version: 66.11
glider: 189
mission: 7
dive: 192
start: 11 13 112 17 35 35
data:
$ID,189
$MISSION,7
$DIVE,192
$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,-47685.711
$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
$GPS1,131112,172328,2447.198,-3747.362,37,0.9,37,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-55.2
$GPS2,131112,173434,2447.183,-3747.424,24,1.2,24,-13.9
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.067,-0.190
$KALMAN_X,40867.5,64.3,39.2,-16598.9,2249.2
$KALMAN_Y,71514.0,51.2,-0.9,-50152.0,-2659.6
$MHEAD_RNG_PITCHd_Wd,213.3,49418,-12.0,-6.111,-16.90
$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,-143.8,0.0,0.0,0,37,0.00,0.00,-11.98,0.000,2,0.000,0.000,164,1822,1464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.1,0.0,1,116,9.40,2.40,-56.03,0.000,4,0.187,0.054,2723,351,2919,0,0,0,0,0,0,25.70,26.10,26.64
$GC,128,-1.06,-146.6,1.3,-0.3,10,136,0.10,2.33,0.00,0.000,6,0.047,0.026,2633,1889,2920,0,0,0,0,0,0,26.17,26.22,28.83
$GC,436,-0.86,-146.6,36.7,-11.6,41,446,0.30,2.45,0.00,0.000,4,0.144,0.040,2720,348,2919,0,0,0,0,0,0,25.79,26.17,28.83
$GC,676,-0.71,-146.6,62.0,-10.3,65,686,0.20,2.33,0.00,0.000,6,0.137,0.024,2767,1894,2920,0,0,0,0,0,0,25.96,26.44,28.83
$GC,1006,-0.66,-146.6,85.8,-7.1,88,1014,0.00,2.45,0.00,0.000,4,0.000,0.038,2757,3452,2920,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1218,-0.60,-146.6,101.1,-7.1,95,1225,0.12,2.45,0.00,0.000,6,0.106,0.023,2802,1820,2920,0,0,0,0,0,0,26.13,26.46,28.83
$GC,1548,-0.60,-146.6,119.8,-5.6,106,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1820,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,-0.60,-146.6,134.4,-4.8,116,1854,0.00,2.55,0.00,0.000,4,0.000,0.036,2792,3451,2920,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2086,-0.60,-146.6,146.5,-5.0,124,2094,0.00,2.47,0.00,0.000,6,0.000,0.023,2792,1812,2921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2416,-0.60,-146.6,164.8,-5.7,131,2424,0.00,2.58,0.00,0.000,4,0.000,0.036,2779,3460,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2657,-0.60,-146.6,179.4,-6.1,135,2664,0.00,2.45,0.00,0.000,6,0.000,0.022,2779,1829,2920,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3016,-0.60,-146.6,198.6,-5.2,141,3024,0.00,2.55,0.00,0.000,4,0.000,0.037,2768,3457,2920,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3227,-0.60,-146.6,209.7,-6.0,144,3235,0.10,2.45,0.00,0.000,6,0.103,0.022,2806,1822,2921,0,0,0,0,0,0,26.26,26.53,28.83
$GC,3557,-0.63,-146.6,231.1,-5.8,150,3564,0.00,2.53,0.00,0.000,4,0.000,0.037,2795,3446,2920,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3767,-0.66,-146.6,241.6,-5.8,153,3774,0.00,2.42,0.00,0.000,6,0.000,0.023,2795,1831,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4097,-0.68,-146.6,263.2,-6.0,159,4104,0.00,2.53,0.00,0.000,4,0.000,0.037,2783,3449,2919,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4308,-0.71,-146.6,272.9,-5.5,162,4315,0.00,2.45,0.00,0.000,6,0.000,0.023,2783,1820,2918,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4636,-0.71,-146.6,291.4,-5.2,168,4644,0.00,2.58,0.00,0.000,4,0.000,0.037,2771,3456,2917,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4796,-0.71,-146.6,298.5,-5.6,170,4804,0.00,2.47,0.00,0.000,6,0.000,0.023,2771,1821,2917,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5116,-0.71,-146.6,322.1,-6.6,176,5124,0.00,2.58,0.00,0.000,4,0.000,0.037,2759,3455,2916,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5255,-0.71,-146.6,329.8,-6.5,178,5259,0.00,2.47,0.00,0.000,6,0.000,0.023,2760,1823,2915,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5588,-0.71,-146.6,349.0,-5.3,184,5595,0.00,2.55,0.00,0.000,4,0.000,0.037,2748,3455,2914,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5796,-0.71,-146.6,358.1,-5.0,187,5800,0.00,2.47,0.00,0.000,6,0.000,0.023,2747,1821,2914,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6119,-0.71,-146.6,377.8,-5.7,193,6126,0.00,2.55,0.00,0.000,4,0.000,0.037,2736,3454,2913,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6238,-0.71,-146.6,385.3,-6.0,195,6246,0.12,2.47,0.00,0.000,6,0.129,0.023,2772,1819,2912,0,0,0,0,0,0,26.26,26.51,28.83
$GC,6598,-0.71,-146.6,408.2,-6.6,201,6606,0.00,2.58,0.00,0.000,4,0.000,0.038,2761,3451,2911,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6697,-0.71,-146.6,412.6,-6.8,202,6701,0.00,2.47,0.00,0.000,6,0.000,0.023,2762,1818,2911,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7008,-0.71,-146.6,436.9,-6.8,208,7016,0.00,2.58,0.00,0.000,4,0.000,0.037,2751,3451,2910,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7198,-0.71,-146.6,447.7,-6.1,211,7206,0.00,2.47,0.00,0.000,6,0.000,0.024,2750,1822,2909,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7549,-0.71,-146.6,468.7,-5.9,217,7556,0.00,2.58,0.00,0.000,4,0.000,0.037,2738,3450,2908,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7708,-0.71,-146.6,476.6,-6.3,219,7716,0.12,2.47,0.00,0.000,6,0.128,0.024,2774,1824,2908,0,0,0,0,0,0,26.25,26.50,28.83
$GC,8029,-0.73,-146.6,501.3,-6.9,225,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1824,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8389,-0.76,-146.6,524.7,-6.6,228,8396,0.00,2.55,0.00,0.000,4,0.000,0.038,2764,3446,2906,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8631,-0.78,-146.6,538.2,-6.0,230,8637,0.00,2.42,0.00,0.000,6,0.000,0.024,2764,1819,2906,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8989,-0.78,-146.6,557.1,-5.3,233,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1818,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9349,-0.78,-146.6,574.5,-4.9,236,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1819,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9709,-0.78,-146.6,594.2,-5.3,239,9717,0.00,2.60,0.00,0.000,4,0.000,0.039,2752,3449,2903,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9951,-0.78,-146.6,609.6,-6.0,241,9956,0.00,2.42,0.00,0.000,6,0.000,0.024,2752,1819,2902,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10309,-0.78,-146.6,633.0,-6.5,244,10316,0.00,2.58,0.00,0.000,4,0.000,0.038,2740,3454,2901,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10498,-0.78,-146.6,640.1,-6.3,245,10505,0.00,2.50,0.00,0.000,6,0.000,0.024,2740,1823,2901,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10909,-0.78,-146.6,671.0,-6.4,249,10917,0.00,2.58,0.00,0.000,4,0.000,0.039,2729,3453,2900,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11107,-0.78,-146.6,680.8,-7.0,250,11112,0.00,2.50,0.00,0.000,6,0.000,0.024,2728,1822,2899,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11500,-0.78,-146.6,717.3,-7.8,254,11507,0.00,2.58,0.00,0.000,4,0.000,0.039,2717,3445,2898,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11720,-0.78,-146.6,724.5,-7.1,255,11728,0.05,2.47,0.00,0.000,6,0.122,0.024,2737,1823,2898,0,0,0,0,0,0,26.22,26.43,28.83
$GC,12100,-0.78,-146.6,749.5,-5.1,259,12107,0.00,2.60,0.00,0.000,4,0.000,0.039,2727,3449,2897,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12330,-0.78,-146.6,756.9,-5.4,260,12339,0.00,2.47,0.00,0.000,6,0.000,0.025,2727,1828,2896,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12699,-0.78,-146.6,793.6,-7.7,264,12707,0.00,2.58,0.00,0.000,4,0.000,0.039,2715,3449,2895,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12908,-0.78,-146.6,803.6,-8.1,265,12913,0.12,2.50,0.00,0.000,6,0.126,0.025,2751,1822,2894,0,0,0,0,0,0,26.15,26.41,28.83
$GC,13293,-0.80,-146.6,832.3,-6.1,269,13299,0.00,2.58,0.00,0.000,4,0.000,0.041,2741,3448,2893,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13412,-0.83,-146.6,837.6,-5.2,270,13419,0.00,2.47,0.00,0.000,6,0.000,0.025,2742,1823,2893,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13773,-0.85,-146.6,853.1,-4.3,273,13779,0.00,2.58,0.00,0.000,4,0.000,0.041,2729,3448,2893,0,0,0,0,0,0,28.83,26.16,28.83
$GC,14002,-0.85,-146.6,859.3,-4.5,274,14010,0.00,2.47,0.00,0.000,6,0.000,0.026,2729,1829,2892,0,0,0,0,0,0,28.83,26.38,28.83
$GC,14371,-0.85,-146.6,892.3,-6.9,278,14379,0.00,2.58,0.00,0.000,4,0.000,0.040,2717,3444,2891,0,0,0,0,0,0,28.83,26.15,28.83
$GC,14612,-0.85,-146.6,911.9,-7.9,280,14619,0.00,2.47,0.00,0.000,6,0.000,0.026,2717,1830,2890,0,0,0,0,0,0,28.83,26.37,28.83
$GC,14971,-0.85,-146.6,939.1,-7.7,283,14979,0.00,2.60,0.00,0.000,4,0.000,0.041,2705,3450,2889,0,0,0,0,0,0,28.83,26.12,28.83
$GC,15091,-0.85,-146.6,947.0,-7.3,284,15099,0.00,2.50,0.00,0.000,6,0.000,0.026,2705,1827,2889,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15422,-0.85,-146.6,964.6,-4.9,292,15429,0.00,2.58,0.00,0.000,4,0.000,0.041,2692,3451,2888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15542,-0.85,-146.6,970.5,-4.9,296,15549,0.08,2.47,0.00,0.000,6,0.116,0.025,2721,1831,2888,0,0,0,0,0,0,26.08,26.35,28.83
$GC,15872,-0.85,-146.6,984.3,-4.2,307,15879,0.00,2.58,0.00,0.000,4,0.000,0.041,2710,3452,2888,0,0,0,0,0,0,28.83,26.08,28.83
$GC,15992,-0.85,-146.6,989.9,-4.7,311,15999,0.00,2.47,0.00,0.000,6,0.000,0.026,2710,1832,2888,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,16019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16019,begin apogee
$GC,16024,-0.29,0.0,991.3,-4.8,312,16150,0.57,0.00,121.90,1.691,6,0.106,0.000,2906,1832,2319,0,0,0,0,0,0,25.63,28.83,23.54
$STATE,16151,end apogee,CONTROL_FINISHED_OK
$STATE,16152,begin climb
$GC,16154,0.86,146.6,993.3,0.0,316,16291,1.05,0.00,131.68,1.652,6,0.063,0.000,3278,1832,1721,0,0,0,0,0,0,24.89,28.83,23.02
$GC,16591,0.72,146.6,962.2,8.1,331,16593,0.17,0.00,0.00,0.000,6,0.145,0.000,3230,1831,1714,0,0,0,0,0,0,25.75,28.83,28.83
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$STATE,28777,end climb,SURFACE_DEPTH_REACHED
$STATE,28777,begin surface coast
$FINISH,1.0,1.007174
$STATE,28808,end surface coast,CONTROL_FINISHED_OK
$STATE,28808,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,57.67
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$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,7696160
$TM_FREEKB,6191008
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$10V_AH,10.3,31.112
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344348
$DATA_FILE_SIZE,16721,562
$CAP_FILE_SIZE,216055,0
$CFSIZE,260034560,234663936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141112,013829,2444.342,-3749.321,52,0.9,52,-13.9