version: 66.11
glider: 189
mission: 7
dive: 505
start: 2 18 113 21 3 50
data:
$ID,189
$MISSION,7
$DIVE,505
$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,-48289.5
$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
$GPS1,180213,205304,2431.324,-3748.111,32,0.9,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-57.8
$GPS2,180213,210248,2431.289,-3748.133,14,0.9,14,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.068,-0.099
$KALMAN_X,165350.7,255.9,659.1,-143088.4,-1954.2
$KALMAN_Y,76775.5,-80.1,-946.0,-83764.4,3127.6
$MHEAD_RNG_PITCHd_Wd,159.7,619,-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,-10.45,0.000,2,0.000,0.000,154,2112,1393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.3,0.0,1,104,9.18,2.55,-50.53,0.000,4,0.187,0.053,2590,549,2720,0,0,0,0,0,0,25.48,25.98,26.70
$GC,295,-1.17,-97.7,16.6,-10.4,27,303,0.10,2.47,0.00,0.000,6,0.136,0.024,2614,2188,2720,0,0,0,0,0,0,25.85,26.28,28.83
$GC,604,-1.17,-97.7,41.4,-8.1,58,613,0.00,2.53,0.00,0.000,4,0.000,0.041,2605,3751,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,835,-1.13,-97.7,60.2,-8.2,81,843,0.00,2.45,0.00,0.000,6,0.000,0.021,2605,2105,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1155,-1.10,-97.7,83.8,-7.1,105,1162,0.15,2.62,0.00,0.000,4,0.145,0.040,2636,3752,2721,0,0,0,0,0,0,26.25,26.10,28.83
$GC,1244,-1.10,-97.7,90.2,-7.1,108,1251,0.00,2.45,0.00,0.000,6,0.000,0.021,2635,2098,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1575,-1.10,-97.7,113.9,-6.9,119,1582,0.00,2.65,0.00,0.000,4,0.000,0.040,2624,3745,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1635,-1.10,-97.7,117.5,-6.3,121,1641,0.00,2.42,0.00,0.000,6,0.000,0.021,2623,2104,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1965,-1.10,-97.7,138.6,-6.8,132,1971,0.00,2.45,0.00,0.000,4,0.000,0.037,2623,542,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2074,-1.10,-97.7,145.3,-7.4,135,2084,0.08,2.47,0.00,0.000,6,0.134,0.023,2637,2194,2723,0,0,0,0,0,0,26.08,26.39,28.83
$GC,2385,-1.13,-97.7,167.5,-6.7,142,2391,0.00,2.58,0.00,0.000,4,0.000,0.036,2637,546,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2454,-1.15,-97.7,171.2,-6.5,143,2461,0.00,2.45,0.00,0.000,6,0.000,0.023,2627,2187,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2806,-1.15,-97.7,191.8,-5.6,149,2811,0.00,2.45,0.00,0.000,4,0.000,0.041,2615,3752,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2925,-1.15,-97.7,199.0,-5.9,151,2931,0.00,2.45,0.00,0.000,6,0.000,0.021,2615,2096,2724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3286,-1.15,-97.7,221.5,-6.4,157,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2096,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3585,-1.15,-97.7,245.1,-8.0,162,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2096,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3884,-1.15,-97.7,269.2,-8.0,167,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2096,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-1.15,-97.7,288.9,-6.4,172,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2096,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-1.15,-97.7,305.9,-5.6,177,4491,0.00,2.40,0.00,0.000,4,0.000,0.037,2615,550,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4564,-1.15,-97.7,309.5,-5.6,178,4571,0.00,2.47,0.00,0.000,6,0.000,0.023,2603,2196,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4906,-1.15,-97.7,330.4,-5.9,184,4911,0.00,2.45,0.00,0.000,4,0.000,0.041,2591,3748,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4974,-1.15,-97.7,334.1,-6.0,185,4982,0.10,2.47,0.00,0.000,6,0.120,0.021,2625,2083,2722,0,0,0,0,0,0,26.05,26.44,28.83
$GC,5325,-1.19,-97.7,361.1,-7.9,191,5331,0.00,2.42,0.00,0.000,4,0.000,0.037,2625,542,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5435,-1.22,-97.7,366.8,-8.5,192,5443,0.00,2.47,0.00,0.000,6,0.000,0.024,2615,2189,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5745,-1.26,-97.7,400.8,-9.5,198,5752,0.00,2.60,0.00,0.000,4,0.000,0.037,2615,542,2722,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5884,-1.26,-97.7,411.9,-9.3,200,5892,0.00,2.47,0.00,0.000,6,0.000,0.024,2603,2185,2718,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6225,-1.28,-97.7,440.1,-7.5,206,6232,0.00,2.58,0.00,0.000,4,0.000,0.037,2602,550,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6284,-1.28,-97.7,444.2,-7.2,207,6292,0.00,2.47,0.00,0.000,6,0.000,0.024,2591,2200,2719,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6646,-1.28,-97.7,465.5,-5.7,213,6651,0.00,2.55,0.00,0.000,4,0.000,0.037,2591,546,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6774,-1.28,-97.7,472.8,-5.8,215,6782,0.00,2.47,0.00,0.000,6,0.000,0.024,2578,2189,2718,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7124,-1.28,-97.7,498.1,-7.4,221,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2189,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7425,-1.28,-97.7,524.3,-8.6,224,7432,0.00,2.60,0.00,0.000,4,0.000,0.037,2579,545,2717,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7523,-1.28,-97.7,524.3,-8.6,224,7531,0.00,2.50,0.00,0.000,6,0.000,0.024,2567,2188,2717,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7904,-1.28,-97.7,568.8,-9.3,228,7912,0.00,2.53,0.00,0.000,4,0.000,0.044,2555,3739,2718,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7963,-1.28,-97.7,568.8,-9.3,228,7972,0.12,2.47,0.00,0.000,6,0.148,0.021,2586,2086,2715,0,0,0,0,0,0,26.03,26.41,28.83
$GC,8384,-1.28,-97.7,604.3,-7.4,232,8391,0.00,2.42,0.00,0.000,4,0.000,0.039,2588,549,2714,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8523,-1.28,-97.7,611.7,-6.7,233,8531,0.00,2.50,0.00,0.000,6,0.000,0.024,2577,2196,2713,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8866,-1.28,-97.7,633.4,-6.0,236,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2196,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9224,-1.28,-97.7,661.3,-7.4,239,9232,0.00,2.60,0.00,0.000,4,0.000,0.037,2577,550,2711,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9313,-1.28,-97.7,661.3,-7.4,239,9321,0.00,2.50,0.00,0.000,6,0.000,0.024,2565,2188,2711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9705,-1.28,-97.7,702.1,-8.5,243,9712,0.00,2.60,0.00,0.000,4,0.000,0.039,2565,548,2711,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9813,-1.28,-97.7,702.1,-8.5,243,9823,0.12,2.50,0.00,0.000,6,0.161,0.024,2584,2185,2711,0,0,0,0,0,0,25.94,26.33,28.83
$GC,10185,-1.28,-97.7,745.3,-9.0,247,10192,0.00,2.60,0.00,0.000,4,0.000,0.039,2584,546,2710,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10243,-1.28,-97.7,745.3,-9.0,247,10251,0.00,2.50,0.00,0.000,6,0.000,0.024,2574,2187,2709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10666,-1.31,-97.7,788.8,-9.1,251,10672,0.00,2.55,0.00,0.000,4,0.000,0.040,2574,548,2709,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10784,-1.31,-97.7,799.5,-8.9,252,10791,0.00,2.50,0.00,0.000,6,0.000,0.025,2562,2193,2707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11145,-1.31,-97.7,826.7,-7.9,255,11152,0.00,2.62,0.00,0.000,4,0.000,0.040,2562,542,2707,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11283,-1.31,-97.7,835.4,-7.4,256,11291,0.00,2.53,0.00,0.000,6,0.000,0.025,2550,2187,2706,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11625,-1.31,-97.7,860.2,-6.9,259,11631,0.00,2.60,0.00,0.000,4,0.000,0.040,2550,550,2705,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11775,-1.31,-97.7,869.8,-7.1,260,11782,0.10,2.50,0.00,0.000,6,0.135,0.026,2571,2188,2704,0,0,0,0,0,0,25.85,26.29,28.83
$GC,12105,-1.31,-97.7,899.3,-8.1,263,12111,0.00,2.62,0.00,0.000,4,0.000,0.040,2572,549,2703,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12274,-1.31,-97.7,910.0,-8.4,264,12281,0.00,2.50,0.00,0.000,6,0.000,0.025,2561,2187,2703,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12585,-1.33,-97.7,940.8,-8.6,267,12591,0.00,2.58,0.00,0.000,4,0.000,0.041,2561,545,2702,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12743,-1.33,-97.7,951.1,-8.5,268,12751,0.00,2.53,0.00,0.000,6,0.000,0.026,2549,2187,2701,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13066,-1.33,-97.7,979.8,-8.1,271,13071,0.00,2.58,0.00,0.000,4,0.000,0.041,2549,544,2701,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,13181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13181,begin apogee
$GC,13190,-0.29,0.0,990.2,-8.1,272,13284,1.15,0.08,86.20,1.691,6,0.126,0.106,2899,1593,2320,0,0,0,0,0,0,25.01,24.81,23.02
$STATE,13286,end apogee,CONTROL_FINISHED_OK
$STATE,13286,begin climb
$GC,13290,1.26,97.7,994.8,0.0,277,13386,1.42,0.00,91.55,1.642,6,0.060,0.000,3406,1592,1923,0,0,0,0,0,0,25.32,28.83,23.05
$GC,13706,1.15,116.1,977.7,5.8,293,13732,0.15,2.70,16.88,1.573,4,0.174,0.036,3370,3205,1846,0,0,0,0,0,0,25.95,25.79,23.72
$GC,13877,1.04,130.8,970.2,6.0,294,13897,0.17,2.53,14.25,1.550,6,0.171,0.031,3337,1574,1787,0,0,0,0,0,0,25.70,26.12,23.76
$GC,14300,1.00,138.6,940.4,6.3,298,14310,0.00,0.00,8.50,1.449,6,0.000,0.000,3337,1574,1753,0,0,0,0,0,0,28.83,28.83,23.91
$GC,14656,0.96,138.6,915.1,6.9,301,14657,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1574,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15017,0.93,141.8,892.2,6.5,304,15026,0.15,2.03,3.70,1.088,4,0.161,0.050,3304,347,1740,0,0,0,0,0,0,26.15,26.21,24.02
$GC,15066,0.89,145.1,892.2,6.5,304,15076,0.00,1.95,4.75,1.234,6,0.000,0.026,3304,1645,1727,0,0,0,0,0,0,28.83,26.45,23.91
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$STATE,25074,end climb,SURFACE_DEPTH_REACHED
$STATE,25074,begin surface coast
$FINISH,1.3,1.009234
$STATE,25106,end surface coast,CONTROL_FINISHED_OK
$STATE,25106,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,63.23
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$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7575936
$TM_FREEKB,4453472
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$10V_AH,10.0,75.685
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.925,219.675,282.350,44.000,0.000,27.164,36.215,211.241,0.000,0.000,15.271,2122.824,20287.785,717.677,1992.597,624.836,33.266,1673.497,0.000,1615.667,0.000,0.537,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.249,13.410,0.000,0.000
$MEM,343720
$DATA_FILE_SIZE,13407,511
$CAP_FILE_SIZE,189351,0
$CFSIZE,260034560,205000704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190213,040452,2430.126,-3747.430,46,0.7,46,-14.0