version: 66.11
glider: 189
mission: 7
dive: 114
start: 10 17 112 17 43 23
data:
$ID,189
$MISSION,7
$DIVE,114
$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,-47266.488
$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
$GPS1,171012,173104,2432.728,-3749.241,37,0.8,37,-14.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-57.5
$GPS2,171012,174224,2432.777,-3749.244,17,0.9,17,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.043,-0.198
$KALMAN_X,19843.2,-218.1,229.0,1453.5,-481.6
$KALMAN_Y,99571.6,-108.4,-182.4,-104539.5,610.7
$MHEAD_RNG_PITCHd_Wd,181.9,23008,-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,22,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-31.70,0.000,2,0.000,0.000,164,1822,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.1,-1.6,3,106,9.98,2.35,-27.23,0.000,4,0.220,0.055,2716,345,2920,0,0,0,0,0,0,25.91,26.40,26.80
$GC,335,-0.66,-146.6,31.6,-12.1,31,345,0.28,2.33,0.00,0.000,6,0.140,0.024,2786,1885,2921,0,0,0,0,0,0,26.06,26.51,28.83
$GC,645,-0.59,-146.6,60.3,-8.3,62,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1885,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,945,-0.53,-146.6,83.9,-7.3,84,953,0.15,2.42,0.00,0.000,4,0.138,0.037,2821,3456,2921,0,0,0,0,0,0,26.43,26.48,28.83
$GC,1185,-0.53,-146.6,97.3,-5.1,92,1192,0.00,2.45,0.00,0.000,6,0.000,0.022,2821,1823,2922,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1515,-0.53,-146.6,116.5,-6.8,103,1523,0.00,2.53,0.00,0.000,4,0.000,0.036,2809,3457,2922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1755,-0.53,-146.6,130.0,-4.7,111,1763,0.00,2.45,0.00,0.000,6,0.000,0.022,2809,1822,2922,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2086,-0.53,-146.6,143.5,-4.3,122,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1822,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2416,-0.53,-146.6,161.4,-5.7,130,2423,0.00,2.30,0.00,0.000,4,0.000,0.041,2808,345,2922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2466,-0.53,-146.6,161.4,-5.7,130,2475,0.12,2.30,0.00,0.000,6,0.136,0.023,2834,1893,2922,0,0,0,0,0,0,26.40,26.65,28.83
$GC,2775,-0.56,-146.6,184.8,-6.6,136,2783,0.00,2.40,0.00,0.000,4,0.000,0.037,2824,3453,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2976,-0.59,-146.6,193.8,-5.3,139,2983,0.00,2.45,0.00,0.000,6,0.000,0.023,2825,1820,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3316,-0.62,-146.6,208.2,-4.1,145,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1820,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.65,-146.6,226.3,-6.2,150,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1820,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3915,-0.68,-146.6,244.7,-6.2,155,3917,0.12,0.00,0.00,0.000,6,0.080,0.000,2752,1820,2919,0,0,0,0,0,0,26.76,28.83,28.83
$GC,4215,-0.63,-146.6,266.3,-7.2,160,4223,0.15,2.30,0.00,0.000,4,0.130,0.041,2796,351,2918,0,0,0,0,0,0,26.51,26.50,28.83
$GC,4314,-0.59,-146.6,270.5,-7.1,161,4319,0.00,2.30,0.00,0.000,6,0.000,0.024,2786,1889,2917,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4626,-0.59,-146.6,293.4,-6.6,167,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1889,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4926,-0.59,-146.6,314.2,-7.0,172,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1889,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5226,-0.59,-146.6,333.3,-6.3,177,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1889,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,-0.59,-146.6,351.4,-6.0,182,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1889,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5826,-0.59,-146.6,369.7,-6.1,187,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1889,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6126,-0.59,-146.6,387.3,-5.9,192,6134,0.00,2.42,0.00,0.000,4,0.000,0.042,2786,352,2912,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6195,-0.59,-146.6,391.4,-6.1,193,6200,0.12,2.30,0.00,0.000,6,0.138,0.024,2813,1883,2911,0,0,0,0,0,0,26.38,26.63,28.83
$GC,6538,-0.63,-146.6,410.7,-5.4,199,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1884,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6838,-0.67,-146.6,425.1,-4.7,204,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1883,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7138,-0.71,-146.6,438.5,-4.4,209,7140,0.12,0.00,0.00,0.000,6,0.081,0.000,2743,1883,2908,0,0,0,0,0,0,26.77,28.83,28.83
$GC,7437,-0.68,-146.6,459.6,-7.2,214,7446,0.12,2.42,0.00,0.000,4,0.138,0.043,2779,351,2908,0,0,0,0,0,0,26.55,26.46,28.83
$GC,7526,-0.64,-146.6,464.2,-7.5,215,7531,0.00,2.33,0.00,0.000,6,0.000,0.024,2769,1890,2907,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7848,-0.64,-146.6,490.8,-7.5,221,7855,0.00,2.45,0.00,0.000,4,0.000,0.040,2757,3460,2906,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7947,-0.64,-146.6,495.2,-7.4,222,7952,0.12,2.47,0.00,0.000,6,0.134,0.024,2793,1824,2906,0,0,0,0,0,0,26.36,26.60,28.83
$GC,8260,-0.67,-146.6,515.1,-5.6,226,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1829,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,-0.69,-146.6,531.9,-4.7,229,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1824,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8980,-0.73,-146.6,551.0,-5.2,232,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1824,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9340,-0.76,-146.6,573.9,-6.2,235,9348,0.12,2.53,0.00,0.000,4,0.081,0.039,2714,3445,2902,0,0,0,0,0,0,26.76,26.46,28.83
$GC,9418,-0.79,-146.6,573.9,-6.2,235,9423,0.12,2.47,0.00,0.000,6,0.141,0.025,2748,1818,2901,0,0,0,0,0,0,26.32,26.58,28.83
$GC,9811,-0.79,-146.6,608.4,-7.3,239,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1818,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10170,-0.79,-146.6,630.7,-6.2,242,10174,0.00,2.33,0.00,0.000,4,0.000,0.044,2748,351,2899,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10290,-0.79,-146.6,638.4,-6.3,243,10294,0.00,2.33,0.00,0.000,6,0.000,0.024,2739,1889,2899,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10632,-0.77,-146.6,663.9,-7.2,246,10640,0.00,2.45,0.00,0.000,4,0.000,0.041,2727,3455,2898,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10731,-0.75,-146.6,663.9,-7.2,246,10736,0.12,2.47,0.00,0.000,6,0.136,0.025,2762,1827,2898,0,0,0,0,0,0,26.31,26.56,28.83
$GC,11103,-0.75,-146.6,696.1,-6.8,250,11111,0.00,2.35,0.00,0.000,4,0.000,0.044,2762,346,2898,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11192,-0.75,-146.6,696.1,-6.8,250,11196,0.00,2.33,0.00,0.000,6,0.000,0.024,2753,1885,2896,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11573,-0.75,-146.6,726.2,-6.4,254,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1885,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11934,-0.75,-146.6,747.3,-5.9,257,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1885,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12294,-0.75,-146.6,767.6,-5.7,260,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1885,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12654,-0.75,-146.6,788.2,-5.8,263,12655,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1885,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13014,-0.75,-146.6,808.5,-5.7,266,13022,0.00,2.45,0.00,0.000,4,0.000,0.046,2753,355,2892,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13113,-0.75,-146.6,808.5,-5.7,266,13117,0.00,2.33,0.00,0.000,6,0.000,0.026,2742,1882,2892,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13485,-0.75,-146.6,834.9,-5.6,270,13492,0.00,2.45,0.00,0.000,4,0.000,0.046,2742,350,2891,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13564,-0.75,-146.6,834.9,-5.6,270,13568,0.00,2.33,0.00,0.000,6,0.000,0.026,2731,1882,2890,0,0,0,0,0,0,28.83,26.54,28.83
$GC,13955,-0.75,-146.6,866.0,-6.6,274,13963,0.00,2.47,0.00,0.000,4,0.000,0.043,2719,3448,2889,0,0,0,0,0,0,28.83,26.33,28.83
$GC,14084,-0.75,-146.6,873.9,-6.6,275,14089,0.15,2.50,0.00,0.000,6,0.132,0.027,2762,1821,2889,0,0,0,0,0,0,26.19,26.50,28.83
$GC,14427,-0.75,-146.6,893.0,-5.7,278,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1821,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14787,-0.78,-146.6,912.5,-5.4,281,14788,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1821,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15147,-0.81,-146.6,931.8,-5.4,284,15148,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1821,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15507,-0.85,-146.6,952.3,-5.6,287,15509,0.10,0.00,0.00,0.000,6,0.098,0.000,2711,1821,2886,0,0,0,0,0,0,26.74,28.83,28.83
$GC,15866,-0.85,-146.6,978.0,-6.9,290,15867,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1821,2885,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16105,begin apogee
$GC,16109,-0.29,0.0,994.5,-7.0,292,16235,0.57,0.00,120.28,1.712,6,0.114,0.000,2902,1872,2319,0,0,0,0,0,0,25.86,28.83,23.74
$STATE,16237,end apogee,CONTROL_FINISHED_OK
$STATE,16237,begin climb
$GC,16239,0.86,146.6,996.8,0.0,293,16377,1.05,2.70,129.93,1.678,4,0.069,0.050,3283,349,1721,0,0,0,0,0,0,24.95,24.44,23.42
$GC,16435,1.11,355.1,992.7,0.0,294,16626,0.22,2.47,183.82,1.648,6,0.066,0.026,3369,1877,871,0,0,0,0,0,0,25.18,25.21,23.22
$GC,16937,0.91,355.1,904.1,16.5,299,16945,0.28,2.53,0.00,0.000,4,0.145,0.050,3302,349,864,0,0,0,0,0,0,25.66,25.82,28.83
$GC,16985,0.71,355.1,904.1,16.5,299,16991,0.25,2.40,0.00,0.000,6,0.131,0.026,3228,1883,864,0,0,0,0,0,0,25.76,25.98,28.83
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$STATE,26765,end climb,SURFACE_DEPTH_REACHED
$STATE,26765,begin surface coast
$FINISH,0.9,1.024069
$STATE,26795,end surface coast,CONTROL_FINISHED_OK
$STATE,26795,begin surface
$SM_CCo,26814,20.50,0.132,0,0,496,446.45
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$TT8_MAMPS,0.026964,0.026964
$HUMID,54.01
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,24.60
$XPDR_PINGS,2
$SC_FREEKB,7726112
$TM_FREEKB,6892928
$24V_AH,23.2,22.712
$10V_AH,10.4,19.808
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.950,178.550,449.500,20.500,0.000,165.681,43.379,0.000,0.500,0.000,19.136,1961.396,22769.809,775.843,1749.459,251.002,33.264,1602.877,0.000,1382.635,0.000,0.537,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.825,13.504,0.000,0.000
$MEM,344852
$DATA_FILE_SIZE,13418,515
$CAP_FILE_SIZE,185123,0
$CFSIZE,260034560,242683904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181012,011204,2429.147,-3749.080,52,1.0,52,-14.0