version: 66.11
glider: 189
mission: 7
dive: 128
start: 10 22 112 12 13 40
data:
$ID,189
$MISSION,7
$DIVE,128
$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,-47603.684
$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
$GPS1,221012,120401,2444.729,-3812.808,41,0.9,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-59.1
$GPS2,221012,121241,2444.786,-3812.803,17,1.0,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.186,0.081
$KALMAN_X,24366.2,108.5,-7.9,-42832.1,756.4
$KALMAN_Y,103936.9,187.1,-29.8,-87120.8,1262.7
$MHEAD_RNG_PITCHd_Wd,307.6,8445,-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,-32.25,0.000,2,0.000,0.000,164,1826,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.86,-146.6,2.1,-2.4,3,117,9.70,2.55,-38.58,0.000,4,0.204,0.050,2709,3446,2919,0,0,0,0,0,0,25.75,26.21,26.63
$GC,346,-0.68,-146.6,27.5,-10.9,32,356,0.25,2.47,0.00,0.000,6,0.133,0.024,2781,1821,2920,0,0,0,0,0,0,25.96,26.36,28.83
$GC,656,-0.60,-146.6,54.9,-8.7,63,665,0.00,2.55,0.00,0.000,4,0.000,0.037,2771,3454,2920,0,0,0,0,0,0,28.83,26.36,28.83
$GC,776,-0.53,-146.6,64.2,-7.3,75,786,0.20,2.47,0.00,0.000,6,0.122,0.023,2832,1816,2920,0,0,0,0,0,0,26.16,26.47,28.83
$GC,1086,-0.53,-146.6,87.3,-8.1,96,1090,0.00,2.30,0.00,0.000,4,0.000,0.042,2832,352,2921,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1227,-0.51,-146.6,98.8,-8.2,101,1234,0.00,2.30,0.00,0.000,6,0.000,0.024,2822,1886,2921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1558,-0.51,-146.6,115.8,-4.9,112,1565,0.00,2.40,0.00,0.000,4,0.000,0.037,2811,3451,2921,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1737,-0.51,-146.6,126.7,-6.3,118,1745,0.00,2.45,0.00,0.000,6,0.000,0.023,2811,1819,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2068,-0.51,-146.6,147.7,-5.8,129,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1819,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,-0.51,-146.6,160.0,-4.0,135,2375,0.00,2.55,0.00,0.000,4,0.000,0.037,2798,3463,2921,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2566,-0.51,-146.6,171.2,-5.8,138,2571,0.12,2.47,0.00,0.000,6,0.128,0.023,2837,1815,2921,0,0,0,0,0,0,26.39,26.60,28.83
$GC,2899,-0.54,-146.6,191.9,-5.3,144,2907,0.00,2.30,0.00,0.000,4,0.000,0.042,2837,349,2921,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3069,-0.56,-146.6,195.7,-3.8,146,3073,0.00,2.30,0.00,0.000,6,0.000,0.024,2828,1888,2919,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3369,-0.60,-146.6,206.6,-3.2,151,3377,0.00,2.42,0.00,0.000,4,0.000,0.038,2816,3455,2920,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3489,-0.63,-146.6,212.3,-4.1,153,3497,0.00,2.45,0.00,0.000,6,0.000,0.022,2816,1825,2920,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3849,-0.63,-146.6,236.1,-6.9,159,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1824,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4149,-0.65,-146.6,254.0,-5.8,164,4157,0.00,2.55,0.00,0.000,4,0.000,0.038,2804,3470,2918,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4259,-0.68,-146.6,257.0,-5.4,165,4268,0.00,2.47,0.00,0.000,6,0.000,0.023,2804,1825,2918,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4569,-0.68,-146.6,273.3,-4.5,171,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1825,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4869,-0.68,-146.6,287.6,-4.8,176,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1825,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,-0.68,-146.6,305.3,-6.0,181,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1825,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5469,-0.68,-146.6,323.3,-6.0,186,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1825,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5769,-0.70,-146.6,339.7,-5.4,191,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1825,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.72,-146.6,355.3,-5.2,196,6078,0.10,2.53,0.00,0.000,4,0.095,0.039,2731,3452,2912,0,0,0,0,0,0,26.77,26.47,28.83
$GC,6148,-0.72,-146.6,359.3,-5.4,197,6157,0.12,2.47,0.00,0.000,6,0.133,0.024,2767,1815,2912,0,0,0,0,0,0,26.35,26.60,28.83
$GC,6489,-0.72,-146.6,380.4,-5.7,203,6497,0.00,2.58,0.00,0.000,4,0.000,0.039,2757,3462,2911,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6588,-0.72,-146.6,384.1,-5.9,204,6592,0.00,2.47,0.00,0.000,6,0.000,0.024,2756,1823,2910,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6900,-0.69,-146.6,412.1,-8.5,210,6908,0.00,2.33,0.00,0.000,4,0.000,0.042,2756,346,2909,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6989,-0.66,-146.6,417.9,-9.0,211,6994,0.15,2.33,0.00,0.000,6,0.132,0.024,2789,1892,2909,0,0,0,0,0,0,26.30,26.60,28.83
$GC,7312,-0.66,-146.6,444.6,-7.1,217,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1892,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,-0.66,-146.6,459.6,-4.7,222,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1892,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7911,-0.66,-146.6,473.7,-4.7,227,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1892,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8212,-0.68,-146.6,491.6,-6.1,232,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1892,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,-0.71,-146.6,510.9,-6.4,236,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1892,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,-0.73,-146.6,532.8,-6.1,239,8879,0.00,2.45,0.00,0.000,4,0.000,0.041,2779,3451,2904,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8951,-0.76,-146.6,532.8,-6.1,239,8959,0.00,2.47,0.00,0.000,6,0.000,0.024,2779,1824,2904,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9351,-0.76,-146.6,564.7,-6.6,243,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1824,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9711,-0.76,-146.6,591.9,-7.5,246,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1824,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10072,-0.78,-146.6,614.7,-6.6,249,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1824,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10432,-0.80,-146.6,634.0,-5.5,252,10440,0.12,2.55,0.00,0.000,4,0.083,0.041,2702,3448,2899,0,0,0,0,0,0,26.74,26.40,28.83
$GC,10511,-0.83,-146.6,634.0,-5.5,252,10519,0.12,2.47,0.00,0.000,6,0.140,0.025,2736,1825,2899,0,0,0,0,0,0,26.27,26.55,28.83
$GC,10911,-0.83,-146.6,665.0,-6.4,256,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1825,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11271,-0.80,-146.6,688.6,-6.5,259,11279,0.00,2.58,0.00,0.000,4,0.000,0.041,2725,3455,2897,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11420,-0.78,-146.6,697.4,-6.7,260,11425,0.00,2.50,0.00,0.000,6,0.000,0.025,2725,1816,2900,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11743,-0.75,-146.6,724.9,-7.7,263,11744,0.12,0.00,0.00,0.000,6,0.139,0.000,2761,1816,2896,0,0,0,0,0,0,26.52,28.83,28.83
$GC,12102,-0.75,-146.6,749.1,-7.1,266,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1816,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12462,-0.75,-146.6,767.0,-5.3,269,12470,0.00,2.60,0.00,0.000,4,0.000,0.041,2750,3455,2894,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12551,-0.75,-146.6,767.0,-5.3,269,12556,0.00,2.50,0.00,0.000,6,0.000,0.026,2749,1820,2894,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12934,-0.75,-146.6,792.5,-5.4,273,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1820,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13293,-0.75,-146.6,816.2,-6.5,276,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1820,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13653,-0.75,-146.6,840.5,-6.7,279,13661,0.00,2.60,0.00,0.000,4,0.000,0.043,2738,3454,2891,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13722,-0.75,-146.6,840.5,-6.7,279,13726,0.00,2.50,0.00,0.000,6,0.000,0.026,2738,1824,2891,0,0,0,0,0,0,28.83,26.49,28.83
$GC,14123,-0.75,-146.6,873.9,-7.1,283,14125,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1823,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14483,-0.75,-146.6,899.9,-7.3,286,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1823,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14844,-0.75,-146.6,924.2,-6.9,289,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1825,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15204,-0.75,-146.6,943.8,-5.6,292,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1823,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15564,-0.75,-146.6,963.7,-5.5,295,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1823,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15923,-0.75,-146.6,987.7,-6.5,298,15931,0.00,2.60,0.00,0.000,4,0.000,0.044,2726,3448,2886,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16013,-0.75,-146.6,987.7,-6.5,298,16018,0.12,2.50,0.00,0.000,6,0.132,0.028,2761,1827,2885,0,0,0,0,0,0,26.18,26.44,28.83
$STATE,16033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16033,begin apogee
$GC,16038,-0.29,0.0,995.6,-6.8,299,16164,0.43,0.00,120.78,1.704,6,0.105,0.000,2904,1827,2320,0,0,0,0,0,0,25.98,28.83,23.70
$STATE,16166,end apogee,CONTROL_FINISHED_OK
$STATE,16166,begin climb
$GC,16168,0.86,146.6,999.4,0.0,300,16302,1.05,0.00,130.43,1.661,6,0.068,0.000,3274,1827,1721,0,0,0,0,0,0,24.94,28.83,23.38
$GC,16637,0.72,146.6,966.4,8.7,304,16639,0.15,0.00,0.00,0.000,6,0.151,0.000,3235,1826,1713,0,0,0,0,0,0,25.77,28.83,28.83
$GC,16995,0.61,146.6,937.1,8.2,307,16997,0.12,0.00,0.00,0.000,6,0.153,0.000,3198,1826,1710,0,0,0,0,0,0,26.11,28.83,28.83
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$STATE,29586,end climb,SURFACE_DEPTH_REACHED
$STATE,29586,begin surface coast
$FINISH,0.9,1.024803
$STATE,29627,end surface coast,CONTROL_FINISHED_OK
$STATE,29627,begin surface
$SM_CCo,29649,1.48,0.210,0,0,1094,300.00
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.22
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$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7720736
$TM_FREEKB,6769120
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$10V_AH,10.3,21.846
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,137.050,354.500,1.475,0.000,28.447,37.189,222.855,0.000,0.000,18.634,1932.684,25578.844,663.345,1714.033,273.825,33.272,1425.650,0.000,1283.361,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344532
$DATA_FILE_SIZE,16707,577
$CAP_FILE_SIZE,182551,0
$CFSIZE,260034560,241369088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221012,202905,2447.036,-3816.208,40,0.9,40,-14.0