version: 66.11
glider: 189
mission: 7
dive: 126
start: 10 21 112 20 12 10
data:
$ID,189
$MISSION,7
$DIVE,126
$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,-47601.168
$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
$GPS1,211012,200228,2439.114,-3807.530,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-57.4
$GPS2,211012,201111,2439.071,-3807.524,15,1.5,15,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.160,0.124
$KALMAN_X,22634.6,-192.0,135.3,-32051.1,757.2
$KALMAN_Y,100757.2,135.8,64.3,-94563.8,387.2
$MHEAD_RNG_PITCHd_Wd,321.8,22113,-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,-146.6,0.0,0.0,0,56,0.00,0.00,-32.03,0.000,2,0.000,0.000,161,1828,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.86,-146.6,2.1,-1.5,3,116,9.88,2.58,-35.72,0.000,4,0.210,0.050,2710,3454,2920,0,0,0,0,0,0,25.77,26.21,26.62
$GC,346,-0.69,-146.6,27.7,-11.2,32,356,0.22,2.47,0.00,0.000,6,0.130,0.023,2775,1824,2920,0,0,0,0,0,0,26.00,26.36,28.83
$GC,656,-0.60,-146.6,56.0,-8.6,63,666,0.10,2.55,0.00,0.000,4,0.159,0.037,2792,3462,2920,0,0,0,0,0,0,26.42,26.35,28.83
$GC,896,-0.56,-146.6,75.3,-8.2,87,904,0.00,2.47,0.00,0.000,6,0.000,0.022,2792,1819,2921,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1226,-0.51,-146.6,101.2,-7.1,98,1228,0.15,0.00,0.00,0.000,6,0.128,0.000,2837,1820,2921,0,0,0,0,0,0,26.41,28.83,28.83
$GC,1526,-0.51,-146.6,113.1,-3.7,108,1534,0.00,2.55,0.00,0.000,4,0.000,0.037,2826,3464,2920,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1626,-0.51,-146.6,116.5,-3.7,111,1630,0.00,2.47,0.00,0.000,6,0.000,0.022,2826,1815,2921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1938,-0.51,-146.6,131.2,-5.1,122,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1817,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-0.51,-146.6,149.2,-6.6,132,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1815,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,-0.51,-146.6,169.4,-5.9,138,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1815,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2867,-0.51,-146.6,183.8,-4.8,143,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1815,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3171,-0.53,-146.6,202.4,-6.4,148,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1815,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.56,-146.6,215.1,-4.0,153,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1815,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.59,-146.6,225.6,-3.6,158,3775,0.00,2.55,0.00,0.000,4,0.000,0.037,2814,3454,2920,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3988,-0.62,-146.6,231.7,-3.4,161,3995,0.00,2.45,0.00,0.000,6,0.000,0.023,2814,1824,2918,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4308,-0.64,-146.6,241.7,-2.8,167,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1824,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4608,-0.66,-146.6,251.8,-3.5,172,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4908,-0.69,-146.6,266.9,-5.2,177,4910,0.10,0.00,0.00,0.000,6,0.093,0.000,2750,1825,2915,0,0,0,0,0,0,26.78,28.83,28.83
$GC,5208,-0.64,-146.6,290.7,-8.1,182,5210,0.15,0.00,0.00,0.000,6,0.129,0.000,2795,1824,2915,0,0,0,0,0,0,26.50,28.83,28.83
$GC,5507,-0.64,-146.6,311.0,-6.7,187,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1823,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5807,-0.64,-146.6,332.7,-7.3,192,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1823,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6107,-0.64,-146.6,357.0,-8.2,197,6115,0.00,2.55,0.00,0.000,4,0.000,0.038,2784,3458,2912,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6227,-0.64,-146.6,366.9,-8.2,199,6235,0.00,2.47,0.00,0.000,6,0.000,0.023,2784,1820,2912,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6587,-0.64,-146.6,392.7,-6.8,205,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1820,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6888,-0.64,-146.6,408.3,-4.9,210,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1820,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7188,-0.64,-146.6,420.9,-4.1,215,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1820,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,-0.64,-146.6,433.4,-4.2,220,7495,0.00,2.55,0.00,0.000,4,0.000,0.038,2772,3450,2906,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7588,-0.64,-146.6,436.3,-4.4,221,7595,0.00,2.47,0.00,0.000,6,0.000,0.024,2772,1817,2908,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7908,-0.64,-146.6,455.8,-5.6,227,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1817,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8207,-0.64,-146.6,475.4,-6.6,232,8215,0.00,2.58,0.00,0.000,4,0.000,0.039,2760,3459,2906,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8316,-0.64,-146.6,479.8,-6.8,233,8321,0.12,2.47,0.00,0.000,6,0.131,0.024,2797,1823,2905,0,0,0,0,0,0,26.35,26.58,28.83
$GC,8678,-0.68,-146.6,509.2,-7.1,238,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1823,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9038,-0.71,-146.6,531.2,-6.4,241,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1823,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9398,-0.75,-146.6,548.2,-4.9,244,9400,0.12,0.00,0.00,0.000,6,0.081,0.000,2728,1823,2902,0,0,0,0,0,0,26.76,28.83,28.83
$GC,9758,-0.75,-146.6,574.0,-6.6,247,9766,0.12,2.55,0.00,0.000,4,0.140,0.040,2753,3451,2901,0,0,0,0,0,0,26.53,26.42,28.83
$GC,9826,-0.75,-146.6,574.0,-6.6,247,9830,0.00,2.47,0.00,0.000,6,0.000,0.024,2753,1824,2901,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10228,-0.75,-146.6,607.3,-7.1,251,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1824,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10588,-0.75,-146.6,631.3,-6.7,254,10595,0.00,2.58,0.00,0.000,4,0.000,0.041,2740,3455,2899,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10707,-0.75,-146.6,639.1,-6.6,255,10715,0.00,2.47,0.00,0.000,6,0.000,0.025,2741,1827,2899,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11068,-0.75,-146.6,660.6,-6.1,258,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1827,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11428,-0.75,-146.6,681.6,-5.8,261,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1826,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11788,-0.75,-146.6,706.3,-6.7,264,11795,0.00,2.58,0.00,0.000,4,0.000,0.043,2729,3448,2897,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11936,-0.75,-146.6,714.9,-7.0,265,11941,0.12,2.47,0.00,0.000,6,0.134,0.026,2764,1828,2896,0,0,0,0,0,0,26.28,26.53,28.83
$GC,12259,-0.75,-146.6,737.4,-6.6,268,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1827,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12619,-0.75,-146.6,758.2,-5.8,271,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1827,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12980,-0.77,-146.6,778.6,-5.6,274,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1827,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13339,-0.79,-146.6,803.5,-6.7,277,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1828,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13699,-0.82,-146.6,825.2,-6.3,280,13701,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1827,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14060,-0.84,-146.6,844.2,-5.4,283,14067,0.00,2.58,0.00,0.000,4,0.000,0.045,2753,3446,2890,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14158,-0.87,-146.6,844.2,-5.4,283,14166,0.00,2.50,0.00,0.000,6,0.000,0.027,2753,1822,2890,0,0,0,0,0,0,28.83,26.48,28.83
$GC,14540,-0.89,-146.6,866.1,-4.5,287,14542,0.12,0.00,0.00,0.000,6,0.083,0.000,2689,1822,2889,0,0,0,0,0,0,26.72,28.83,28.83
$GC,14899,-0.86,-146.6,891.0,-6.5,290,14907,0.12,2.58,0.00,0.000,4,0.150,0.045,2713,3445,2888,0,0,0,0,0,0,26.46,26.25,28.83
$GC,14998,-0.84,-146.6,891.0,-6.5,290,15002,0.00,2.50,0.00,0.000,6,0.000,0.027,2713,1821,2888,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15370,-0.80,-146.6,925.8,-7.4,294,15372,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1820,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15730,-0.78,-146.6,956.0,-8.4,297,15732,0.12,0.00,0.00,0.000,6,0.142,0.000,2748,1820,2886,0,0,0,0,0,0,26.48,28.83,28.83
$GC,16090,-0.78,-146.6,980.2,-7.1,300,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1820,2886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16328,begin apogee
$GC,16333,-0.29,0.0,993.0,-5.9,302,16459,0.45,0.00,120.45,1.702,6,0.108,0.000,2901,1865,2319,0,0,0,0,0,0,25.94,28.83,23.69
$STATE,16460,end apogee,CONTROL_FINISHED_OK
$STATE,16460,begin climb
$GC,16462,0.86,146.6,994.5,0.0,303,16599,1.05,2.60,129.62,1.662,4,0.069,0.048,3282,359,1722,0,0,0,0,0,0,24.94,24.41,23.38
$GC,16690,0.95,355.1,976.6,0.0,305,16880,0.00,2.45,183.65,1.639,6,0.000,0.027,3283,1872,871,0,0,0,0,0,0,28.83,25.35,23.23
$GC,17280,0.85,355.1,901.8,12.9,310,17287,0.00,2.53,0.00,0.000,4,0.000,0.050,3294,353,864,0,0,0,0,0,0,28.83,25.93,28.83
$GC,17369,0.75,355.1,901.8,12.9,310,17374,0.20,2.40,0.00,0.000,6,0.132,0.028,3237,1885,863,0,0,0,0,0,0,25.87,26.11,28.83
$GC,17752,0.70,355.1,855.8,9.6,314,17753,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1885,862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18112,0.66,355.1,819.7,9.8,317,18119,0.00,2.47,0.00,0.000,4,0.000,0.051,3247,364,861,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,26818,end climb,SURFACE_DEPTH_REACHED
$STATE,26818,begin surface coast
$FINISH,0.9,1.024790
$STATE,26849,end surface coast,CONTROL_FINISHED_OK
$STATE,26849,begin surface
$SM_CCo,26928,0.00,0.000,0,0,865,357.16
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$TT8_MAMPS,0.026964,0.026964
$HUMID,54.29
$INTERNAL_PRESSURE,9.0948
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,7721504
$TM_FREEKB,6787424
$24V_AH,23.2,24.995
$10V_AH,10.4,21.566
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.273,13.521,0.000,0.000
$MEM,344424
$DATA_FILE_SIZE,13437,512
$CAP_FILE_SIZE,177403,0
$CFSIZE,260034560,241573888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221012,034205,2442.007,-3810.029,35,1.0,35,-14.0