version: 66.11
glider: 189
mission: 7
dive: 129
start: 10 22 112 20 39 6
data:
$ID,189
$MISSION,7
$DIVE,129
$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,-47604.941
$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
$GPS1,221012,202905,2447.036,-3816.208,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-61.9
$GPS2,221012,203805,2447.074,-3816.197,16,1.6,16,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,-0.199
$KALMAN_X,25015.6,-274.4,20.0,-48835.7,1253.3
$KALMAN_Y,105766.2,20.8,-73.7,-84498.4,1890.4
$MHEAD_RNG_PITCHd_Wd,205.9,49227,-11.8,-6.111,-16.74
$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,19,begin dive
$GC,22,-0.85,-146.6,0.0,0.0,0,55,0.00,0.00,-31.58,0.000,2,0.000,0.000,162,1830,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.85,-146.6,2.1,-1.2,3,106,10.05,2.38,-27.10,0.000,4,0.217,0.055,2717,348,2920,0,0,0,0,0,0,25.75,26.17,26.62
$GC,335,-0.66,-146.6,29.9,-11.2,31,345,0.28,2.33,0.00,0.000,6,0.139,0.024,2787,1885,2921,0,0,0,0,0,0,25.86,26.36,28.83
$GC,645,-0.59,-146.6,57.2,-9.8,62,654,0.00,2.42,0.00,0.000,4,0.000,0.041,2787,351,2921,0,0,0,0,0,0,28.83,26.29,28.83
$GC,765,-0.50,-146.6,68.8,-8.6,74,775,0.20,2.33,0.00,0.000,6,0.128,0.024,2838,1900,2921,0,0,0,0,0,0,26.10,26.48,28.83
$GC,1075,-0.50,-146.6,88.2,-6.3,91,1082,0.00,2.42,0.00,0.000,4,0.000,0.038,2827,3462,2922,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1316,-0.50,-146.6,97.2,-2.9,99,1323,0.00,2.45,0.00,0.000,6,0.000,0.022,2827,1823,2923,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1645,-0.50,-146.6,112.1,-5.9,110,1652,0.00,2.33,0.00,0.000,4,0.000,0.041,2827,341,2923,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1765,-0.50,-146.6,121.1,-7.5,114,1769,0.00,2.33,0.00,0.000,6,0.000,0.023,2815,1898,2923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2087,-0.50,-146.6,139.8,-5.3,125,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1898,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,-0.50,-146.6,157.8,-6.2,133,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1898,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2686,-0.50,-146.6,173.0,-5.0,138,2694,0.00,2.40,0.00,0.000,4,0.000,0.037,2804,3451,2923,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2815,-0.50,-146.6,179.2,-4.9,140,2820,0.12,2.45,0.00,0.000,6,0.129,0.022,2846,1823,2923,0,0,0,0,0,0,26.36,26.59,28.83
$GC,3158,-0.54,-146.6,196.1,-4.8,146,3166,0.00,2.53,0.00,0.000,4,0.000,0.037,2831,3463,2922,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3288,-0.58,-146.6,202.2,-4.9,148,3295,0.00,2.47,0.00,0.000,6,0.000,0.023,2830,1816,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3638,-0.61,-146.6,219.8,-4.9,154,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1816,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3938,-0.65,-146.6,230.1,-3.3,159,3946,0.12,2.55,0.00,0.000,4,0.081,0.037,2746,3449,2920,0,0,0,0,0,0,26.76,26.47,28.83
$GC,4067,-0.65,-146.6,236.0,-4.0,161,4072,0.15,2.45,0.00,0.000,6,0.128,0.023,2790,1822,2920,0,0,0,0,0,0,26.31,26.60,28.83
$GC,4409,-0.65,-146.6,259.4,-7.1,167,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1821,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.65,-146.6,282.9,-7.8,172,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1821,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5009,-0.65,-146.6,306.2,-7.8,177,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1821,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5309,-0.65,-146.6,328.2,-7.3,182,5317,0.00,2.55,0.00,0.000,4,0.000,0.038,2779,3455,2917,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5418,-0.65,-146.6,332.5,-7.2,183,5422,0.00,2.47,0.00,0.000,6,0.000,0.023,2779,1818,2916,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5719,-0.65,-146.6,356.8,-6.8,188,5723,0.00,2.30,0.00,0.000,4,0.000,0.042,2779,352,2915,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5789,-0.65,-146.6,360.2,-6.6,189,5793,0.00,2.30,0.00,0.000,6,0.000,0.024,2768,1885,2915,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6121,-0.65,-146.6,378.1,-4.8,195,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1885,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6421,-0.65,-146.6,392.8,-5.0,200,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1885,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6720,-0.65,-146.6,414.0,-7.3,205,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1885,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7020,-0.65,-146.6,436.8,-7.6,210,7028,0.00,2.45,0.00,0.000,4,0.000,0.040,2757,3454,2911,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7129,-0.65,-146.6,441.2,-7.5,211,7134,0.12,2.47,0.00,0.000,6,0.129,0.024,2793,1820,2911,0,0,0,0,0,0,26.34,26.58,28.83
$GC,7431,-0.65,-146.6,461.8,-5.6,216,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1819,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7731,-0.67,-146.6,478.4,-5.5,221,7738,0.00,2.30,0.00,0.000,4,0.000,0.043,2793,355,2909,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7830,-0.67,-146.6,482.2,-5.7,222,7834,0.00,2.30,0.00,0.000,6,0.000,0.024,2784,1885,2909,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8201,-0.67,-146.6,509.0,-6.5,228,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1886,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8561,-0.67,-146.6,532.0,-6.4,231,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1886,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8922,-0.70,-146.6,550.9,-5.5,234,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1884,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,-0.72,-146.6,567.8,-4.7,237,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1885,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9642,-0.74,-146.6,583.5,-4.4,240,9649,0.00,2.45,0.00,0.000,4,0.000,0.041,2772,3454,2903,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9762,-0.77,-146.6,588.8,-4.4,241,9769,0.00,2.47,0.00,0.000,6,0.000,0.024,2772,1822,2902,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10121,-0.77,-146.6,606.8,-4.9,244,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1823,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10482,-0.77,-146.6,628.0,-5.8,247,10489,0.00,2.58,0.00,0.000,4,0.000,0.040,2761,3455,2900,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10640,-0.77,-146.6,635.3,-5.9,248,10644,0.00,2.47,0.00,0.000,6,0.000,0.025,2761,1828,2900,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10952,-0.77,-146.6,657.2,-6.2,251,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1828,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11312,-0.77,-146.6,679.6,-6.2,254,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1828,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11672,-0.77,-146.6,701.2,-6.0,257,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1828,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12032,-0.77,-146.6,723.2,-6.1,260,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1828,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12391,-0.77,-146.6,746.8,-6.5,263,12399,0.00,2.58,0.00,0.000,4,0.000,0.042,2748,3449,2895,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12481,-0.77,-146.6,746.8,-6.5,263,12485,0.00,2.50,0.00,0.000,6,0.000,0.026,2749,1819,2895,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12863,-0.77,-146.6,775.5,-6.1,267,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1819,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13223,-0.77,-146.6,792.4,-4.9,270,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1819,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13583,-0.77,-146.6,810.2,-4.8,273,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1819,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13943,-0.77,-146.6,830.4,-5.5,276,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1819,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14303,-0.77,-146.6,853.3,-6.2,279,14310,0.00,2.60,0.00,0.000,4,0.000,0.043,2736,3449,2891,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14452,-0.77,-146.6,861.7,-6.5,280,14456,0.00,2.50,0.00,0.000,6,0.000,0.027,2736,1825,2890,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14773,-0.77,-146.6,885.1,-6.8,283,14781,0.00,2.38,0.00,0.000,4,0.000,0.047,2736,345,2889,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14872,-0.77,-146.6,885.1,-6.8,283,14876,0.00,2.35,0.00,0.000,6,0.000,0.025,2726,1886,2889,0,0,0,0,0,0,28.83,26.48,28.83
$GC,15244,-0.77,-146.6,913.1,-5.9,287,15245,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1886,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15603,-0.77,-146.6,936.8,-6.4,290,15611,0.00,2.50,0.00,0.000,4,0.000,0.044,2714,3455,2888,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15712,-0.77,-146.6,936.8,-6.4,290,15717,0.12,2.50,0.00,0.000,6,0.138,0.028,2748,1830,2888,0,0,0,0,0,0,26.15,26.42,28.83
$GC,16074,-0.77,-146.6,972.0,-7.4,293,16075,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1830,2887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16432,begin apogee
$GC,16436,-0.29,0.0,995.3,-6.7,296,16563,0.47,0.00,120.93,1.693,6,0.109,0.000,2906,1829,2319,0,0,0,0,0,0,25.89,28.83,23.72
$STATE,16564,end apogee,CONTROL_FINISHED_OK
$STATE,16564,begin climb
$GC,16566,0.85,146.6,997.6,0.0,297,16701,1.05,0.00,130.05,1.663,6,0.070,0.000,3271,1830,1721,0,0,0,0,0,0,24.94,28.83,23.37
$GC,17035,0.72,146.6,956.0,10.6,301,17037,0.15,0.00,0.00,0.000,6,0.152,0.000,3231,1830,1713,0,0,0,0,0,0,25.77,28.83,28.83
$GC,17394,0.61,146.6,923.1,9.5,304,17396,0.12,0.00,0.00,0.000,6,0.152,0.000,3195,1830,1711,0,0,0,0,0,0,26.10,28.83,28.83
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$STATE,29675,end climb,SURFACE_DEPTH_REACHED
$STATE,29675,begin surface coast
$FINISH,0.9,1.024785
$STATE,29708,end surface coast,CONTROL_FINISHED_OK
$STATE,29708,begin surface
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$HUMID,53.85
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$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,7720352
$TM_FREEKB,6760000
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$10V_AH,10.4,21.987
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.300,165.350,395.500,0.000,0.000,26.949,40.532,240.031,0.000,0.000,18.033,2018.318,25453.406,710.910,1854.865,280.884,33.277,1537.938,0.000,1399.798,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.320,13.517,0.000,0.000
$MEM,344460
$DATA_FILE_SIZE,13460,550
$CAP_FILE_SIZE,188320,0
$CFSIZE,260034560,241266688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231012,045634,2444.196,-3817.106,30,1.0,30,-14.1