version: 66.11
glider: 189
mission: 7
dive: 202
start: 11 17 112 6 3 41
data:
$ID,189
$MISSION,7
$DIVE,202
$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,-47906.359
$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
$GPS1,171112,055335,2423.894,-3746.091,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-57.1
$GPS2,171112,060241,2423.869,-3746.157,16,0.9,16,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,0.170
$KALMAN_X,35540.6,440.0,682.6,-10191.6,-709.6
$KALMAN_Y,57844.9,85.7,-102.5,-79591.6,-2473.6
$MHEAD_RNG_PITCHd_Wd,340.9,32621,-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,23,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-21.60,0.000,2,0.000,0.000,162,1828,1523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.1,0.0,2,119,9.05,2.62,-53.70,0.000,4,0.172,0.048,2709,3466,2918,0,0,0,0,0,0,25.66,26.17,26.65
$GC,347,-0.73,-146.6,21.9,-6.8,32,357,0.17,2.53,0.00,0.000,6,0.122,0.024,2768,1821,2920,0,0,0,0,0,0,25.95,26.30,28.83
$GC,657,-0.66,-146.6,47.8,-6.6,63,666,0.00,2.55,0.00,0.000,4,0.000,0.036,2758,3448,2920,0,0,0,0,0,0,28.83,26.25,28.83
$GC,898,-0.60,-146.6,62.9,-4.5,87,907,0.12,2.45,0.00,0.000,6,0.104,0.023,2803,1823,2920,0,0,0,0,0,0,26.11,26.43,28.83
$GC,1217,-0.60,-146.6,80.8,-6.1,113,1225,0.00,2.58,0.00,0.000,4,0.000,0.037,2792,3462,2920,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1458,-0.60,-146.6,95.1,-5.7,121,1465,0.00,2.45,0.00,0.000,6,0.000,0.022,2791,1828,2921,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1788,-0.60,-146.6,115.0,-6.0,132,1795,0.00,2.53,0.00,0.000,4,0.000,0.037,2780,3448,2921,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1896,-0.60,-146.6,120.1,-5.8,135,1900,0.00,2.45,0.00,0.000,6,0.000,0.022,2780,1821,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2197,-0.60,-146.6,137.2,-5.0,145,2205,0.00,2.58,0.00,0.000,4,0.000,0.036,2768,3474,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2437,-0.58,-146.6,149.0,-4.9,153,2446,0.10,2.50,0.00,0.000,6,0.101,0.022,2807,1805,2921,0,0,0,0,0,0,26.24,26.53,28.83
$GC,2767,-0.58,-146.6,160.2,-3.3,159,2775,0.00,2.60,0.00,0.000,4,0.000,0.037,2793,3459,2923,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2956,-0.58,-146.6,167.6,-3.8,162,2964,0.00,2.47,0.00,0.000,6,0.000,0.021,2796,1816,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3307,-0.58,-146.6,186.6,-5.4,168,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1821,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-0.58,-146.6,206.9,-7.0,173,3615,0.00,2.58,0.00,0.000,4,0.000,0.037,2784,3457,2920,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3836,-0.58,-146.6,221.6,-8.1,176,3845,0.00,2.47,0.00,0.000,6,0.000,0.022,2784,1816,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4147,-0.58,-146.6,246.4,-6.4,182,4155,0.00,2.58,0.00,0.000,4,0.000,0.037,2772,3452,2919,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4307,-0.58,-146.6,252.9,-5.6,184,4315,0.12,2.47,0.00,0.000,6,0.124,0.022,2810,1814,2919,0,0,0,0,0,0,26.29,26.53,28.83
$GC,4628,-0.62,-146.6,266.2,-3.5,190,4635,0.00,2.55,0.00,0.000,4,0.000,0.037,2800,3449,2918,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4869,-0.66,-146.6,276.0,-4.1,194,4875,0.00,2.42,0.00,0.000,6,0.000,0.023,2800,1829,2918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5228,-0.70,-146.6,294.6,-5.3,200,5235,0.00,2.53,0.00,0.000,4,0.000,0.037,2788,3445,2917,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5469,-0.73,-146.6,307.1,-5.2,204,5475,0.00,2.40,0.00,0.000,6,0.000,0.024,2788,1816,2916,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5827,-0.73,-146.6,325.1,-5.1,210,5835,0.00,2.60,0.00,0.000,4,0.000,0.037,2776,3459,2914,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5997,-0.73,-146.6,331.9,-5.4,212,6006,0.00,2.50,0.00,0.000,6,0.000,0.022,2776,1812,2914,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6308,-0.73,-146.6,352.4,-5.6,218,6315,0.00,2.58,0.00,0.000,4,0.000,0.037,2765,3450,2917,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6549,-0.73,-146.6,365.4,-5.4,222,6555,0.00,2.40,0.00,0.000,6,0.000,0.023,2765,1824,2914,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6907,-0.73,-146.6,383.6,-4.9,228,6915,0.00,2.55,0.00,0.000,4,0.000,0.037,2754,3448,2913,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7149,-0.73,-146.6,396.8,-5.5,232,7155,0.00,2.40,0.00,0.000,6,0.000,0.024,2754,1824,2912,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7507,-0.73,-146.6,420.9,-6.8,238,7515,0.00,2.58,0.00,0.000,4,0.000,0.038,2744,3451,2911,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7748,-0.73,-146.6,438.0,-7.1,242,7755,0.00,2.45,0.00,0.000,6,0.000,0.024,2742,1822,2910,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8108,-0.73,-146.6,461.4,-6.3,248,8115,0.00,2.55,0.00,0.000,4,0.000,0.038,2730,3447,2909,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8349,-0.71,-146.6,475.9,-6.0,252,8356,0.15,2.40,0.00,0.000,6,0.121,0.024,2775,1824,2909,0,0,0,0,0,0,26.21,26.49,28.83
$GC,8708,-0.73,-146.6,492.5,-4.5,258,8715,0.00,2.55,0.00,0.000,4,0.000,0.038,2766,3445,2907,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8949,-0.76,-146.6,502.2,-4.1,262,8955,0.00,2.45,0.00,0.000,6,0.000,0.024,2765,1802,2907,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9308,-0.76,-146.6,518.5,-4.4,265,9315,0.00,2.60,0.00,0.000,4,0.000,0.038,2753,3446,2906,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9549,-0.76,-146.6,533.5,-5.5,267,9555,0.00,2.45,0.00,0.000,6,0.000,0.024,2753,1830,2905,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9907,-0.76,-146.6,561.2,-7.4,270,9915,0.00,2.58,0.00,0.000,4,0.000,0.038,2742,3453,2904,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10147,-0.76,-146.6,580.4,-8.0,272,10154,0.00,2.50,0.00,0.000,6,0.000,0.024,2742,1818,2903,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10507,-0.76,-146.6,606.3,-7.4,275,10515,0.00,2.58,0.00,0.000,4,0.000,0.038,2730,3446,2903,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10748,-0.76,-146.6,620.6,-6.4,277,10755,0.00,2.47,0.00,0.000,6,0.000,0.024,2730,1824,2901,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11108,-0.76,-146.6,638.5,-5.2,280,11115,0.00,2.58,0.00,0.000,4,0.000,0.039,2718,3455,2901,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11349,-0.76,-146.6,649.5,-4.6,282,11356,0.12,2.42,0.00,0.000,6,0.129,0.024,2756,1826,2901,0,0,0,0,0,0,26.20,26.46,28.83
$GC,11708,-0.76,-146.6,665.8,-4.5,285,11715,0.00,2.58,0.00,0.000,4,0.000,0.039,2744,3451,2900,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11949,-0.76,-146.6,680.6,-5.4,287,11955,0.00,2.47,0.00,0.000,6,0.000,0.024,2744,1820,2899,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12307,-0.76,-146.6,707.7,-7.3,290,12315,0.00,2.58,0.00,0.000,4,0.000,0.038,2732,3449,2898,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12548,-0.76,-146.6,726.8,-7.9,292,12555,0.00,2.47,0.00,0.000,6,0.000,0.025,2732,1825,2898,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12907,-0.76,-146.6,753.7,-7.6,295,12914,0.00,2.60,0.00,0.000,4,0.000,0.039,2720,3450,2897,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13149,-0.76,-146.6,770.3,-7.1,297,13155,0.08,2.47,0.00,0.000,6,0.109,0.024,2750,1827,2897,0,0,0,0,0,0,26.17,26.44,28.83
$GC,13507,-0.76,-146.6,790.0,-5.8,300,13515,0.00,2.58,0.00,0.000,4,0.000,0.039,2740,3455,2896,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13749,-0.78,-146.6,802.2,-5.2,302,13755,0.00,2.45,0.00,0.000,6,0.000,0.024,2740,1825,2895,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14108,-0.78,-146.6,819.3,-4.8,305,14115,0.00,2.58,0.00,0.000,4,0.000,0.039,2728,3448,2893,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14349,-0.78,-146.6,831.9,-5.0,307,14355,0.00,2.45,0.00,0.000,6,0.000,0.025,2728,1816,2893,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14707,-0.78,-146.6,852.8,-5.7,310,14715,0.00,2.60,0.00,0.000,4,0.000,0.039,2716,3449,2893,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14938,-0.78,-146.6,861.1,-6.1,311,14947,0.08,2.47,0.00,0.000,6,0.109,0.025,2746,1827,2892,0,0,0,0,0,0,26.13,26.38,28.83
$GC,15307,-0.78,-146.6,896.4,-7.4,315,15315,0.00,2.60,0.00,0.000,4,0.000,0.040,2735,3449,2891,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15550,-0.81,-146.6,915.1,-7.7,317,15555,0.00,2.42,0.00,0.000,6,0.000,0.026,2735,1827,2891,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15907,-0.81,-146.6,943.6,-7.9,320,15915,0.00,2.62,0.00,0.000,4,0.000,0.041,2723,3458,2889,0,0,0,0,0,0,28.83,26.11,28.83
$GC,16148,-0.81,-146.6,960.9,-7.1,325,16155,0.00,2.50,0.00,0.000,6,0.000,0.025,2723,1824,2889,0,0,0,0,0,0,28.83,26.35,28.83
$GC,16478,-0.81,-146.6,981.7,-5.9,336,16485,0.00,2.58,0.00,0.000,4,0.000,0.041,2711,3446,2888,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,16625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16625,begin apogee
$GC,16633,-0.29,0.0,990.1,-5.5,341,16760,0.57,0.00,122.47,1.691,6,0.105,0.000,2905,1826,2319,0,0,0,0,0,0,25.65,28.83,23.51
$STATE,16761,end apogee,CONTROL_FINISHED_OK
$STATE,16761,begin climb
$GC,16763,0.86,146.6,992.6,0.0,345,16905,1.05,2.62,131.12,1.650,4,0.065,0.046,3286,354,1721,0,0,0,0,0,0,24.87,24.19,22.99
$GC,17077,0.69,146.6,968.8,10.6,356,17085,0.22,2.40,0.00,0.000,6,0.138,0.024,3223,1887,1714,0,0,0,0,0,0,25.46,25.75,28.83
$GC,17398,0.60,146.6,939.6,8.6,364,17399,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1887,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17758,0.51,146.6,912.3,7.8,367,17765,0.17,2.50,0.00,0.000,4,0.132,0.040,3169,3453,1710,0,0,0,0,0,0,26.13,26.21,28.83
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$STATE,30040,end climb,SURFACE_DEPTH_REACHED
$STATE,30040,begin surface coast
$FINISH,1.1,1.023944
$STATE,30071,end surface coast,CONTROL_FINISHED_OK
$STATE,30071,begin surface
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$HUMID,58.26
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$TM_FREEKB,6101856
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$10V_AH,10.4,32.787
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.450,267.500,391.375,0.300,0.000,25.671,38.821,222.527,0.000,0.000,18.325,2994.415,23428.775,874.365,2893.642,434.888,33.273,2203.125,0.000,2434.978,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344340
$DATA_FILE_SIZE,16746,622
$CAP_FILE_SIZE,234551,0
$CFSIZE,260034560,233562112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171112,142628,2425.913,-3746.045,39,0.8,39,-14.0