version: 66.11
glider: 189
mission: 7
dive: 155
start: 10 31 112 14 51 46
data:
$ID,189
$MISSION,7
$DIVE,155
$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,-47637.828
$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
$GPS1,311012,144104,2428.037,-3749.676,23,0.9,23,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-57.5
$GPS2,311012,145047,2428.063,-3749.627,32,0.9,32,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.109,-0.171
$KALMAN_X,25492.7,57.6,124.1,-5009.2,-1584.2
$KALMAN_Y,97311.5,12.2,-131.5,-111177.4,-1009.5
$MHEAD_RNG_PITCHd_Wd,161.5,14613,-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,23,-0.86,-146.6,0.0,0.0,0,56,0.00,0.00,-31.70,0.000,2,0.000,0.000,159,1833,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.86,-146.6,2.1,-1.8,3,107,10.02,2.53,-29.50,0.000,4,0.216,0.049,2703,3465,2919,0,0,0,0,0,0,25.67,26.20,26.62
$GC,336,-0.70,-146.6,28.3,-11.2,31,346,0.22,2.50,0.00,0.000,6,0.132,0.023,2768,1824,2920,0,0,0,0,0,0,25.91,26.34,28.83
$GC,646,-0.61,-146.6,56.4,-9.0,62,656,0.12,2.55,0.00,0.000,4,0.147,0.037,2793,3453,2921,0,0,0,0,0,0,26.34,26.29,28.83
$GC,887,-0.57,-146.6,71.7,-4.1,86,896,0.00,2.45,0.00,0.000,6,0.000,0.023,2793,1823,2921,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1207,-0.53,-146.6,89.6,-6.9,102,1215,0.12,2.30,0.00,0.000,4,0.134,0.041,2830,348,2921,0,0,0,0,0,0,26.46,26.35,28.83
$GC,1425,-0.53,-146.6,106.1,-7.9,109,1429,0.00,2.30,0.00,0.000,6,0.000,0.023,2821,1890,2922,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1736,-0.53,-146.6,123.1,-3.9,120,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1891,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.53,-146.6,132.9,-3.6,130,2044,0.00,2.42,0.00,0.000,4,0.000,0.037,2809,3455,2922,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2276,-0.53,-146.6,145.7,-6.2,138,2283,0.00,2.45,0.00,0.000,6,0.000,0.022,2809,1823,2923,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2636,-0.53,-146.6,171.9,-7.3,145,2644,0.00,2.53,0.00,0.000,4,0.000,0.036,2797,3453,2922,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2877,-0.53,-146.6,183.5,-4.8,149,2885,0.08,2.42,0.00,0.000,6,0.104,0.022,2833,1822,2926,0,0,0,0,0,0,26.34,26.57,28.83
$GC,3238,-0.56,-146.6,196.8,-3.7,155,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1820,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,-0.60,-146.6,213.3,-5.8,160,3544,0.00,2.53,0.00,0.000,4,0.000,0.037,2817,3451,2922,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3637,-0.63,-146.6,217.1,-6.0,161,3644,0.00,2.42,0.00,0.000,6,0.000,0.022,2817,1828,2921,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3957,-0.66,-146.6,238.7,-5.9,167,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1828,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-0.69,-146.6,256.9,-6.1,172,4259,0.12,0.00,0.00,0.000,6,0.080,0.000,2744,1828,2920,0,0,0,0,0,0,26.74,28.83,28.83
$GC,4556,-0.63,-146.6,276.2,-6.3,177,4565,0.17,2.55,0.00,0.000,4,0.122,0.037,2786,3458,2918,0,0,0,0,0,0,26.42,26.42,28.83
$GC,4747,-0.63,-146.6,284.0,-4.6,180,4755,0.00,2.47,0.00,0.000,6,0.000,0.023,2786,1818,2918,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5096,-0.63,-146.6,301.1,-5.0,186,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1818,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-0.63,-146.6,319.5,-6.2,191,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1818,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5696,-0.63,-146.6,338.9,-6.4,196,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1818,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5996,-0.63,-146.6,358.1,-6.4,201,6004,0.00,2.58,0.00,0.000,4,0.000,0.037,2774,3459,2914,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6195,-0.63,-146.6,369.9,-6.5,204,6200,0.00,2.47,0.00,0.000,6,0.000,0.023,2774,1825,2913,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6527,-0.63,-146.6,391.8,-6.2,210,6535,0.00,2.55,0.00,0.000,4,0.000,0.037,2762,3451,2912,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6636,-0.63,-146.6,395.6,-6.2,211,6641,0.12,2.47,0.00,0.000,6,0.126,0.023,2799,1815,2912,0,0,0,0,0,0,26.32,26.55,28.83
$GC,6938,-0.66,-146.6,417.2,-6.2,216,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1815,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,-0.69,-146.6,437.2,-6.6,221,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1815,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7537,-0.73,-146.6,458.1,-7.0,226,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1815,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7837,-0.76,-146.6,478.7,-6.8,231,7846,0.15,2.58,0.00,0.000,4,0.072,0.038,2708,3462,2908,0,0,0,0,0,0,26.72,26.38,28.83
$GC,7946,-0.76,-146.6,483.6,-7.0,232,7951,0.15,2.50,0.00,0.000,6,0.130,0.023,2755,1815,2907,0,0,0,0,0,0,26.22,26.53,28.83
$GC,8248,-0.73,-146.6,507.6,-6.8,236,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1815,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8607,-0.73,-146.6,527.0,-5.6,239,8615,0.00,2.58,0.00,0.000,4,0.000,0.038,2740,3450,2906,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8706,-0.73,-146.6,527.0,-5.6,239,8711,0.00,2.47,0.00,0.000,6,0.000,0.024,2740,1822,2905,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9079,-0.71,-146.6,553.2,-5.6,243,9087,0.12,2.55,0.00,0.000,4,0.133,0.038,2766,3449,2904,0,0,0,0,0,0,26.52,26.36,28.83
$GC,9167,-0.68,-146.6,553.2,-5.6,243,9175,0.00,2.47,0.00,0.000,6,0.000,0.024,2766,1823,2904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9558,-0.68,-146.6,584.7,-6.6,247,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1823,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9918,-0.68,-146.6,609.8,-7.1,250,9926,0.00,2.58,0.00,0.000,4,0.000,0.039,2754,3452,2901,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10047,-0.68,-146.6,617.7,-6.9,251,10051,0.00,2.47,0.00,0.000,6,0.000,0.024,2754,1825,2901,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10389,-0.68,-146.6,638.3,-6.0,254,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1825,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10749,-0.68,-146.6,660.1,-6.0,257,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1825,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11108,-0.68,-146.6,683.5,-6.4,260,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1825,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11468,-0.68,-146.6,708.3,-6.8,263,11477,0.00,2.60,0.00,0.000,4,0.000,0.040,2742,3458,2898,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11607,-0.68,-146.6,715.8,-6.8,264,11613,0.12,2.50,0.00,0.000,6,0.126,0.024,2779,1822,2898,0,0,0,0,0,0,26.24,26.48,28.83
$GC,11941,-0.71,-146.6,732.7,-5.1,267,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1822,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12301,-0.75,-146.6,747.6,-4.2,270,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1822,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12661,-0.79,-146.6,766.7,-5.1,273,12668,0.00,2.58,0.00,0.000,4,0.000,0.041,2768,3445,2895,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12810,-0.83,-146.6,774.4,-5.6,274,12819,0.12,2.50,0.00,0.000,6,0.081,0.025,2701,1816,2894,0,0,0,0,0,0,26.39,26.46,28.83
$GC,13140,-0.83,-146.6,802.0,-7.4,277,13142,0.12,0.00,0.00,0.000,6,0.142,0.000,2737,1816,2893,0,0,0,0,0,0,26.48,28.83,28.83
$GC,13501,-0.81,-146.6,822.9,-6.2,280,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1816,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13860,-0.81,-146.6,842.6,-5.4,283,13868,0.00,2.62,0.00,0.000,4,0.000,0.041,2726,3458,2894,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13969,-0.81,-146.6,842.6,-5.4,283,13974,0.00,2.50,0.00,0.000,6,0.000,0.025,2726,1827,2892,0,0,0,0,0,0,28.83,26.43,28.83
$GC,14330,-0.81,-146.6,877.0,-7.0,286,14338,0.00,2.60,0.00,0.000,4,0.000,0.041,2714,3458,2892,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14399,-0.81,-146.6,877.0,-7.0,286,14403,0.00,2.50,0.00,0.000,6,0.000,0.025,2714,1828,2890,0,0,0,0,0,0,28.83,26.42,28.83
$GC,14801,-0.78,-146.6,916.7,-8.5,290,14803,0.12,0.00,0.00,0.000,6,0.138,0.000,2749,1828,2889,0,0,0,0,0,0,26.48,28.83,28.83
$GC,15161,-0.78,-146.6,937.1,-6.2,293,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1828,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15521,-0.81,-146.6,955.7,-5.1,296,15528,0.00,2.58,0.00,0.000,4,0.000,0.043,2738,3448,2888,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15702,-0.83,-146.6,965.4,-5.4,302,15709,0.00,2.47,0.00,0.000,6,0.000,0.028,2738,1832,2887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16033,-0.83,-146.6,982.5,-4.9,313,16034,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1831,2887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16208,begin apogee
$GC,16213,-0.29,0.0,990.8,-4.6,319,16339,0.50,0.00,120.32,1.692,6,0.106,0.000,2903,1831,2320,0,0,0,0,0,0,25.78,28.83,23.64
$STATE,16341,end apogee,CONTROL_FINISHED_OK
$STATE,16341,begin climb
$GC,16343,0.86,146.6,991.7,0.0,323,16481,1.05,0.00,130.82,1.665,6,0.068,0.000,3272,1831,1721,0,0,0,0,0,0,24.93,28.83,23.22
$GC,16781,0.72,146.6,951.4,10.4,338,16783,0.15,0.00,0.00,0.000,6,0.151,0.000,3236,1831,1713,0,0,0,0,0,0,25.74,28.83,28.83
$GC,17171,0.61,146.6,919.4,8.2,342,17173,0.12,0.00,0.00,0.000,6,0.150,0.000,3195,1831,1711,0,0,0,0,0,0,26.12,28.83,28.83
$GC,17531,0.54,146.6,895.7,6.8,345,17539,0.00,2.62,0.00,0.000,4,0.000,0.041,3195,3453,1709,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,29995,end climb,SURFACE_DEPTH_REACHED
$STATE,29995,begin surface coast
$FINISH,1.0,1.024864
$STATE,30027,end surface coast,CONTROL_FINISHED_OK
$STATE,30027,begin surface
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$HUMID,55.15
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$TCM_TEMP,24.40
$XPDR_PINGS,0
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$TM_FREEKB,6528960
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$10V_AH,10.3,25.585
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.100,148.525,373.750,0.950,0.000,40.025,40.173,237.134,0.000,0.000,33.443,2145.334,25505.658,688.550,1962.085,317.779,33.264,1532.275,0.000,1479.243,0.000,0.537,0.000
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$MEM,344344
$DATA_FILE_SIZE,16735,601
$CAP_FILE_SIZE,193737,0
$CFSIZE,260034560,238649344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311012,231335,2424.450,-3748.099,28,1.3,28,-14.0