version: 66.11
glider: 189
mission: 7
dive: 207
start: 11 19 112 0 32 40
data:
$ID,189
$MISSION,7
$DIVE,207
$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,-47912.641
$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
$GPS1,191112,002204,2431.474,-3749.058,30,1.1,30,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-56.8
$GPS2,191112,003140,2431.417,-3749.074,29,0.8,29,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.185,0.083
$KALMAN_X,56436.3,114.7,-95.7,-34852.3,4014.0
$KALMAN_Y,50635.8,75.4,196.6,-58699.2,-2255.8
$MHEAD_RNG_PITCHd_Wd,308.2,22291,-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,-146.6,0.0,0.0,0,37,0.00,0.00,-11.75,0.000,2,0.000,0.000,159,1882,1438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.86,-146.6,2.0,0.0,1,117,9.18,2.50,-57.47,0.000,4,0.176,0.050,2726,3454,2919,0,0,0,0,0,0,25.78,26.10,26.65
$GC,346,-0.76,-146.6,21.5,-8.2,32,355,0.00,2.50,0.00,0.000,6,0.000,0.023,2726,1821,2919,0,0,0,0,0,0,28.83,26.29,28.83
$GC,657,-0.67,-146.6,50.5,-9.0,63,667,0.20,2.55,0.00,0.000,4,0.125,0.037,2776,3449,2920,0,0,0,0,0,0,26.17,26.25,28.83
$GC,897,-0.63,-146.6,65.5,-5.8,87,906,0.00,2.45,0.00,0.000,6,0.000,0.022,2776,1827,2920,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1217,-0.59,-146.6,85.2,-6.4,109,1225,0.12,2.53,0.00,0.000,4,0.132,0.037,2802,3446,2920,0,0,0,0,0,0,26.45,26.30,28.83
$GC,1387,-0.59,-146.6,93.5,-5.3,114,1396,0.00,2.42,0.00,0.000,6,0.000,0.022,2802,1828,2920,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1697,-0.59,-146.6,112.6,-5.7,125,1704,0.00,2.55,0.00,0.000,4,0.000,0.036,2791,3450,2921,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1936,-0.59,-146.6,124.0,-4.3,133,1944,0.00,2.47,0.00,0.000,6,0.000,0.022,2791,1814,2921,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2268,-0.59,-146.6,141.3,-5.6,144,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1814,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,-0.59,-146.6,156.1,-4.7,152,2574,0.00,2.55,0.00,0.000,4,0.000,0.037,2779,3452,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2808,-0.59,-146.6,167.5,-4.7,156,2814,0.00,2.45,0.00,0.000,6,0.000,0.022,2779,1817,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3167,-0.59,-146.6,186.0,-5.3,162,3175,0.00,2.55,0.00,0.000,4,0.000,0.036,2768,3451,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3411,-0.59,-146.6,200.5,-6.0,166,3417,0.15,2.40,0.00,0.000,6,0.117,0.022,2814,1814,2921,0,0,0,0,0,0,26.25,26.52,28.83
$GC,3767,-0.63,-146.6,218.2,-4.7,172,3774,0.00,2.55,0.00,0.000,4,0.000,0.037,2804,3448,2921,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4008,-0.67,-146.6,227.6,-3.9,176,4014,0.00,2.42,0.00,0.000,6,0.000,0.023,2804,1825,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4367,-0.70,-146.6,238.0,-2.7,182,4375,0.00,2.55,0.00,0.000,4,0.000,0.037,2792,3453,2919,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4609,-0.73,-146.6,246.7,-3.6,186,4614,0.00,2.40,0.00,0.000,6,0.000,0.022,2792,1820,2919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4967,-0.75,-146.6,267.4,-6.3,192,4975,0.10,2.55,0.00,0.000,4,0.093,0.037,2718,3451,2918,0,0,0,0,0,0,26.74,26.35,28.83
$GC,5115,-0.75,-146.6,277.7,-7.6,194,5120,0.12,2.47,0.00,0.000,6,0.131,0.022,2755,1815,2918,0,0,0,0,0,0,26.26,26.52,28.83
$GC,5439,-0.73,-146.6,305.3,-7.6,200,5446,0.00,2.55,0.00,0.000,4,0.000,0.037,2743,3446,2917,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5627,-0.71,-146.6,316.9,-6.6,203,5631,0.00,2.47,0.00,0.000,6,0.000,0.023,2743,1814,2917,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5970,-0.68,-146.6,336.0,-5.4,209,5977,0.12,2.58,0.00,0.000,4,0.131,0.037,2770,3449,2916,0,0,0,0,0,0,26.52,26.34,28.83
$GC,6108,-0.68,-146.6,342.5,-5.5,211,6112,0.00,2.47,0.00,0.000,6,0.000,0.023,2769,1819,2915,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6440,-0.68,-146.6,365.6,-6.8,217,6448,0.00,2.58,0.00,0.000,4,0.000,0.037,2758,3451,2915,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6569,-0.68,-146.6,374.4,-7.2,219,6577,0.00,2.47,0.00,0.000,6,0.000,0.023,2758,1820,2916,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6921,-0.68,-146.6,401.4,-7.5,225,6928,0.00,2.58,0.00,0.000,4,0.000,0.037,2746,3453,2913,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7069,-0.68,-146.6,410.3,-7.4,227,7078,0.12,2.47,0.00,0.000,6,0.124,0.023,2784,1821,2913,0,0,0,0,0,0,26.27,26.51,28.83
$GC,7401,-0.71,-146.6,431.3,-5.5,233,7408,0.00,2.55,0.00,0.000,4,0.000,0.037,2774,3449,2912,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7560,-0.74,-146.6,436.7,-4.8,235,7567,0.00,2.47,0.00,0.000,6,0.000,0.023,2773,1818,2912,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7881,-0.74,-146.6,451.1,-4.0,241,7888,0.00,2.55,0.00,0.000,4,0.000,0.037,2762,3448,2911,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8101,-0.74,-146.6,459.3,-4.4,244,8108,0.00,2.45,0.00,0.000,6,0.000,0.023,2762,1829,2910,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8421,-0.74,-146.6,480.4,-6.1,250,8428,0.00,2.55,0.00,0.000,4,0.000,0.037,2750,3449,2909,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8600,-0.74,-146.6,493.6,-7.2,253,8607,0.00,2.47,0.00,0.000,6,0.000,0.024,2750,1823,2909,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8960,-0.74,-146.6,524.0,-8.5,257,8968,0.00,2.55,0.00,0.000,4,0.000,0.038,2739,3451,2907,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9169,-0.74,-146.6,534.4,-8.6,258,9173,0.00,2.47,0.00,0.000,6,0.000,0.024,2739,1825,2907,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9551,-0.74,-146.6,568.1,-7.2,262,9559,0.00,2.58,0.00,0.000,4,0.000,0.038,2727,3452,2906,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9793,-0.74,-146.6,580.4,-5.7,264,9800,0.12,2.42,0.00,0.000,6,0.125,0.024,2764,1822,2906,0,0,0,0,0,0,26.23,26.48,28.83
$GC,10151,-0.74,-146.6,592.9,-3.8,267,10159,0.00,2.60,0.00,0.000,4,0.000,0.038,2753,3467,2905,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10393,-0.74,-146.6,603.5,-3.9,269,10399,0.00,2.45,0.00,0.000,6,0.000,0.024,2753,1823,2904,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10751,-0.74,-146.6,627.2,-6.2,272,10759,0.00,2.60,0.00,0.000,4,0.000,0.038,2742,3458,2903,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10993,-0.74,-146.6,645.9,-7.4,274,10999,0.00,2.42,0.00,0.000,6,0.000,0.024,2742,1825,2903,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11351,-0.74,-146.6,673.4,-7.7,277,11358,0.00,2.60,0.00,0.000,4,0.000,0.038,2730,3459,2902,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11530,-0.74,-146.6,681.5,-7.4,278,11539,0.12,2.50,0.00,0.000,6,0.126,0.024,2767,1827,2902,0,0,0,0,0,0,26.21,26.46,28.83
$GC,11952,-0.77,-146.6,703.0,-4.4,282,11959,0.00,2.55,0.00,0.000,4,0.000,0.039,2757,3444,2900,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12194,-0.80,-146.6,712.4,-3.9,284,12199,0.00,2.42,0.00,0.000,6,0.000,0.024,2757,1825,2899,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12552,-0.83,-146.6,730.9,-4.9,287,12559,0.00,2.58,0.00,0.000,4,0.000,0.039,2745,3454,2899,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12793,-0.86,-146.6,746.6,-6.0,289,12799,0.00,2.45,0.00,0.000,6,0.000,0.024,2746,1819,2898,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13151,-0.88,-146.6,772.1,-7.0,292,13159,0.00,2.60,0.00,0.000,4,0.000,0.039,2733,3451,2897,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13393,-0.88,-146.6,789.2,-7.2,294,13399,0.00,2.45,0.00,0.000,6,0.000,0.025,2734,1822,2897,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13751,-0.88,-146.6,815.5,-7.2,297,13758,0.00,2.62,0.00,0.000,4,0.000,0.039,2722,3459,2896,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13992,-0.88,-146.6,834.6,-7.6,299,13999,0.00,2.50,0.00,0.000,6,0.000,0.024,2722,1828,2895,0,0,0,0,0,0,28.83,26.41,28.83
$GC,14351,-0.88,-146.6,861.9,-7.7,302,14359,0.00,2.58,0.00,0.000,4,0.000,0.040,2710,3449,2894,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14592,-0.88,-146.6,877.6,-6.9,304,14599,0.00,2.50,0.00,0.000,6,0.000,0.025,2710,1821,2894,0,0,0,0,0,0,28.83,26.40,28.83
$GC,14952,-0.88,-146.6,898.5,-5.9,307,14959,0.00,2.60,0.00,0.000,4,0.000,0.040,2698,3449,2892,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15192,-0.88,-146.6,912.5,-5.7,309,15199,0.00,2.47,0.00,0.000,6,0.000,0.026,2698,1833,2892,0,0,0,0,0,0,28.83,26.37,28.83
$GC,15552,-0.86,-146.6,936.2,-6.4,312,15559,0.00,2.58,0.00,0.000,4,0.000,0.040,2686,3445,2891,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15760,-0.84,-146.6,945.6,-6.9,313,15769,0.15,2.50,0.00,0.000,6,0.129,0.025,2730,1825,2891,0,0,0,0,0,0,26.02,26.36,28.83
$GC,16094,-0.84,-146.6,976.8,-7.2,324,16099,0.00,2.55,0.00,0.000,4,0.000,0.041,2719,3457,2889,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,16302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16302,begin apogee
$GC,16310,-0.29,0.0,991.3,-6.9,331,16440,0.55,0.03,123.07,1.685,6,0.103,0.080,2905,1864,2319,0,0,0,0,0,0,25.70,24.50,23.49
$STATE,16443,end apogee,CONTROL_FINISHED_OK
$STATE,16443,begin climb
$GC,16445,0.86,146.6,995.6,0.0,335,16581,1.05,0.00,132.00,1.642,6,0.064,0.000,3277,1864,1721,0,0,0,0,0,0,24.96,28.83,23.02
$GC,16871,0.71,146.6,965.9,9.3,350,16873,0.17,0.00,0.00,0.000,6,0.148,0.000,3229,1865,1714,0,0,0,0,0,0,25.76,28.83,28.83
$GC,17202,0.62,146.6,937.5,8.6,358,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1865,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17562,0.52,146.6,908.9,8.1,361,17564,0.20,0.00,0.00,0.000,6,0.131,0.000,3167,1865,1710,0,0,0,0,0,0,26.12,28.83,28.83
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$STATE,29838,end climb,SURFACE_DEPTH_REACHED
$STATE,29838,begin surface coast
$FINISH,1.1,1.011057
$STATE,29879,end surface coast,CONTROL_FINISHED_OK
$STATE,29880,begin surface
$SM_CCo,29900,13.23,0.135,0,0,1093,300.00
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$TT8_MAMPS,0.026215,0.026215
$HUMID,58.54
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,7690400
$TM_FREEKB,6056576
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$10V_AH,10.3,33.670
$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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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.948,13.491,0.000,0.000
$MEM,344368
$DATA_FILE_SIZE,16743,621
$CAP_FILE_SIZE,230663,0
$CFSIZE,260034560,232992768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191112,085228,2432.524,-3750.377,38,0.9,38,-14.0