version: 66.11
glider: 189
mission: 7
dive: 86
start: 10 8 112 6 5 53
data:
$ID,189
$MISSION,7
$DIVE,86
$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,-47231.172
$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
$GPS1,081012,055652,2433.790,-3801.060,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-61.0
$GPS2,081012,060454,2433.793,-3801.062,16,1.2,16,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.149,0.137
$KALMAN_X,14166.7,228.7,233.7,-13228.2,-166.4
$KALMAN_Y,82068.1,435.9,55.9,-85938.9,339.1
$MHEAD_RNG_PITCHd_Wd,326.6,36717,-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,22,-0.86,-146.6,0.0,0.0,0,56,0.00,0.00,-32.38,0.000,2,0.000,0.000,160,1837,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.86,-146.6,2.0,-1.2,3,110,9.85,2.55,-35.10,0.000,4,0.213,0.051,2706,3452,2919,0,0,0,0,0,0,25.89,26.30,26.69
$GC,278,-0.67,-146.6,22.9,-13.3,25,287,0.25,2.47,0.00,0.000,6,0.138,0.024,2779,1822,2919,0,0,0,0,0,0,26.05,26.41,28.83
$GC,588,-0.59,-146.6,54.9,-9.9,56,590,0.12,0.00,0.00,0.000,6,0.150,0.000,2815,1821,2920,0,0,0,0,0,0,26.39,28.83,28.83
$GC,888,-0.55,-146.6,74.6,-5.7,86,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1822,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1198,-0.52,-146.6,92.1,-5.6,97,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1822,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-0.50,-146.6,109.3,-5.9,107,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1822,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1798,-0.50,-146.6,127.6,-6.3,117,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1822,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,-0.50,-146.6,146.3,-5.9,127,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1822,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.50,-146.6,164.3,-5.3,134,2435,0.00,2.30,0.00,0.000,4,0.000,0.043,2815,352,2922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2537,-0.50,-146.6,167.9,-5.3,135,2542,0.12,2.30,0.00,0.000,6,0.137,0.024,2843,1893,2922,0,0,0,0,0,0,26.46,26.69,28.83
$GC,2838,-0.53,-146.6,186.2,-5.2,140,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1893,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3138,-0.57,-146.6,205.0,-6.4,145,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1893,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.61,-146.6,222.3,-5.6,150,3440,0.12,0.00,0.00,0.000,6,0.081,0.000,2769,1895,2920,0,0,0,0,0,0,26.79,28.83,28.83
$GC,3738,-0.57,-146.6,240.8,-6.0,155,3740,0.15,0.00,0.00,0.000,6,0.129,0.000,2814,1895,2919,0,0,0,0,0,0,26.56,28.83,28.83
$GC,4038,-0.57,-146.6,251.3,-3.3,160,4046,0.00,2.42,0.00,0.000,4,0.000,0.042,2815,351,2917,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4217,-0.57,-146.6,258.3,-3.7,163,4225,0.00,2.30,0.00,0.000,6,0.000,0.024,2804,1888,2917,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4578,-0.57,-146.6,277.0,-5.7,169,4585,0.00,2.42,0.00,0.000,4,0.000,0.039,2793,3454,2917,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4678,-0.57,-146.6,281.1,-6.1,170,4685,0.00,2.45,0.00,0.000,6,0.000,0.023,2793,1826,2916,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4997,-0.57,-146.6,306.0,-6.9,176,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1825,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,-0.57,-146.6,323.5,-5.7,181,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1825,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,-0.57,-146.6,339.5,-5.4,186,5605,0.00,2.53,0.00,0.000,4,0.000,0.038,2781,3450,2913,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5687,-0.57,-146.6,342.7,-5.4,187,5692,0.12,2.45,0.00,0.000,6,0.130,0.024,2818,1825,2912,0,0,0,0,0,0,26.46,26.67,28.83
$GC,6010,-0.61,-146.6,360.4,-4.9,193,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1825,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6309,-0.65,-146.6,375.3,-4.9,198,6317,0.00,2.33,0.00,0.000,4,0.000,0.044,2819,349,2911,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6388,-0.68,-146.6,378.5,-5.0,199,6392,0.00,2.30,0.00,0.000,6,0.000,0.024,2809,1887,2909,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6720,-0.71,-146.6,397.3,-5.3,205,6722,0.12,0.00,0.00,0.000,6,0.077,0.000,2739,1886,2909,0,0,0,0,0,0,26.80,28.83,28.83
$GC,7020,-0.66,-146.6,420.0,-7.7,210,7028,0.17,2.42,0.00,0.000,4,0.127,0.044,2794,351,2908,0,0,0,0,0,0,26.49,26.55,28.83
$GC,7181,-0.63,-146.6,427.9,-7.1,212,7188,0.00,2.30,0.00,0.000,6,0.000,0.024,2781,1886,2908,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7499,-0.63,-146.6,450.7,-6.4,218,7504,0.00,2.45,0.00,0.000,4,0.000,0.040,2770,3458,2907,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7659,-0.63,-146.6,457.9,-6.4,220,7664,0.00,2.47,0.00,0.000,6,0.000,0.024,2769,1823,2906,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7961,-0.63,-146.6,480.7,-6.5,225,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1822,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,-0.63,-146.6,501.2,-6.9,230,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1822,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,-0.63,-146.6,525.6,-6.8,233,8625,0.00,2.33,0.00,0.000,4,0.000,0.044,2770,352,2904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8691,-0.63,-146.6,525.6,-6.8,233,8696,0.12,2.33,0.00,0.000,6,0.140,0.024,2795,1893,2903,0,0,0,0,0,0,26.43,26.67,28.83
$GC,9084,-0.65,-146.6,550.1,-5.2,237,9091,0.00,2.45,0.00,0.000,4,0.000,0.044,2796,347,2902,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9153,-0.68,-146.6,550.1,-5.2,237,9157,0.00,2.33,0.00,0.000,6,0.000,0.024,2786,1889,2902,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9555,-0.70,-146.6,574.4,-5.1,241,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1889,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9914,-0.73,-146.6,595.7,-5.7,244,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1886,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,-0.76,-146.6,620.7,-6.8,247,10282,0.00,2.45,0.00,0.000,4,0.000,0.044,2787,352,2899,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10413,-0.78,-146.6,629.0,-6.9,248,10417,0.00,2.33,0.00,0.000,6,0.000,0.025,2776,1887,2899,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10745,-0.78,-146.6,647.6,-5.7,251,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1887,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11105,-0.80,-146.6,663.6,-4.4,254,11114,0.10,2.45,0.00,0.000,4,0.094,0.045,2720,350,2897,0,0,0,0,0,0,26.80,26.48,28.83
$GC,11254,-0.80,-146.6,672.9,-5.1,255,11259,0.12,2.33,0.00,0.000,6,0.148,0.025,2743,1886,2896,0,0,0,0,0,0,26.37,26.65,28.83
$GC,11576,-0.80,-146.6,698.3,-7.3,258,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1886,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11936,-0.80,-146.6,725.1,-7.4,261,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1886,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12296,-0.80,-146.6,749.0,-6.8,264,12300,0.00,2.45,0.00,0.000,4,0.000,0.046,2743,351,2894,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12436,-0.80,-146.6,757.0,-6.7,265,12440,0.00,2.33,0.00,0.000,6,0.000,0.025,2734,1885,2894,0,0,0,0,0,0,28.83,26.64,28.83
$GC,12757,-0.80,-146.6,778.2,-6.3,268,12758,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1885,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13118,-0.80,-146.6,799.2,-5.7,271,13125,0.00,2.47,0.00,0.000,4,0.000,0.042,2722,3453,2892,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13237,-0.80,-146.6,806.8,-6.0,272,13245,0.00,2.50,0.00,0.000,6,0.000,0.026,2722,1821,2892,0,0,0,0,0,0,28.83,26.57,28.83
$GC,13598,-0.78,-146.6,833.7,-7.2,275,13605,0.00,2.35,0.00,0.000,4,0.000,0.047,2722,338,2890,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13706,-0.76,-146.6,833.7,-7.2,275,13711,0.15,2.35,0.00,0.000,6,0.139,0.026,2754,1883,2890,0,0,0,0,0,0,26.29,26.62,28.83
$GC,14067,-0.76,-146.6,870.2,-7.8,278,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1883,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14427,-0.76,-146.6,896.1,-7.3,281,14435,0.00,2.45,0.00,0.000,4,0.000,0.047,2754,354,2888,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14516,-0.76,-146.6,896.1,-7.3,281,14520,0.00,2.33,0.00,0.000,6,0.000,0.026,2744,1883,2888,0,0,0,0,0,0,28.83,26.60,28.83
$GC,14897,-0.76,-146.6,924.3,-6.0,285,14905,0.00,2.45,0.00,0.000,4,0.000,0.047,2745,355,2887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15017,-0.76,-146.6,931.9,-5.9,286,15025,0.00,2.33,0.00,0.000,6,0.000,0.027,2733,1882,2887,0,0,0,0,0,0,28.83,26.60,28.83
$GC,15377,-0.76,-146.6,955.8,-6.5,289,15385,0.00,2.45,0.00,0.000,4,0.000,0.047,2734,355,2886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15446,-0.76,-146.6,955.8,-6.5,289,15451,0.12,2.33,0.00,0.000,6,0.146,0.027,2757,1883,2886,0,0,0,0,0,0,26.30,26.59,28.83
$GC,15848,-0.78,-146.6,985.1,-6.2,293,15849,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1882,2884,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15966,begin apogee
$GC,15971,-0.29,0.0,991.7,-5.8,294,16097,0.45,0.00,119.72,1.688,6,0.104,0.000,2908,1840,2319,0,0,0,0,0,0,26.14,28.83,23.82
$STATE,16099,end apogee,CONTROL_FINISHED_OK
$STATE,16099,begin climb
$GC,16101,0.86,146.6,993.6,0.0,295,16234,1.05,0.00,129.10,1.655,6,0.070,0.000,3278,1840,1721,0,0,0,0,0,0,25.03,28.83,23.59
$GC,16569,0.72,146.6,952.3,10.2,299,16571,0.17,0.00,0.00,0.000,6,0.151,0.000,3231,1840,1713,0,0,0,0,0,0,25.80,28.83,28.83
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$STATE,28815,end climb,SURFACE_DEPTH_REACHED
$STATE,28815,begin surface coast
$FINISH,0.9,1.024478
$STATE,28846,end surface coast,CONTROL_FINISHED_OK
$STATE,28846,begin surface
$SM_CCo,28864,1.35,0.223,0,0,1093,300.00
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.37
$INTERNAL_PRESSURE,9.13386
$TCM_TEMP,24.70
$XPDR_PINGS,5
$SC_FREEKB,7736864
$TM_FREEKB,7139872
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$10V_AH,10.4,15.659
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,163.350,365.900,1.350,0.000,33.828,36.843,203.964,1.250,0.000,17.545,2085.665,24492.012,674.815,1863.373,225.138,33.261,1512.438,0.000,1444.579,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.848,13.506,0.000,0.000
$MEM,344516
$DATA_FILE_SIZE,13417,551
$CAP_FILE_SIZE,191834,0
$CFSIZE,260034560,245530624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081012,140805,2436.237,-3803.940,32,0.8,32,-14.0