version: 66.11
glider: 189
mission: 7
dive: 287
start: 12 14 112 15 9 33
data:
$ID,189
$MISSION,7
$DIVE,287
$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,-48014.887
$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
$GPS1,141212,145858,2435.042,-3747.427,39,1.0,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-57.3
$GPS2,141212,150835,2435.032,-3747.468,14,1.1,15,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.118,0.023
$KALMAN_X,88905.5,-95.0,-18.1,-64493.1,3433.8
$KALMAN_Y,-41363.8,323.5,548.8,39392.9,-3651.7
$MHEAD_RNG_PITCHd_Wd,294.9,23097,-19.9,-6.667,-29.04
$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,22,begin dive
$GC,25,-1.26,-97.7,0.0,0.0,0,38,0.00,0.00,-11.30,0.000,2,0.000,0.000,153,2120,1422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-1.26,-97.7,2.0,0.0,1,108,8.95,2.53,-49.30,0.000,4,0.183,0.053,2590,533,2721,0,0,0,0,0,0,25.51,26.07,26.65
$GC,338,-1.13,-97.7,19.4,-9.4,31,347,0.15,2.50,0.00,0.000,6,0.138,0.024,2628,2185,2721,0,0,0,0,0,0,25.78,26.32,28.83
$GC,648,-1.10,-97.7,44.2,-7.9,62,657,0.00,2.58,0.00,0.000,4,0.000,0.037,2629,553,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,809,-1.03,-97.7,57.3,-8.1,78,817,0.17,2.45,0.00,0.000,6,0.151,0.024,2665,2200,2722,0,0,0,0,0,0,25.94,26.42,28.83
$GC,1128,-1.03,-97.7,77.2,-5.8,108,1135,0.00,2.45,0.00,0.000,4,0.000,0.041,2655,3740,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1369,-1.03,-97.7,94.0,-7.4,116,1375,0.00,2.42,0.00,0.000,6,0.000,0.021,2655,2104,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1697,-1.03,-97.7,118.2,-7.1,127,1705,0.00,2.47,0.00,0.000,4,0.000,0.037,2652,541,2723,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1787,-1.03,-97.7,125.0,-7.5,130,1795,0.00,2.50,0.00,0.000,6,0.000,0.024,2644,2203,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2120,-1.03,-97.7,143.9,-4.6,141,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2448,-1.03,-97.7,157.9,-4.1,149,2455,0.00,2.45,0.00,0.000,4,0.000,0.041,2632,3753,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2690,-1.03,-97.7,173.8,-6.6,153,2696,0.12,2.40,0.00,0.000,6,0.145,0.021,2664,2095,2725,0,0,0,0,0,0,26.20,26.55,28.83
$GC,3051,-1.06,-97.7,200.2,-7.3,159,3057,0.00,2.58,0.00,0.000,4,0.000,0.040,2654,3749,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3290,-1.06,-97.7,217.6,-7.3,163,3295,0.00,2.40,0.00,0.000,6,0.000,0.021,2654,2098,2725,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3648,-1.08,-97.7,241.8,-6.6,169,3655,0.00,2.62,0.00,0.000,4,0.000,0.040,2642,3746,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3890,-1.08,-97.7,259.9,-7.5,173,3895,0.00,2.40,0.00,0.000,6,0.000,0.021,2642,2101,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4248,-1.08,-97.7,288.9,-8.1,179,4255,0.00,2.62,0.00,0.000,4,0.000,0.040,2630,3750,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4490,-1.08,-97.7,307.8,-7.9,183,4496,0.00,2.40,0.00,0.000,6,0.000,0.021,2630,2102,2723,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4848,-1.08,-97.7,332.3,-6.6,189,4855,0.00,2.45,0.00,0.000,4,0.000,0.037,2630,545,2723,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5090,-1.08,-97.7,348.5,-6.8,193,5096,0.12,2.45,0.00,0.000,6,0.158,0.024,2650,2188,2722,0,0,0,0,0,0,26.13,26.49,28.83
$GC,5448,-1.11,-97.7,369.6,-5.8,199,5455,0.00,2.47,0.00,0.000,4,0.000,0.042,2640,3739,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5690,-1.13,-97.7,385.6,-6.7,203,5696,0.00,2.40,0.00,0.000,6,0.000,0.021,2640,2100,2721,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6048,-1.16,-97.7,412.7,-7.7,209,6055,0.00,2.62,0.00,0.000,4,0.000,0.041,2625,3741,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6290,-1.16,-97.7,431.7,-7.9,213,6295,0.00,2.40,0.00,0.000,6,0.000,0.021,2628,2097,2720,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6648,-1.18,-97.7,460.8,-8.0,219,6655,0.00,2.65,0.00,0.000,4,0.000,0.041,2616,3749,2719,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6890,-1.18,-97.7,479.4,-7.8,223,6895,0.00,2.42,0.00,0.000,6,0.000,0.022,2615,2100,2717,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7308,-1.18,-97.7,507.7,-6.6,229,7316,0.00,2.62,0.00,0.000,4,0.000,0.041,2603,3743,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7551,-1.18,-97.7,523.6,-6.6,231,7556,0.00,2.42,0.00,0.000,6,0.000,0.022,2604,2095,2716,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7908,-1.18,-97.7,546.7,-6.5,234,7915,0.00,2.65,0.00,0.000,4,0.000,0.041,2591,3752,2715,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8150,-1.18,-97.7,562.9,-6.6,236,8155,0.00,2.42,0.00,0.000,6,0.000,0.022,2591,2095,2715,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8508,-1.18,-97.7,592.0,-7.7,239,8515,0.00,2.45,0.00,0.000,4,0.000,0.039,2591,549,2714,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8717,-1.18,-97.7,604.1,-8.5,240,8725,0.15,2.50,0.00,0.000,6,0.158,0.024,2619,2198,2714,0,0,0,0,0,0,26.02,26.46,28.83
$GC,9108,-1.18,-97.7,644.0,-8.3,244,9115,0.00,2.47,0.00,0.000,4,0.000,0.044,2609,3753,2713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9350,-1.20,-97.7,661.0,-7.3,246,9355,0.00,2.42,0.00,0.000,6,0.000,0.023,2609,2097,2711,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9708,-1.20,-97.7,686.0,-7.0,249,9715,0.00,2.65,0.00,0.000,4,0.000,0.042,2596,3747,2710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9947,-1.20,-97.7,703.6,-7.1,251,9955,0.00,2.47,0.00,0.000,6,0.000,0.023,2596,2109,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10308,-1.20,-97.7,727.9,-6.9,254,10316,0.00,2.62,0.00,0.000,4,0.000,0.043,2585,3750,2708,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10550,-1.20,-97.7,743.8,-6.6,256,10555,0.00,2.42,0.00,0.000,6,0.000,0.024,2585,2103,2708,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10908,-1.20,-97.7,767.6,-6.6,259,10915,0.00,2.62,0.00,0.000,4,0.000,0.042,2573,3738,2706,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11150,-1.20,-97.7,786.3,-7.2,261,11156,0.15,2.40,0.00,0.000,6,0.149,0.023,2612,2102,2706,0,0,0,0,0,0,26.01,26.47,28.83
$GC,11508,-1.20,-97.7,812.5,-7.4,264,11516,0.00,2.50,0.00,0.000,4,0.000,0.041,2612,541,2705,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11750,-1.22,-97.7,832.3,-7.8,266,11756,0.00,2.45,0.00,0.000,6,0.000,0.026,2602,2187,2705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12108,-1.22,-97.7,860.9,-8.0,269,12115,0.00,2.50,0.00,0.000,4,0.000,0.044,2590,3753,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12350,-1.25,-97.7,880.6,-8.1,271,12356,0.00,2.45,0.00,0.000,6,0.000,0.024,2590,2101,2703,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12708,-1.25,-97.7,907.9,-7.7,274,12715,0.00,2.65,0.00,0.000,4,0.000,0.044,2578,3743,2702,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12950,-1.25,-97.7,925.3,-7.3,276,12956,0.00,2.45,0.00,0.000,6,0.000,0.024,2578,2101,2701,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13308,-1.25,-97.7,952.4,-7.5,279,13315,0.00,2.65,0.00,0.000,4,0.000,0.044,2566,3740,2699,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13550,-1.25,-97.7,973.5,-8.2,281,13556,0.12,2.42,0.00,0.000,6,0.156,0.024,2597,2104,2699,0,0,0,0,0,0,26.02,26.41,28.83
$STATE,13785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13785,begin apogee
$GC,13792,-0.29,0.0,995.5,-9.0,283,13880,0.95,0.00,83.95,1.675,6,0.123,0.000,2901,1577,2321,0,0,0,0,0,0,25.32,28.83,23.25
$STATE,13882,end apogee,CONTROL_FINISHED_OK
$STATE,13882,begin climb
$GC,13885,1.26,97.7,999.3,0.0,287,13985,1.40,2.12,91.00,1.652,4,0.060,0.048,3413,357,1924,0,0,0,0,0,0,25.15,24.68,23.07
$GC,14218,1.10,97.7,986.2,6.7,304,14226,0.17,1.95,0.00,0.000,6,0.152,0.024,3362,1648,1910,0,0,0,0,0,0,25.69,26.15,28.83
$GC,14599,1.01,105.1,962.0,6.3,308,14609,0.12,2.15,5.45,1.303,4,0.172,0.050,3339,346,1891,0,0,0,0,0,0,26.15,26.16,24.13
$GC,14807,0.93,107.2,954.0,6.6,309,14815,0.15,2.00,0.00,0.000,6,0.155,0.024,3300,1654,1890,0,0,0,0,0,0,25.99,26.38,28.83
$GC,15188,0.91,109.5,922.3,6.6,313,15196,0.00,0.00,5.40,1.299,6,0.000,0.000,3299,1655,1872,0,0,0,0,0,0,28.83,28.83,24.22
$GC,15549,0.95,144.9,905.4,5.0,316,15587,0.00,2.15,33.05,1.613,4,0.000,0.049,3307,358,1725,0,0,0,0,0,0,28.83,25.49,23.91
$GC,15687,1.00,187.9,899.5,4.7,317,15731,0.00,2.00,39.62,1.605,6,0.000,0.025,3308,1654,1554,0,0,0,0,0,0,28.83,26.03,23.65
$GC,16139,1.03,209.6,872.9,5.7,321,16167,0.00,2.20,19.73,1.553,4,0.000,0.050,3318,352,1464,0,0,0,0,0,0,28.83,25.69,24.09
$GC,16351,1.05,225.0,864.9,6.0,322,16370,0.00,1.95,15.02,1.519,6,0.000,0.027,3318,1642,1401,0,0,0,0,0,0,28.83,26.21,24.08
$GC,16730,1.07,225.0,830.0,7.2,325,16737,0.00,2.12,0.00,0.000,4,0.000,0.050,3327,348,1397,0,0,0,0,0,0,28.83,26.11,28.83
$GC,16859,1.10,225.0,819.3,7.7,326,16866,0.00,1.98,0.00,0.000,6,0.000,0.026,3327,1648,1396,0,0,0,0,0,0,28.83,26.38,28.83
$GC,17209,1.12,225.0,782.8,9.9,329,17217,0.00,2.10,0.00,0.000,4,0.000,0.049,3337,356,1395,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17339,1.12,225.0,769.2,10.4,330,17346,0.00,1.95,0.00,0.000,6,0.000,0.026,3337,1647,1395,0,0,0,0,0,0,28.83,26.48,28.83
$GC,17689,1.12,225.0,730.2,10.9,333,17697,0.00,2.10,0.00,0.000,4,0.000,0.049,3347,360,1394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,17908,1.12,225.0,717.6,10.7,334,17912,0.00,1.95,0.00,0.000,6,0.000,0.026,3347,1646,1394,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,24788,end climb,SURFACE_DEPTH_REACHED
$STATE,24788,begin surface coast
$FINISH,1.2,1.008951
$STATE,24820,end surface coast,CONTROL_FINISHED_OK
$STATE,24820,begin surface
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$HUMID,61.22
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$TM_FREEKB,5385856
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$10V_AH,10.1,46.176
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,197.975,293.225,32.750,0.000,27.979,39.119,231.502,0.000,0.000,16.474,2518.065,19244.643,667.461,2545.600,463.829,33.256,1801.107,0.000,2106.924,0.000,0.535,0.000
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$MEM,344316
$DATA_FILE_SIZE,13400,503
$CAP_FILE_SIZE,193657,0
$CFSIZE,260034560,224681984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141212,220528,2434.899,-3748.095,41,0.9,41,-13.9