version: 66.11
glider: 189
mission: 7
dive: 107
start: 10 15 112 6 5 34
data:
$ID,189
$MISSION,7
$DIVE,107
$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,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$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,150
$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,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-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,-47257.684
$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,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$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,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,151012,054835,2439.370,-3757.100,27,1.2,27,-14.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-60.5
$GPS2,151012,060435,2439.475,-3757.104,18,0.9,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.130,0.155
$KALMAN_X,20409.1,177.8,-152.6,-12356.3,1100.0
$KALMAN_Y,99170.5,279.2,-57.2,-92247.9,-296.7
$MHEAD_RNG_PITCHd_Wd,54.1,22370,-11.8,-6.111,-16.77
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,36,0.00,0.00,-12.05,0.000,2,0.000,0.000,162,1823,1212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.86,-146.6,2.0,0.0,1,119,9.45,2.58,-64.60,0.000,4,0.194,0.049,2712,3448,2918,0,0,0,0,0,0,25.91,26.20,26.62
$GC,348,-0.68,-146.6,24.5,-10.9,32,357,0.17,2.45,0.00,0.000,6,0.123,0.023,2771,1824,2918,0,0,0,0,0,0,26.04,26.39,28.83
$GC,657,-0.59,-146.6,55.2,-9.0,63,667,0.12,2.53,0.00,0.000,4,0.146,0.037,2796,3452,2918,0,0,0,0,0,0,26.37,26.41,28.83
$GC,877,-0.55,-146.6,71.8,-8.2,85,885,0.00,2.45,0.00,0.000,6,0.000,0.023,2796,1824,2918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1188,-0.51,-146.6,90.8,-5.0,98,1195,0.12,2.50,0.00,0.000,4,0.135,0.037,2822,3451,2918,0,0,0,0,0,0,26.49,26.49,28.83
$GC,1286,-0.51,-146.6,94.8,-4.6,101,1290,0.00,2.45,0.00,0.000,6,0.000,0.022,2822,1820,2919,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1598,-0.51,-146.6,109.0,-4.5,112,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1819,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,-0.51,-146.6,124.4,-5.4,122,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1819,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-0.51,-146.6,142.3,-6.1,132,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1819,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2528,-0.51,-146.6,161.8,-5.9,140,2535,0.00,2.30,0.00,0.000,4,0.000,0.041,2822,348,2918,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2648,-0.51,-146.6,169.3,-6.1,142,2655,0.00,2.30,0.00,0.000,6,0.000,0.023,2811,1893,2918,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3008,-0.51,-146.6,185.6,-4.2,148,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1893,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3308,-0.51,-146.6,198.1,-4.3,153,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1893,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3608,-0.51,-146.6,212.9,-4.9,158,3615,0.00,2.42,0.00,0.000,4,0.000,0.038,2799,3460,2915,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3777,-0.51,-146.6,219.5,-5.3,160,3782,0.12,2.47,0.00,0.000,6,0.127,0.023,2837,1815,2915,0,0,0,0,0,0,26.44,26.65,28.83
$GC,4078,-0.55,-146.6,237.3,-5.0,165,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1815,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4378,-0.60,-146.6,253.7,-5.5,170,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1815,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4678,-0.65,-146.6,272.2,-6.2,175,4680,0.15,0.00,0.00,0.000,6,0.070,0.000,2756,1815,2912,0,0,0,0,0,0,26.77,28.83,28.83
$GC,4978,-0.60,-146.6,295.1,-7.7,180,4986,0.17,2.58,0.00,0.000,4,0.122,0.038,2797,3453,2911,0,0,0,0,0,0,26.49,26.54,28.83
$GC,5137,-0.58,-146.6,301.7,-6.5,182,5141,0.00,2.45,0.00,0.000,6,0.000,0.023,2797,1825,2910,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5449,-0.58,-146.6,318.3,-4.7,188,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1825,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-0.58,-146.6,333.1,-5.0,193,5756,0.00,2.33,0.00,0.000,4,0.000,0.042,2797,345,2906,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5838,-0.58,-146.6,336.3,-5.0,194,5842,0.00,2.33,0.00,0.000,6,0.000,0.024,2786,1897,2908,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6159,-0.58,-146.6,355.4,-5.4,200,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1897,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6459,-0.58,-146.6,372.1,-5.6,205,6467,0.00,2.45,0.00,0.000,4,0.000,0.042,2786,347,2906,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6560,-0.58,-146.6,375.9,-5.8,206,6568,0.12,2.33,0.00,0.000,6,0.138,0.024,2812,1894,2906,0,0,0,0,0,0,26.41,26.65,28.83
$GC,6880,-0.62,-146.6,395.2,-5.1,212,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1894,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,-0.66,-146.6,409.5,-4.7,217,7187,0.00,2.40,0.00,0.000,4,0.000,0.041,2802,3444,2903,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7309,-0.70,-146.6,415.1,-4.7,219,7313,0.00,2.45,0.00,0.000,6,0.000,0.024,2802,1826,2903,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7651,-0.73,-146.6,432.6,-4.9,225,7653,0.12,0.00,0.00,0.000,6,0.081,0.000,2734,1825,2902,0,0,0,0,0,0,26.77,28.83,28.83
$GC,7950,-0.68,-146.6,453.0,-6.9,230,7959,0.15,2.55,0.00,0.000,4,0.132,0.039,2767,3455,2901,0,0,0,0,0,0,26.51,26.51,28.83
$GC,8039,-0.64,-146.6,456.9,-6.9,231,8043,0.00,2.47,0.00,0.000,6,0.000,0.024,2766,1822,2901,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8361,-0.64,-146.6,480.1,-6.7,237,8368,0.00,2.33,0.00,0.000,4,0.000,0.043,2767,347,2900,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8440,-0.64,-146.6,484.3,-6.8,238,8445,0.12,2.33,0.00,0.000,6,0.138,0.024,2792,1893,2899,0,0,0,0,0,0,26.39,26.65,28.83
$GC,8833,-0.67,-146.6,506.5,-5.1,244,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1893,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9193,-0.69,-146.6,522.5,-4.5,247,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1893,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9553,-0.72,-146.6,542.1,-5.2,250,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1893,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-0.76,-146.6,561.0,-5.4,253,9915,0.12,0.00,0.00,0.000,6,0.081,0.000,2725,1894,2896,0,0,0,0,0,0,26.77,28.83,28.83
$GC,10272,-0.76,-146.6,585.4,-6.4,256,10281,0.12,2.45,0.00,0.000,4,0.138,0.041,2750,3457,2895,0,0,0,0,0,0,26.55,26.48,28.83
$GC,10381,-0.76,-146.6,585.4,-6.4,256,10385,0.00,2.47,0.00,0.000,6,0.000,0.025,2749,1827,2895,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10743,-0.73,-146.6,617.0,-6.7,259,10750,0.00,2.35,0.00,0.000,4,0.000,0.044,2750,347,2893,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10832,-0.70,-146.6,617.0,-6.7,259,10837,0.12,2.33,0.00,0.000,6,0.143,0.024,2774,1883,2893,0,0,0,0,0,0,26.34,26.63,28.83
$GC,11214,-0.70,-146.6,649.1,-6.8,263,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1886,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11574,-0.70,-146.6,671.2,-6.2,266,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1886,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11935,-0.73,-146.6,690.4,-5.5,269,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1886,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12294,-0.75,-146.6,708.5,-5.0,272,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1886,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12654,-0.78,-146.6,731.5,-6.2,275,12662,0.00,2.45,0.00,0.000,4,0.000,0.045,2775,355,2889,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12763,-0.81,-146.6,731.5,-6.2,275,12767,0.00,2.33,0.00,0.000,6,0.000,0.025,2766,1885,2889,0,0,0,0,0,0,28.83,26.60,28.83
$GC,13124,-0.83,-146.6,763.4,-6.8,278,13133,0.10,2.47,0.00,0.000,4,0.096,0.041,2698,3459,2887,0,0,0,0,0,0,26.77,26.42,28.83
$GC,13233,-0.86,-146.6,763.4,-6.8,278,13237,0.00,2.50,0.00,0.000,6,0.000,0.026,2698,1824,2888,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13594,-0.84,-146.6,798.7,-7.4,281,13596,0.12,0.00,0.00,0.000,6,0.145,0.000,2733,1823,2886,0,0,0,0,0,0,26.51,28.83,28.83
$GC,13954,-0.81,-146.6,819.6,-6.1,284,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1823,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14314,-0.81,-146.6,840.7,-5.8,287,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1823,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14674,-0.81,-146.6,863.8,-6.3,290,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1823,2884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15034,-0.81,-146.6,886.1,-6.2,293,15035,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1823,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15394,-0.81,-146.6,910.5,-6.6,296,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1823,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15754,-0.81,-146.6,936.3,-7.2,299,15755,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1823,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16114,-0.81,-146.6,959.0,-6.5,302,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1823,2881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16474,-0.81,-146.6,980.0,-5.9,305,16475,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1823,2880,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16712,begin apogee
$GC,16716,-0.29,0.0,992.9,-5.6,307,16842,0.52,0.00,119.38,1.698,6,0.112,0.000,2905,1823,2319,0,0,0,0,0,0,25.94,28.83,23.75
$STATE,16844,end apogee,CONTROL_FINISHED_OK
$STATE,16844,begin climb
$GC,16846,0.86,146.6,993.9,0.0,308,16980,1.10,0.00,130.05,1.670,6,0.070,0.000,3282,1823,1721,0,0,0,0,0,0,24.98,28.83,23.47
$GC,17315,0.71,146.6,947.9,11.2,312,17317,0.17,0.00,0.00,0.000,6,0.146,0.000,3234,1823,1714,0,0,0,0,0,0,25.78,28.83,28.83
$GC,17674,0.60,146.6,916.6,9.2,315,17676,0.15,0.00,0.00,0.000,6,0.142,0.000,3190,1822,1711,0,0,0,0,0,0,26.09,28.83,28.83
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$STATE,30137,end climb,SURFACE_DEPTH_REACHED
$STATE,30137,begin surface coast
$FINISH,1.0,1.024508
$STATE,30179,end surface coast,CONTROL_FINISHED_OK
$STATE,30179,begin surface
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$HUMID,53.11
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$XPDR_PINGS,1
$SC_FREEKB,7728800
$TM_FREEKB,6957056
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$10V_AH,10.4,18.737
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.100,135.775,374.175,0.000,0.000,130.690,102.420,293.574,0.250,0.000,19.220,1942.064,26391.219,655.783,1965.535,252.143,33.251,1414.072,0.000,1275.013,0.000,0.538,0.000
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$MEM,344412
$DATA_FILE_SIZE,16712,577
$CAP_FILE_SIZE,190770,0
$CFSIZE,260034560,243462144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151012,143058,2442.223,-3753.847,36,0.8,36,-13.9