version: 66.11
glider: 189
mission: 7
dive: 538
start: 2 28 113 16 33 25
data:
$ID,189
$MISSION,7
$DIVE,538
$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,-48331.012
$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
$GPS1,280213,162234,2432.580,-3747.586,37,0.8,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-61.8
$GPS2,280213,163223,2432.531,-3747.646,13,1.5,13,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.108,-0.052
$KALMAN_X,134178.0,66.1,966.6,-111215.8,-4828.9
$KALMAN_Y,103623.7,-136.8,54.1,-109266.5,-1053.5
$MHEAD_RNG_PITCHd_Wd,129.4,3060,-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,-10.40,0.000,2,0.000,0.000,151,2120,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.1,0.0,1,105,9.45,2.58,-51.17,0.000,4,0.199,0.052,2586,549,2720,0,0,0,0,0,0,25.39,25.95,26.69
$GC,378,-1.16,-97.7,23.6,-8.9,35,385,0.17,2.42,0.00,0.000,6,0.151,0.024,2622,2191,2721,0,0,0,0,0,0,25.75,26.29,28.83
$GC,685,-1.16,-97.7,47.8,-7.2,66,693,0.00,2.50,0.00,0.000,4,0.000,0.040,2611,3742,2722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,855,-1.13,-97.7,61.3,-7.7,83,862,0.00,2.42,0.00,0.000,6,0.000,0.021,2612,2106,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1165,-1.13,-97.7,84.3,-7.3,106,1171,0.00,2.62,0.00,0.000,4,0.000,0.039,2600,3743,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1214,-1.11,-97.7,86.3,-7.2,107,1223,0.12,2.42,0.00,0.000,6,0.129,0.020,2640,2090,2723,0,0,0,0,0,0,25.91,26.41,28.83
$GC,1528,-1.11,-97.7,106.7,-6.0,118,1533,0.00,2.62,0.00,0.000,4,0.000,0.039,2629,3757,2723,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1595,-1.11,-97.7,110.4,-6.2,120,1601,0.00,2.45,0.00,0.000,6,0.000,0.021,2629,2096,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1915,-1.11,-97.7,133.2,-7.4,131,1922,0.00,2.42,0.00,0.000,4,0.000,0.037,2629,541,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2005,-1.11,-97.7,140.8,-8.2,134,2011,0.00,2.42,0.00,0.000,6,0.000,0.023,2617,2191,2724,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2365,-1.11,-97.7,171.0,-8.3,142,2371,0.00,2.58,0.00,0.000,4,0.000,0.035,2617,539,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2444,-1.11,-97.7,175.8,-8.2,143,2452,0.12,2.50,0.00,0.000,6,0.155,0.022,2637,2201,2724,0,0,0,0,0,0,25.99,26.36,28.83
$GC,2786,-1.14,-97.7,201.4,-6.8,149,2791,0.00,2.55,0.00,0.000,4,0.000,0.035,2638,540,2725,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2845,-1.16,-97.7,205.6,-6.7,150,2851,0.00,2.47,0.00,0.000,6,0.000,0.023,2627,2197,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3205,-1.16,-97.7,230.9,-7.0,156,3212,0.00,2.47,0.00,0.000,4,0.000,0.041,2615,3745,2725,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3244,-1.16,-97.7,230.9,-7.0,156,3251,0.00,2.42,0.00,0.000,6,0.000,0.020,2615,2098,2724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3565,-1.16,-97.7,257.4,-7.5,162,3571,0.00,2.42,0.00,0.000,4,0.000,0.037,2615,545,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3644,-1.16,-97.7,262.2,-7.6,163,3651,0.00,2.47,0.00,0.000,6,0.000,0.023,2603,2193,2725,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3986,-1.16,-97.7,288.4,-7.2,169,3991,0.00,2.45,0.00,0.000,4,0.000,0.041,2591,3755,2725,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4034,-1.16,-97.7,288.4,-7.2,169,4043,0.12,2.47,0.00,0.000,6,0.143,0.020,2624,2083,2725,0,0,0,0,0,0,26.06,26.43,28.83
$GC,4346,-1.19,-97.7,312.2,-6.6,175,4351,0.00,2.35,0.00,0.000,4,0.000,0.037,2624,545,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4415,-1.21,-97.7,316.2,-6.7,176,4421,0.00,2.42,0.00,0.000,6,0.000,0.023,2613,2195,2725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4765,-1.23,-97.7,343.1,-7.7,182,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2195,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-1.26,-97.7,368.4,-8.5,187,5071,0.00,2.55,0.00,0.000,4,0.000,0.036,2613,545,2725,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5184,-1.26,-97.7,378.9,-8.6,189,5191,0.00,2.47,0.00,0.000,6,0.000,0.023,2601,2196,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5545,-1.26,-97.7,407.7,-7.8,195,5551,0.00,2.60,0.00,0.000,4,0.000,0.036,2601,543,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5675,-1.26,-97.7,417.2,-7.8,197,5681,0.00,2.50,0.00,0.000,6,0.000,0.024,2589,2185,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6025,-1.26,-97.7,443.8,-7.4,203,6031,0.00,2.50,0.00,0.000,4,0.000,0.041,2577,3740,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6064,-1.26,-97.7,443.8,-7.4,203,6071,0.00,2.45,0.00,0.000,6,0.000,0.021,2578,2099,2722,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6386,-1.26,-97.7,470.3,-7.2,209,6391,0.00,2.40,0.00,0.000,4,0.000,0.038,2577,542,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6474,-1.26,-97.7,474.8,-7.2,210,6481,0.00,2.50,0.00,0.000,6,0.000,0.024,2566,2193,2721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6805,-1.26,-97.7,500.7,-7.2,216,6811,0.00,2.58,0.00,0.000,4,0.000,0.036,2566,550,2720,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6855,-1.26,-97.7,500.7,-7.2,216,6862,0.10,2.47,0.00,0.000,6,0.136,0.024,2586,2195,2720,0,0,0,0,0,0,25.92,26.35,28.83
$GC,7165,-1.26,-97.7,527.8,-7.5,219,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2195,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7524,-1.26,-97.7,551.9,-6.9,222,7531,0.00,2.58,0.00,0.000,4,0.000,0.037,2589,552,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7574,-1.26,-97.7,551.9,-6.9,222,7581,0.00,2.50,0.00,0.000,6,0.000,0.024,2576,2195,2718,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7886,-1.26,-97.7,574.2,-6.2,225,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2195,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8245,-1.26,-97.7,599.2,-6.7,228,8251,0.00,2.60,0.00,0.000,4,0.000,0.037,2577,549,2716,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8304,-1.26,-97.7,599.2,-6.7,228,8311,0.00,2.50,0.00,0.000,6,0.000,0.024,2564,2189,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8726,-1.26,-97.7,637.3,-8.0,232,8731,0.00,2.58,0.00,0.000,4,0.000,0.038,2565,541,2715,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8864,-1.26,-97.7,646.5,-7.9,233,8872,0.15,2.53,0.00,0.000,6,0.152,0.025,2592,2192,2714,0,0,0,0,0,0,25.86,26.32,28.83
$GC,9205,-1.26,-97.7,672.3,-7.3,236,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2192,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9566,-1.30,-97.7,698.5,-7.2,239,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2192,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9925,-1.34,-97.7,728.0,-8.1,242,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2192,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10285,-1.39,-97.7,757.3,-8.2,245,10292,0.12,2.62,0.00,0.000,4,0.083,0.039,2528,552,2711,0,0,0,0,0,0,26.59,26.02,28.83
$GC,10375,-1.43,-97.7,757.3,-8.2,245,10381,0.00,2.50,0.00,0.000,6,0.000,0.026,2516,2187,2710,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10765,-1.41,-97.7,792.2,-7.2,249,10772,0.12,2.60,0.00,0.000,4,0.162,0.039,2548,553,2709,0,0,0,0,0,0,26.29,26.01,28.83
$GC,10836,-1.39,-97.7,792.2,-7.2,249,10841,0.00,2.45,0.00,0.000,6,0.000,0.025,2538,2195,2708,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11246,-1.39,-97.7,824.7,-6.7,253,11252,0.00,2.58,0.00,0.000,4,0.000,0.039,2538,548,2707,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11374,-1.37,-97.7,835.3,-7.4,254,11382,0.10,2.50,0.00,0.000,6,0.137,0.025,2557,2185,2706,0,0,0,0,0,0,25.84,26.28,28.83
$GC,11726,-1.37,-97.7,870.3,-9.5,257,11732,0.00,2.58,0.00,0.000,4,0.000,0.041,2557,545,2705,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11834,-1.37,-97.7,870.3,-9.5,257,11843,0.00,2.58,0.00,0.000,6,0.000,0.025,2547,2185,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12205,-1.37,-97.7,922.7,-10.9,261,12212,0.00,2.60,0.00,0.000,4,0.000,0.041,2547,554,2705,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12264,-1.37,-97.7,922.7,-10.9,261,12272,0.00,2.50,0.00,0.000,6,0.000,0.025,2536,2188,2704,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12686,-1.37,-97.7,967.8,-9.4,265,12692,0.00,2.60,0.00,0.000,4,0.000,0.041,2535,549,2703,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12734,-1.37,-97.7,967.8,-9.4,265,12742,0.12,2.53,0.00,0.000,6,0.161,0.025,2554,2192,2706,0,0,0,0,0,0,25.85,26.25,28.83
$STATE,13041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13041,begin apogee
$GC,13051,-0.29,0.0,992.0,-7.1,268,13143,1.10,0.00,86.18,1.657,6,0.125,0.000,2898,1572,2320,0,0,0,0,0,0,24.95,28.83,23.01
$STATE,13145,end apogee,CONTROL_FINISHED_OK
$STATE,13145,begin climb
$GC,13149,1.26,97.7,994.1,0.0,273,13252,1.40,2.83,92.15,1.639,4,0.061,0.034,3403,3207,1920,0,0,0,0,0,0,25.30,25.03,23.02
$GC,13334,1.11,97.7,985.2,8.6,282,13344,0.17,2.58,0.00,0.000,6,0.156,0.029,3364,1583,1916,0,0,0,0,0,0,25.48,25.90,28.83
$GC,13705,1.00,97.7,953.9,8.2,286,13712,0.15,2.58,0.00,0.000,4,0.169,0.034,3326,3204,1911,0,0,0,0,0,0,26.02,26.18,28.83
$GC,13826,0.91,97.7,945.3,7.9,287,13832,0.15,2.47,0.00,0.000,6,0.170,0.031,3299,1577,1911,0,0,0,0,0,0,25.82,26.24,28.83
$GC,14185,0.89,111.5,924.9,6.0,290,14202,0.00,2.62,11.25,1.490,4,0.000,0.034,3298,3210,1865,0,0,0,0,0,0,28.83,26.08,23.87
$GC,14325,0.89,136.3,918.8,5.5,291,14355,0.00,2.50,24.50,1.575,6,0.000,0.029,3309,1575,1763,0,0,0,0,0,0,28.83,26.17,23.59
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$STATE,24682,end climb,SURFACE_DEPTH_REACHED
$STATE,24682,begin surface coast
$FINISH,1.3,1.011450
$STATE,24714,end surface coast,CONTROL_FINISHED_OK
$STATE,24714,begin surface
$SM_CCo,24739,43.72,0.122,0,0,1095,300.00
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$TT8_MAMPS,0.026215,0.026215
$HUMID,62.95
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7563232
$TM_FREEKB,4315040
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$10V_AH,10.0,80.077
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.850,243.600,277.900,43.725,0.000,26.526,39.208,208.332,0.000,0.000,14.454,2024.421,20054.197,717.277,1902.637,659.420,33.266,1653.611,0.000,1540.797,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,343688
$DATA_FILE_SIZE,13444,498
$CAP_FILE_SIZE,186080,0
$CFSIZE,260034560,202108928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280213,232737,2431.687,-3747.181,27,0.9,27,-13.9