version: 66.11
glider: 189
mission: 7
dive: 238
start: 11 29 112 20 51 49
data:
$ID,189
$MISSION,7
$DIVE,238
$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,200
$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,-47953.059
$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
$GPS1,291112,203334,2423.402,-3820.717,35,0.8,35,-14.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-58.2
$GPS2,291112,205047,2423.393,-3820.895,18,1.1,19,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.210,-0.085
$KALMAN_X,68936.5,-114.4,-182.6,-100622.9,-5214.9
$KALMAN_Y,50383.4,179.6,127.6,-73326.4,1491.1
$MHEAD_RNG_PITCHd_Wd,126.0,8690,-9.7,-6.111,-15.10
$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,21,begin dive
$GC,23,-0.79,-195.4,0.0,0.0,0,37,0.00,0.00,-11.38,0.000,2,0.000,0.000,153,2130,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.79,-195.4,2.0,0.0,1,121,9.48,0.00,-67.30,0.000,6,0.185,0.000,2739,2128,3117,0,0,0,0,0,0,25.78,28.83,26.73
$GC,418,-0.70,-195.4,27.6,-8.6,39,428,0.12,2.58,0.00,0.000,4,0.141,0.042,2766,3746,3117,0,0,0,0,0,0,26.35,26.18,28.83
$GC,519,-0.63,-195.4,35.1,-7.9,49,528,0.08,2.42,0.00,0.000,6,0.107,0.021,2795,2106,3117,0,0,0,0,0,0,26.20,26.47,28.83
$GC,829,-0.60,-195.4,58.0,-5.7,80,838,0.00,2.60,0.00,0.000,4,0.000,0.041,2784,3746,3117,0,0,0,0,0,0,28.83,26.25,28.83
$GC,991,-0.56,-195.4,66.4,-5.3,96,998,0.12,2.40,0.00,0.000,6,0.125,0.021,2823,2089,3118,0,0,0,0,0,0,26.26,26.53,28.83
$GC,1319,-0.61,-195.4,90.5,-8.9,117,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2090,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1619,-0.65,-195.4,118.3,-8.7,127,1627,0.10,2.40,0.00,0.000,4,0.091,0.037,2750,549,3115,0,0,0,0,0,0,26.72,26.34,28.83
$GC,1859,-0.56,-195.4,139.3,-8.6,135,1867,0.22,2.47,0.00,0.000,6,0.101,0.024,2818,2190,3117,0,0,0,0,0,0,26.08,26.51,28.83
$GC,2220,-0.62,-195.4,162.8,-6.4,144,2226,0.00,2.53,0.00,0.000,4,0.000,0.037,2818,547,3117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2368,-0.67,-195.4,169.8,-6.0,146,2376,0.00,2.47,0.00,0.000,6,0.000,0.024,2810,2192,3117,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2699,-0.72,-195.4,191.7,-6.3,152,2701,0.12,0.00,0.00,0.000,6,0.080,0.000,2727,2193,3117,0,0,0,0,0,0,26.72,28.83,28.83
$GC,2998,-0.65,-195.4,214.6,-7.7,157,3007,0.20,2.58,0.00,0.000,4,0.112,0.037,2790,540,3117,0,0,0,0,0,0,26.37,26.36,28.83
$GC,3059,-0.59,-195.4,219.0,-7.6,158,3066,0.00,2.47,0.00,0.000,6,0.000,0.024,2780,2191,3117,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3418,-0.62,-195.4,246.8,-7.9,164,3426,0.00,2.58,0.00,0.000,4,0.000,0.037,2780,544,3117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3528,-0.64,-195.4,251.2,-7.7,165,3537,0.00,2.47,0.00,0.000,6,0.000,0.024,2770,2187,3116,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3838,-0.64,-195.4,275.0,-6.5,171,3846,0.00,2.47,0.00,0.000,4,0.000,0.042,2758,3746,3116,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3907,-0.66,-195.4,278.8,-6.4,172,3915,0.00,2.45,0.00,0.000,6,0.000,0.021,2758,2094,3116,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4259,-0.66,-195.4,302.4,-6.7,178,4266,0.00,2.62,0.00,0.000,4,0.000,0.041,2746,3752,3115,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4307,-0.66,-195.4,302.4,-6.7,178,4312,0.15,2.45,0.00,0.000,6,0.110,0.021,2795,2099,3115,0,0,0,0,0,0,26.32,26.58,28.83
$GC,4609,-0.71,-195.4,327.7,-7.3,183,4616,0.00,2.60,0.00,0.000,4,0.000,0.041,2784,3745,3113,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4678,-0.77,-195.4,332.2,-7.5,184,4686,0.00,2.45,0.00,0.000,6,0.000,0.021,2784,2094,3114,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5029,-0.82,-195.4,358.0,-7.0,190,5037,0.15,2.62,0.00,0.000,4,0.070,0.042,2687,3748,3113,0,0,0,0,0,0,26.72,26.32,28.83
$GC,5269,-0.75,-195.4,376.6,-7.7,194,5277,0.17,2.45,0.00,0.000,6,0.101,0.021,2756,2095,3112,0,0,0,0,0,0,26.16,26.57,28.83
$GC,5628,-0.75,-195.4,403.4,-7.8,200,5636,0.00,2.62,0.00,0.000,4,0.000,0.041,2741,3752,3111,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5688,-0.75,-195.4,408.4,-8.0,201,5696,0.00,2.47,0.00,0.000,6,0.000,0.021,2741,2088,3111,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6049,-0.75,-195.4,435.2,-7.2,207,6056,0.00,2.62,0.00,0.000,4,0.000,0.042,2729,3746,3110,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6087,-0.75,-195.4,435.2,-7.2,207,6091,0.00,2.45,0.00,0.000,6,0.000,0.021,2729,2100,3110,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6399,-0.75,-195.4,457.1,-6.2,213,6407,0.00,2.45,0.00,0.000,4,0.000,0.038,2729,548,3109,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6569,-0.75,-195.4,464.9,-6.3,215,6578,0.12,2.47,0.00,0.000,6,0.129,0.025,2755,2187,3109,0,0,0,0,0,0,26.26,26.51,28.83
$GC,6879,-0.79,-195.4,490.9,-7.6,221,6887,0.00,2.58,0.00,0.000,4,0.000,0.037,2756,552,3108,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7049,-0.82,-195.4,501.2,-8.2,223,7057,0.00,2.50,0.00,0.000,6,0.000,0.026,2747,2186,3107,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7359,-0.84,-195.4,535.3,-9.4,226,7367,0.00,2.47,0.00,0.000,4,0.000,0.044,2736,3743,3106,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7408,-0.86,-195.4,535.3,-9.4,226,7416,0.00,2.47,0.00,0.000,6,0.000,0.021,2735,2091,3106,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7720,-0.89,-195.4,567.0,-9.0,229,7727,0.00,2.65,0.00,0.000,4,0.000,0.042,2724,3749,3105,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7768,-0.91,-195.4,567.0,-9.0,229,7776,0.00,2.47,0.00,0.000,6,0.000,0.021,2724,2100,3106,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8079,-0.91,-195.4,593.8,-7.7,232,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2099,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8439,-0.91,-195.4,617.6,-6.7,235,8447,0.00,2.62,0.00,0.000,4,0.000,0.043,2712,3738,3100,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8468,-0.91,-195.4,617.6,-6.7,235,8476,0.00,2.47,0.00,0.000,6,0.000,0.022,2712,2092,3102,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8799,-0.91,-195.4,641.1,-6.5,238,8807,0.00,2.45,0.00,0.000,4,0.000,0.040,2712,549,3101,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9039,-0.91,-195.4,659.1,-7.0,240,9047,0.00,2.50,0.00,0.000,6,0.000,0.025,2700,2189,3100,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9400,-0.89,-195.4,690.1,-8.4,243,9407,0.00,2.60,0.00,0.000,4,0.000,0.039,2700,544,3099,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9519,-0.85,-195.4,701.7,-8.9,244,9528,0.12,2.50,0.00,0.000,6,0.140,0.026,2731,2184,3098,0,0,0,0,0,0,26.15,26.47,28.83
$GC,9880,-0.85,-195.4,731.4,-8.6,247,9887,0.00,2.58,0.00,0.000,4,0.000,0.040,2731,553,3097,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9958,-0.85,-195.4,731.4,-8.6,247,9962,0.00,2.50,0.00,0.000,6,0.000,0.025,2722,2194,3097,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10350,-0.88,-195.4,764.1,-6.9,251,10358,0.00,2.60,0.00,0.000,4,0.000,0.040,2722,554,3095,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10529,-0.90,-195.4,772.0,-6.6,252,10537,0.00,2.50,0.00,0.000,6,0.000,0.026,2712,2190,3095,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10950,-0.90,-195.4,806.8,-7.3,256,10957,0.00,2.50,0.00,0.000,4,0.000,0.045,2700,3746,3094,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11109,-0.90,-195.4,817.8,-7.9,257,11117,0.00,2.47,0.00,0.000,6,0.000,0.023,2700,2104,3092,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11430,-0.90,-195.4,852.9,-9.6,260,11437,0.00,2.47,0.00,0.000,4,0.000,0.041,2700,550,3091,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11559,-0.90,-195.4,864.9,-9.8,261,11563,0.00,2.50,0.00,0.000,6,0.000,0.026,2689,2185,3091,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11901,-0.90,-195.4,898.0,-9.6,264,11909,0.00,2.60,0.00,0.000,4,0.000,0.041,2688,554,3090,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12142,-0.88,-195.4,921.0,-9.5,266,12149,0.10,2.47,0.00,0.000,6,0.119,0.027,2712,2181,3090,0,0,0,0,0,0,26.08,26.42,28.83
$GC,12501,-0.88,-195.4,952.7,-9.0,269,12508,0.00,2.60,0.00,0.000,4,0.000,0.041,2713,547,3088,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12689,-0.88,-195.4,963.5,-8.9,270,12694,0.00,2.53,0.00,0.000,6,0.000,0.027,2703,2186,3088,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,12969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12969,begin apogee
$GC,12976,-0.29,0.0,993.5,-8.6,273,13144,0.57,0.00,164.20,1.665,6,0.092,0.000,2905,1577,2319,0,0,0,0,0,0,25.90,28.83,23.37
$STATE,13148,end apogee,CONTROL_FINISHED_OK
$STATE,13148,begin climb
$GC,13150,0.79,195.4,1001.6,0.0,281,13333,0.98,2.80,172.90,1.625,4,0.061,0.035,3255,3203,1523,0,0,0,0,0,0,24.85,24.27,22.95
$GC,13562,0.64,195.4,974.4,9.3,297,13570,0.17,2.58,0.00,0.000,6,0.121,0.031,3209,1584,1518,0,0,0,0,0,0,25.77,25.98,28.83
$GC,13912,0.54,195.4,945.2,8.3,300,13920,0.12,2.00,0.00,0.000,4,0.137,0.050,3179,353,1514,0,0,0,0,0,0,26.23,26.20,28.83
$GC,14001,0.43,195.4,945.2,8.3,300,14005,0.15,1.98,0.00,0.000,6,0.118,0.025,3132,1661,1513,0,0,0,0,0,0,26.16,26.41,28.83
$GC,14383,0.43,195.4,914.5,6.5,304,14391,0.00,2.15,0.00,0.000,4,0.000,0.050,3141,348,1513,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14422,0.43,195.4,914.5,6.5,304,14426,0.00,1.98,0.00,0.000,6,0.000,0.026,3141,1657,1512,0,0,0,0,0,0,28.83,26.50,28.83
$GC,14734,0.54,256.2,898.8,4.8,307,14792,0.00,2.22,53.42,1.607,4,0.000,0.050,3151,358,1274,0,0,0,0,0,0,28.83,25.22,23.94
$GC,14813,0.64,317.0,898.8,4.8,307,14875,0.17,2.03,55.90,1.597,6,0.063,0.025,3236,1652,1026,0,0,0,0,0,0,25.56,25.60,23.67
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