version: 66.11
glider: 189
mission: 7
dive: 234
start: 11 28 112 11 55 35
data:
$ID,189
$MISSION,7
$DIVE,234
$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,446.44598
$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,-47948.027
$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,2150
$C_ROLL_CLIMB,1600
$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
$GPS1,281112,113724,2429.413,-3822.150,40,1.0,40,-14.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-57.0
$GPS2,281112,115435,2429.338,-3822.227,16,1.1,17,-14.1
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,-0.164
$KALMAN_X,86227.9,-205.3,-99.8,-120148.1,-2411.2
$KALMAN_Y,43370.2,-160.8,175.1,-54998.6,2669.7
$MHEAD_RNG_PITCHd_Wd,158.0,18724,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-146.6,0.0,0.0,0,47,0.00,0.00,-21.88,0.000,2,0.000,0.000,152,2129,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.86,-146.6,2.3,0.0,2,108,9.62,2.55,-42.25,0.000,4,0.195,0.050,2719,544,2919,0,0,0,0,0,0,25.63,26.20,26.72
$GC,338,-0.73,-146.6,21.9,-9.0,31,347,0.15,2.53,0.00,0.000,6,0.141,0.025,2757,2193,2919,0,0,0,0,0,0,25.98,26.36,28.83
$GC,648,-0.68,-146.6,47.0,-5.1,62,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2193,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.62,-146.6,66.5,-7.9,92,950,0.15,0.00,0.00,0.000,6,0.136,0.000,2802,2192,2920,0,0,0,0,0,0,26.35,28.83,28.83
$GC,1247,-0.62,-146.6,87.8,-7.0,110,1255,0.00,2.47,0.00,0.000,4,0.000,0.043,2788,3749,2920,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1357,-0.62,-146.6,93.5,-6.8,113,1366,0.00,2.45,0.00,0.000,6,0.000,0.021,2793,2100,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1668,-0.62,-146.6,116.1,-6.4,124,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2099,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1968,-0.62,-146.6,132.5,-5.0,134,1975,0.00,2.58,0.00,0.000,4,0.000,0.040,2780,3740,2920,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2067,-0.62,-146.6,137.6,-5.5,137,2075,0.00,2.42,0.00,0.000,6,0.000,0.020,2780,2098,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2387,-0.62,-146.6,158.9,-6.7,146,2395,0.00,2.62,0.00,0.000,4,0.000,0.040,2767,3758,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2576,-0.62,-146.6,170.6,-6.6,149,2581,0.12,2.47,0.00,0.000,6,0.125,0.021,2805,2084,2920,0,0,0,0,0,0,26.31,26.58,28.83
$GC,2921,-0.65,-146.6,188.3,-4.9,155,2927,0.00,2.62,0.00,0.000,4,0.000,0.041,2794,3755,2920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3079,-0.70,-146.6,194.6,-5.1,157,3086,0.00,2.45,0.00,0.000,6,0.000,0.020,2794,2097,2920,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3400,-0.75,-146.6,215.0,-5.8,163,3408,0.10,2.40,0.00,0.000,4,0.093,0.037,2730,550,2920,0,0,0,0,0,0,26.73,26.37,28.83
$GC,3640,-0.69,-146.6,230.9,-6.6,167,3647,0.15,2.45,0.00,0.000,6,0.106,0.024,2771,2178,2920,0,0,0,0,0,0,26.15,26.53,28.83
$GC,3999,-0.69,-146.6,253.1,-6.2,173,4007,0.00,2.47,0.00,0.000,4,0.000,0.042,2761,3750,2919,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4241,-0.69,-146.6,267.7,-6.1,177,4247,0.00,2.42,0.00,0.000,6,0.000,0.021,2761,2108,2919,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4600,-0.69,-146.6,287.7,-5.6,183,4607,0.00,2.60,0.00,0.000,4,0.000,0.041,2749,3749,2918,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4841,-0.69,-146.6,303.9,-6.7,187,4847,0.00,2.45,0.00,0.000,6,0.000,0.021,2749,2097,2918,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5199,-0.69,-146.6,329.3,-6.9,193,5207,0.00,2.60,0.00,0.000,4,0.000,0.041,2737,3745,2917,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5440,-0.69,-146.6,344.1,-6.2,197,5447,0.10,2.42,0.00,0.000,6,0.104,0.021,2775,2101,2916,0,0,0,0,0,0,26.29,26.58,28.83
$GC,5800,-0.73,-146.6,361.3,-4.8,203,5807,0.00,2.60,0.00,0.000,4,0.000,0.041,2765,3740,2915,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5939,-0.77,-146.6,367.7,-5.2,205,5947,0.00,2.45,0.00,0.000,6,0.000,0.021,2765,2093,2914,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6280,-0.81,-146.6,388.8,-6.2,211,6287,0.00,2.42,0.00,0.000,4,0.000,0.038,2765,550,2914,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6439,-0.83,-146.6,396.9,-6.6,213,6446,0.00,2.47,0.00,0.000,6,0.000,0.025,2758,2186,2913,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6759,-0.83,-146.6,423.2,-7.3,219,6767,0.00,2.50,0.00,0.000,4,0.000,0.043,2742,3752,2913,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7001,-0.83,-146.6,439.2,-6.7,223,7007,0.00,2.45,0.00,0.000,6,0.000,0.022,2742,2108,2912,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7360,-0.83,-146.6,458.2,-5.1,229,7367,0.00,2.60,0.00,0.000,4,0.000,0.041,2730,3744,2911,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7601,-0.83,-146.6,471.5,-5.6,233,7607,0.00,2.40,0.00,0.000,6,0.000,0.021,2730,2099,2910,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7959,-0.83,-146.6,494.6,-6.5,239,7967,0.00,2.65,0.00,0.000,4,0.000,0.042,2718,3756,2909,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8201,-0.83,-146.6,511.2,-6.8,242,8207,0.00,2.45,0.00,0.000,6,0.000,0.022,2718,2116,2908,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8559,-0.81,-146.6,538.7,-7.5,245,8567,0.00,2.60,0.00,0.000,4,0.000,0.042,2706,3749,2907,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8802,-0.78,-146.6,557.2,-7.7,247,8808,0.15,2.40,0.00,0.000,6,0.123,0.022,2751,2104,2906,0,0,0,0,0,0,26.22,26.55,28.83
$GC,9159,-0.78,-146.6,579.4,-6.5,250,9167,0.00,2.62,0.00,0.000,4,0.000,0.042,2741,3746,2905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9260,-0.78,-146.6,579.4,-6.5,250,9267,0.00,2.45,0.00,0.000,6,0.000,0.021,2740,2095,2905,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9639,-0.82,-146.6,610.0,-6.3,254,9647,0.00,2.45,0.00,0.000,4,0.000,0.040,2741,550,2904,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9849,-0.85,-146.6,618.4,-6.6,255,9856,0.00,2.50,0.00,0.000,6,0.000,0.025,2729,2195,2903,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10240,-0.88,-146.6,654.8,-7.6,259,10247,0.00,2.60,0.00,0.000,4,0.000,0.039,2730,552,2902,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10481,-0.90,-146.6,674.1,-8.0,261,10487,0.00,2.42,0.00,0.000,6,0.000,0.026,2718,2188,2902,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10839,-0.90,-146.6,702.9,-8.0,264,10847,0.00,2.60,0.00,0.000,4,0.000,0.040,2718,553,2901,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11080,-0.90,-146.6,723.2,-8.3,266,11087,0.00,2.47,0.00,0.000,6,0.000,0.026,2707,2183,2900,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11440,-0.88,-146.6,752.0,-8.1,269,11447,0.00,2.50,0.00,0.000,4,0.000,0.045,2695,3747,2899,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11681,-0.88,-146.6,771.3,-8.0,271,11687,0.00,2.47,0.00,0.000,6,0.000,0.024,2695,2102,2898,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12040,-0.85,-146.6,797.9,-7.5,274,12047,0.12,2.62,0.00,0.000,4,0.138,0.044,2721,3743,2897,0,0,0,0,0,0,26.48,26.19,28.83
$GC,12280,-0.85,-146.6,813.9,-7.0,276,12287,0.00,2.45,0.00,0.000,6,0.000,0.023,2720,2110,2896,0,0,0,0,0,0,28.83,26.49,28.83
$GC,12640,-0.88,-146.6,839.5,-7.0,279,12647,0.00,2.47,0.00,0.000,4,0.000,0.041,2720,547,2896,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12808,-0.92,-146.6,848.4,-7.2,280,12816,0.00,2.50,0.00,0.000,6,0.000,0.026,2709,2186,2898,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13120,-0.95,-146.6,875.6,-7.5,283,13127,0.00,2.60,0.00,0.000,4,0.000,0.041,2709,550,2894,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13318,-0.95,-146.6,884.7,-7.6,284,13326,0.00,2.50,0.00,0.000,6,0.000,0.026,2696,2183,2893,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13719,-0.95,-146.6,918.0,-6.9,288,13727,0.00,2.53,0.00,0.000,4,0.000,0.045,2685,3743,2892,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13878,-0.95,-146.6,925.9,-6.8,289,13886,0.00,2.50,0.00,0.000,6,0.000,0.024,2685,2098,2891,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14199,-0.92,-146.6,948.7,-6.4,292,14207,0.00,2.65,0.00,0.000,4,0.000,0.045,2673,3745,2890,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14441,-0.89,-146.6,964.7,-6.4,294,14448,0.15,2.42,0.00,0.000,6,0.131,0.025,2721,2108,2890,0,0,0,0,0,0,26.06,26.43,28.83
$GC,14799,-0.89,-146.6,987.9,-6.5,297,14807,0.00,2.50,0.00,0.000,4,0.000,0.042,2717,550,2889,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,14837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14837,begin apogee
$GC,14844,-0.29,0.0,990.8,-6.7,299,14972,0.57,0.10,123.10,1.672,6,0.102,0.089,2907,1585,2320,0,0,0,0,0,0,25.77,24.74,23.47
$STATE,14977,end apogee,CONTROL_FINISHED_OK
$STATE,14977,begin climb
$GC,14979,0.86,146.6,995.8,0.0,305,15115,1.05,0.00,131.80,1.644,6,0.062,0.000,3276,1585,1720,0,0,0,0,0,0,25.01,28.83,23.05
$GC,15469,0.72,146.6,965.8,7.4,320,15477,0.17,2.60,0.00,0.000,4,0.141,0.037,3227,3199,1713,0,0,0,0,0,0,25.93,26.09,28.83
$GC,15598,0.58,146.6,957.8,7.2,321,15607,0.17,2.55,0.00,0.000,6,0.145,0.030,3188,1582,1712,0,0,0,0,0,0,25.94,26.21,28.83
$GC,15950,0.53,159.2,937.9,5.7,324,15968,0.00,2.58,10.68,1.488,4,0.000,0.037,3188,3206,1669,0,0,0,0,0,0,28.83,26.10,24.56
$GC,16079,0.51,178.6,931.2,5.5,325,16103,0.12,2.58,18.17,1.573,6,0.145,0.030,3165,1576,1591,0,0,0,0,0,0,26.00,26.20,24.30
$GC,16422,0.53,195.7,911.6,5.6,328,16443,0.00,2.05,15.98,1.562,4,0.000,0.050,3173,348,1521,0,0,0,0,0,0,28.83,25.78,24.38
$GC,16622,0.55,212.9,905.3,5.6,329,16643,0.00,1.95,16.75,1.547,6,0.000,0.025,3173,1643,1450,0,0,0,0,0,0,28.83,26.22,24.27
$GC,17002,0.61,230.1,879.1,5.6,332,17023,0.00,2.17,16.35,1.536,4,0.000,0.050,3183,349,1381,0,0,0,0,0,0,28.83,25.78,24.39
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$STATE,27714,end climb,SURFACE_DEPTH_REACHED
$STATE,27714,begin surface coast
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$FG_AHR_10Vo,0.000
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$CFSIZE,260034560,229920768
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