version: 66.11
glider: 189
mission: 7
dive: 319
start: 12 24 112 8 45 23
data:
$ID,189
$MISSION,7
$DIVE,319
$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,-48055.141
$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
$GPS1,241212,083604,2443.681,-3745.416,27,1.0,27,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-56.9
$GPS2,241212,084423,2443.629,-3745.385,19,0.9,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117,0.026
$KALMAN_X,170000.6,-170.0,-110.7,-141906.2,4502.7
$KALMAN_Y,-87524.9,362.9,455.1,101527.6,-3219.8
$MHEAD_RNG_PITCHd_Wd,296.3,7766,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.85,0.000,2,0.000,0.000,153,2109,1442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.05,2.62,-48.60,0.000,4,0.184,0.053,2585,3752,2721,0,0,0,0,0,0,25.39,26.01,26.69
$GC,394,-1.18,-97.7,26.4,-10.6,37,403,0.10,2.47,0.00,0.000,6,0.135,0.021,2616,2090,2722,0,0,0,0,0,0,25.97,26.38,28.83
$GC,704,-1.13,-97.7,49.5,-8.1,68,713,0.00,2.65,0.00,0.000,4,0.000,0.040,2605,3741,2722,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1004,-1.07,-97.7,71.7,-6.9,98,1013,0.12,2.45,0.00,0.000,6,0.125,0.021,2647,2088,2723,0,0,0,0,0,0,26.03,26.49,28.83
$GC,1314,-1.07,-97.7,89.6,-6.7,113,1321,0.00,2.42,0.00,0.000,4,0.000,0.037,2648,549,2723,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1505,-1.04,-97.7,104.4,-8.2,119,1511,0.00,2.45,0.00,0.000,6,0.000,0.024,2637,2186,2724,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1825,-1.04,-97.7,125.1,-5.9,130,1832,0.00,2.47,0.00,0.000,4,0.000,0.040,2625,3742,2725,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2125,-1.02,-97.7,144.0,-6.5,140,2132,0.12,2.45,0.00,0.000,6,0.120,0.021,2673,2082,2725,0,0,0,0,0,0,26.11,26.54,28.83
$GC,2487,-1.05,-97.7,163.2,-5.1,148,2492,0.00,2.62,0.00,0.000,4,0.000,0.040,2656,3759,2729,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2784,-1.05,-97.7,177.1,-4.4,153,2791,0.00,2.45,0.00,0.000,6,0.000,0.020,2656,2106,2726,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3144,-1.08,-97.7,192.0,-4.4,159,3151,0.00,2.62,0.00,0.000,4,0.000,0.039,2645,3749,2726,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3444,-1.08,-97.7,210.6,-6.4,164,3451,0.00,2.45,0.00,0.000,6,0.000,0.021,2645,2098,2726,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3804,-1.10,-97.7,234.1,-6.4,170,3811,0.00,2.62,0.00,0.000,4,0.000,0.040,2631,3748,2726,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4104,-1.10,-97.7,254.1,-6.7,175,4111,0.00,2.45,0.00,0.000,6,0.000,0.021,2633,2099,2724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4464,-1.10,-97.7,279.4,-7.1,181,4471,0.00,2.62,0.00,0.000,4,0.000,0.040,2620,3753,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4763,-1.10,-97.7,300.9,-7.1,186,4771,0.00,2.47,0.00,0.000,6,0.000,0.021,2620,2098,2725,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5124,-1.10,-97.7,329.0,-8.1,192,5131,0.00,2.62,0.00,0.000,4,0.000,0.040,2608,3752,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5424,-1.10,-97.7,354.9,-8.7,197,5432,0.10,2.45,0.00,0.000,6,0.122,0.021,2643,2095,2723,0,0,0,0,0,0,26.17,26.54,28.83
$GC,5785,-1.14,-97.7,379.9,-6.6,203,5791,0.00,2.42,0.00,0.000,4,0.000,0.038,2644,550,2722,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6045,-1.14,-97.7,393.8,-5.8,207,6051,0.00,2.45,0.00,0.000,6,0.000,0.024,2633,2190,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6385,-1.16,-97.7,410.3,-4.6,213,6392,0.00,2.47,0.00,0.000,4,0.000,0.041,2621,3741,2719,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6653,-1.16,-97.7,424.6,-6.0,217,6660,0.00,2.47,0.00,0.000,6,0.000,0.021,2621,2092,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6984,-1.19,-97.7,450.9,-7.5,223,6991,0.00,2.65,0.00,0.000,4,0.000,0.041,2608,3752,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7284,-1.19,-97.7,475.8,-8.4,228,7291,0.00,2.47,0.00,0.000,6,0.000,0.021,2609,2104,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7644,-1.19,-97.7,501.4,-6.8,234,7651,0.00,2.62,0.00,0.000,4,0.000,0.041,2597,3748,2717,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7943,-1.19,-97.7,516.4,-6.3,236,7950,0.00,2.47,0.00,0.000,6,0.000,0.021,2597,2105,2717,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8364,-1.19,-97.7,546.3,-6.2,240,8371,0.00,2.62,0.00,0.000,4,0.000,0.041,2585,3743,2716,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8663,-1.19,-97.7,564.0,-6.8,242,8671,0.12,2.47,0.00,0.000,6,0.147,0.022,2618,2101,2715,0,0,0,0,0,0,26.16,26.51,28.83
$GC,9084,-1.19,-97.7,599.2,-7.3,246,9092,0.00,2.65,0.00,0.000,4,0.000,0.042,2607,3741,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9383,-1.21,-97.7,617.1,-7.4,248,9390,0.00,2.47,0.00,0.000,6,0.000,0.021,2607,2105,2714,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9804,-1.23,-97.7,652.3,-7.3,252,9811,0.00,2.62,0.00,0.000,4,0.000,0.041,2595,3739,2712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10103,-1.23,-97.7,671.7,-7.8,254,10110,0.00,2.47,0.00,0.000,6,0.000,0.021,2595,2097,2711,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10524,-1.23,-97.7,712.1,-8.4,258,10531,0.00,2.45,0.00,0.000,4,0.000,0.039,2595,549,2710,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10813,-1.23,-97.7,733.7,-8.8,260,10821,0.00,2.53,0.00,0.000,6,0.000,0.024,2583,2187,2709,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11124,-1.23,-97.7,761.9,-8.1,263,11131,0.00,2.53,0.00,0.000,4,0.000,0.043,2572,3755,2709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11423,-1.23,-97.7,779.2,-7.4,265,11431,0.12,2.50,0.00,0.000,6,0.151,0.022,2604,2100,2707,0,0,0,0,0,0,26.11,26.47,28.83
$GC,11844,-1.25,-97.7,807.8,-5.9,269,11851,0.00,2.65,0.00,0.000,4,0.000,0.043,2593,3743,2706,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12143,-1.28,-97.7,822.0,-5.7,271,12151,0.00,2.47,0.00,0.000,6,0.000,0.022,2593,2109,2706,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12564,-1.31,-97.7,855.5,-7.0,275,12571,0.00,2.62,0.00,0.000,4,0.000,0.042,2581,3743,2704,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12863,-1.31,-97.7,874.3,-7.7,277,12867,0.00,2.50,0.00,0.000,6,0.000,0.023,2581,2099,2704,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13275,-1.31,-97.7,912.9,-8.2,281,13282,0.00,2.50,0.00,0.000,4,0.000,0.041,2581,540,2703,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13536,-1.31,-97.7,934.8,-8.8,283,13542,0.00,2.50,0.00,0.000,6,0.000,0.027,2569,2186,2702,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13875,-1.31,-97.7,968.4,-9.3,286,13883,0.00,2.55,0.00,0.000,4,0.000,0.044,2555,3759,2700,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,14115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14115,begin apogee
$GC,14125,-0.29,0.0,992.9,-9.8,288,14215,1.08,0.00,85.07,1.650,6,0.127,0.000,2895,1575,2320,0,0,0,0,0,0,25.27,28.83,23.20
$STATE,14216,end apogee,CONTROL_FINISHED_OK
$STATE,14216,begin climb
$GC,14219,1.26,97.7,998.9,0.0,293,14317,1.42,2.12,91.15,1.633,4,0.060,0.048,3416,356,1920,0,0,0,0,0,0,25.18,24.75,23.07
$GC,14535,1.10,97.7,986.3,6.8,309,14545,0.22,2.00,0.00,0.000,6,0.160,0.024,3357,1655,1908,0,0,0,0,0,0,25.67,26.15,28.83
$GC,14907,1.00,101.0,961.3,6.5,313,14914,0.12,2.10,0.00,0.000,4,0.173,0.048,3334,357,1906,0,0,0,0,0,0,26.13,26.18,28.83
$GC,15097,0.91,101.0,952.6,6.7,314,15104,0.10,1.92,0.00,0.000,6,0.139,0.024,3301,1648,1905,0,0,0,0,0,0,26.06,26.46,28.83
$GC,15506,0.90,113.0,923.5,6.1,318,15520,0.00,0.00,12.07,1.502,6,0.000,0.000,3301,1648,1858,0,0,0,0,0,0,28.83,28.83,24.15
$GC,15866,0.94,151.9,906.4,4.9,321,15908,0.00,2.22,36.53,1.599,4,0.000,0.048,3309,349,1699,0,0,0,0,0,0,28.83,25.41,23.73
$GC,16005,0.99,191.2,900.4,4.8,322,16047,0.00,2.00,36.47,1.582,6,0.000,0.025,3309,1647,1539,0,0,0,0,0,0,28.83,26.03,23.59
$GC,16447,0.99,192.4,869.3,6.6,326,16453,0.00,2.10,0.00,0.000,4,0.000,0.048,3319,353,1532,0,0,0,0,0,0,28.83,26.13,28.83
$GC,16547,1.00,193.6,869.3,6.6,326,16553,0.00,1.95,0.00,0.000,6,0.000,0.026,3319,1648,1531,0,0,0,0,0,0,28.83,26.38,28.83
$GC,16926,1.02,193.6,826.2,9.0,330,16933,0.00,2.10,0.00,0.000,4,0.000,0.047,3329,353,1530,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17197,1.02,193.6,800.6,10.0,332,17204,0.00,1.95,0.00,0.000,6,0.000,0.027,3329,1648,1529,0,0,0,0,0,0,28.83,26.49,28.83
$GC,17526,1.02,193.6,763.3,10.4,335,17533,0.00,2.10,0.00,0.000,4,0.000,0.048,3339,355,1528,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17576,1.02,193.6,763.3,10.4,335,17583,0.00,1.95,0.00,0.000,6,0.000,0.026,3339,1647,1528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17886,1.02,193.6,728.7,9.8,338,17887,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1647,1528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18246,1.02,193.6,694.9,9.4,341,18253,0.00,2.10,0.00,0.000,4,0.000,0.048,3349,356,1527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,18375,1.02,193.6,683.0,9.5,342,18379,0.00,1.95,0.00,0.000,6,0.000,0.026,3349,1648,1527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18717,1.02,193.6,649.1,9.7,345,18724,0.00,2.08,0.00,0.000,4,0.000,0.047,3358,356,1527,0,0,0,0,0,0,28.83,26.19,28.83
$GC,18945,1.02,193.6,637.0,9.8,346,18950,0.12,1.95,0.00,0.000,6,0.150,0.026,3327,1659,1527,0,0,0,0,0,0,26.14,26.51,28.83
$GC,19307,1.02,193.6,593.1,9.5,349,19314,0.00,2.10,0.00,0.000,4,0.000,0.047,3334,358,1527,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,25705,end climb,SURFACE_DEPTH_REACHED
$STATE,25705,begin surface coast
$FINISH,1.4,1.025540
$STATE,25736,end surface coast,CONTROL_FINISHED_OK
$STATE,25736,begin surface
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$TM_FREEKB,5251296
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$10V_AH,9.9,50.487
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$FG_AHR_10Vo,0.000
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$MEM,344332
$DATA_FILE_SIZE,13397,528
$CAP_FILE_SIZE,194467,0
$CFSIZE,260034560,221696000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241212,155635,2443.758,-3745.520,31,0.8,31,-13.9