24,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-55.8
$GPS2,170213,234541,2430.777,-3747.558,17,0.8,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.088,-0.082
$KALMAN_X,167640.5,72.2,-1088.0,-142477.6,2529.3
$KALMAN_Y,76029.1,-285.5,-653.7,-84050.3,2451.1
$MHEAD_RNG_PITCHd_Wd,241.0,1192,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.40,0.000,2,0.000,0.000,152,2131,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.15,2.62,-50.35,0.000,4,0.186,0.052,2588,542,2720,0,0,0,0,0,0,25.36,25.97,26.70
$GC,185,-1.54,-97.7,2.0,-1.3,16,193,0.20,2.55,0.00,0.000,6,0.063,0.025,2491,2202,2722,0,0,0,0,0,0,26.15,26.23,28.83
$GC,495,-1.39,-97.7,31.4,-9.6,47,503,0.20,2.62,0.00,0.000,4,0.158,0.037,2545,551,2721,0,0,0,0,0,0,25.90,26.08,28.83
$GC,725,-1.27,-97.7,51.1,-8.3,70,733,0.17,2.53,0.00,0.000,6,0.138,0.024,2589,2181,2722,0,0,0,0,0,0,25.69,26.34,28.83
$GC,1035,-1.23,-97.7,71.9,-6.4,101,1043,0.00,2.50,0.00,0.000,4,0.000,0.041,2579,3755,2722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1227,-1.16,-97.7,83.9,-6.6,111,1233,0.17,2.42,0.00,0.000,6,0.142,0.021,2626,2080,2722,0,0,0,0,0,0,25.87,26.41,28.83
$GC,1548,-1.16,-97.7,104.9,-6.6,122,1553,0.00,2.65,0.00,0.000,4,0.000,0.039,2615,3748,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1784,-1.16,-97.7,122.6,-7.4,130,1791,0.00,2.45,0.00,0.000,6,0.000,0.021,2615,2094,2723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2116,-1.16,-97.7,152.4,-9.7,141,2121,0.00,2.38,0.00,0.000,4,0.000,0.037,2615,546,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2175,-1.16,-97.7,158.3,-9.8,142,2181,0.00,2.47,0.00,0.000,6,0.000,0.023,2603,2199,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2536,-1.16,-97.7,183.3,-6.0,148,2541,0.00,2.45,0.00,0.000,4,0.000,0.040,2591,3751,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2645,-1.16,-97.7,186.0,-5.2,149,2653,0.12,2.42,0.00,0.000,6,0.145,0.021,2623,2085,2724,0,0,0,0,0,0,26.06,26.44,28.83
$GC,2955,-1.16,-97.7,201.1,-4.3,155,2961,0.00,2.42,0.00,0.000,4,0.000,0.037,2624,541,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3025,-1.16,-97.7,204.3,-4.7,156,3032,0.00,2.47,0.00,0.000,6,0.000,0.023,2613,2196,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3374,-1.16,-97.7,227.9,-6.9,162,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2196,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-1.16,-97.7,253.2,-8.6,167,3681,0.00,2.60,0.00,0.000,4,0.000,0.035,2613,545,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3774,-1.16,-97.7,258.7,-8.8,168,3781,0.00,2.47,0.00,0.000,6,0.000,0.023,2601,2193,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4094,-1.16,-97.7,291.7,-9.0,174,4101,0.00,2.53,0.00,0.000,4,0.000,0.041,2589,3750,2724,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4154,-1.16,-97.7,297.1,-9.0,175,4162,0.10,2.45,0.00,0.000,6,0.124,0.021,2623,2083,2724,0,0,0,0,0,0,26.04,26.44,28.83
$GC,4516,-1.19,-97.7,324.4,-7.4,181,4521,0.00,2.38,0.00,0.000,4,0.000,0.037,2623,539,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4615,-1.21,-97.7,328.6,-7.2,182,4621,0.00,2.42,0.00,0.000,6,0.000,0.024,2612,2192,2723,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4936,-1.21,-97.7,349.6,-5.5,188,4941,0.00,2.50,0.00,0.000,4,0.000,0.041,2600,3757,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5034,-1.21,-97.7,352.5,-5.2,189,5041,0.00,2.47,0.00,0.000,6,0.000,0.021,2600,2097,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5355,-1.21,-97.7,372.3,-5.8,195,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2097,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5655,-1.21,-97.7,397.5,-8.7,200,5661,0.00,2.38,0.00,0.000,4,0.000,0.038,2600,546,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5723,-1.21,-97.7,403.5,-9.3,201,5731,0.00,2.50,0.00,0.000,6,0.000,0.024,2589,2198,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6074,-1.21,-97.7,440.6,-10.4,207,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2197,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6375,-1.21,-97.7,465.3,-7.9,212,6381,0.00,2.62,0.00,0.000,4,0.000,0.037,2589,542,2720,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6503,-1.21,-97.7,473.6,-7.0,214,6512,0.12,2.50,0.00,0.000,6,0.155,0.024,2608,2189,2720,0,0,0,0,0,0,25.99,26.36,28.83
$GC,6855,-1.25,-97.7,496.1,-6.3,220,6861,0.00,2.55,0.00,0.000,4,0.000,0.037,2613,541,2719,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6916,-1.27,-97.7,500.6,-6.7,221,6921,0.00,2.45,0.00,0.000,6,0.000,0.025,2598,2192,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7335,-1.27,-97.7,533.8,-7.9,225,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2192,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7695,-1.30,-97.7,563.6,-8.3,228,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2192,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,-1.33,-97.7,592.6,-8.1,231,8062,0.00,2.58,0.00,0.000,4,0.000,0.038,2598,545,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8144,-1.36,-97.7,592.6,-8.1,231,8151,0.00,2.50,0.00,0.000,6,0.000,0.024,2586,2203,2715,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8535,-1.39,-97.7,632.5,-8.3,235,8541,0.00,2.62,0.00,0.000,4,0.000,0.039,2586,543,2714,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8625,-1.41,-97.7,632.5,-8.3,235,8631,0.00,2.47,0.00,0.000,6,0.000,0.025,2574,2187,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9014,-1.41,-97.7,669.5,-7.7,239,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2187,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,-1.41,-97.7,693.0,-6.6,242,9382,0.00,2.60,0.00,0.000,4,0.000,0.039,2574,546,2712,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9495,-1.41,-97.7,702.6,-6.8,243,9501,0.00,2.47,0.00,0.000,6,0.000,0.025,2562,2188,2712,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9854,-1.41,-97.7,735.9,-8.9,246,9861,0.00,2.50,0.00,0.000,4,0.000,0.044,2551,3744,2710,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9913,-1.41,-97.7,735.9,-8.9,246,9921,0.00,2.47,0.00,0.000,6,0.000,0.023,2550,2097,2710,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10335,-1.41,-97.7,786.3,-10.5,250,10341,0.00,2.45,0.00,0.000,4,0.000,0.041,2550,547,2711,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10403,-1.41,-97.7,786.3,-10.5,250,10411,0.00,2.50,0.00,0.000,6,0.000,0.025,2538,2188,2709,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10814,-1.41,-97.7,824.9,-8.0,254,10821,0.00,2.60,0.00,0.000,4,0.000,0.039,2538,548,2709,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10853,-1.41,-97.7,824.9,-8.0,254,10861,0.00,2.50,0.00,0.000,6,0.000,0.025,2527,2188,2708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11175,-1.41,-97.7,848.7,-6.7,257,11181,0.00,2.47,0.00,0.000,4,0.000,0.044,2515,3747,2707,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11233,-1.41,-97.7,848.7,-6.7,257,11242,0.12,2.47,0.00,0.000,6,0.157,0.024,2545,2103,2707,0,0,0,0,0,0,25.93,26.34,28.83
$GC,11654,-1.41,-97.7,882.2,-7.0,261,11661,0.00,2.47,0.00,0.000,4,0.000,0.041,2546,549,2703,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11794,-1.41,-97.7,892.2,-7.4,262,11801,0.00,2.50,0.00,0.000,6,0.000,0.026,2535,2189,2705,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12134,-1.41,-97.7,923.6,-8.6,265,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2190,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12494,-1.41,-97.7,957.9,-9.4,268,12501,0.00,2.60,0.00,0.000,4,0.000,0.040,2535,552,2703,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12604,-1.41,-97.7,957.9,-9.4,268,12613,0.00,2.50,0.00,0.000,6,0.000,0.026,2524,2190,2702,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,12871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12871,begin apogee
$GC,12880,-0.29,0.0,990.5,-8.6,272,12973,1.23,0.00,87.82,1.740,6,0.128,0.000,2901,1577,2320,0,0,0,0,0,0,24.94,28.83,22.87
$STATE,12975,end apogee,CONTROL_FINISHED_OK
$STATE,12975,begin climb
$GC,12979,1.26,97.7,993.9,0.0,277,13079,1.40,0.00,94.78,1.772,6,0.062,0.000,3403,1577,1918,0,0,0,0,0,0,25.25,28.83,22.84
$GC,13455,1.13,97.7,965.6,7.5,291,13462,0.15,2.62,0.00,0.000,4,0.171,0.035,3367,3201,1912,0,0,0,0,0,0,25.98,26.17,28.83
$GC,13515,1.01,97.7,965.6,7.5,291,13522,0.15,2.53,0.00,0.000,6,0.154,0.030,3331,1583,1911,0,0,0,0,0,0,25.75,26.23,28.83
$GC,13935,0.95,105.2,935.2,6.3,295,13942,0.00,0.00,5.43,1.454,6,0.000,0.000,3332,1582,1891,0,0,0,0,0,0,28.83,28.83,23.90
$GC,14296,0.91,116.9,913.1,6.1,298,14315,0.15,2.67,12.65,1.626,4,0.161,0.037,3291,3203,1842,0,0,0,0,0,0,26.13,26.01,23.87
$GC,14478,0.88,128.4,906.3,6.1,299,14496,0.00,2.47,12.12,1.529,6,0.000,0.030,3301,1580,1795,0,0,0,0,0,0,28.83,26.18,23.82
$GC,14876,0.89,135.3,876.7,6.3,303,14892,0.00,2.65,7.55,1.407,4,0.000,0.035,3301,3205,1770,0,0,0,0,0,0,28.83,26.12,23.91
$GC,14954,0.90,142.1,876.7,6.3,303,14967,0.00,2.55,7.95,1.420,6,0.000,0.029,3314,1579,1739,0,0,0,0,0,0,28.83,26.19,23.84
$GC,15346,0.93,168.4,851.1,5.4,307,15376,0.00,2.05,25.23,1.565,4,0.000,0.049,3324,350,1632,0,0,0,0,0,0,28.83,25.63,23.69
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$STATE,24812,end climb,SURFACE_DEPTH_REACHED
$STATE,24812,begin surface coast
$FINISH,1.4,1.026008
$STATE,24837,end surface coast,CONTROL_FINISHED_OK
$STATE,24837,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7577088
$TM_FREEKB,4466048
$24V_AH,22.8,84.873
$10V_AH,10.0,75.311
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.225,211.075,290.650,42.925,0.000,27.961,36.945,205.370,0.000,0.000,18.343,1985.422,20337.736,708.391,1835.453,601.216,33.265,1597.613,0.000,1471.151,0.000,0.536,0.000
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$MEM,343656
$DATA_FILE_SIZE,13402,510
$CAP_FILE_SIZE,182600,0
$CFSIZE,260034560,205275136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180213,064305,2430.352,-3748.985,37,0.8,37,-14.0