version: 66.11
glider: 189
mission: 7
dive: 79
start: 10 5 112 22 26 17
data:
$ID,189
$MISSION,7
$DIVE,79
$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,446.44598
$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,-47222.277
$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
$GPS1,051012,220904,2425.806,-3747.852,32,0.9,32,-14.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-56.4
$GPS2,051012,222518,2425.649,-3747.687,18,1.2,18,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.202
$KALMAN_X,12703.9,-108.2,135.1,11204.8,40.0
$KALMAN_Y,76901.3,-83.5,-136.6,-95135.0,885.8
$MHEAD_RNG_PITCHd_Wd,189.8,9578,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.86,-146.6,0.0,0.0,0,66,0.00,0.00,-42.70,0.000,2,0.000,0.000,157,1823,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.86,-146.6,2.2,-1.2,4,106,9.95,2.47,-19.83,0.000,4,0.220,0.047,2706,3452,2920,0,0,0,0,0,0,25.99,26.34,26.71
$GC,335,-0.67,-146.6,29.8,-11.6,31,345,0.25,2.47,0.00,0.000,6,0.139,0.023,2779,1815,2921,0,0,0,0,0,0,26.17,26.48,28.83
$GC,645,-0.58,-146.6,59.3,-6.8,62,655,0.12,2.55,0.00,0.000,4,0.149,0.037,2803,3464,2920,0,0,0,0,0,0,26.44,26.50,28.83
$GC,885,-0.54,-146.6,80.7,-9.8,83,892,0.00,2.45,0.00,0.000,6,0.000,0.022,2803,1824,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1215,-0.50,-146.6,104.1,-6.9,94,1217,0.12,0.00,0.00,0.000,6,0.139,0.000,2840,1823,2922,0,0,0,0,0,0,26.55,28.83,28.83
$GC,1515,-0.50,-146.6,118.4,-4.4,104,1522,0.00,2.53,0.00,0.000,4,0.000,0.037,2829,3462,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1735,-0.50,-146.6,128.2,-4.8,111,1742,0.00,2.45,0.00,0.000,6,0.000,0.023,2829,1823,2921,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2055,-0.50,-146.6,146.0,-5.8,122,2062,0.00,2.30,0.00,0.000,4,0.000,0.041,2829,344,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2274,-0.50,-146.6,158.2,-6.8,126,2278,0.00,2.30,0.00,0.000,6,0.000,0.024,2818,1887,2917,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2585,-0.50,-146.6,180.2,-6.2,132,2592,0.00,2.40,0.00,0.000,4,0.000,0.041,2818,348,2920,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2705,-0.50,-146.6,187.4,-6.0,134,2714,0.10,2.30,0.00,0.000,6,0.148,0.024,2836,1893,2920,0,0,0,0,0,0,26.52,26.72,28.83
$GC,3067,-0.53,-146.6,206.5,-5.5,140,3073,0.00,2.38,0.00,0.000,4,0.000,0.039,2825,3448,2919,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3155,-0.56,-146.6,210.0,-5.6,141,3159,0.00,2.42,0.00,0.000,6,0.000,0.023,2826,1828,2919,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3477,-0.56,-146.6,228.7,-5.3,147,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1827,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-0.59,-146.6,246.0,-5.9,152,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1827,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.61,-146.6,263.9,-5.9,157,4084,0.00,2.33,0.00,0.000,4,0.000,0.043,2825,341,2916,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4196,-0.63,-146.6,271.8,-6.3,159,4203,0.00,2.33,0.00,0.000,6,0.000,0.024,2815,1897,2915,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4556,-0.65,-146.6,293.8,-6.1,165,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1898,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4856,-0.68,-146.6,313.2,-6.4,170,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1898,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5156,-0.70,-146.6,329.7,-5.4,175,5158,0.12,0.00,0.00,0.000,6,0.080,0.000,2743,1898,2911,0,0,0,0,0,0,26.80,28.83,28.83
$GC,5456,-0.65,-146.6,349.2,-6.5,180,5465,0.15,2.42,0.00,0.000,4,0.132,0.043,2790,352,2910,0,0,0,0,0,0,26.55,26.60,28.83
$GC,5596,-0.60,-146.6,356.2,-6.1,182,5600,0.00,2.30,0.00,0.000,6,0.000,0.024,2778,1886,2910,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5926,-0.60,-146.6,377.2,-6.2,188,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1886,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,-0.60,-146.6,400.0,-7.6,193,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1886,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6527,-0.60,-146.6,421.2,-6.9,198,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1886,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6827,-0.60,-146.6,436.3,-4.8,203,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1886,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7127,-0.60,-146.6,451.7,-5.3,208,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1886,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7427,-0.60,-146.6,471.7,-6.9,213,7435,0.00,2.42,0.00,0.000,4,0.000,0.044,2778,349,2904,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7515,-0.60,-146.6,476.7,-7.2,214,7520,0.12,2.33,0.00,0.000,6,0.136,0.024,2804,1895,2904,0,0,0,0,0,0,26.47,26.70,28.83
$GC,7838,-0.64,-146.6,500.3,-6.6,220,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1894,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8199,-0.67,-146.6,520.9,-5.8,223,8206,0.00,2.42,0.00,0.000,4,0.000,0.044,2805,352,2901,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8307,-0.71,-146.6,520.9,-5.8,223,8311,0.00,2.33,0.00,0.000,6,0.000,0.025,2795,1895,2901,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8668,-0.74,-146.6,544.1,-5.1,226,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1896,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9028,-0.77,-146.6,559.2,-4.1,229,9037,0.12,2.45,0.00,0.000,4,0.082,0.044,2726,338,2900,0,0,0,0,0,0,26.79,26.56,28.83
$GC,9137,-0.80,-146.6,559.2,-4.1,229,9141,0.00,2.35,0.00,0.000,6,0.000,0.025,2715,1893,2900,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9498,-0.77,-146.6,598.1,-7.7,232,9500,0.12,0.00,0.00,0.000,6,0.151,0.000,2749,1893,2899,0,0,0,0,0,0,26.57,28.83,28.83
$GC,9858,-0.74,-146.6,627.1,-8.2,235,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1893,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10217,-0.74,-146.6,652.9,-7.3,238,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1893,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10577,-0.74,-146.6,678.3,-7.0,241,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1893,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10937,-0.74,-146.6,704.9,-7.4,244,10945,0.00,2.45,0.00,0.000,4,0.000,0.046,2749,354,2894,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11146,-0.74,-146.6,714.1,-7.4,245,11150,0.00,2.33,0.00,0.000,6,0.000,0.026,2739,1886,2894,0,0,0,0,0,0,28.83,26.66,28.83
$GC,11528,-0.72,-146.6,746.5,-6.9,249,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1886,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11888,-0.72,-146.6,769.8,-6.4,252,11889,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1886,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12247,-0.72,-146.6,794.5,-6.8,255,12255,0.00,2.45,0.00,0.000,4,0.000,0.047,2739,351,2890,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12336,-0.72,-146.6,794.5,-6.8,255,12341,0.15,2.33,0.00,0.000,6,0.137,0.025,2772,1883,2890,0,0,0,0,0,0,26.35,26.65,28.83
$GC,12719,-0.74,-146.6,826.2,-6.7,259,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1883,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13079,-0.77,-146.6,843.4,-5.0,262,13087,0.00,2.45,0.00,0.000,4,0.000,0.047,2772,349,2888,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13188,-0.81,-146.6,843.4,-5.0,262,13192,0.00,2.33,0.00,0.000,6,0.000,0.027,2763,1879,2888,0,0,0,0,0,0,28.83,26.63,28.83
$GC,13549,-0.83,-146.6,867.3,-4.9,265,13550,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1880,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13909,-0.86,-146.6,888.8,-5.8,268,13911,0.12,0.00,0.00,0.000,6,0.083,0.000,2699,1881,2886,0,0,0,0,0,0,26.77,28.83,28.83
$GC,14268,-0.86,-146.6,917.1,-7.5,271,14276,0.00,2.45,0.00,0.000,4,0.000,0.047,2699,350,2885,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14408,-0.83,-146.6,927.5,-8.0,272,14413,0.15,2.35,0.00,0.000,6,0.147,0.027,2729,1889,2884,0,0,0,0,0,0,26.27,26.62,28.83
$GC,14740,-0.80,-146.6,949.6,-6.8,275,14748,0.00,2.47,0.00,0.000,4,0.000,0.047,2730,344,2884,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14849,-0.78,-146.6,949.6,-6.8,275,14853,0.00,2.35,0.00,0.000,6,0.000,0.026,2719,1887,2883,0,0,0,0,0,0,28.83,26.61,28.83
$GC,15210,-0.78,-146.6,981.7,-6.7,278,15211,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1888,2882,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15329,begin apogee
$GC,15333,-0.29,0.0,990.6,-6.9,279,15459,0.55,0.00,119.53,1.738,6,0.113,0.000,2905,1836,2319,0,0,0,0,0,0,26.10,28.83,23.82
$STATE,15461,end apogee,CONTROL_FINISHED_OK
$STATE,15461,begin climb
$GC,15463,0.86,146.6,994.0,0.0,280,15596,1.05,0.00,129.27,1.704,6,0.072,0.000,3272,1836,1721,0,0,0,0,0,0,25.01,28.83,23.60
$GC,15931,0.73,146.6,961.7,8.3,284,15933,0.15,0.00,0.00,0.000,6,0.155,0.000,3232,1836,1713,0,0,0,0,0,0,25.86,28.83,28.83
$GC,16290,0.62,146.6,935.2,7.5,287,16292,0.12,0.00,0.00,0.000,6,0.155,0.000,3197,1836,1711,0,0,0,0,0,0,26.17,28.83,28.83
$GC,16650,0.56,146.6,911.0,6.9,290,16658,0.00,2.42,0.00,0.000,4,0.000,0.050,3208,347,1709,0,0,0,0,0,0,28.83,26.31,28.83
$GC,16729,0.49,146.6,911.0,6.9,290,16734,0.17,2.38,0.00,0.000,6,0.129,0.027,3156,1893,1708,0,0,0,0,0,0,26.21,26.44,28.83
$GC,17122,0.51,156.0,883.1,5.8,294,17130,0.00,0.00,6.62,1.424,6,0.000,0.000,3156,1893,1684,0,0,0,0,0,0,28.83,28.83,25.20
$GC,17482,0.51,156.0,859.5,6.4,297,17489,0.00,2.47,0.00,0.000,4,0.000,0.041,3156,3453,1684,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,29586,end climb,SURFACE_DEPTH_REACHED
$STATE,29586,begin surface coast
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$CFSIZE,260034560,246161408
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