version: 66.11
glider: 189
mission: 7
dive: 269
start: 12 9 112 4 25 9
data:
$ID,189
$MISSION,7
$DIVE,269
$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,495
$T_MISSION,525
$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,100
$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,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-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,-47992.152
$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
$GPS1,091212,041457,2431.446,-3803.379,37,1.0,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-60.6
$GPS2,091212,042411,2431.442,-3803.338,15,1.0,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.088,0.081
$KALMAN_X,57017.1,213.8,-308.5,-59339.9,2502.2
$KALMAN_Y,6694.3,-17.9,447.5,-14867.0,-2668.2
$MHEAD_RNG_PITCHd_Wd,326.5,5246,-19.9,-6.667,-29.07
$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,-1.26,-97.7,0.0,0.0,0,38,0.00,0.00,-11.52,0.000,2,0.000,0.000,151,2118,1431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-1.26,-97.7,2.2,0.0,1,108,9.10,2.60,-49.00,0.000,4,0.189,0.055,2580,3748,2720,0,0,0,0,0,0,25.60,26.07,26.66
$GC,338,-1.15,-97.7,26.2,-12.6,31,347,0.15,2.47,0.00,0.000,6,0.138,0.021,2627,2096,2721,0,0,0,0,0,0,25.84,26.37,28.83
$GC,648,-1.11,-97.7,57.6,-7.8,62,657,0.00,2.62,0.00,0.000,4,0.000,0.040,2617,3746,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,888,-1.06,-97.7,86.2,-12.4,80,896,0.12,2.47,0.00,0.000,6,0.157,0.021,2650,2091,2722,0,0,0,0,0,0,26.05,26.48,28.83
$GC,1219,-1.06,-97.7,115.0,-8.6,91,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2091,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-1.06,-97.7,134.2,-4.8,101,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2092,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-1.06,-97.7,146.3,-4.2,111,1825,0.00,2.62,0.00,0.000,4,0.000,0.039,2642,3749,2723,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2059,-1.06,-97.7,161.2,-6.6,117,2065,0.00,2.40,0.00,0.000,6,0.000,0.021,2642,2090,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2418,-1.06,-97.7,186.7,-7.1,123,2426,0.00,2.62,0.00,0.000,4,0.000,0.039,2630,3750,2724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2661,-1.06,-97.7,203.2,-6.9,127,2667,0.12,2.40,0.00,0.000,6,0.147,0.021,2662,2094,2724,0,0,0,0,0,0,26.20,26.56,28.83
$GC,3019,-1.08,-97.7,222.1,-4.9,133,3025,0.00,2.62,0.00,0.000,4,0.000,0.040,2651,3753,2724,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3259,-1.08,-97.7,234.3,-5.1,137,3265,0.00,2.42,0.00,0.000,6,0.000,0.021,2652,2081,2724,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3619,-1.10,-97.7,256.6,-6.6,143,3626,0.00,2.62,0.00,0.000,4,0.000,0.040,2639,3746,2724,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3859,-1.10,-97.7,275.0,-7.6,147,3865,0.00,2.42,0.00,0.000,6,0.000,0.021,2639,2106,2724,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4218,-1.10,-97.7,304.5,-8.3,153,4225,0.00,2.60,0.00,0.000,4,0.000,0.040,2627,3752,2723,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4459,-1.10,-97.7,325.1,-8.6,157,4465,0.00,2.40,0.00,0.000,6,0.000,0.021,2627,2098,2722,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4817,-1.10,-97.7,352.4,-7.3,163,4825,0.00,2.45,0.00,0.000,4,0.000,0.037,2627,544,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5060,-1.10,-97.7,369.9,-7.3,167,5066,0.12,2.42,0.00,0.000,6,0.160,0.024,2647,2194,2721,0,0,0,0,0,0,26.14,26.50,28.83
$GC,5418,-1.14,-97.7,392.9,-6.4,173,5425,0.00,2.45,0.00,0.000,4,0.000,0.042,2637,3739,2720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5660,-1.16,-97.7,409.0,-6.7,177,5666,0.00,2.40,0.00,0.000,6,0.000,0.021,2637,2102,2719,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6019,-1.18,-97.7,433.0,-6.7,183,6025,0.00,2.62,0.00,0.000,4,0.000,0.041,2625,3740,2718,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6260,-1.18,-97.7,451.1,-7.6,187,6265,0.00,2.40,0.00,0.000,6,0.000,0.022,2625,2105,2717,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6617,-1.18,-97.7,480.1,-8.2,193,6625,0.00,2.65,0.00,0.000,4,0.000,0.041,2613,3757,2717,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6860,-1.18,-97.7,501.1,-8.8,197,6865,0.00,2.42,0.00,0.000,6,0.000,0.021,2612,2098,2716,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7218,-1.18,-97.7,529.0,-7.9,200,7226,0.00,2.65,0.00,0.000,4,0.000,0.041,2600,3759,2716,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7458,-1.18,-97.7,546.6,-7.4,202,7465,0.00,2.47,0.00,0.000,6,0.000,0.021,2600,2108,2716,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7817,-1.18,-97.7,571.7,-7.0,205,7825,0.00,2.65,0.00,0.000,4,0.000,0.042,2588,3756,2715,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8058,-1.18,-97.7,590.6,-7.4,207,8066,0.08,2.47,0.00,0.000,6,0.131,0.021,2614,2098,2713,0,0,0,0,0,0,26.20,26.53,28.83
$GC,8417,-1.18,-97.7,618.4,-7.8,210,8426,0.00,2.65,0.00,0.000,4,0.000,0.042,2602,3748,2712,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8658,-1.18,-97.7,638.9,-8.2,212,8665,0.00,2.45,0.00,0.000,6,0.000,0.022,2602,2108,2712,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9017,-1.18,-97.7,666.3,-7.8,215,9025,0.00,2.65,0.00,0.000,4,0.000,0.041,2591,3751,2711,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9257,-1.18,-97.7,685.1,-7.6,217,9265,0.00,2.47,0.00,0.000,6,0.000,0.022,2591,2107,2711,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9619,-1.18,-97.7,713.6,-7.9,220,9626,0.00,2.62,0.00,0.000,4,0.000,0.042,2579,3741,2709,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9858,-1.18,-97.7,734.6,-8.4,222,9866,0.10,2.45,0.00,0.000,6,0.130,0.022,2613,2096,2708,0,0,0,0,0,0,26.10,26.53,28.83
$GC,10218,-1.18,-97.7,764.0,-8.3,225,10225,0.00,2.45,0.00,0.000,4,0.000,0.040,2613,546,2706,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10459,-1.18,-97.7,785.3,-8.5,227,10465,0.00,2.47,0.00,0.000,6,0.000,0.025,2602,2182,2706,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10818,-1.18,-97.7,818.1,-9.1,230,10826,0.00,2.50,0.00,0.000,4,0.000,0.044,2591,3743,2708,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11060,-1.18,-97.7,840.5,-9.3,232,11066,0.10,2.42,0.00,0.000,6,0.158,0.024,2615,2095,2705,0,0,0,0,0,0,26.18,26.47,28.83
$GC,11419,-1.21,-97.7,867.8,-7.9,235,11425,0.00,2.65,0.00,0.000,4,0.000,0.044,2603,3743,2704,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11659,-1.24,-97.7,885.7,-7.4,237,11665,0.00,2.42,0.00,0.000,6,0.000,0.024,2604,2103,2703,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12019,-1.27,-97.7,911.7,-7.3,240,12026,0.00,2.62,0.00,0.000,4,0.000,0.043,2592,3739,2702,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12260,-1.29,-97.7,930.0,-7.4,242,12265,0.00,2.42,0.00,0.000,6,0.000,0.024,2592,2102,2702,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12618,-1.29,-97.7,958.6,-7.9,245,12625,0.00,2.65,0.00,0.000,4,0.000,0.044,2580,3745,2702,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12859,-1.29,-97.7,979.2,-8.4,247,12865,0.00,2.47,0.00,0.000,6,0.000,0.024,2580,2109,2700,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,12995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12995,begin apogee
$GC,13003,-0.29,0.0,990.6,-8.4,249,13090,1.02,0.00,83.78,1.661,6,0.126,0.000,2903,1574,2319,0,0,0,0,0,0,25.33,28.83,23.39
$STATE,13092,end apogee,CONTROL_FINISHED_OK
$STATE,13092,begin climb
$GC,13095,1.26,97.7,993.4,0.0,253,13192,1.40,2.12,90.05,1.633,4,0.058,0.047,3417,356,1920,0,0,0,0,0,0,25.16,24.71,23.20
$GC,13419,1.10,97.7,979.6,8.6,264,13428,0.22,2.00,0.00,0.000,6,0.164,0.024,3359,1657,1909,0,0,0,0,0,0,25.67,26.14,28.83
$GC,13820,1.00,97.7,945.3,7.1,268,13828,0.12,2.12,0.00,0.000,4,0.174,0.048,3335,343,1906,0,0,0,0,0,0,26.15,26.22,28.83
$GC,14063,0.93,99.8,929.9,6.6,270,14069,0.12,1.90,0.00,0.000,6,0.160,0.025,3303,1654,1905,0,0,0,0,0,0,26.09,26.46,28.83
$GC,14421,0.92,123.0,910.5,5.6,273,14443,0.00,0.00,20.75,1.567,6,0.000,0.000,3303,1654,1817,0,0,0,0,0,0,28.83,28.83,24.24
$GC,14781,0.93,130.4,886.9,6.3,276,14793,0.00,2.15,7.70,1.397,4,0.000,0.049,3312,352,1788,0,0,0,0,0,0,28.83,26.08,24.30
$GC,15020,0.93,130.4,870.1,7.0,278,15024,0.00,2.00,0.00,0.000,6,0.000,0.025,3312,1650,1786,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15362,0.93,130.4,845.4,7.1,281,15363,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1650,1786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15721,0.93,130.4,820.2,7.0,284,15729,0.00,2.12,0.00,0.000,4,0.000,0.048,3322,348,1784,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15920,0.93,130.4,811.4,7.1,285,15924,0.00,1.98,0.00,0.000,6,0.000,0.025,3322,1655,1783,0,0,0,0,0,0,28.83,26.52,28.83
$GC,16313,0.93,130.4,777.1,7.3,289,16320,0.00,2.10,0.00,0.000,4,0.000,0.047,3332,353,1782,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16451,0.93,130.4,767.8,7.4,290,16456,0.12,1.95,0.00,0.000,6,0.152,0.025,3300,1658,1782,0,0,0,0,0,0,26.16,26.53,28.83
$GC,16785,0.93,130.4,742.9,7.2,293,16791,0.00,2.10,0.00,0.000,4,0.000,0.047,3307,356,1782,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17025,0.93,130.4,724.4,7.4,295,17031,0.00,1.92,0.00,0.000,6,0.000,0.025,3304,1648,1781,0,0,0,0,0,0,28.83,26.54,28.83
$GC,17384,0.93,130.4,696.6,7.8,298,17385,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1648,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17744,0.93,130.4,669.6,7.6,301,17751,0.00,2.10,0.00,0.000,4,0.000,0.048,3317,355,1781,0,0,0,0,0,0,28.83,26.18,28.83
$GC,17913,0.93,130.4,659.9,7.6,302,17916,0.00,1.95,0.00,0.000,6,0.000,0.025,3317,1653,1781,0,0,0,0,0,0,28.83,26.53,28.83
$GC,18215,0.93,130.4,633.8,7.6,305,18216,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1652,1781,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26444,end climb,SURFACE_DEPTH_REACHED
$STATE,26445,begin surface coast
$FINISH,1.1,1.012009
$STATE,26476,end surface coast,CONTROL_FINISHED_OK
$STATE,26476,begin surface
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$TM_FREEKB,5526720
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$10V_AH,10.2,43.635
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.800,183.025,228.625,53.725,0.000,30.860,47.218,202.929,0.000,0.000,17.228,2579.372,20921.750,620.261,2523.622,447.544,33.269,1737.099,0.000,2100.011,0.000,0.536,0.000
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$MEM,344328
$DATA_FILE_SIZE,13396,525
$CAP_FILE_SIZE,196171,0
$CFSIZE,260034560,226459648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091212,114858,2431.935,-3803.598,40,0.9,40,-14.0