version: 66.11
glider: 189
mission: 7
dive: 150
start: 10 29 112 20 20 36
data:
$ID,189
$MISSION,7
$DIVE,150
$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,-47631.539
$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
$GPS1,291012,201204,2447.835,-3747.942,39,0.9,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-54.6
$GPS2,291012,201935,2447.810,-3747.910,18,1.1,18,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.070,-0.190
$KALMAN_X,30744.0,-158.1,-311.7,-6708.5,2512.7
$KALMAN_Y,101539.2,168.9,350.3,-79481.6,-3587.4
$MHEAD_RNG_PITCHd_Wd,214.1,50594,-11.8,-6.111,-16.78
$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,-146.5,0.0,0.0,0,45,0.00,0.00,-21.40,0.000,2,0.000,0.000,163,1840,1731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.86,-146.6,2.0,0.0,2,115,9.62,2.58,-46.17,0.000,4,0.200,0.049,2709,3461,2920,0,0,0,0,0,0,25.75,26.19,26.67
$GC,345,-0.70,-146.6,26.4,-9.8,32,355,0.22,2.50,0.00,0.000,6,0.129,0.023,2775,1823,2921,0,0,0,0,0,0,25.90,26.32,28.83
$GC,655,-0.62,-146.6,51.8,-7.7,63,665,0.00,2.55,0.00,0.000,4,0.000,0.037,2764,3451,2921,0,0,0,0,0,0,28.83,26.27,28.83
$GC,895,-0.55,-146.6,72.5,-8.8,87,905,0.17,2.47,0.00,0.000,6,0.122,0.023,2817,1819,2922,0,0,0,0,0,0,26.12,26.44,28.83
$GC,1208,-0.55,-146.6,90.6,-5.1,100,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1819,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.55,-146.6,103.2,-4.5,110,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1818,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1805,-0.55,-146.6,119.9,-6.0,120,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1818,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-0.55,-146.6,140.4,-7.0,130,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1819,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,-0.55,-146.6,161.8,-6.4,138,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1819,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2735,-0.55,-146.6,176.6,-4.8,143,2743,0.00,2.55,0.00,0.000,4,0.000,0.036,2807,3458,2922,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2835,-0.55,-146.6,179.3,-4.5,144,2839,0.00,2.47,0.00,0.000,6,0.000,0.022,2806,1815,2924,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3146,-0.55,-146.6,196.6,-5.3,150,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1814,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3446,-0.55,-146.6,216.4,-6.7,155,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1813,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-0.55,-146.6,231.9,-5.0,160,3754,0.00,2.55,0.00,0.000,4,0.000,0.037,2794,3455,2924,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3926,-0.55,-146.6,239.7,-4.4,163,3934,0.00,2.47,0.00,0.000,6,0.000,0.022,2794,1816,2924,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4287,-0.55,-146.6,254.5,-4.2,169,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1816,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4587,-0.55,-146.6,268.7,-4.8,174,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1815,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4886,-0.55,-146.6,282.8,-4.7,179,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1812,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.55,-146.6,300.5,-6.1,184,5194,0.00,2.58,0.00,0.000,4,0.000,0.037,2782,3461,2920,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5325,-0.55,-146.6,309.1,-6.8,186,5330,0.12,2.47,0.00,0.000,6,0.123,0.023,2821,1824,2920,0,0,0,0,0,0,26.32,26.55,28.83
$GC,5658,-0.60,-146.6,330.9,-6.0,192,5665,0.00,2.53,0.00,0.000,4,0.000,0.037,2809,3451,2919,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5787,-0.65,-146.6,337.2,-5.6,194,5794,0.00,2.47,0.00,0.000,6,0.000,0.023,2809,1817,2919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6138,-0.68,-146.6,353.4,-4.4,200,6145,0.00,2.33,0.00,0.000,4,0.000,0.042,2809,345,2918,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6217,-0.71,-146.6,356.7,-4.6,201,6225,0.00,2.33,0.00,0.000,6,0.000,0.023,2798,1897,2918,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6558,-0.74,-146.6,377.6,-6.0,207,6560,0.12,0.00,0.00,0.000,6,0.082,0.000,2730,1897,2917,0,0,0,0,0,0,26.74,28.83,28.83
$GC,6858,-0.69,-146.6,399.6,-7.3,212,6860,0.17,0.00,0.00,0.000,6,0.125,0.000,2783,1898,2914,0,0,0,0,0,0,26.39,28.83,28.83
$GC,7158,-0.69,-146.6,416.8,-5.6,217,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1898,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,-0.69,-146.6,434.6,-6.0,222,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1898,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7758,-0.69,-146.6,453.6,-6.4,227,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1898,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8057,-0.69,-146.6,472.7,-6.4,232,8065,0.00,2.45,0.00,0.000,4,0.000,0.040,2772,3452,2912,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8186,-0.69,-146.6,480.5,-6.4,234,8190,0.00,2.47,0.00,0.000,6,0.000,0.024,2772,1827,2912,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8528,-0.69,-146.6,503.9,-6.7,240,8535,0.00,2.58,0.00,0.000,4,0.000,0.039,2761,3459,2911,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8628,-0.69,-146.6,503.9,-6.7,240,8635,0.00,2.50,0.00,0.000,6,0.000,0.024,2761,1815,2910,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9008,-0.69,-146.6,534.0,-6.3,244,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1815,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9368,-0.69,-146.6,550.7,-4.9,247,9375,0.00,2.58,0.00,0.000,4,0.000,0.038,2749,3449,2909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9427,-0.69,-146.6,550.7,-4.9,247,9431,0.00,2.47,0.00,0.000,6,0.000,0.024,2748,1824,2909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9839,-0.69,-146.6,578.7,-5.9,251,9841,0.10,0.00,0.00,0.000,6,0.144,0.000,2777,1824,2908,0,0,0,0,0,0,26.60,28.83,28.83
$GC,10199,-0.69,-146.6,602.1,-6.5,254,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1825,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10559,-0.71,-146.6,626.7,-6.8,257,10567,0.00,2.55,0.00,0.000,4,0.000,0.039,2766,3447,2906,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10760,-0.74,-146.6,635.2,-6.9,258,10767,0.00,2.47,0.00,0.000,6,0.000,0.024,2766,1821,2905,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11159,-0.74,-146.6,668.9,-7.0,262,11167,0.00,2.58,0.00,0.000,4,0.000,0.039,2754,3449,2904,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11238,-0.74,-146.6,668.9,-7.0,262,11243,0.00,2.47,0.00,0.000,6,0.000,0.024,2754,1827,2903,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11630,-0.74,-146.6,701.4,-6.9,266,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1826,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11990,-0.74,-146.6,726.6,-7.0,269,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1826,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12350,-0.74,-146.6,746.6,-5.8,272,12358,0.00,2.60,0.00,0.000,4,0.000,0.039,2742,3469,2900,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12479,-0.74,-146.6,752.9,-5.4,273,12483,0.00,2.53,0.00,0.000,6,0.000,0.024,2742,1821,2901,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12821,-0.74,-146.6,772.1,-5.4,276,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1820,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13181,-0.74,-146.6,792.8,-5.8,279,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1821,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13541,-0.74,-146.6,812.8,-5.6,282,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1821,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13901,-0.74,-146.6,832.7,-5.5,285,13909,0.00,2.60,0.00,0.000,4,0.000,0.040,2730,3449,2898,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13970,-0.74,-146.6,832.7,-5.5,285,13979,0.12,2.50,0.00,0.000,6,0.130,0.025,2767,1824,2897,0,0,0,0,0,0,26.17,26.43,28.83
$GC,14381,-0.77,-146.6,857.9,-5.2,289,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1823,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14741,-0.81,-146.6,878.7,-5.7,292,14749,0.00,2.58,0.00,0.000,4,0.000,0.041,2757,3448,2895,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14861,-0.85,-146.6,886.0,-5.8,293,14869,0.00,2.47,0.00,0.000,6,0.000,0.026,2757,1828,2894,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15221,-0.88,-146.6,906.8,-5.8,296,15230,0.12,2.58,0.00,0.000,4,0.084,0.041,2682,3451,2897,0,0,0,0,0,0,26.70,26.17,28.83
$GC,15360,-0.88,-146.6,916.2,-6.2,297,15365,0.12,2.50,0.00,0.000,6,0.142,0.026,2716,1827,2894,0,0,0,0,0,0,26.08,26.39,28.83
$GC,15692,-0.88,-146.6,943.3,-7.7,300,15700,0.00,2.60,0.00,0.000,4,0.000,0.041,2706,3455,2893,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15841,-0.85,-146.6,952.4,-7.7,301,15846,0.00,2.50,0.00,0.000,6,0.000,0.026,2706,1828,2893,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16164,-0.83,-146.6,977.1,-7.2,304,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1828,2892,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16402,begin apogee
$GC,16406,-0.29,0.0,992.4,-6.6,306,16532,0.57,0.00,121.40,1.688,6,0.111,0.000,2900,1828,2320,0,0,0,0,0,0,25.67,28.83,23.68
$STATE,16534,end apogee,CONTROL_FINISHED_OK
$STATE,16534,begin climb
$GC,16536,0.86,146.6,994.7,0.0,307,16671,1.08,0.00,129.98,1.655,6,0.070,0.000,3276,1828,1722,0,0,0,0,0,0,24.91,28.83,23.27
$GC,17004,0.72,146.6,958.1,9.3,311,17006,0.17,0.00,0.00,0.000,6,0.147,0.000,3227,1828,1717,0,0,0,0,0,0,25.74,28.83,28.83
$GC,17364,0.61,146.6,931.9,7.7,314,17372,0.12,2.60,0.00,0.000,4,0.148,0.041,3191,3443,1711,0,0,0,0,0,0,26.12,26.14,28.83
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$STATE,28961,end climb,SURFACE_DEPTH_REACHED
$STATE,28961,begin surface coast
$FINISH,0.9,1.024872
$STATE,28993,end surface coast,CONTROL_FINISHED_OK
$STATE,28993,begin surface
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$HUMID,55.27
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$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,7712288
$TM_FREEKB,6575584
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$10V_AH,10.3,24.854
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.150,173.325,458.575,0.000,0.000,27.357,35.053,173.567,0.000,0.000,19.413,2015.122,24646.295,798.564,1782.161,277.575,33.272,1634.344,0.000,1409.021,0.000,0.535,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.279,13.526,0.000,0.000
$MEM,344464
$DATA_FILE_SIZE,13417,534
$CAP_FILE_SIZE,186415,0
$CFSIZE,260034560,239181824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301012,042605,2444.204,-3749.414,25,1.1,25,-13.9