version: 66.11
glider: 189
mission: 7
dive: 300
start: 12 18 112 14 1 13
data:
$ID,189
$MISSION,7
$DIVE,300
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$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,100
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-48031.242
$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,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,181212,135153,2437.676,-3746.513,40,0.9,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.1
$GPS2,181212,140013,2437.576,-3746.468,16,0.9,17,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,0.116
$KALMAN_X,119998.4,115.4,-295.0,-93835.1,4478.1
$KALMAN_Y,-63045.6,245.0,28.6,66390.6,-3496.2
$MHEAD_RNG_PITCHd_Wd,359.4,18416,-19.9,-6.667,-29.07
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.15,0.000,2,0.000,0.000,151,2125,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.25,2.50,-49.95,0.000,4,0.194,0.049,2593,544,2719,0,0,0,0,0,0,25.54,26.03,26.67
$GC,394,-1.15,-97.7,28.1,-10.2,37,403,0.12,2.47,0.00,0.000,6,0.142,0.024,2623,2183,2720,0,0,0,0,0,0,25.83,26.34,28.83
$GC,704,-1.11,-97.7,56.5,-8.4,68,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2183,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1024,-1.07,-97.7,79.4,-6.5,96,1032,0.12,2.47,0.00,0.000,4,0.161,0.041,2646,3741,2723,0,0,0,0,0,0,26.34,26.22,28.83
$GC,1235,-1.07,-97.7,94.2,-7.0,103,1241,0.00,2.42,0.00,0.000,6,0.000,0.021,2646,2107,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1564,-1.07,-97.7,117.3,-7.0,114,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2107,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1864,-1.07,-97.7,137.0,-6.6,124,1871,0.00,2.62,0.00,0.000,4,0.000,0.039,2634,3755,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1924,-1.07,-97.7,140.9,-6.5,126,1931,0.00,2.45,0.00,0.000,6,0.000,0.021,2634,2104,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2284,-1.07,-97.7,158.1,-4.4,135,2292,0.00,2.60,0.00,0.000,4,0.000,0.039,2622,3746,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2503,-1.07,-97.7,165.3,-3.9,138,2512,0.12,2.45,0.00,0.000,6,0.148,0.020,2655,2094,2724,0,0,0,0,0,0,26.18,26.54,28.83
$GC,2824,-1.09,-97.7,182.2,-5.1,144,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2094,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3125,-1.12,-97.7,204.6,-7.7,149,3131,0.00,2.62,0.00,0.000,4,0.000,0.040,2644,3746,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3423,-1.12,-97.7,230.3,-8.6,154,3431,0.00,2.47,0.00,0.000,6,0.000,0.020,2644,2092,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3785,-1.12,-97.7,255.4,-6.6,160,3791,0.00,2.65,0.00,0.000,4,0.000,0.039,2632,3755,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4084,-1.12,-97.7,273.4,-6.0,165,4091,0.00,2.47,0.00,0.000,6,0.000,0.021,2637,2088,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4445,-1.12,-97.7,293.8,-5.6,171,4452,0.00,2.65,0.00,0.000,4,0.000,0.040,2620,3754,2723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4743,-1.12,-97.7,315.5,-7.4,176,4751,0.00,2.47,0.00,0.000,6,0.000,0.021,2619,2103,2723,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5104,-1.12,-97.7,347.5,-9.2,182,5111,0.00,2.60,0.00,0.000,4,0.000,0.040,2607,3742,2722,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5404,-1.12,-97.7,379.2,-10.7,187,5412,0.08,2.45,0.00,0.000,6,0.125,0.021,2634,2091,2721,0,0,0,0,0,0,26.22,26.54,28.83
$GC,5765,-1.14,-97.7,410.2,-8.1,193,5771,0.00,2.65,0.00,0.000,4,0.000,0.041,2629,3746,2721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6064,-1.14,-97.7,429.0,-6.1,198,6071,0.00,2.45,0.00,0.000,6,0.000,0.021,2624,2099,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6425,-1.14,-97.7,449.7,-5.9,204,6431,0.00,2.62,0.00,0.000,4,0.000,0.041,2611,3752,2719,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6724,-1.14,-97.7,471.4,-7.4,209,6731,0.00,2.45,0.00,0.000,6,0.000,0.021,2611,2107,2718,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7084,-1.14,-97.7,498.0,-7.4,215,7092,0.00,2.60,0.00,0.000,4,0.000,0.041,2599,3745,2717,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7383,-1.14,-97.7,516.3,-7.5,218,7391,0.12,2.47,0.00,0.000,6,0.147,0.021,2632,2101,2717,0,0,0,0,0,0,26.17,26.51,28.83
$GC,7805,-1.17,-97.7,552.8,-7.6,222,7812,0.00,2.45,0.00,0.000,4,0.000,0.039,2633,552,2715,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8104,-1.19,-97.7,567.9,-6.9,224,8111,0.00,2.47,0.00,0.000,6,0.000,0.024,2622,2188,2715,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8524,-1.21,-97.7,597.9,-6.2,228,8532,0.00,2.50,0.00,0.000,4,0.000,0.042,2610,3745,2714,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8823,-1.23,-97.7,616.8,-7.2,230,8831,0.00,2.47,0.00,0.000,6,0.000,0.022,2610,2106,2714,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9244,-1.23,-97.7,659.5,-8.9,234,9251,0.00,2.62,0.00,0.000,4,0.000,0.041,2598,3751,2712,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9543,-1.23,-97.7,682.4,-9.3,236,9547,0.00,2.50,0.00,0.000,6,0.000,0.022,2598,2094,2711,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9956,-1.23,-97.7,712.6,-6.4,240,9962,0.00,2.65,0.00,0.000,4,0.000,0.042,2586,3752,2710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10255,-1.23,-97.7,724.5,-4.9,242,10262,0.00,2.47,0.00,0.000,6,0.000,0.022,2586,2104,2709,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10676,-1.23,-97.7,759.9,-7.4,246,10682,0.00,2.45,0.00,0.000,4,0.000,0.040,2586,554,2708,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10974,-1.23,-97.7,785.7,-9.6,248,10982,0.00,2.50,0.00,0.000,6,0.000,0.024,2574,2195,2708,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11396,-1.23,-97.7,830.4,-9.3,252,11402,0.00,2.47,0.00,0.000,4,0.000,0.044,2562,3743,2706,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11694,-1.23,-97.7,847.5,-7.8,254,11702,0.15,2.50,0.00,0.000,6,0.148,0.024,2601,2101,2705,0,0,0,0,0,0,26.00,26.44,28.83
$GC,12116,-1.26,-97.7,872.1,-5.1,258,12123,0.00,2.65,0.00,0.000,4,0.000,0.044,2591,3745,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12414,-1.28,-97.7,886.7,-5.5,260,12422,0.00,2.50,0.00,0.000,6,0.000,0.024,2591,2106,2703,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12835,-1.28,-97.7,923.2,-7.6,264,12843,0.00,2.62,0.00,0.000,4,0.000,0.044,2580,3742,2701,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13134,-1.28,-97.7,944.1,-8.4,266,13138,0.00,2.50,0.00,0.000,6,0.000,0.024,2579,2101,2700,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13546,-1.28,-97.7,983.0,-8.3,270,13553,0.00,2.47,0.00,0.000,4,0.000,0.041,2579,550,2700,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,13663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13663,begin apogee
$GC,13671,-0.29,0.0,992.6,-8.1,271,13760,1.05,0.10,84.43,1.662,6,0.129,0.089,2900,1585,2320,0,0,0,0,0,0,25.28,24.89,23.22
$STATE,13762,end apogee,CONTROL_FINISHED_OK
$STATE,13762,begin climb
$GC,13765,1.26,97.7,995.1,0.0,275,13865,1.40,2.72,90.88,1.641,4,0.060,0.037,3404,3200,1920,0,0,0,0,0,0,25.18,24.76,23.09
$GC,13996,1.11,97.7,983.4,8.2,287,14004,0.17,2.58,0.00,0.000,6,0.161,0.030,3366,1586,1915,0,0,0,0,0,0,25.53,25.90,28.83
$GC,14377,1.02,97.7,956.2,7.2,291,14384,0.15,1.98,0.00,0.000,4,0.169,0.048,3334,356,1907,0,0,0,0,0,0,26.04,26.17,28.83
$GC,14597,0.94,97.7,948.4,7.0,292,14604,0.10,1.92,0.00,0.000,6,0.139,0.024,3302,1652,1906,0,0,0,0,0,0,26.06,26.44,28.83
$GC,14977,0.95,130.0,923.4,5.2,296,15006,0.00,0.00,27.55,1.590,6,0.000,0.000,3302,1652,1789,0,0,0,0,0,0,28.83,28.83,23.95
$GC,15336,0.97,146.8,901.2,5.9,299,15357,0.00,2.17,15.70,1.538,4,0.000,0.049,3311,353,1721,0,0,0,0,0,0,28.83,25.80,24.08
$GC,15568,0.97,146.8,882.4,7.3,301,15573,0.00,1.92,0.00,0.000,6,0.000,0.026,3311,1658,1718,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15926,0.97,146.8,852.2,8.4,304,15933,0.00,2.12,0.00,0.000,4,0.000,0.047,3320,352,1716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,16125,0.97,146.8,841.7,8.4,305,16132,0.00,1.95,0.00,0.000,6,0.000,0.025,3321,1649,1715,0,0,0,0,0,0,28.83,26.47,28.83
$GC,16526,0.97,146.8,804.8,7.7,309,16533,0.00,2.08,0.00,0.000,4,0.000,0.047,3330,358,1715,0,0,0,0,0,0,28.83,26.23,28.83
$GC,16725,0.97,146.8,795.9,7.4,310,16728,0.00,1.95,0.00,0.000,6,0.000,0.025,3330,1656,1714,0,0,0,0,0,0,28.83,26.52,28.83
$GC,17117,0.97,146.8,760.0,7.6,314,17124,0.00,2.10,0.00,0.000,4,0.000,0.048,3340,349,1713,0,0,0,0,0,0,28.83,26.21,28.83
$GC,17345,0.97,146.8,750.3,7.7,315,17349,0.00,1.95,0.00,0.000,6,0.000,0.025,3340,1648,1713,0,0,0,0,0,0,28.83,26.53,28.83
$GC,17706,0.97,146.8,712.8,8.0,318,17714,0.00,2.12,0.00,0.000,4,0.000,0.047,3350,353,1713,0,0,0,0,0,0,28.83,26.19,28.83
$GC,17896,0.94,146.8,702.8,8.0,319,17904,0.17,1.95,0.00,0.000,6,0.144,0.025,3301,1657,1712,0,0,0,0,0,0,26.01,26.52,28.83
$GC,18306,0.94,146.8,670.5,6.7,323,18313,0.00,2.12,0.00,0.000,4,0.000,0.048,3309,356,1712,0,0,0,0,0,0,28.83,26.15,28.83
$GC,18558,0.96,157.7,655.9,6.2,325,18575,0.00,1.92,9.43,1.358,6,0.000,0.026,3309,1644,1677,0,0,0,0,0,0,28.83,26.51,24.17
$GC,18907,0.98,175.8,635.1,5.8,328,18929,0.00,2.15,17.45,1.411,4,0.000,0.049,3319,356,1604,0,0,0,0,0,0,28.83,25.91,24.20
$GC,18977,1.00,193.9,635.1,5.8,328,18999,0.00,1.98,17.90,1.394,6,0.000,0.026,3324,1647,1528,0,0,0,0,0,0,28.83,26.12,23.95
$GC,19368,1.04,193.9,601.0,7.4,332,19375,0.00,2.10,0.00,0.000,4,0.000,0.049,3329,362,1525,0,0,0,0,0,0,28.83,26.06,28.83
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$GC,25279,1.30,193.9,33.6,8.2,468,25287,0.10,2.08,0.00,0.000,4,0.094,0.047,3447,359,1526,0,0,0,0,0,0,26.69,26.12,28.83
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$STATE,25588,end climb,SURFACE_DEPTH_REACHED
$STATE,25588,begin surface coast
$FINISH,1.2,1.012019
$STATE,25617,end surface coast,CONTROL_FINISHED_OK
$STATE,25617,begin surface
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$HUMID,60.35
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$XPDR_PINGS,0
$SC_FREEKB,7654656
$TM_FREEKB,5330176
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$10V_AH,10.2,47.919
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.900,183.275,263.325,45.700,0.000,26.729,35.853,186.998,0.000,0.000,18.169,2547.300,20035.729,654.488,2487.998,447.637,33.257,1772.952,0.000,2117.301,0.000,0.535,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.218,13.459,0.000,0.000
$MEM,344364
$DATA_FILE_SIZE,13416,502
$CAP_FILE_SIZE,188367,0
$CFSIZE,260034560,223477760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181212,211034,2437.744,-3745.537,38,0.8,38,-13.9