version: 66.11
glider: 189
mission: 7
dive: 210
start: 11 20 112 2 17 49
data:
$ID,189
$MISSION,7
$DIVE,210
$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,-47916.418
$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,1950
$C_ROLL_CLIMB,1750
$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
$GPS1,201112,020704,2433.961,-3754.918,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-58.7
$GPS2,201112,021647,2433.959,-3754.899,14,1.0,14,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.199,0.040
$KALMAN_X,66330.2,-403.3,-367.1,-53761.7,5031.5
$KALMAN_Y,50807.9,-19.2,655.2,-54526.6,-1273.1
$MHEAD_RNG_PITCHd_Wd,295.3,11961,-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,-21.33,0.000,2,0.000,0.000,159,1964,1615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.2,0.0,2,117,9.38,2.50,-50.72,0.000,4,0.184,0.050,2716,3563,2917,0,0,0,0,0,0,25.73,26.11,26.64
$GC,168,-0.70,-146.6,5.5,-8.2,14,176,0.15,2.47,0.00,0.000,6,0.115,0.023,2767,1916,2918,0,0,0,0,0,0,25.89,26.28,28.83
$GC,477,-0.65,-146.6,26.7,-7.8,45,485,0.00,2.50,0.00,0.000,4,0.000,0.040,2767,349,2919,0,0,0,0,0,0,28.83,26.20,28.83
$GC,716,-0.57,-146.6,45.4,-8.0,69,727,0.20,2.47,0.00,0.000,6,0.126,0.024,2817,1990,2919,0,0,0,0,0,0,26.03,26.43,28.83
$GC,1026,-0.57,-146.6,69.2,-7.9,100,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1990,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1348,-0.57,-146.6,92.0,-6.5,116,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1990,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,-0.61,-146.6,105.7,-4.3,126,1654,0.00,2.60,0.00,0.000,4,0.000,0.039,2817,348,2919,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1746,-0.61,-146.6,110.0,-4.8,129,1750,0.00,2.47,0.00,0.000,6,0.000,0.023,2806,1997,2919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2057,-0.61,-146.6,129.6,-6.5,140,2065,0.00,2.45,0.00,0.000,4,0.000,0.038,2795,3558,2919,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2278,-0.61,-146.6,144.0,-7.0,147,2285,0.00,2.47,0.00,0.000,6,0.000,0.021,2795,1905,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2598,-0.61,-146.6,163.6,-5.6,154,2605,0.00,2.58,0.00,0.000,4,0.000,0.037,2783,3558,2920,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2839,-0.61,-146.6,174.5,-4.5,158,2845,0.00,2.45,0.00,0.000,6,0.000,0.021,2783,1911,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3198,-0.61,-146.6,192.3,-5.2,164,3206,0.00,2.55,0.00,0.000,4,0.000,0.038,2771,3547,2920,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3439,-0.61,-146.6,206.4,-5.9,168,3446,0.08,2.42,0.00,0.000,6,0.106,0.021,2801,1913,2919,0,0,0,0,0,0,26.32,26.57,28.83
$GC,3798,-0.64,-146.6,226.5,-5.6,174,3806,0.00,2.58,0.00,0.000,4,0.000,0.038,2790,3555,2920,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4008,-0.67,-146.6,236.5,-5.6,177,4015,0.00,2.45,0.00,0.000,6,0.000,0.021,2790,1906,2919,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4338,-0.67,-146.6,256.6,-5.6,183,4345,0.00,2.58,0.00,0.000,4,0.000,0.038,2778,3556,2918,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4477,-0.67,-146.6,264.0,-5.9,185,4481,0.00,2.47,0.00,0.000,6,0.000,0.021,2778,1902,2918,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4810,-0.67,-146.6,284.6,-5.7,191,4816,0.00,2.58,0.00,0.000,4,0.000,0.038,2766,3550,2917,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5039,-0.67,-146.6,294.1,-5.4,194,5048,0.00,2.45,0.00,0.000,6,0.000,0.021,2766,1907,2917,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5349,-0.67,-146.6,311.1,-4.7,200,5357,0.00,2.58,0.00,0.000,4,0.000,0.038,2755,3559,2916,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5510,-0.67,-146.6,317.6,-5.1,202,5517,0.08,2.45,0.00,0.000,6,0.109,0.022,2784,1908,2916,0,0,0,0,0,0,26.32,26.55,28.83
$GC,5829,-0.67,-146.6,338.7,-6.0,208,5837,0.00,2.60,0.00,0.000,4,0.000,0.039,2773,3555,2915,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6018,-0.67,-146.6,350.7,-6.6,211,6022,0.00,2.47,0.00,0.000,6,0.000,0.022,2773,1906,2914,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6359,-0.67,-146.6,373.8,-6.5,217,6367,0.00,2.60,0.00,0.000,4,0.000,0.039,2762,3554,2914,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6540,-0.67,-146.6,384.9,-6.2,220,6548,0.00,2.47,0.00,0.000,6,0.000,0.022,2762,1907,2913,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6900,-0.67,-146.6,403.9,-5.1,226,6907,0.00,2.58,0.00,0.000,4,0.000,0.039,2750,3550,2912,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7059,-0.67,-146.6,410.4,-5.3,228,7067,0.12,2.47,0.00,0.000,6,0.126,0.021,2786,1902,2912,0,0,0,0,0,0,26.29,26.54,28.83
$GC,7381,-0.70,-146.6,428.3,-4.9,234,7387,0.00,2.60,0.00,0.000,4,0.000,0.040,2775,3557,2911,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7549,-0.73,-146.6,434.7,-5.1,236,7558,0.00,2.47,0.00,0.000,6,0.000,0.022,2775,1914,2911,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7861,-0.76,-146.6,455.5,-5.9,242,7867,0.00,2.58,0.00,0.000,4,0.000,0.041,2764,3551,2910,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8019,-0.78,-146.6,463.3,-6.2,244,8026,0.00,2.47,0.00,0.000,6,0.000,0.022,2764,1907,2909,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8340,-0.78,-146.6,487.2,-6.7,250,8347,0.00,2.60,0.00,0.000,4,0.000,0.041,2752,3554,2908,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8528,-0.78,-146.6,499.5,-6.8,253,8533,0.00,2.47,0.00,0.000,6,0.000,0.023,2751,1914,2907,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8931,-0.78,-146.6,526.8,-6.6,257,8938,0.00,2.60,0.00,0.000,4,0.000,0.040,2740,3552,2906,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9070,-0.78,-146.6,534.7,-6.6,258,9078,0.00,2.47,0.00,0.000,6,0.000,0.023,2740,1914,2906,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9411,-0.78,-146.6,555.2,-5.9,261,9419,0.00,2.58,0.00,0.000,4,0.000,0.040,2729,3547,2905,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9653,-0.78,-146.6,568.6,-5.5,263,9659,0.00,2.40,0.00,0.000,6,0.000,0.023,2729,1915,2905,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10011,-0.78,-146.6,591.0,-6.1,266,10019,0.00,2.60,0.00,0.000,4,0.000,0.041,2717,3558,2904,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10200,-0.78,-146.6,599.6,-6.4,267,10208,0.12,2.50,0.00,0.000,6,0.129,0.023,2753,1902,2904,0,0,0,0,0,0,26.25,26.51,28.83
$GC,10611,-0.78,-146.6,632.8,-6.9,271,10619,0.00,2.60,0.00,0.000,4,0.000,0.041,2743,3548,2903,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10810,-0.78,-146.6,640.7,-6.7,272,10814,0.00,2.47,0.00,0.000,6,0.000,0.024,2743,1913,2902,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11202,-0.78,-146.6,670.2,-6.3,276,11209,0.00,2.60,0.00,0.000,4,0.000,0.041,2731,3554,2903,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11443,-0.78,-146.6,686.7,-6.6,278,11449,0.00,2.47,0.00,0.000,6,0.000,0.024,2731,1915,2900,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11802,-0.78,-146.6,712.4,-7.1,281,11810,0.00,2.60,0.00,0.000,4,0.000,0.041,2719,3557,2899,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12043,-0.78,-146.6,729.6,-7.1,283,12050,0.00,2.47,0.00,0.000,6,0.000,0.024,2719,1914,2899,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12402,-0.78,-146.6,753.1,-6.7,286,12410,0.10,2.60,0.00,0.000,4,0.145,0.041,2736,3557,2897,0,0,0,0,0,0,26.57,26.22,28.83
$GC,12643,-0.78,-146.6,766.6,-6.0,288,12649,0.00,2.47,0.00,0.000,6,0.000,0.024,2736,1921,2897,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13002,-0.78,-146.6,787.1,-5.7,291,13009,0.00,2.58,0.00,0.000,4,0.000,0.041,2725,3545,2897,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13191,-0.78,-146.6,794.5,-5.8,292,13195,0.00,2.50,0.00,0.000,6,0.000,0.024,2725,1904,2896,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13593,-0.78,-146.6,824.4,-6.3,296,13600,0.00,2.65,0.00,0.000,4,0.000,0.041,2713,3557,2895,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13802,-0.78,-146.6,831.9,-6.3,297,13811,0.12,2.50,0.00,0.000,6,0.129,0.024,2749,1917,2894,0,0,0,0,0,0,26.17,26.44,28.83
$GC,14193,-0.80,-146.6,858.8,-5.6,301,14201,0.00,2.60,0.00,0.000,4,0.000,0.042,2738,3548,2893,0,0,0,0,0,0,28.83,26.18,28.83
$GC,14424,-0.83,-146.6,865.6,-5.5,302,14432,0.00,2.47,0.00,0.000,6,0.000,0.024,2738,1917,2892,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14794,-0.86,-146.6,890.6,-5.2,306,14801,0.00,2.62,0.00,0.000,4,0.000,0.043,2726,3554,2891,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15036,-0.88,-146.6,903.4,-5.2,308,15041,0.00,2.45,0.00,0.000,6,0.000,0.025,2727,1910,2894,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15393,-0.88,-146.6,925.8,-6.0,311,15401,0.00,2.62,0.00,0.000,4,0.000,0.042,2715,3554,2890,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15634,-0.88,-146.6,943.6,-6.9,313,15641,0.00,2.50,0.00,0.000,6,0.000,0.025,2714,1912,2890,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15993,-0.88,-146.6,971.7,-7.8,316,16001,0.00,2.65,0.00,0.000,4,0.000,0.043,2702,3561,2888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,16235,-0.88,-146.6,989.3,-7.6,318,16241,0.00,2.45,0.00,0.000,6,0.000,0.025,2702,1914,2888,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,16250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16251,begin apogee
$GC,16256,-0.29,0.0,990.9,-7.4,319,16383,0.60,0.05,122.20,1.692,6,0.103,0.132,2905,1771,2320,0,0,0,0,0,0,25.70,24.63,23.50
$STATE,16386,end apogee,CONTROL_FINISHED_OK
$STATE,16387,begin climb
$GC,16389,0.86,146.6,995.0,0.0,325,16525,1.08,0.00,131.88,1.647,6,0.062,0.000,3282,1772,1722,0,0,0,0,0,0,24.93,28.83,23.00
$GC,16843,0.71,146.6,961.3,9.2,338,16845,0.20,0.00,0.00,0.000,6,0.140,0.000,3225,1771,1713,0,0,0,0,0,0,25.79,28.83,28.83
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$STATE,29759,end climb,SURFACE_DEPTH_REACHED
$STATE,29759,begin surface coast
$FINISH,1.0,1.025502
$STATE,29790,end surface coast,CONTROL_FINISHED_OK
$STATE,29790,begin surface
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$10V_AH,10.3,34.203
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.025,247.850,374.350,8.625,0.000,25.902,37.848,254.121,0.000,0.000,16.169,2735.369,23757.676,841.947,2628.438,429.844,33.267,2031.726,0.000,2149.219,0.000,0.535,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.921,13.528,0.000,0.000
$MEM,344376
$DATA_FILE_SIZE,16744,594
$CAP_FILE_SIZE,225680,0
$CFSIZE,260034560,232652800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201112,103605,2434.310,-3757.178,37,0.8,37,-14.0