version: 66.11
glider: 189
mission: 7
dive: 111
start: 10 16 112 16 33 59
data:
$ID,189
$MISSION,7
$DIVE,111
$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,-47262.715
$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
$GPS1,161012,162358,2443.500,-3748.380,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-59.4
$GPS2,161012,163300,2443.480,-3748.357,14,1.4,14,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,-0.202
$KALMAN_X,22570.9,-273.6,-174.4,692.0,930.2
$KALMAN_Y,100090.2,-362.7,-81.4,-85084.5,1357.1
$MHEAD_RNG_PITCHd_Wd,199.9,42606,-11.8,-6.111,-16.78
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,45,0.00,0.00,-21.67,0.000,2,0.000,0.000,160,1838,1617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.1,0.0,2,116,9.38,2.33,-50.15,0.000,4,0.191,0.056,2723,354,2919,0,0,0,0,0,0,25.94,26.19,26.62
$GC,345,-0.66,-146.6,24.1,-12.9,32,355,0.25,2.33,0.00,0.000,6,0.138,0.023,2785,1894,2920,0,0,0,0,0,0,26.00,26.40,28.83
$GC,655,-0.58,-146.6,53.7,-8.7,63,664,0.00,2.45,0.00,0.000,4,0.000,0.041,2785,341,2920,0,0,0,0,0,0,28.83,26.36,28.83
$GC,816,-0.48,-146.6,68.5,-8.0,79,825,0.20,2.33,0.00,0.000,6,0.129,0.023,2842,1892,2920,0,0,0,0,0,0,26.18,26.53,28.83
$GC,1125,-0.48,-146.6,88.1,-6.0,96,1132,0.00,2.42,0.00,0.000,4,0.000,0.037,2832,3459,2921,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1355,-0.48,-146.6,99.7,-5.2,103,1364,0.00,2.47,0.00,0.000,6,0.000,0.022,2834,1815,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1665,-0.48,-146.6,116.5,-4.7,114,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1815,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1965,-0.48,-146.6,128.7,-4.1,124,1972,0.00,2.30,0.00,0.000,4,0.000,0.041,2832,344,2922,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2205,-0.48,-146.6,141.0,-5.4,132,2212,0.00,2.30,0.00,0.000,6,0.000,0.023,2821,1890,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2565,-0.48,-146.6,161.1,-5.5,141,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1890,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-0.48,-146.6,174.5,-4.4,146,2873,0.00,2.42,0.00,0.000,4,0.000,0.037,2809,3462,2921,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3014,-0.48,-146.6,180.4,-4.8,148,3019,0.12,2.45,0.00,0.000,6,0.129,0.022,2847,1822,2920,0,0,0,0,0,0,26.43,26.64,28.83
$GC,3337,-0.53,-146.6,197.9,-5.2,154,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1822,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-0.58,-146.6,214.7,-5.6,159,3639,0.12,0.00,0.00,0.000,6,0.080,0.000,2771,1822,2920,0,0,0,0,0,0,26.77,28.83,28.83
$GC,3937,-0.55,-146.6,235.1,-6.9,164,3939,0.17,0.00,0.00,0.000,6,0.122,0.000,2824,1822,2919,0,0,0,0,0,0,26.48,28.83,28.83
$GC,4237,-0.58,-146.6,249.0,-4.5,169,4244,0.00,2.33,0.00,0.000,4,0.000,0.042,2825,342,2918,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4306,-0.61,-146.6,252.0,-4.5,170,4310,0.00,2.33,0.00,0.000,6,0.000,0.024,2815,1900,2918,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4648,-0.64,-146.6,270.3,-5.5,176,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1900,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-0.66,-146.6,290.4,-6.7,181,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1900,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5248,-0.70,-146.6,307.8,-5.6,186,5256,0.12,2.45,0.00,0.000,4,0.079,0.041,2744,342,2915,0,0,0,0,0,0,26.78,26.51,28.83
$GC,5327,-0.70,-146.6,311.9,-5.6,187,5335,0.15,2.33,0.00,0.000,6,0.138,0.024,2775,1896,2915,0,0,0,0,0,0,26.34,26.65,28.83
$GC,5668,-0.70,-146.6,326.9,-3.7,193,5675,0.00,2.42,0.00,0.000,4,0.000,0.040,2764,3455,2913,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5807,-0.70,-146.6,332.4,-4.1,195,5811,0.00,2.47,0.00,0.000,6,0.000,0.023,2764,1818,2913,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6138,-0.67,-146.6,357.0,-7.6,201,6146,0.00,2.30,0.00,0.000,4,0.000,0.043,2764,352,2912,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6227,-0.64,-146.6,362.4,-8.1,202,6232,0.15,2.30,0.00,0.000,6,0.133,0.024,2798,1886,2911,0,0,0,0,0,0,26.36,26.65,28.83
$GC,6550,-0.66,-146.6,387.1,-6.7,208,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1886,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,-0.68,-146.6,405.7,-6.1,213,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1887,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,-0.71,-146.6,420.5,-4.8,218,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1887,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,-0.73,-146.6,432.8,-4.1,223,7452,0.10,0.00,0.00,0.000,6,0.093,0.000,2739,1887,2907,0,0,0,0,0,0,26.79,28.83,28.83
$GC,7750,-0.69,-146.6,451.9,-6.5,228,7752,0.15,0.00,0.00,0.000,6,0.131,0.000,2782,1888,2907,0,0,0,0,0,0,26.50,28.83,28.83
$GC,8049,-0.69,-146.6,470.6,-6.3,233,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1887,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8349,-0.69,-146.6,489.4,-6.3,238,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1888,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8709,-0.69,-146.6,509.2,-5.4,243,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1888,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,-0.69,-146.6,530.2,-5.7,246,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1887,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9430,-0.71,-146.6,553.7,-6.5,249,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1888,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,-0.73,-146.6,574.1,-5.9,252,9798,0.00,2.42,0.00,0.000,4,0.000,0.044,2783,355,2901,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9869,-0.75,-146.6,574.1,-5.9,252,9877,0.00,2.33,0.00,0.000,6,0.000,0.025,2773,1893,2900,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10269,-0.75,-146.6,594.3,-4.2,256,10277,0.00,2.45,0.00,0.000,4,0.000,0.041,2762,3455,2899,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10369,-0.75,-146.6,594.3,-4.2,256,10373,0.00,2.47,0.00,0.000,6,0.000,0.024,2762,1828,2899,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10740,-0.75,-146.6,620.3,-5.5,260,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1828,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11100,-0.75,-146.6,642.3,-6.1,263,11108,0.00,2.55,0.00,0.000,4,0.000,0.040,2750,3449,2898,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11189,-0.75,-146.6,642.3,-6.1,263,11193,0.00,2.47,0.00,0.000,6,0.000,0.025,2750,1828,2897,0,0,0,0,0,0,28.83,26.56,28.83
$GC,11571,-0.75,-146.6,668.6,-5.6,267,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1828,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11931,-0.75,-146.6,688.1,-5.3,270,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1828,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12291,-0.75,-146.6,712.2,-6.5,273,12298,0.00,2.35,0.00,0.000,4,0.000,0.045,2750,352,2894,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12359,-0.75,-146.6,712.2,-6.5,273,12364,0.00,2.33,0.00,0.000,6,0.000,0.024,2739,1885,2894,0,0,0,0,0,0,28.83,26.59,28.83
$GC,12761,-0.75,-146.6,746.8,-7.3,277,12768,0.00,2.47,0.00,0.000,4,0.000,0.041,2728,3461,2893,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12849,-0.75,-146.6,746.8,-7.3,277,12854,0.00,2.50,0.00,0.000,6,0.000,0.026,2728,1825,2893,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13231,-0.75,-146.6,778.8,-6.8,281,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1824,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13591,-0.75,-146.6,804.6,-7.1,284,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1824,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13951,-0.75,-146.6,830.4,-7.2,287,13952,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1825,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14311,-0.75,-146.6,854.4,-6.7,290,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1824,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14671,-0.75,-146.6,877.6,-6.4,293,14672,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1824,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15031,-0.75,-146.6,901.7,-6.7,296,15039,0.00,2.38,0.00,0.000,4,0.000,0.048,2728,352,2887,0,0,0,0,0,0,28.83,26.31,28.83
$GC,15100,-0.75,-146.6,901.7,-6.7,296,15105,0.15,2.35,0.00,0.000,6,0.136,0.026,2760,1888,2887,0,0,0,0,0,0,26.20,26.53,28.83
$GC,15503,-0.77,-146.6,929.7,-5.9,300,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1888,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15863,-0.81,-146.6,950.7,-5.8,303,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1887,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16223,-0.84,-146.6,971.2,-5.7,306,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1888,2884,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16580,begin apogee
$GC,16586,-0.29,0.0,993.4,-6.0,309,16711,0.43,0.00,120.68,1.720,6,0.105,0.000,2906,1837,2319,0,0,0,0,0,0,26.03,28.83,23.70
$STATE,16713,end apogee,CONTROL_FINISHED_OK
$STATE,16713,begin climb
$GC,16715,0.86,146.6,997.3,0.0,310,16849,1.05,0.00,129.95,1.683,6,0.069,0.000,3276,1837,1722,0,0,0,0,0,0,24.94,28.83,23.42
$GC,17183,0.72,146.6,965.6,8.4,314,17191,0.15,2.42,0.00,0.000,4,0.148,0.050,3245,362,1714,0,0,0,0,0,0,25.79,25.88,28.83
$GC,17262,0.58,146.6,965.6,8.4,314,17267,0.20,2.38,0.00,0.000,6,0.135,0.026,3187,1883,1712,0,0,0,0,0,0,25.79,26.07,28.83
$GC,17654,0.52,146.6,933.6,6.7,318,17662,0.00,2.53,0.00,0.000,4,0.000,0.042,3187,3458,1714,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,29798,end climb,SURFACE_DEPTH_REACHED
$STATE,29798,begin surface coast
$FINISH,0.9,1.001885
$STATE,29840,end surface coast,CONTROL_FINISHED_OK
$STATE,29840,begin surface
$SM_CCo,29858,15.23,0.136,0,0,1092,300.00
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.48
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$TCM_TEMP,24.60
$XPDR_PINGS,3
$SC_FREEKB,7727264
$TM_FREEKB,6919392
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$10V_AH,10.4,19.361
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.525,149.325,353.775,15.225,0.000,27.290,41.715,248.367,0.750,0.000,16.125,2001.234,25661.211,680.646,1817.220,247.676,33.269,1484.108,0.000,1352.862,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.852,13.512,0.000,0.000
$MEM,344480
$DATA_FILE_SIZE,16737,569
$CAP_FILE_SIZE,189466,0
$CFSIZE,260034560,243040256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171012,005304,2440.275,-3749.204,37,0.8,37,-13.9