version: 66.11
glider: 189
mission: 7
dive: 120
start: 10 19 112 17 48 34
data:
$ID,189
$MISSION,7
$DIVE,120
$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,-47593.621
$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
$GPS1,191012,173905,2425.787,-3750.177,35,0.9,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-59.7
$GPS2,191012,174735,2425.771,-3750.241,14,1.2,14,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.164,0.119
$KALMAN_X,18830.7,-135.3,190.0,742.6,214.1
$KALMAN_Y,97846.4,102.5,28.5,-116217.8,83.4
$MHEAD_RNG_PITCHd_Wd,319.9,24991,-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,-146.6,0.0,0.0,0,46,0.00,0.00,-21.98,0.000,2,0.000,0.000,159,1822,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.1,0.0,2,109,9.60,2.58,-44.25,0.000,4,0.200,0.048,2705,3450,2917,0,0,0,0,0,0,25.76,26.23,26.64
$GC,337,-0.69,-146.6,26.9,-11.7,31,346,0.25,2.47,0.00,0.000,6,0.133,0.023,2778,1824,2919,0,0,0,0,0,0,25.96,26.37,28.83
$GC,647,-0.61,-146.6,58.7,-10.1,62,656,0.00,2.55,0.00,0.000,4,0.000,0.037,2767,3458,2918,0,0,0,0,0,0,28.83,26.36,28.83
$GC,887,-0.53,-146.6,78.7,-7.7,84,895,0.20,2.47,0.00,0.000,6,0.122,0.023,2828,1818,2919,0,0,0,0,0,0,26.18,26.50,28.83
$GC,1218,-0.53,-146.6,94.6,-4.0,95,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1817,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,-0.53,-146.6,110.1,-5.5,105,1524,0.00,2.55,0.00,0.000,4,0.000,0.037,2817,3462,2920,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1667,-0.53,-146.6,118.2,-5.3,110,1674,0.00,2.47,0.00,0.000,6,0.000,0.022,2817,1813,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1998,-0.53,-146.6,132.5,-4.4,121,2005,0.00,2.28,0.00,0.000,4,0.000,0.041,2817,349,2920,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2046,-0.53,-146.6,134.2,-5.0,122,2050,0.00,2.30,0.00,0.000,6,0.000,0.023,2805,1894,2920,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2346,-0.53,-146.6,155.1,-6.8,131,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1894,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-0.53,-146.6,175.1,-6.6,136,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1895,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2947,-0.53,-146.6,191.4,-5.2,141,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1894,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3247,-0.53,-146.6,205.8,-4.8,146,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1895,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3547,-0.53,-146.6,222.6,-5.7,151,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1895,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.53,-146.6,241.9,-6.4,156,3854,0.00,2.45,0.00,0.000,4,0.000,0.041,2805,342,2917,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3935,-0.53,-146.6,245.9,-6.6,157,3940,0.12,2.33,0.00,0.000,6,0.134,0.024,2832,1895,2917,0,0,0,0,0,0,26.39,26.64,28.83
$GC,4258,-0.57,-146.6,265.4,-5.4,163,4265,0.00,2.42,0.00,0.000,4,0.000,0.039,2822,3456,2916,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4387,-0.62,-146.6,271.9,-5.3,165,4395,0.00,2.47,0.00,0.000,6,0.000,0.023,2821,1816,2916,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4738,-0.66,-146.6,293.3,-6.0,171,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1816,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5038,-0.70,-146.6,311.7,-6.1,176,5046,0.12,2.30,0.00,0.000,4,0.081,0.042,2750,352,2914,0,0,0,0,0,0,26.77,26.47,28.83
$GC,5126,-0.70,-146.6,316.3,-6.4,177,5131,0.12,2.30,0.00,0.000,6,0.145,0.024,2773,1887,2913,0,0,0,0,0,0,26.36,26.64,28.83
$GC,5449,-0.70,-146.6,338.2,-5.9,183,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1888,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5749,-0.70,-146.6,355.1,-5.7,188,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1888,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6049,-0.70,-146.6,373.0,-6.0,193,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1888,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6349,-0.70,-146.6,391.4,-6.1,198,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1888,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6648,-0.70,-146.6,411.8,-6.9,203,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1888,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6949,-0.70,-146.6,429.6,-5.8,208,6957,0.00,2.45,0.00,0.000,4,0.000,0.040,2763,3456,2907,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7049,-0.70,-146.6,433.0,-5.7,209,7057,0.00,2.47,0.00,0.000,6,0.000,0.024,2763,1823,2907,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7369,-0.70,-146.6,450.5,-4.7,215,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1823,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,-0.70,-146.6,465.9,-5.2,220,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1823,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7969,-0.70,-146.6,483.2,-5.9,225,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1823,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8268,-0.70,-146.6,503.6,-6.9,230,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1823,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8629,-0.70,-146.6,525.9,-6.3,233,8636,0.00,2.35,0.00,0.000,4,0.000,0.044,2766,344,2901,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8777,-0.70,-146.6,533.2,-6.1,234,8781,0.00,2.33,0.00,0.000,6,0.000,0.024,2753,1885,2901,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9099,-0.70,-146.6,556.5,-6.5,237,9106,0.00,2.45,0.00,0.000,4,0.000,0.040,2741,3451,2900,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9219,-0.70,-146.6,565.5,-6.9,238,9228,0.12,2.47,0.00,0.000,6,0.132,0.024,2777,1824,2900,0,0,0,0,0,0,26.33,26.57,28.83
$GC,9579,-0.70,-146.6,591.7,-7.3,241,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1824,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9939,-0.70,-146.6,617.6,-7.3,244,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1824,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10300,-0.72,-146.6,635.1,-5.3,247,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1824,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10660,-0.74,-146.6,648.8,-3.8,250,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1824,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11020,-0.77,-146.6,666.4,-4.7,253,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1824,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11380,-0.79,-146.6,691.8,-6.6,256,11387,0.00,2.58,0.00,0.000,4,0.000,0.041,2766,3449,2895,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11500,-0.82,-146.6,701.5,-7.3,257,11507,0.00,2.50,0.00,0.000,6,0.000,0.026,2766,1819,2895,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11859,-0.85,-146.6,731.5,-8.3,260,11861,0.12,0.00,0.00,0.000,6,0.083,0.000,2703,1819,2893,0,0,0,0,0,0,26.74,28.83,28.83
$GC,12220,-0.82,-146.6,760.8,-8.2,263,12228,0.12,2.55,0.00,0.000,4,0.142,0.041,2727,3444,2892,0,0,0,0,0,0,26.51,26.36,28.83
$GC,12298,-0.79,-146.6,760.8,-8.2,263,12303,0.00,2.47,0.00,0.000,6,0.000,0.026,2727,1828,2892,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12691,-0.76,-146.6,785.6,-5.2,267,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1828,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13050,-0.74,-146.6,807.5,-5.8,270,13052,0.12,0.00,0.00,0.000,6,0.138,0.000,2763,1828,2890,0,0,0,0,0,0,26.53,28.83,28.83
$GC,13410,-0.74,-146.6,831.0,-6.5,273,13417,0.00,2.58,0.00,0.000,4,0.000,0.042,2752,3451,2889,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13499,-0.74,-146.6,831.0,-6.5,273,13503,0.00,2.50,0.00,0.000,6,0.000,0.027,2752,1822,2889,0,0,0,0,0,0,28.83,26.50,28.83
$GC,13881,-0.74,-146.6,862.5,-6.7,277,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1821,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14241,-0.74,-146.6,880.9,-5.4,280,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1821,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14601,-0.74,-146.6,897.5,-4.6,283,14602,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1821,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14961,-0.74,-146.6,914.9,-4.8,286,14962,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1821,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15321,-0.76,-146.6,934.1,-5.2,289,15328,0.00,2.58,0.00,0.000,4,0.000,0.043,2741,3445,2884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,15441,-0.78,-146.6,940.9,-5.4,290,15449,0.00,2.50,0.00,0.000,6,0.000,0.028,2740,1827,2884,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15801,-0.78,-146.6,965.9,-6.7,293,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1827,2883,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16159,begin apogee
$GC,16163,-0.29,0.0,992.9,-7.5,296,16289,0.47,0.00,120.22,1.706,6,0.108,0.000,2901,1827,2319,0,0,0,0,0,0,25.89,28.83,23.71
$STATE,16291,end apogee,CONTROL_FINISHED_OK
$STATE,16291,begin climb
$GC,16293,0.86,146.6,997.1,0.0,297,16428,1.08,0.00,130.50,1.676,6,0.072,0.000,3277,1824,1721,0,0,0,0,0,0,24.94,28.83,23.38
$GC,16762,0.72,146.6,962.5,9.2,301,16764,0.17,0.00,0.00,0.000,6,0.143,0.000,3228,1826,1713,0,0,0,0,0,0,25.75,28.83,28.83
$GC,17121,0.61,146.6,931.0,8.8,304,17122,0.12,0.00,0.00,0.000,6,0.148,0.000,3192,1826,1711,0,0,0,0,0,0,26.12,28.83,28.83
$GC,17481,0.55,146.6,900.1,8.7,307,17482,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1826,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17840,0.50,146.6,871.6,8.1,310,17842,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1826,1708,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29401,end climb,SURFACE_DEPTH_REACHED
$STATE,29401,begin surface coast
$FINISH,0.9,1.001190
$STATE,29443,end surface coast,CONTROL_FINISHED_OK
$STATE,29443,begin surface
$SM_CCo,29461,6.07,0.148,0,0,1093,300.00
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.21
$INTERNAL_PRESSURE,9.12409
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$TM_FREEKB,6841152
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$10V_AH,10.3,20.707
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.325,131.575,374.025,6.075,0.000,27.074,38.013,222.847,0.000,0.000,15.511,1944.613,25363.658,663.951,1734.901,262.580,33.261,1438.635,0.000,1309.582,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.860,13.524,0.000,0.000
$MEM,344408
$DATA_FILE_SIZE,13425,555
$CAP_FILE_SIZE,183697,0
$CFSIZE,260034560,242176000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201012,020058,2427.796,-3753.057,38,0.9,42,-14.0