version: 66.11
glider: 189
mission: 7
dive: 96
start: 10 11 112 14 45 34
data:
$ID,189
$MISSION,7
$DIVE,96
$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,-47243.75
$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
$GPS1,111012,143634,2432.160,-3817.689,33,0.8,33,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-57.3
$GPS2,111012,144435,2432.180,-3817.661,15,0.9,15,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.034,-0.200
$KALMAN_X,14779.6,2.3,48.6,-41375.7,-854.8
$KALMAN_Y,94217.2,-451.0,-164.3,-99962.2,2766.8
$MHEAD_RNG_PITCHd_Wd,184.5,21676,-11.8,-6.111,-16.78
$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,-32.38,0.000,2,0.000,0.000,161,1835,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.86,-146.6,2.1,-1.9,3,110,9.73,2.38,-35.60,0.000,4,0.208,0.054,2721,345,2919,0,0,0,0,0,0,25.86,26.26,26.67
$GC,338,-0.66,-146.6,30.6,-13.5,31,347,0.25,2.33,0.00,0.000,6,0.141,0.024,2783,1887,2920,0,0,0,0,0,0,26.01,26.44,28.83
$GC,648,-0.58,-146.6,62.3,-10.1,62,658,0.10,2.45,0.00,0.000,4,0.158,0.038,2801,3452,2919,0,0,0,0,0,0,26.46,26.41,28.83
$GC,687,-0.54,-146.6,65.6,-8.2,66,696,0.00,2.45,0.00,0.000,6,0.000,0.023,2801,1825,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1008,-0.49,-146.6,85.7,-5.7,86,1017,0.15,2.55,0.00,0.000,4,0.130,0.037,2835,3455,2922,0,0,0,0,0,0,26.42,26.46,28.83
$GC,1188,-0.49,-146.6,94.0,-4.7,92,1196,0.00,2.45,0.00,0.000,6,0.000,0.022,2835,1820,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1518,-0.49,-146.6,110.3,-4.8,103,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1821,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-0.49,-146.6,125.3,-4.9,113,1825,0.00,2.30,0.00,0.000,4,0.000,0.041,2835,345,2923,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1957,-0.49,-146.6,132.0,-5.6,117,1961,0.00,2.30,0.00,0.000,6,0.000,0.023,2824,1890,2923,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2257,-0.49,-146.6,150.2,-6.3,127,2261,0.00,2.42,0.00,0.000,4,0.000,0.038,2812,3464,2923,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2357,-0.49,-146.6,153.3,-6.3,128,2361,0.00,2.45,0.00,0.000,6,0.000,0.022,2812,1824,2923,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2659,-0.49,-146.6,174.1,-5.8,133,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1824,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,-0.49,-146.6,191.0,-5.5,138,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1823,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3259,-0.49,-146.6,205.8,-4.8,143,3266,0.00,2.53,0.00,0.000,4,0.000,0.037,2800,3453,2922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3368,-0.49,-146.6,208.7,-4.7,144,3373,0.15,2.45,0.00,0.000,6,0.119,0.023,2848,1820,2921,0,0,0,0,0,0,26.44,26.65,28.83
$GC,3669,-0.54,-146.6,226.0,-5.1,149,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1820,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3969,-0.59,-146.6,244.5,-6.3,154,3971,0.12,0.00,0.00,0.000,6,0.080,0.000,2772,1820,2920,0,0,0,0,0,0,26.79,28.83,28.83
$GC,4269,-0.56,-146.6,267.9,-7.8,159,4277,0.15,2.55,0.00,0.000,4,0.128,0.038,2806,3462,2919,0,0,0,0,0,0,26.53,26.55,28.83
$GC,4378,-0.54,-146.6,271.6,-7.4,160,4382,0.00,2.47,0.00,0.000,6,0.000,0.023,2806,1817,2919,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4679,-0.54,-146.6,290.9,-5.3,165,4687,0.00,2.55,0.00,0.000,4,0.000,0.038,2794,3455,2917,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4748,-0.54,-146.6,293.8,-5.0,166,4753,0.10,2.45,0.00,0.000,6,0.138,0.023,2823,1824,2917,0,0,0,0,0,0,26.48,26.66,28.83
$GC,5090,-0.58,-146.6,308.7,-4.3,172,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5391,-0.62,-146.6,324.4,-5.3,177,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5691,-0.66,-146.6,339.7,-5.1,182,5693,0.12,0.00,0.00,0.000,6,0.080,0.000,2753,1824,2915,0,0,0,0,0,0,26.79,28.83,28.83
$GC,5990,-0.61,-146.6,360.1,-6.9,187,5992,0.17,0.00,0.00,0.000,6,0.125,0.000,2805,1824,2914,0,0,0,0,0,0,26.48,28.83,28.83
$GC,6290,-0.64,-146.6,379.6,-6.5,192,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1824,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6590,-0.66,-146.6,400.5,-7.0,197,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1824,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6891,-0.69,-146.6,418.5,-5.9,202,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1824,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7191,-0.72,-146.6,434.0,-5.2,207,7193,0.12,0.00,0.00,0.000,6,0.081,0.000,2738,1823,2909,0,0,0,0,0,0,26.79,28.83,28.83
$GC,7490,-0.67,-146.6,455.8,-7.4,212,7492,0.15,0.00,0.00,0.000,6,0.134,0.000,2782,1824,2908,0,0,0,0,0,0,26.51,28.83,28.83
$GC,7790,-0.67,-146.6,474.4,-6.1,217,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,-0.67,-146.6,492.4,-5.9,222,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8390,-0.67,-146.6,509.4,-5.7,226,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8751,-0.67,-146.6,528.5,-5.3,229,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,-0.67,-146.6,549.9,-5.7,232,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1824,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9470,-0.67,-146.6,577.2,-7.3,235,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9830,-0.69,-146.6,604.2,-7.6,238,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10191,-0.71,-146.6,624.6,-6.0,241,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10551,-0.74,-146.6,641.0,-4.7,244,10558,0.00,2.33,0.00,0.000,4,0.000,0.045,2783,354,2900,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10629,-0.76,-146.6,641.0,-4.7,244,10633,0.00,2.33,0.00,0.000,6,0.000,0.025,2773,1886,2899,0,0,0,0,0,0,28.83,26.63,28.83
$GC,11021,-0.78,-146.6,665.9,-5.3,248,11029,0.00,2.45,0.00,0.000,4,0.000,0.041,2762,3449,2899,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11120,-0.80,-146.6,665.9,-5.3,248,11128,0.00,2.47,0.00,0.000,6,0.000,0.025,2762,1825,2898,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11500,-0.80,-146.6,695.7,-6.3,252,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1825,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11861,-0.80,-146.6,713.2,-5.1,255,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1825,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12221,-0.80,-146.6,732.1,-5.1,258,12229,0.00,2.58,0.00,0.000,4,0.000,0.041,2750,3452,2895,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12300,-0.80,-146.6,732.1,-5.1,258,12304,0.00,2.47,0.00,0.000,6,0.000,0.026,2750,1828,2895,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12691,-0.80,-146.6,764.6,-6.9,262,12695,0.00,2.35,0.00,0.000,4,0.000,0.046,2750,352,2894,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12812,-0.80,-146.6,774.5,-7.6,263,12816,0.00,2.33,0.00,0.000,6,0.000,0.025,2739,1883,2894,0,0,0,0,0,0,28.83,26.62,28.83
$GC,13153,-0.80,-146.6,802.7,-8.2,266,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1882,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13513,-0.80,-146.6,826.8,-6.9,269,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1883,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13873,-0.80,-146.6,845.8,-5.5,272,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1883,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14233,-0.80,-146.6,862.7,-4.7,275,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1883,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14593,-0.80,-146.6,883.0,-5.4,278,14601,0.00,2.47,0.00,0.000,4,0.000,0.047,2739,348,2889,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14682,-0.80,-146.6,883.0,-5.4,278,14686,0.00,2.35,0.00,0.000,6,0.000,0.027,2728,1885,2889,0,0,0,0,0,0,28.83,26.56,28.83
$GC,15064,-0.80,-146.6,920.0,-7.9,282,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1885,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15424,-0.80,-146.6,945.3,-7.3,285,15431,0.00,2.47,0.00,0.000,4,0.000,0.048,2733,352,2888,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15502,-0.80,-146.6,945.3,-7.3,285,15507,0.00,2.35,0.00,0.000,6,0.000,0.027,2718,1888,2887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,15894,-0.80,-146.6,977.4,-6.8,289,15902,0.00,2.47,0.00,0.000,4,0.000,0.043,2706,3450,2886,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15973,-0.80,-146.6,977.4,-6.8,289,15978,0.12,2.50,0.00,0.000,6,0.140,0.028,2740,1825,2886,0,0,0,0,0,0,26.25,26.51,28.83
$STATE,16124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16124,begin apogee
$GC,16128,-0.29,0.0,992.8,-6.7,291,16255,0.50,0.00,120.35,1.687,6,0.109,0.000,2906,1824,2318,0,0,0,0,0,0,26.04,28.83,23.80
$STATE,16256,end apogee,CONTROL_FINISHED_OK
$STATE,16256,begin climb
$GC,16258,0.86,146.6,995.8,0.0,292,16392,1.05,0.00,129.32,1.656,6,0.070,0.000,3272,1824,1721,0,0,0,0,0,0,25.00,28.83,23.55
$GC,16726,0.72,146.6,960.5,8.9,296,16728,0.15,0.00,0.00,0.000,6,0.154,0.000,3235,1824,1713,0,0,0,0,0,0,25.81,28.83,28.83
$GC,17086,0.62,146.6,929.2,8.7,299,17088,0.12,0.00,0.00,0.000,6,0.151,0.000,3197,1822,1710,0,0,0,0,0,0,26.14,28.83,28.83
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$STATE,29805,end climb,SURFACE_DEPTH_REACHED
$STATE,29805,begin surface coast
$FINISH,1.0,1.009652
$STATE,29837,end surface coast,CONTROL_FINISHED_OK
$STATE,29837,begin surface
$SM_CCo,29856,13.85,0.136,0,0,1094,300.00
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$HUMID,53.03
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$TCM_TEMP,24.90
$XPDR_PINGS,3
$SC_FREEKB,7733024
$TM_FREEKB,7051456
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$10V_AH,10.3,17.141
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.825,125.775,359.950,13.850,0.000,26.748,36.240,206.855,0.750,0.000,16.818,1896.708,25943.152,646.442,1628.944,229.888,33.271,1376.788,0.000,1223.264,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.867,13.517,0.000,0.000
$MEM,344488
$DATA_FILE_SIZE,13414,558
$CAP_FILE_SIZE,185327,0
$CFSIZE,260034560,244543488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111012,230434,2429.257,-3817.642,36,0.9,36,-14.1