version: 66.11
glider: 189
mission: 7
dive: 316
start: 12 23 112 11 8 57
data:
$ID,189
$MISSION,7
$DIVE,316
$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,290
$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,-48051.371
$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,15
$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,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,231212,105858,2442.207,-3745.313,37,0.8,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-57.9
$GPS2,231212,110757,2442.127,-3745.295,21,1.2,41,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.068,0.099
$KALMAN_X,161468.6,-115.6,-218.2,-133162.5,4255.9
$KALMAN_Y,-84100.8,-418.2,-148.7,96715.5,-817.3
$MHEAD_RNG_PITCHd_Wd,339.4,10433,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.98,0.000,2,0.000,0.000,153,2113,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.15,2.62,-49.88,0.000,4,0.190,0.050,2580,3756,2720,0,0,0,0,0,0,25.48,26.02,26.70
$GC,394,-1.17,-97.7,24.8,-8.4,37,403,0.12,2.47,0.00,0.000,6,0.134,0.021,2620,2091,2721,0,0,0,0,0,0,25.91,26.40,28.83
$GC,704,-1.13,-97.7,50.7,-8.3,68,713,0.00,2.65,0.00,0.000,4,0.000,0.040,2609,3751,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1004,-1.07,-97.7,81.1,-10.7,95,1012,0.12,2.45,0.00,0.000,6,0.127,0.021,2650,2093,2722,0,0,0,0,0,0,26.03,26.48,28.83
$GC,1336,-1.07,-97.7,108.9,-8.0,106,1341,0.00,2.60,0.00,0.000,4,0.000,0.040,2639,3759,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1634,-1.07,-97.7,128.2,-5.6,116,1641,0.00,2.47,0.00,0.000,6,0.000,0.021,2639,2093,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1965,-1.07,-97.7,140.8,-3.4,127,1972,0.00,2.62,0.00,0.000,4,0.000,0.039,2627,3751,2723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2264,-1.07,-97.7,154.8,-5.2,136,2272,0.00,2.45,0.00,0.000,6,0.000,0.021,2627,2093,2723,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2624,-1.07,-97.7,179.5,-7.2,142,2631,0.00,2.60,0.00,0.000,4,0.000,0.039,2615,3739,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2925,-1.04,-97.7,200.0,-6.8,147,2932,0.12,2.42,0.00,0.000,6,0.119,0.020,2658,2085,2724,0,0,0,0,0,0,26.12,26.55,28.83
$GC,3284,-1.08,-97.7,221.8,-6.1,153,3291,0.00,2.62,0.00,0.000,4,0.000,0.039,2647,3743,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3584,-1.08,-97.7,242.4,-7.0,158,3591,0.00,2.45,0.00,0.000,6,0.000,0.020,2647,2095,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3944,-1.10,-97.7,266.4,-6.6,164,3951,0.00,2.62,0.00,0.000,4,0.000,0.040,2635,3746,2723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4244,-1.10,-97.7,285.7,-6.4,169,4251,0.00,2.45,0.00,0.000,6,0.000,0.021,2635,2098,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4604,-1.10,-97.7,308.1,-6.3,175,4611,0.00,2.62,0.00,0.000,4,0.000,0.040,2623,3752,2722,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4903,-1.10,-97.7,330.3,-7.5,180,4911,0.00,2.47,0.00,0.000,6,0.000,0.021,2623,2097,2722,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5264,-1.10,-97.7,356.5,-7.1,186,5271,0.00,2.62,0.00,0.000,4,0.000,0.040,2611,3746,2721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5283,-1.10,-97.7,356.5,-7.1,186,5291,0.12,2.47,0.00,0.000,6,0.143,0.021,2645,2085,2721,0,0,0,0,0,0,26.20,26.54,28.83
$GC,5625,-1.14,-97.7,376.4,-5.2,192,5631,0.00,2.38,0.00,0.000,4,0.000,0.038,2645,544,2720,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5833,-1.14,-97.7,385.8,-5.2,195,5841,0.00,2.50,0.00,0.000,6,0.000,0.024,2634,2189,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6165,-1.17,-97.7,406.6,-5.9,201,6171,0.00,2.50,0.00,0.000,4,0.000,0.041,2622,3779,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6453,-1.17,-97.7,424.0,-7.2,205,6462,0.00,2.53,0.00,0.000,6,0.000,0.021,2622,2098,2718,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6765,-1.19,-97.7,454.1,-8.6,211,6772,0.00,2.62,0.00,0.000,4,0.000,0.041,2610,3739,2717,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7064,-1.19,-97.7,480.2,-8.6,216,7071,0.00,2.47,0.00,0.000,6,0.000,0.021,2610,2089,2717,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7485,-1.19,-97.7,512.8,-7.7,222,7491,0.00,2.65,0.00,0.000,4,0.000,0.041,2598,3746,2715,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7783,-1.19,-97.7,531.5,-7.7,224,7787,0.00,2.47,0.00,0.000,6,0.000,0.021,2598,2101,2715,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8195,-1.19,-97.7,567.4,-7.6,228,8202,0.00,2.65,0.00,0.000,4,0.000,0.041,2586,3746,2714,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8494,-1.19,-97.7,588.5,-8.1,230,8502,0.12,2.50,0.00,0.000,6,0.147,0.022,2619,2094,2713,0,0,0,0,0,0,26.15,26.51,28.83
$GC,8916,-1.21,-97.7,628.1,-8.2,234,8922,0.00,2.65,0.00,0.000,4,0.000,0.041,2608,3739,2712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9214,-1.24,-97.7,648.3,-8.2,236,9222,0.00,2.47,0.00,0.000,6,0.000,0.021,2608,2104,2711,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9636,-1.26,-97.7,686.3,-7.9,240,9642,0.00,2.62,0.00,0.000,4,0.000,0.041,2596,3739,2709,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9934,-1.29,-97.7,705.8,-7.9,242,9942,0.00,2.47,0.00,0.000,6,0.000,0.021,2596,2102,2709,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10355,-1.29,-97.7,745.7,-8.4,246,10362,0.00,2.65,0.00,0.000,4,0.000,0.042,2584,3738,2707,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10654,-1.29,-97.7,767.3,-8.9,248,10658,0.00,2.47,0.00,0.000,6,0.000,0.022,2584,2101,2707,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11067,-1.29,-97.7,803.4,-7.6,252,11074,0.00,2.65,0.00,0.000,4,0.000,0.042,2572,3744,2705,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11365,-1.29,-97.7,821.0,-7.3,254,11370,0.00,2.50,0.00,0.000,6,0.000,0.022,2572,2096,2704,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11778,-1.29,-97.7,858.7,-8.0,258,11785,0.00,2.47,0.00,0.000,4,0.000,0.039,2572,550,2703,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12076,-1.29,-97.7,881.4,-8.9,260,12081,0.00,2.50,0.00,0.000,6,0.000,0.025,2560,2187,2702,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12489,-1.29,-97.7,923.7,-9.0,264,12496,0.00,2.50,0.00,0.000,4,0.000,0.044,2549,3740,2700,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12788,-1.29,-97.7,945.6,-9.0,266,12796,0.15,2.47,0.00,0.000,6,0.150,0.023,2588,2105,2702,0,0,0,0,0,0,25.97,26.44,28.83
$GC,13209,-1.29,-97.7,981.9,-7.6,270,13216,0.00,2.62,0.00,0.000,4,0.000,0.043,2577,3739,2699,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,13326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13326,begin apogee
$GC,13337,-0.29,0.0,990.1,-7.2,271,13429,1.02,0.08,84.60,1.661,6,0.123,0.098,2902,1630,2320,0,0,0,0,0,0,25.32,24.84,23.19
$STATE,13431,end apogee,CONTROL_FINISHED_OK
$STATE,13431,begin climb
$GC,13433,1.26,97.7,992.7,0.0,276,13532,1.40,2.22,91.05,1.636,4,0.059,0.046,3417,350,1920,0,0,0,0,0,0,25.23,24.78,23.11
$GC,13729,1.10,97.7,977.1,9.1,286,13737,0.22,2.00,0.00,0.000,6,0.161,0.023,3359,1658,1909,0,0,0,0,0,0,25.67,26.13,28.83
$GC,14041,0.99,97.7,950.7,7.7,289,14048,0.15,2.42,0.00,0.000,4,0.167,0.036,3319,3207,1907,0,0,0,0,0,0,26.06,26.24,28.83
$GC,14090,0.87,97.7,950.7,7.7,289,14098,0.17,2.58,0.00,0.000,6,0.163,0.030,3278,1576,1907,0,0,0,0,0,0,25.88,26.29,28.83
$GC,14401,0.89,135.0,934.5,4.9,292,14438,0.00,0.00,31.92,1.595,6,0.000,0.000,3278,1576,1769,0,0,0,0,0,0,28.83,28.83,23.82
$GC,14761,0.98,181.3,917.7,4.5,295,14806,0.12,0.00,42.25,1.601,6,0.084,0.000,3337,1576,1581,0,0,0,0,0,0,26.36,28.83,23.65
$GC,15120,0.98,181.3,891.8,6.7,298,15127,0.00,2.00,0.00,0.000,4,0.000,0.049,3346,356,1575,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15220,0.98,181.3,891.8,6.7,298,15227,0.12,1.98,0.00,0.000,6,0.156,0.025,3315,1666,1574,0,0,0,0,0,0,26.01,26.35,28.83
$GC,15600,0.98,181.3,855.0,7.6,302,15608,0.00,2.15,0.00,0.000,4,0.000,0.049,3323,352,1573,0,0,0,0,0,0,28.83,26.22,28.83
$GC,15649,0.98,181.3,855.0,7.6,302,15653,0.00,1.95,0.00,0.000,6,0.000,0.025,3324,1649,1572,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15951,0.98,181.3,828.8,7.5,305,15958,0.00,2.12,0.00,0.000,4,0.000,0.048,3333,350,1571,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16071,0.98,181.3,819.5,7.5,306,16078,0.00,1.92,0.00,0.000,6,0.000,0.025,3333,1645,1571,0,0,0,0,0,0,28.83,26.52,28.83
$GC,16431,0.98,181.3,790.8,7.9,309,16438,0.00,2.12,0.00,0.000,4,0.000,0.049,3343,349,1570,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16610,0.98,181.3,778.9,8.4,310,16618,0.00,1.98,0.00,0.000,6,0.000,0.025,3343,1661,1570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,17031,0.98,181.3,725.2,11.2,314,17038,0.00,2.15,0.00,0.000,4,0.000,0.048,3352,346,1570,0,0,0,0,0,0,28.83,26.21,28.83
$GC,17120,0.98,181.3,725.2,11.2,314,17124,0.15,1.98,0.00,0.000,6,0.146,0.025,3311,1666,1569,0,0,0,0,0,0,26.10,26.52,28.83
$GC,17503,1.00,181.3,677.7,10.0,318,17510,0.00,2.15,0.00,0.000,4,0.000,0.049,3321,350,1569,0,0,0,0,0,0,28.83,26.18,28.83
$GC,17591,1.03,181.3,677.7,10.0,318,17595,0.00,1.95,0.00,0.000,6,0.000,0.025,3320,1650,1566,0,0,0,0,0,0,28.83,26.52,28.83
$GC,17974,1.06,181.3,646.0,6.7,322,17981,0.00,2.12,0.00,0.000,4,0.000,0.047,3330,339,1569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18063,1.09,181.3,646.0,6.7,322,18070,0.00,2.00,0.00,0.000,6,0.000,0.026,3330,1653,1569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18454,1.15,209.0,620.0,5.4,326,18483,0.12,2.17,23.45,1.409,4,0.086,0.049,3403,349,1468,0,0,0,0,0,0,26.63,25.86,24.06
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$GC,21186,1.19,215.8,362.6,6.3,360,21198,0.00,2.12,7.35,1.125,4,0.000,0.047,3369,355,1439,0,0,0,0,0,0,28.83,26.27,24.22
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$STATE,24764,end climb,SURFACE_DEPTH_REACHED
$STATE,24764,begin surface coast
$FINISH,1.2,1.000604
$STATE,24787,end surface coast,CONTROL_FINISHED_OK
$STATE,24787,begin surface
$SM_CCo,24811,30.80,0.131,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,7648512
$TM_FREEKB,5263776
$24V_AH,23.1,58.517
$10V_AH,10.2,50.086
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.425,199.050,294.225,30.800,0.000,25.618,45.755,188.662,0.000,0.000,41.999,2425.315,19412.141,698.154,2395.102,439.277,33.259,1770.912,0.000,1987.381,0.000,0.747,0.000
$DEVICE_MAMPS,189.720,97.920,1660.815,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.161,13.490,0.000,0.000
$MEM,344384
$DATA_FILE_SIZE,13411,491
$CAP_FILE_SIZE,186483,0
$CFSIZE,260034560,221982720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231212,180405,2442.707,-3744.793,27,0.9,27,-13.9