version: 66.11
glider: 189
mission: 7
dive: 72
start: 10 3 112 13 9 59
data:
$ID,189
$MISSION,7
$DIVE,72
$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,-46965.074
$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
$GPS1,031012,130104,2446.568,-3747.026,31,0.7,31,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-60.0
$GPS2,031012,130900,2446.583,-3747.019,19,0.9,19,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.035,-0.196
$KALMAN_X,12410.4,-69.2,-35.6,12744.0,1109.1
$KALMAN_Y,71960.6,-59.0,42.5,-51633.1,1252.8
$MHEAD_RNG_PITCHd_Wd,204.0,48307,-12.2,-6.111,-17.05
$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,20,begin dive
$GC,22,-0.87,-140.3,0.0,0.0,0,55,0.00,0.00,-31.73,0.000,2,0.000,0.000,162,1825,1841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.88,-146.6,2.0,-1.5,3,115,9.82,2.35,-36.17,0.000,4,0.213,0.055,2715,349,2918,0,0,0,0,0,0,25.91,26.31,26.70
$GC,345,-0.67,-146.6,32.4,-13.3,32,355,0.28,2.33,0.00,0.000,6,0.143,0.024,2784,1893,2919,0,0,0,0,0,0,26.10,26.48,28.83
$GC,655,-0.60,-146.6,60.1,-8.1,63,664,0.00,2.42,0.00,0.000,4,0.000,0.042,2784,351,2920,0,0,0,0,0,0,28.83,26.45,28.83
$GC,895,-0.51,-146.6,76.3,-5.8,86,903,0.20,2.30,0.00,0.000,6,0.131,0.023,2835,1890,2921,0,0,0,0,0,0,26.32,26.61,28.83
$GC,1225,-0.51,-146.6,95.2,-6.9,97,1233,0.00,2.42,0.00,0.000,4,0.000,0.038,2825,3466,2922,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1413,-0.51,-146.6,107.0,-6.6,103,1418,0.00,2.45,0.00,0.000,6,0.000,0.023,2824,1825,2923,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1725,-0.51,-146.6,130.5,-7.2,114,1729,0.00,2.53,0.00,0.000,4,0.000,0.037,2812,3460,2923,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1815,-0.51,-146.6,135.4,-6.3,117,1819,0.00,2.45,0.00,0.000,6,0.000,0.023,2812,1822,2922,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2126,-0.51,-146.6,154.9,-6.0,127,2134,0.00,2.53,0.00,0.000,4,0.000,0.038,2800,3458,2925,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2195,-0.51,-146.6,158.6,-6.0,128,2200,0.12,2.45,0.00,0.000,6,0.133,0.023,2837,1817,2922,0,0,0,0,0,0,26.48,26.68,28.83
$GC,2538,-0.54,-146.6,174.0,-4.1,134,2545,0.00,2.30,0.00,0.000,4,0.000,0.043,2838,341,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2736,-0.54,-146.6,182.3,-4.5,137,2741,0.00,2.30,0.00,0.000,6,0.000,0.024,2828,1887,2922,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3068,-0.56,-146.6,198.9,-4.8,143,3076,0.00,2.40,0.00,0.000,4,0.000,0.041,2829,351,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3147,-0.59,-146.6,202.2,-5.0,144,3151,0.00,2.30,0.00,0.000,6,0.000,0.024,2817,1896,2921,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3479,-0.59,-146.6,220.3,-5.1,150,3486,0.00,2.40,0.00,0.000,4,0.000,0.040,2805,3454,2920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3659,-0.59,-146.6,231.3,-5.9,153,3666,0.00,2.45,0.00,0.000,6,0.000,0.024,2805,1819,2920,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4019,-0.59,-146.6,253.1,-5.8,159,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1819,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-0.59,-146.6,267.6,-4.8,164,4326,0.00,2.30,0.00,0.000,4,0.000,0.044,2805,348,2918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4408,-0.59,-146.6,271.1,-5.0,165,4412,0.00,2.30,0.00,0.000,6,0.000,0.024,2794,1889,2917,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4729,-0.59,-146.6,294.4,-6.9,171,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1889,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5029,-0.59,-146.6,315.2,-6.9,176,5033,0.00,2.42,0.00,0.000,4,0.000,0.040,2783,3456,2916,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5140,-0.59,-146.6,322.4,-6.6,178,5144,0.00,2.45,0.00,0.000,6,0.000,0.023,2782,1824,2916,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5491,-0.59,-146.6,340.1,-4.6,184,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5792,-0.59,-146.6,351.2,-3.7,189,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1824,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,-0.59,-146.6,366.0,-5.1,194,6099,0.00,2.33,0.00,0.000,4,0.000,0.044,2782,341,2912,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6190,-0.59,-146.6,369.8,-5.5,195,6195,0.12,2.33,0.00,0.000,6,0.138,0.024,2809,1896,2915,0,0,0,0,0,0,26.49,26.72,28.83
$GC,6503,-0.62,-146.6,390.3,-5.9,201,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1897,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6803,-0.66,-146.6,408.3,-6.0,206,6810,0.00,2.45,0.00,0.000,4,0.000,0.044,2809,347,2910,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6952,-0.69,-146.6,415.4,-5.8,208,6956,0.00,2.33,0.00,0.000,6,0.000,0.024,2799,1892,2909,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7274,-0.72,-146.6,430.7,-4.1,214,7281,0.00,2.42,0.00,0.000,4,0.000,0.041,2787,3455,2909,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7342,-0.75,-146.6,433.4,-4.1,215,7347,0.00,2.45,0.00,0.000,6,0.000,0.024,2787,1828,2908,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7684,-0.75,-146.6,451.5,-5.3,221,7691,0.00,2.33,0.00,0.000,4,0.000,0.044,2787,347,2907,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7804,-0.75,-146.6,459.8,-6.2,223,7811,0.00,2.33,0.00,0.000,6,0.000,0.024,2777,1896,2907,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8163,-0.75,-146.6,487.9,-8.1,229,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1896,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8464,-0.75,-146.6,509.2,-7.1,233,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1896,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8824,-0.75,-146.6,526.1,-5.1,236,8831,0.00,2.45,0.00,0.000,4,0.000,0.044,2777,345,2904,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8913,-0.75,-146.6,526.1,-5.1,236,8917,0.00,2.33,0.00,0.000,6,0.000,0.025,2766,1886,2902,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9295,-0.75,-146.6,552.7,-5.6,240,9302,0.00,2.42,0.00,0.000,4,0.000,0.044,2766,351,2902,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9393,-0.75,-146.6,552.7,-5.6,240,9397,0.00,2.33,0.00,0.000,6,0.000,0.025,2755,1897,2901,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9764,-0.75,-146.6,589.2,-7.8,244,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1898,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,-0.75,-146.6,613.4,-7.0,247,10128,0.00,2.45,0.00,0.000,4,0.000,0.045,2755,354,2900,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10235,-0.75,-146.6,620.3,-6.6,248,10243,0.00,2.33,0.00,0.000,6,0.000,0.026,2744,1892,2899,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10595,-0.75,-146.6,641.6,-5.9,251,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1892,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10955,-0.75,-146.6,665.1,-6.5,254,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1892,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11315,-0.75,-146.6,689.0,-6.6,257,11323,0.00,2.45,0.00,0.000,4,0.000,0.045,2744,352,2897,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11444,-0.75,-146.6,697.3,-6.7,258,11448,0.00,2.33,0.00,0.000,6,0.000,0.026,2733,1889,2896,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11786,-0.75,-146.6,716.8,-5.9,261,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1889,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12146,-0.75,-146.6,737.9,-5.8,264,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1889,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12505,-0.75,-146.6,763.5,-6.9,267,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1889,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12865,-0.75,-146.6,791.1,-7.6,270,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1886,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13225,-0.75,-146.6,818.9,-7.7,273,13233,0.00,2.45,0.00,0.000,4,0.000,0.046,2733,352,2892,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13324,-0.75,-146.6,818.9,-7.7,273,13329,0.12,2.33,0.00,0.000,6,0.149,0.026,2756,1886,2891,0,0,0,0,0,0,26.39,26.66,28.83
$GC,13696,-0.75,-146.6,855.9,-7.8,277,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1886,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14057,-0.78,-146.6,880.8,-7.0,280,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1886,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14417,-0.81,-146.6,904.5,-6.6,283,14425,0.00,2.45,0.00,0.000,4,0.000,0.047,2753,354,2889,0,0,0,0,0,0,28.83,26.47,28.83
$GC,14506,-0.84,-146.6,904.5,-6.6,283,14510,0.00,2.33,0.00,0.000,6,0.000,0.026,2747,1883,2888,0,0,0,0,0,0,28.83,26.64,28.83
$GC,14887,-0.86,-146.6,934.2,-6.3,287,14895,0.00,2.45,0.00,0.000,4,0.000,0.047,2747,351,2888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14976,-0.88,-146.6,934.2,-6.3,287,14980,0.00,2.33,0.00,0.000,6,0.000,0.026,2736,1885,2887,0,0,0,0,0,0,28.83,26.64,28.83
$GC,15357,-0.88,-146.6,963.8,-6.3,291,15358,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1885,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15717,-0.88,-146.6,986.6,-6.3,294,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1885,2885,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15836,begin apogee
$GC,15841,-0.29,0.0,994.2,-6.3,295,15967,0.50,0.00,121.57,1.740,6,0.111,0.000,2905,1833,2319,0,0,0,0,0,0,26.17,28.83,23.82
$STATE,15969,end apogee,CONTROL_FINISHED_OK
$STATE,15969,begin climb
$GC,15970,0.88,146.6,996.4,0.0,296,16106,1.08,0.00,131.10,1.707,6,0.072,0.000,3281,1832,1722,0,0,0,0,0,0,24.98,28.83,23.60
$GC,16439,0.75,146.6,949.6,11.9,300,16447,0.15,2.60,0.00,0.000,4,0.162,0.041,3241,3445,1714,0,0,0,0,0,0,25.84,25.97,28.83
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$STATE,28859,end climb,SURFACE_DEPTH_REACHED
$STATE,28859,begin surface coast
$FINISH,0.8,0.998290
$STATE,28910,end surface coast,CONTROL_FINISHED_OK
$STATE,28910,begin surface
$SM_CCo,28927,15.65,0.141,0,0,1095,300.00
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$IRIDIUM_FIX,2422.84,-3746.68,031012,050534
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.04
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$TCM_TEMP,25.00
$XPDR_PINGS,6
$SC_FREEKB,7742240
$TM_FREEKB,7261632
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$10V_AH,10.4,13.580
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,153.275,334.125,15.650,0.000,26.377,43.709,199.231,1.500,0.000,19.958,2032.848,24706.951,664.133,1797.725,210.794,33.262,1463.089,0.000,1380.867,0.000,0.537,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.881,13.535,0.000,0.000
$MEM,344496
$DATA_FILE_SIZE,16726,568
$CAP_FILE_SIZE,187444,0
$CFSIZE,260034560,246931456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031012,211334,2443.568,-3747.609,38,0.7,38,-13.9