version: 66.11
glider: 189
mission: 7
dive: 118
start: 10 19 112 0 52 36
data:
$ID,189
$MISSION,7
$DIVE,118
$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,-47591.109
$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
$GPS1,191012,004404,2420.369,-3745.554,29,1.0,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-57.8
$GPS2,191012,005135,2420.377,-3745.571,19,1.0,19,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117,0.165
$KALMAN_X,17541.8,121.1,331.8,9489.9,-953.8
$KALMAN_Y,97357.1,145.5,212.3,-125951.7,-1024.9
$MHEAD_RNG_PITCHd_Wd,338.7,37448,-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,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,55,0.00,0.00,-31.60,0.000,2,0.000,0.000,161,1890,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.2,-3.5,3,100,10.15,2.47,-25.73,0.000,4,0.223,0.050,2704,3454,2920,0,0,0,0,0,0,25.82,26.21,26.61
$GC,328,-0.68,-146.6,31.5,-10.2,30,338,0.25,2.50,0.00,0.000,6,0.135,0.024,2776,1817,2923,0,0,0,0,0,0,25.86,26.33,28.83
$GC,638,-0.59,-146.6,60.1,-9.6,61,648,0.10,2.58,0.00,0.000,4,0.158,0.037,2793,3463,2924,0,0,0,0,0,0,26.41,26.31,28.83
$GC,828,-0.55,-146.6,75.2,-8.0,80,835,0.00,2.47,0.00,0.000,6,0.000,0.023,2793,1826,2924,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1148,-0.51,-146.6,96.7,-6.2,91,1156,0.15,2.33,0.00,0.000,4,0.131,0.041,2840,342,2925,0,0,0,0,0,0,26.39,26.38,28.83
$GC,1238,-0.48,-146.6,101.8,-5.7,94,1246,0.00,2.33,0.00,0.000,6,0.000,0.023,2828,1895,2925,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1569,-0.48,-146.6,123.0,-5.7,105,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1895,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-0.48,-146.6,134.1,-3.4,115,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1894,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-0.48,-146.6,149.2,-5.7,125,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1894,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,-0.48,-146.6,169.7,-6.4,131,2506,0.00,2.42,0.00,0.000,4,0.000,0.038,2817,3452,2926,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2686,-0.48,-146.6,182.0,-6.8,134,2691,0.00,2.45,0.00,0.000,6,0.000,0.023,2817,1823,2926,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3032,-0.48,-146.6,201.4,-5.1,140,3037,0.00,2.25,0.00,0.000,4,0.000,0.041,2816,347,2930,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3177,-0.48,-146.6,208.2,-5.2,142,3182,0.12,2.30,0.00,0.000,6,0.133,0.023,2843,1887,2926,0,0,0,0,0,0,26.37,26.60,28.83
$GC,3500,-0.53,-146.6,227.1,-5.3,148,3508,0.00,2.42,0.00,0.000,4,0.000,0.037,2833,3453,2926,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3639,-0.58,-146.6,234.0,-5.6,150,3647,0.00,2.45,0.00,0.000,6,0.000,0.023,2833,1824,2926,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3979,-0.63,-146.6,256.3,-6.4,156,3988,0.10,2.33,0.00,0.000,4,0.093,0.041,2770,341,2924,0,0,0,0,0,0,26.78,26.46,28.83
$GC,4099,-0.63,-146.6,265.8,-7.1,158,4107,0.15,2.33,0.00,0.000,6,0.131,0.023,2803,1892,2924,0,0,0,0,0,0,26.32,26.63,28.83
$GC,4459,-0.63,-146.6,283.6,-4.4,164,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1892,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4760,-0.63,-146.6,294.3,-3.6,169,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1892,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,-0.63,-146.6,307.3,-4.4,174,5067,0.00,2.45,0.00,0.000,4,0.000,0.041,2803,341,2922,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5148,-0.63,-146.6,311.0,-5.0,175,5152,0.00,2.33,0.00,0.000,6,0.000,0.024,2793,1890,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5469,-0.63,-146.6,335.8,-7.3,181,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1891,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.63,-146.6,358.0,-7.3,186,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1890,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6069,-0.63,-146.6,376.7,-6.1,191,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1890,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-0.63,-146.6,395.9,-6.5,196,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1891,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-0.63,-146.6,416.4,-6.8,201,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1890,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,-0.63,-146.6,434.2,-5.8,206,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1890,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.65,-146.6,448.4,-4.6,211,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1890,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7571,-0.67,-146.6,461.6,-4.4,216,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1890,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,-0.69,-146.6,474.3,-4.2,221,7878,0.00,2.45,0.00,0.000,4,0.000,0.043,2793,347,2914,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7949,-0.71,-146.6,477.2,-4.3,222,7953,0.00,2.33,0.00,0.000,6,0.000,0.024,2782,1885,2913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8281,-0.71,-146.6,497.9,-6.3,228,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1886,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8580,-0.71,-146.6,520.9,-7.6,231,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1886,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8940,-0.71,-146.6,545.4,-7.0,234,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1886,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9301,-0.74,-146.6,567.0,-6.1,237,9309,0.00,2.45,0.00,0.000,4,0.000,0.044,2782,348,2909,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9430,-0.74,-146.6,574.5,-6.0,238,9434,0.00,2.33,0.00,0.000,6,0.000,0.025,2772,1883,2909,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9771,-0.74,-146.6,595.3,-6.0,241,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1883,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10131,-0.74,-146.6,619.6,-6.6,244,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1883,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10491,-0.74,-146.6,644.2,-6.9,247,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1884,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10851,-0.74,-146.6,664.3,-5.8,250,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1883,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11212,-0.76,-146.6,680.9,-4.7,253,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1883,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11572,-0.78,-146.6,698.2,-4.7,256,11579,0.00,2.45,0.00,0.000,4,0.000,0.046,2772,349,2903,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11661,-0.80,-146.6,698.2,-4.7,256,11665,0.00,2.35,0.00,0.000,6,0.000,0.026,2762,1889,2903,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12042,-0.80,-146.6,727.9,-6.3,260,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1889,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12402,-0.80,-146.6,754.0,-7.1,263,12410,0.00,2.47,0.00,0.000,4,0.000,0.046,2762,348,2901,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12491,-0.80,-146.6,754.0,-7.1,263,12495,0.00,2.35,0.00,0.000,6,0.000,0.026,2751,1883,2900,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12872,-0.80,-146.6,789.8,-7.6,267,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1883,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13232,-0.80,-146.6,813.9,-6.9,270,13240,0.00,2.50,0.00,0.000,4,0.000,0.043,2740,3453,2900,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13342,-0.80,-146.6,813.9,-6.9,270,13346,0.00,2.50,0.00,0.000,6,0.000,0.026,2740,1825,2899,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13702,-0.80,-146.6,842.6,-6.1,273,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1825,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14063,-0.80,-146.6,863.5,-5.8,276,14064,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1825,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14422,-0.80,-146.6,886.7,-6.3,279,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1825,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14783,-0.80,-146.6,910.6,-6.7,282,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1825,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15142,-0.80,-146.6,933.3,-6.4,285,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1825,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15503,-0.80,-146.6,953.8,-5.8,288,15511,0.00,2.60,0.00,0.000,4,0.000,0.043,2728,3453,2894,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15582,-0.80,-146.6,953.8,-5.8,288,15590,0.00,2.50,0.00,0.000,6,0.000,0.028,2728,1831,2894,0,0,0,0,0,0,28.83,26.45,28.83
$GC,15983,-0.80,-146.6,983.0,-6.1,292,15991,0.00,2.38,0.00,0.000,4,0.000,0.047,2728,355,2893,0,0,0,0,0,0,28.83,26.22,28.83
$GC,16052,-0.80,-146.6,983.0,-6.1,292,16056,0.00,2.35,0.00,0.000,6,0.000,0.027,2717,1889,2893,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,16091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16091,begin apogee
$GC,16096,-0.29,0.0,990.6,-6.3,293,16223,0.57,0.00,122.90,1.727,6,0.112,0.000,2908,1836,2319,0,0,0,0,0,0,25.85,28.83,23.68
$STATE,16225,end apogee,CONTROL_FINISHED_OK
$STATE,16225,begin climb
$GC,16227,0.86,146.6,992.9,0.0,294,16361,1.05,0.00,130.57,1.678,6,0.070,0.000,3273,1836,1722,0,0,0,0,0,0,24.89,28.83,23.37
$GC,16685,0.72,146.6,954.8,10.0,298,16687,0.15,0.00,0.00,0.000,6,0.153,0.000,3233,1836,1715,0,0,0,0,0,0,25.75,28.83,28.83
$GC,17043,0.61,146.6,923.0,9.1,301,17045,0.12,0.00,0.00,0.000,6,0.153,0.000,3198,1836,1712,0,0,0,0,0,0,26.10,28.83,28.83
$GC,17403,0.54,146.6,897.0,7.5,304,17405,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1836,1711,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29765,end climb,SURFACE_DEPTH_REACHED
$STATE,29766,begin surface coast
$FINISH,0.9,1.024708
$STATE,29787,end surface coast,CONTROL_FINISHED_OK
$STATE,29787,begin surface
$SM_CCo,29866,0.00,0.000,0,0,974,330.17
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.83
$INTERNAL_PRESSURE,9.10456
$TCM_TEMP,24.60
$XPDR_PINGS,2
$SC_FREEKB,7724576
$TM_FREEKB,6859040
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$10V_AH,10.3,20.401
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.300,140.050,369.775,0.000,0.000,27.514,43.168,179.136,0.500,0.000,20.573,1964.325,25761.107,646.547,1692.371,251.935,33.272,1419.652,0.000,1307.197,0.000,0.537,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.865,13.555,0.000,0.000
$MEM,344460
$DATA_FILE_SIZE,16746,571
$CAP_FILE_SIZE,183353,0
$CFSIZE,260034560,242376704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191012,091129,2423.112,-3747.390,35,1.4,35,-14.0