version: 66.11
glider: 189
mission: 7
dive: 340
start: 12 30 112 17 22 13
data:
$ID,189
$MISSION,7
$DIVE,340
$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,-48081.551
$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
$GPS1,301212,171228,2434.403,-3753.250,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-61.0
$GPS2,301212,172112,2434.409,-3753.261,21,1.0,21,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.057,-0.105
$KALMAN_X,175263.6,-303.7,1047.0,-161470.2,-4729.6
$KALMAN_Y,-78904.7,-757.8,-234.3,77662.8,1977.3
$MHEAD_RNG_PITCHd_Wd,165.6,27740,-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,-11.48,0.000,2,0.000,0.000,155,2121,1428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,103,9.00,0.00,-49.35,0.000,6,0.182,0.000,2590,2118,2721,0,0,0,0,0,0,25.51,28.83,26.68
$GC,406,-1.18,-97.7,25.7,-10.0,38,413,0.00,2.60,0.00,0.000,4,0.000,0.041,2579,3758,2722,0,0,0,0,0,0,28.83,26.12,28.83
$GC,474,-1.10,-97.7,32.0,-9.0,45,483,0.20,2.47,0.00,0.000,6,0.126,0.021,2645,2093,2722,0,0,0,0,0,0,25.79,26.41,28.83
$GC,784,-1.10,-97.7,56.5,-7.4,76,793,0.00,2.65,0.00,0.000,4,0.000,0.039,2633,3746,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1086,-1.07,-97.7,78.2,-6.8,104,1091,0.00,2.40,0.00,0.000,6,0.000,0.021,2633,2104,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1414,-1.07,-97.7,98.1,-6.2,115,1421,0.00,2.62,0.00,0.000,4,0.000,0.039,2621,3752,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1714,-1.05,-97.7,116.3,-6.2,125,1722,0.10,2.45,0.00,0.000,6,0.125,0.021,2654,2081,2724,0,0,0,0,0,0,26.13,26.52,28.83
$GC,2048,-1.05,-97.7,134.1,-5.6,136,2053,0.00,2.60,0.00,0.000,4,0.000,0.039,2645,3749,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2344,-1.05,-97.7,149.9,-5.1,146,2351,0.00,2.42,0.00,0.000,6,0.000,0.020,2645,2107,2726,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2674,-1.05,-97.7,166.4,-5.2,152,2681,0.00,2.60,0.00,0.000,4,0.000,0.038,2633,3748,2726,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2974,-1.05,-97.7,185.2,-6.3,157,2982,0.00,2.42,0.00,0.000,6,0.000,0.020,2633,2105,2726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3334,-1.05,-97.7,210.8,-7.3,163,3342,0.12,2.65,0.00,0.000,4,0.145,0.040,2656,3748,2726,0,0,0,0,0,0,26.43,26.27,28.83
$GC,3634,-1.07,-97.7,232.8,-7.4,168,3641,0.00,2.45,0.00,0.000,6,0.000,0.021,2656,2097,2726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3995,-1.11,-97.7,259.9,-7.6,174,4001,0.00,2.62,0.00,0.000,4,0.000,0.040,2644,3742,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4294,-1.11,-97.7,280.9,-7.0,179,4301,0.00,2.47,0.00,0.000,6,0.000,0.020,2644,2089,2725,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4655,-1.14,-97.7,301.4,-5.5,185,4661,0.00,2.60,0.00,0.000,4,0.000,0.040,2631,3748,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4954,-1.14,-97.7,319.0,-5.9,190,4961,0.00,2.45,0.00,0.000,6,0.000,0.021,2632,2104,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5315,-1.17,-97.7,345.1,-7.5,196,5322,0.00,2.62,0.00,0.000,4,0.000,0.041,2619,3749,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5614,-1.17,-97.7,370.5,-8.5,201,5621,0.00,2.47,0.00,0.000,6,0.000,0.021,2620,2099,2722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5975,-1.17,-97.7,397.8,-7.5,207,5981,0.00,2.62,0.00,0.000,4,0.000,0.041,2608,3741,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6274,-1.17,-97.7,421.2,-7.9,212,6281,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2098,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6634,-1.17,-97.7,449.0,-7.8,218,6641,0.00,2.45,0.00,0.000,4,0.000,0.038,2607,543,2720,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6895,-1.14,-97.7,467.0,-7.5,222,6902,0.10,2.45,0.00,0.000,6,0.132,0.024,2629,2181,2719,0,0,0,0,0,0,26.08,26.47,28.83
$GC,7236,-1.18,-97.7,488.6,-5.9,228,7242,0.00,2.50,0.00,0.000,4,0.000,0.042,2619,3741,2718,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7436,-1.20,-97.7,500.8,-6.7,231,7441,0.00,2.40,0.00,0.000,6,0.000,0.021,2619,2101,2717,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7835,-1.23,-97.7,534.7,-8.1,235,7841,0.00,2.62,0.00,0.000,4,0.000,0.041,2606,3762,2717,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8133,-1.25,-97.7,555.3,-8.6,237,8141,0.00,2.50,0.00,0.000,6,0.000,0.021,2607,2104,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8554,-1.25,-97.7,590.1,-7.2,241,8561,0.00,2.65,0.00,0.000,4,0.000,0.041,2595,3752,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8853,-1.25,-97.7,606.0,-6.7,243,8861,0.00,2.50,0.00,0.000,6,0.000,0.021,2594,2094,2714,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9274,-1.25,-97.7,639.2,-6.9,247,9281,0.00,2.65,0.00,0.000,4,0.000,0.041,2583,3745,2713,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9573,-1.25,-97.7,659.7,-8.0,249,9580,0.00,2.47,0.00,0.000,6,0.000,0.022,2583,2105,2713,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9994,-1.25,-97.7,700.1,-8.4,253,10001,0.00,2.45,0.00,0.000,4,0.000,0.038,2582,551,2711,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10245,-1.25,-97.7,720.5,-8.3,255,10251,0.00,2.42,0.00,0.000,6,0.000,0.025,2571,2188,2710,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10594,-1.25,-97.7,749.8,-8.3,258,10602,0.00,2.50,0.00,0.000,4,0.000,0.042,2559,3745,2709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10845,-1.25,-97.7,769.8,-8.2,260,10852,0.15,2.42,0.00,0.000,6,0.148,0.023,2598,2097,2708,0,0,0,0,0,0,26.02,26.46,28.83
$GC,11194,-1.25,-97.7,796.5,-7.6,263,11201,0.00,2.67,0.00,0.000,4,0.000,0.042,2588,3744,2707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11493,-1.27,-97.7,814.1,-7.3,265,11501,0.00,2.50,0.00,0.000,6,0.000,0.023,2588,2101,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11914,-1.30,-97.7,847.1,-6.9,269,11921,0.00,2.67,0.00,0.000,4,0.000,0.042,2576,3744,2705,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12213,-1.30,-97.7,864.9,-7.1,271,12220,0.00,2.50,0.00,0.000,6,0.000,0.023,2576,2102,2704,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12634,-1.30,-97.7,902.5,-7.8,275,12641,0.00,2.67,0.00,0.000,4,0.000,0.043,2564,3749,2703,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12933,-1.30,-97.7,923.3,-8.3,277,12940,0.00,2.50,0.00,0.000,6,0.000,0.024,2564,2109,2702,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13354,-1.30,-97.7,966.2,-8.9,281,13361,0.00,2.62,0.00,0.000,4,0.000,0.042,2552,3738,2701,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,13615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13616,begin apogee
$GC,13626,-0.29,0.0,990.7,-9.4,284,13715,1.12,0.00,85.18,1.660,6,0.129,0.000,2899,1576,2320,0,0,0,0,0,0,25.21,28.83,23.14
$STATE,13717,end apogee,CONTROL_FINISHED_OK
$STATE,13717,begin climb
$GC,13719,1.26,97.7,995.4,0.0,289,13818,1.40,2.12,91.22,1.635,4,0.060,0.047,3413,351,1921,0,0,0,0,0,0,25.18,24.79,23.06
$GC,14086,1.10,97.7,976.6,8.1,302,14094,0.22,1.98,0.00,0.000,6,0.158,0.024,3354,1657,1909,0,0,0,0,0,0,25.73,26.23,28.83
$GC,14417,0.99,97.7,948.8,7.8,305,14424,0.12,2.45,0.00,0.000,4,0.172,0.036,3322,3198,1905,0,0,0,0,0,0,26.16,26.25,28.83
$GC,14506,0.89,97.7,948.8,7.8,305,14515,0.17,2.55,0.00,0.000,6,0.163,0.030,3288,1579,1907,0,0,0,0,0,0,25.90,26.31,28.83
$GC,14897,0.89,97.7,915.8,6.8,309,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1579,1905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15256,0.89,101.3,892.4,6.5,312,15258,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1579,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15617,0.89,105.4,869.3,6.5,315,15626,0.00,2.03,4.65,1.213,4,0.000,0.049,3295,349,1890,0,0,0,0,0,0,28.83,26.26,23.96
$GC,15686,0.90,109.5,869.3,6.5,315,15696,0.00,1.98,5.88,1.310,6,0.000,0.024,3295,1660,1873,0,0,0,0,0,0,28.83,26.46,24.01
$GC,16078,0.90,112.2,839.2,6.5,319,16086,0.00,2.47,3.92,1.112,4,0.000,0.036,3295,3202,1862,0,0,0,0,0,0,28.83,26.31,24.01
$GC,16177,0.91,114.9,839.2,6.5,319,16186,0.00,2.53,4.22,1.147,6,0.000,0.030,3307,1584,1851,0,0,0,0,0,0,28.83,26.29,24.03
$GC,16547,0.91,115.9,808.0,6.6,323,16554,0.00,1.98,0.00,0.000,4,0.000,0.048,3317,356,1851,0,0,0,0,0,0,28.83,26.19,28.83
$GC,16666,0.91,115.9,799.6,6.7,324,16673,0.00,1.95,0.00,0.000,6,0.000,0.025,3317,1653,1850,0,0,0,0,0,0,28.83,26.48,28.83
$GC,17026,0.91,115.9,773.6,7.2,327,17034,0.00,2.12,0.00,0.000,4,0.000,0.047,3327,349,1850,0,0,0,0,0,0,28.83,26.19,28.83
$GC,17176,0.88,115.9,765.0,7.2,328,17185,0.15,1.98,0.00,0.000,6,0.147,0.025,3287,1668,1849,0,0,0,0,0,0,26.07,26.51,28.83
$GC,17506,0.89,119.3,742.4,6.5,331,17517,0.00,2.17,5.43,1.244,4,0.000,0.049,3295,345,1832,0,0,0,0,0,0,28.83,26.29,24.08
$GC,17576,0.89,122.6,742.4,6.5,331,17586,0.00,1.98,4.82,1.202,6,0.000,0.025,3295,1654,1820,0,0,0,0,0,0,28.83,26.45,24.06
$GC,17967,0.94,160.9,719.9,4.9,335,18008,0.00,2.58,36.15,1.509,4,0.000,0.037,3295,3200,1662,0,0,0,0,0,0,28.83,25.51,23.76
$GC,18046,0.99,199.2,719.9,4.9,335,18087,0.00,2.62,35.92,1.476,6,0.000,0.030,3308,1572,1504,0,0,0,0,0,0,28.83,25.76,23.50
$GC,18430,1.03,204.3,690.5,6.4,339,18439,0.00,2.03,4.62,1.134,4,0.000,0.050,3317,356,1487,0,0,0,0,0,0,28.83,26.05,23.93
$GC,18621,1.07,204.3,681.4,7.1,340,18626,0.00,1.90,0.00,0.000,6,0.000,0.027,3317,1656,1486,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,25786,end climb,SURFACE_DEPTH_REACHED
$STATE,25786,begin surface coast
$FINISH,1.3,1.025509
$STATE,25807,end surface coast,CONTROL_FINISHED_OK
$STATE,25807,begin surface
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$TM_FREEKB,5163744
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$FG_AHR_10Vo,0.000
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$MEM,344340
$DATA_FILE_SIZE,13409,529
$CAP_FILE_SIZE,198046,0
$CFSIZE,260034560,219750400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311212,003458,2432.790,-3753.552,51,0.9,51,-14.0