version: 66.11
glider: 189
mission: 7
dive: 119
start: 10 19 112 9 21 11
data:
$ID,189
$MISSION,7
$DIVE,119
$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,-47592.363
$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
$GPS1,191012,091129,2423.112,-3747.390,35,1.4,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-60.0
$GPS2,191012,092011,2423.095,-3747.432,14,1.5,14,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.149,0.137
$KALMAN_X,18347.7,266.7,147.0,5588.2,-268.5
$KALMAN_Y,97463.8,-0.3,-22.3,-120637.3,-252.9
$MHEAD_RNG_PITCHd_Wd,326.7,31780,-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,-146.6,0.0,0.0,0,55,0.00,0.00,-31.50,0.000,2,0.000,0.000,162,1825,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.6,2.2,-2.3,3,108,9.93,2.58,-33.78,0.000,4,0.212,0.048,2709,3451,2918,0,0,0,0,0,0,25.72,26.20,26.62
$GC,336,-0.69,-146.6,28.9,-12.1,31,345,0.22,2.47,0.00,0.000,6,0.137,0.024,2775,1825,2927,0,0,0,0,0,0,25.96,26.35,28.83
$GC,646,-0.60,-146.6,59.7,-8.1,62,648,0.12,0.00,0.00,0.000,6,0.147,0.000,2809,1825,2921,0,0,0,0,0,0,26.35,28.83,28.83
$GC,966,-0.56,-146.6,78.8,-5.7,90,974,0.00,2.53,0.00,0.000,4,0.000,0.037,2797,3452,2922,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1207,-0.53,-146.6,96.1,-7.3,98,1214,0.00,2.42,0.00,0.000,6,0.000,0.023,2798,1827,2922,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1537,-0.50,-146.6,118.3,-6.8,109,1544,0.15,2.50,0.00,0.000,4,0.126,0.036,2833,3454,2922,0,0,0,0,0,0,26.45,26.46,28.83
$GC,1736,-0.50,-146.6,127.3,-4.8,115,1745,0.00,2.45,0.00,0.000,6,0.000,0.022,2833,1822,2923,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2046,-0.50,-146.6,142.5,-4.8,126,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1822,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,-0.52,-146.6,162.4,-6.4,134,2384,0.00,2.53,0.00,0.000,4,0.000,0.037,2821,3453,2923,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2445,-0.54,-146.6,166.6,-6.7,135,2449,0.00,2.45,0.00,0.000,6,0.000,0.022,2821,1820,2923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2787,-0.54,-146.6,189.5,-6.1,141,2794,0.00,2.30,0.00,0.000,4,0.000,0.041,2822,348,2922,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2885,-0.54,-146.6,192.8,-5.7,142,2889,0.00,2.30,0.00,0.000,6,0.000,0.023,2810,1890,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3197,-0.54,-146.6,207.2,-3.9,148,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1890,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3497,-0.54,-146.6,221.4,-4.9,153,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1890,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3797,-0.54,-146.6,237.5,-5.3,158,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1890,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4097,-0.54,-146.6,251.5,-4.6,163,4105,0.00,2.42,0.00,0.000,4,0.000,0.038,2798,3452,2921,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4217,-0.54,-146.6,256.3,-4.1,165,4225,0.00,2.45,0.00,0.000,6,0.000,0.023,2798,1824,2919,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4577,-0.54,-146.6,270.8,-4.2,171,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1824,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4877,-0.54,-146.6,290.3,-6.8,176,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5176,-0.54,-146.6,312.0,-7.2,181,5184,0.00,2.55,0.00,0.000,4,0.000,0.038,2786,3460,2914,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5325,-0.54,-146.6,320.1,-6.9,183,5330,0.12,2.47,0.00,0.000,6,0.125,0.024,2824,1820,2915,0,0,0,0,0,0,26.39,26.61,28.83
$GC,5649,-0.58,-146.6,334.9,-3.7,189,5656,0.00,2.33,0.00,0.000,4,0.000,0.042,2824,342,2914,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5727,-0.62,-146.6,337.0,-3.5,190,5731,0.00,2.33,0.00,0.000,6,0.000,0.024,2815,1892,2914,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6060,-0.66,-146.6,348.9,-3.4,196,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1892,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,-0.70,-146.6,363.5,-5.1,201,6361,0.12,0.00,0.00,0.000,6,0.080,0.000,2746,1892,2912,0,0,0,0,0,0,26.77,28.83,28.83
$GC,6659,-0.66,-146.6,386.5,-7.8,206,6661,0.15,0.00,0.00,0.000,6,0.129,0.000,2791,1893,2910,0,0,0,0,0,0,26.50,28.83,28.83
$GC,6959,-0.66,-146.6,405.9,-6.4,211,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1892,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7259,-0.66,-146.6,422.8,-5.6,216,7266,0.00,2.45,0.00,0.000,4,0.000,0.042,2791,351,2909,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7338,-0.66,-146.6,426.6,-5.7,217,7342,0.00,2.33,0.00,0.000,6,0.000,0.024,2781,1893,2908,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7669,-0.66,-146.6,449.2,-6.5,223,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1893,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7969,-0.66,-146.6,468.4,-6.4,228,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1893,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8269,-0.66,-146.6,485.5,-5.6,233,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1893,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8570,-0.66,-146.6,498.7,-4.3,238,8577,0.00,2.42,0.00,0.000,4,0.000,0.043,2781,357,2905,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8668,-0.66,-146.6,501.5,-4.3,239,8672,0.00,2.33,0.00,0.000,6,0.000,0.024,2770,1896,2905,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9040,-0.66,-146.6,524.8,-5.6,243,9048,0.00,2.45,0.00,0.000,4,0.000,0.040,2759,3461,2903,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9139,-0.66,-146.6,524.8,-5.6,243,9144,0.00,2.50,0.00,0.000,6,0.000,0.024,2759,1818,2904,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9511,-0.66,-146.6,565.9,-8.8,247,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1818,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9871,-0.66,-146.6,594.9,-8.4,250,9879,0.00,2.58,0.00,0.000,4,0.000,0.039,2747,3455,2901,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9960,-0.66,-146.6,594.9,-8.4,250,9965,0.15,2.47,0.00,0.000,6,0.125,0.024,2791,1827,2901,0,0,0,0,0,0,26.29,26.56,28.83
$GC,10343,-0.69,-146.6,618.2,-4.9,254,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1826,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10703,-0.73,-146.6,631.5,-3.8,257,10711,0.00,2.35,0.00,0.000,4,0.000,0.044,2792,350,2900,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10782,-0.77,-146.6,631.5,-3.8,257,10790,0.00,2.33,0.00,0.000,6,0.000,0.024,2782,1886,2900,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11183,-0.80,-146.6,655.0,-4.9,261,11185,0.12,0.00,0.00,0.000,6,0.084,0.000,2718,1887,2899,0,0,0,0,0,0,26.74,28.83,28.83
$GC,11542,-0.80,-146.6,684.1,-7.5,264,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1887,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11903,-0.76,-146.6,713.0,-8.2,267,11905,0.12,0.00,0.00,0.000,6,0.140,0.000,2753,1887,2897,0,0,0,0,0,0,26.52,28.83,28.83
$GC,12262,-0.76,-146.6,734.5,-6.3,270,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1887,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12622,-0.76,-146.6,754.4,-5.6,273,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1887,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12982,-0.76,-146.6,774.4,-5.6,276,12990,0.00,2.47,0.00,0.000,4,0.000,0.045,2753,346,2894,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13062,-0.76,-146.6,774.4,-5.6,276,13069,0.00,2.35,0.00,0.000,6,0.000,0.025,2743,1888,2893,0,0,0,0,0,0,28.83,26.55,28.83
$GC,13462,-0.76,-146.6,804.4,-6.2,280,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1888,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13822,-0.76,-146.6,831.8,-7.4,283,13830,0.00,2.47,0.00,0.000,4,0.000,0.046,2743,351,2892,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13901,-0.76,-146.6,831.8,-7.4,283,13906,0.00,2.35,0.00,0.000,6,0.000,0.026,2732,1891,2891,0,0,0,0,0,0,28.83,26.53,28.83
$GC,14293,-0.76,-146.6,865.9,-7.2,287,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1891,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14653,-0.76,-146.6,889.2,-6.6,290,14661,0.00,2.47,0.00,0.000,4,0.000,0.046,2732,354,2889,0,0,0,0,0,0,28.83,26.28,28.83
$GC,14732,-0.76,-146.6,889.2,-6.6,290,14737,0.12,2.35,0.00,0.000,6,0.142,0.025,2753,1893,2889,0,0,0,0,0,0,26.22,26.52,28.83
$GC,15125,-0.76,-146.6,915.3,-5.5,294,15126,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1893,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15485,-0.79,-146.6,931.8,-4.7,297,15493,0.00,2.50,0.00,0.000,4,0.000,0.047,2756,345,2888,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15605,-0.81,-146.6,938.2,-4.7,298,15612,0.00,2.35,0.00,0.000,6,0.000,0.026,2748,1882,2890,0,0,0,0,0,0,28.83,26.50,28.83
$GC,15965,-0.81,-146.6,958.8,-5.6,301,15966,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1882,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16324,-0.81,-146.6,983.9,-6.8,304,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1882,2886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16443,begin apogee
$GC,16448,-0.29,0.0,993.3,-7.2,305,16574,0.45,0.00,120.82,1.705,6,0.109,0.000,2900,1839,2320,0,0,0,0,0,0,25.94,28.83,23.70
$STATE,16575,end apogee,CONTROL_FINISHED_OK
$STATE,16575,begin climb
$GC,16577,0.86,146.6,998.5,0.0,306,16712,1.08,0.00,130.73,1.678,6,0.071,0.000,3275,1839,1721,0,0,0,0,0,0,24.93,28.83,23.38
$GC,17045,0.72,146.6,967.3,8.7,310,17047,0.15,0.00,0.00,0.000,6,0.155,0.000,3235,1839,1713,0,0,0,0,0,0,25.76,28.83,28.83
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$STATE,29698,end climb,SURFACE_DEPTH_REACHED
$STATE,29698,begin surface coast
$FINISH,0.9,1.010588
$STATE,29729,end surface coast,CONTROL_FINISHED_OK
$STATE,29729,begin surface
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$TM_FREEKB,6850208
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$10V_AH,10.2,20.556
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344512
$DATA_FILE_SIZE,16737,568
$CAP_FILE_SIZE,195899,0
$CFSIZE,260034560,242262016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191012,173905,2425.787,-3750.177,35,0.9,35,-14.0