version: 66.11
glider: 189
mission: 7
dive: 123
start: 10 20 112 18 43 34
data:
$ID,189
$MISSION,7
$DIVE,123
$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,-47597.395
$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
$GPS1,201012,183358,2432.365,-3758.820,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-59.8
$GPS2,201012,184235,2432.335,-3758.852,13,2.0,13,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.183,0.088
$KALMAN_X,20850.2,-210.2,109.9,-15620.6,803.9
$KALMAN_Y,98982.5,197.7,2.9,-105265.2,121.1
$MHEAD_RNG_PITCHd_Wd,309.8,6133,-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,-22.12,0.000,2,0.000,0.000,160,1835,1763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.1,0.0,2,107,9.77,2.58,-41.95,0.000,4,0.207,0.050,2711,3461,2918,0,0,0,0,0,0,25.77,26.21,26.63
$GC,336,-0.70,-146.6,27.8,-12.0,31,346,0.22,2.50,0.00,0.000,6,0.138,0.023,2774,1815,2921,0,0,0,0,0,0,25.93,26.35,28.83
$GC,646,-0.61,-146.6,58.5,-9.8,62,656,0.10,2.55,0.00,0.000,4,0.159,0.036,2791,3451,2921,0,0,0,0,0,0,26.42,26.34,28.83
$GC,886,-0.55,-146.6,80.2,-8.3,82,894,0.12,2.45,0.00,0.000,6,0.135,0.023,2827,1822,2918,0,0,0,0,0,0,26.25,26.49,28.83
$GC,1217,-0.55,-146.6,103.5,-6.3,93,1224,0.00,2.50,0.00,0.000,4,0.000,0.037,2816,3446,2921,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1355,-0.55,-146.6,109.8,-5.2,97,1359,0.00,2.45,0.00,0.000,6,0.000,0.022,2816,1815,2922,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1656,-0.55,-146.6,125.0,-4.3,107,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1815,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-0.55,-146.6,136.6,-3.9,117,1963,0.00,2.30,0.00,0.000,4,0.000,0.041,2815,345,2922,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2107,-0.52,-146.6,143.4,-4.5,122,2114,0.00,2.30,0.00,0.000,6,0.000,0.023,2804,1890,2922,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2466,-0.52,-146.6,160.6,-5.3,131,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1889,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2766,-0.52,-146.6,179.3,-6.3,136,2774,0.00,2.42,0.00,0.000,4,0.000,0.040,2804,344,2920,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2905,-0.52,-146.6,188.3,-7.1,138,2910,0.12,2.33,0.00,0.000,6,0.138,0.023,2830,1901,2922,0,0,0,0,0,0,26.36,26.63,28.83
$GC,3239,-0.56,-146.6,203.5,-3.7,144,3246,0.00,2.38,0.00,0.000,4,0.000,0.039,2820,3445,2921,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3387,-0.59,-146.6,208.2,-3.7,146,3395,0.00,2.45,0.00,0.000,6,0.000,0.023,2820,1817,2921,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3719,-0.61,-146.6,227.4,-5.7,152,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1817,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-0.64,-146.6,244.9,-5.7,157,4026,0.00,2.53,0.00,0.000,4,0.000,0.037,2808,3455,2919,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4138,-0.67,-146.6,250.6,-5.1,159,4146,0.00,2.45,0.00,0.000,6,0.000,0.023,2808,1816,2919,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4498,-0.67,-146.6,266.5,-4.5,165,4505,0.00,2.55,0.00,0.000,4,0.000,0.037,2795,3455,2918,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4618,-0.67,-146.6,272.6,-4.8,167,4626,0.00,2.45,0.00,0.000,6,0.000,0.022,2795,1823,2917,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4978,-0.67,-146.6,293.1,-5.8,173,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1824,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5278,-0.67,-146.6,311.1,-6.0,178,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1824,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5578,-0.67,-146.6,327.4,-5.4,183,5585,0.00,2.33,0.00,0.000,4,0.000,0.042,2795,348,2914,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5667,-0.67,-146.6,331.1,-5.5,184,5671,0.00,2.33,0.00,0.000,6,0.000,0.024,2784,1898,2914,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5988,-0.67,-146.6,354.1,-6.8,190,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1898,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6288,-0.67,-146.6,375.6,-7.3,195,6296,0.00,2.42,0.00,0.000,4,0.000,0.039,2772,3455,2910,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6408,-0.67,-146.6,384.8,-7.5,197,6416,0.00,2.47,0.00,0.000,6,0.000,0.024,2772,1819,2911,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6769,-0.67,-146.6,409.5,-6.7,203,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1819,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7068,-0.67,-146.6,426.3,-5.6,208,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1819,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7368,-0.67,-146.6,443.0,-5.6,213,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1819,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,-0.67,-146.6,460.1,-5.8,218,7677,0.00,2.58,0.00,0.000,4,0.000,0.038,2761,3462,2908,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7788,-0.67,-146.6,467.2,-5.9,220,7796,0.00,2.47,0.00,0.000,6,0.000,0.024,2761,1826,2908,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8148,-0.67,-146.6,490.9,-6.5,226,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1825,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8449,-0.67,-146.6,506.9,-5.3,230,8457,0.00,2.55,0.00,0.000,4,0.000,0.039,2749,3451,2906,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8528,-0.67,-146.6,506.9,-5.3,230,8536,0.12,2.47,0.00,0.000,6,0.132,0.024,2784,1820,2908,0,0,0,0,0,0,26.33,26.58,28.83
$GC,8928,-0.67,-146.6,529.2,-4.6,234,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1820,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9289,-0.69,-146.6,551.4,-5.9,237,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1820,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9648,-0.71,-146.6,576.5,-6.9,240,9656,0.00,2.58,0.00,0.000,4,0.000,0.039,2773,3457,2902,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9747,-0.74,-146.6,576.5,-6.9,240,9752,0.00,2.47,0.00,0.000,6,0.000,0.024,2773,1827,2901,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10119,-0.74,-146.6,607.1,-6.5,244,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1827,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10479,-0.74,-146.6,627.8,-5.8,247,10487,0.00,2.35,0.00,0.000,4,0.000,0.044,2773,349,2900,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10578,-0.74,-146.6,627.8,-5.8,247,10582,0.00,2.33,0.00,0.000,6,0.000,0.024,2763,1886,2900,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10950,-0.74,-146.6,652.7,-5.3,251,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1886,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11310,-0.74,-146.6,675.3,-6.0,254,11318,0.00,2.47,0.00,0.000,4,0.000,0.041,2751,3456,2898,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11458,-0.74,-146.6,684.0,-6.5,255,11463,0.00,2.50,0.00,0.000,6,0.000,0.025,2751,1819,2897,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11780,-0.74,-146.6,710.3,-7.5,258,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1820,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12140,-0.74,-146.6,735.0,-7.0,261,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1820,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12499,-0.74,-146.6,757.1,-6.2,264,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1820,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12860,-0.74,-146.6,780.7,-6.5,267,12867,0.00,2.60,0.00,0.000,4,0.000,0.041,2739,3461,2894,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12970,-0.74,-146.6,780.7,-6.5,267,12979,0.00,2.50,0.00,0.000,6,0.000,0.026,2739,1828,2893,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13340,-0.74,-146.6,811.8,-6.5,271,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1828,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13700,-0.74,-146.6,832.8,-5.9,274,13707,0.00,2.38,0.00,0.000,4,0.000,0.046,2739,345,2891,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13799,-0.74,-146.6,832.8,-5.9,274,13804,0.12,2.35,0.00,0.000,6,0.142,0.026,2763,1885,2891,0,0,0,0,0,0,26.23,26.52,28.83
$GC,14173,-0.76,-146.6,858.7,-5.4,278,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1885,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14532,-0.79,-146.6,881.0,-6.0,281,14533,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1885,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14892,-0.82,-146.6,907.7,-7.3,284,14899,0.00,2.50,0.00,0.000,4,0.000,0.043,2753,3464,2888,0,0,0,0,0,0,28.83,26.28,28.83
$GC,14971,-0.86,-146.6,907.7,-7.3,284,14979,0.00,2.53,0.00,0.000,6,0.000,0.027,2753,1823,2888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15372,-0.88,-146.6,944.7,-7.7,288,15374,0.12,0.00,0.00,0.000,6,0.083,0.000,2690,1823,2888,0,0,0,0,0,0,26.72,28.83,28.83
$GC,15732,-0.88,-146.6,975.9,-8.5,291,15733,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1823,2887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15969,begin apogee
$GC,15974,-0.29,0.0,994.8,-8.2,293,16101,0.65,0.00,120.50,1.694,6,0.116,0.000,2905,1823,2320,0,0,0,0,0,0,25.76,28.83,23.75
$STATE,16102,end apogee,CONTROL_FINISHED_OK
$STATE,16102,begin climb
$GC,16104,0.86,146.6,996.6,0.0,294,16238,1.05,0.00,129.50,1.666,6,0.069,0.000,3272,1822,1723,0,0,0,0,0,0,24.95,28.83,23.41
$GC,16573,0.72,146.6,952.8,10.9,298,16575,0.15,0.00,0.00,0.000,6,0.151,0.000,3232,1822,1715,0,0,0,0,0,0,25.79,28.83,28.83
$GC,16932,0.61,146.6,920.0,9.5,301,16933,0.12,0.00,0.00,0.000,6,0.151,0.000,3196,1822,1712,0,0,0,0,0,0,26.12,28.83,28.83
$GC,17292,0.55,146.6,896.3,7.1,304,17293,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1822,1711,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29874,end climb,SURFACE_DEPTH_REACHED
$STATE,29874,begin surface coast
$FINISH,0.8,1.024799
$STATE,29905,end surface coast,CONTROL_FINISHED_OK
$STATE,29905,begin surface
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$TCM_TEMP,24.70
$XPDR_PINGS,0
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$TM_FREEKB,6813760
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$10V_AH,10.3,21.158
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344436
$DATA_FILE_SIZE,16719,567
$CAP_FILE_SIZE,186499,0
$CFSIZE,260034560,241864704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211012,030334,2434.023,-3802.032,35,0.8,35,-14.0