version: 66.11
glider: 189
mission: 7
dive: 361
start: 1 6 113 4 43 42
data:
$ID,189
$MISSION,7
$DIVE,361
$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,-48107.965
$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
$GPS1,060113,043359,2430.973,-3744.031,36,1.0,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-60.7
$GPS2,060113,044242,2431.012,-3743.973,18,1.0,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.099,-0.067
$KALMAN_X,190136.9,-102.5,-437.4,-159398.8,2899.8
$KALMAN_Y,-87531.1,-377.4,426.3,78953.8,2001.9
$MHEAD_RNG_PITCHd_Wd,249.9,30863,-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,-11.30,0.000,2,0.000,0.000,152,2125,1421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.25,2.62,-49.40,0.000,4,0.193,0.050,2589,3746,2719,0,0,0,0,0,0,25.49,25.99,26.68
$GC,394,-1.18,-97.7,24.7,-9.7,37,403,0.08,2.47,0.00,0.000,6,0.144,0.021,2613,2090,2719,0,0,0,0,0,0,26.03,26.37,28.83
$GC,704,-1.14,-97.7,53.4,-9.0,68,713,0.00,2.65,0.00,0.000,4,0.000,0.039,2602,3746,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1004,-1.08,-97.7,78.5,-7.7,96,1012,0.12,2.45,0.00,0.000,6,0.131,0.021,2644,2085,2721,0,0,0,0,0,0,25.98,26.47,28.83
$GC,1336,-1.08,-97.7,101.4,-6.8,107,1342,0.00,2.62,0.00,0.000,4,0.000,0.040,2633,3755,2722,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1373,-1.08,-97.7,103.4,-6.6,108,1381,0.00,2.47,0.00,0.000,6,0.000,0.020,2633,2095,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1695,-1.08,-97.7,127.8,-7.7,119,1702,0.00,2.62,0.00,0.000,4,0.000,0.039,2622,3748,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1994,-1.06,-97.7,149.3,-6.8,129,2002,0.10,2.42,0.00,0.000,6,0.128,0.021,2654,2097,2721,0,0,0,0,0,0,26.11,26.51,28.83
$GC,2325,-1.09,-97.7,166.5,-5.0,135,2331,0.00,2.58,0.00,0.000,4,0.000,0.039,2644,3749,2723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2545,-1.09,-97.7,176.2,-5.4,138,2551,0.00,2.40,0.00,0.000,6,0.000,0.021,2644,2096,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2865,-1.09,-97.7,193.8,-5.0,144,2871,0.00,2.62,0.00,0.000,4,0.000,0.039,2631,3752,2724,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3164,-1.09,-97.7,211.6,-6.0,149,3171,0.00,2.45,0.00,0.000,6,0.000,0.021,2631,2098,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3525,-1.09,-97.7,233.5,-6.1,155,3531,0.00,2.62,0.00,0.000,4,0.000,0.040,2619,3745,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3766,-1.09,-97.7,249.0,-6.4,159,3772,0.12,2.42,0.00,0.000,6,0.145,0.021,2653,2084,2720,0,0,0,0,0,0,26.16,26.51,28.83
$GC,4126,-1.13,-97.7,270.7,-6.0,165,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2084,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4425,-1.17,-97.7,287.8,-5.7,170,4431,0.00,2.67,0.00,0.000,4,0.000,0.040,2642,3753,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4616,-1.20,-97.7,298.6,-5.9,173,4622,0.00,2.42,0.00,0.000,6,0.000,0.021,2642,2093,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4964,-1.23,-97.7,323.2,-7.1,179,4972,0.12,2.65,0.00,0.000,4,0.083,0.039,2567,3751,2722,0,0,0,0,0,0,26.67,26.25,28.83
$GC,5124,-1.23,-97.7,333.9,-8.1,181,5132,0.10,2.45,0.00,0.000,6,0.132,0.021,2599,2095,2721,0,0,0,0,0,0,26.10,26.52,28.83
$GC,5445,-1.23,-97.7,362.1,-7.6,187,5452,0.00,2.65,0.00,0.000,4,0.000,0.041,2589,3745,2721,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5733,-1.21,-97.7,379.9,-7.4,191,5742,0.00,2.47,0.00,0.000,6,0.000,0.021,2589,2095,2720,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6045,-1.21,-97.7,406.3,-7.4,197,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2095,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,-1.21,-97.7,430.4,-8.1,202,6351,0.00,2.65,0.00,0.000,4,0.000,0.040,2577,3746,2718,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6623,-1.19,-97.7,450.5,-8.4,206,6631,0.15,2.47,0.00,0.000,6,0.142,0.021,2618,2090,2719,0,0,0,0,0,0,26.08,26.50,28.83
$GC,6945,-1.21,-97.7,474.3,-6.3,212,6951,0.00,2.65,0.00,0.000,4,0.000,0.041,2607,3753,2718,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7114,-1.21,-97.7,481.5,-6.1,214,7123,0.00,2.45,0.00,0.000,6,0.000,0.021,2607,2107,2717,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7425,-1.21,-97.7,501.5,-5.5,220,7431,0.00,2.62,0.00,0.000,4,0.000,0.041,2594,3751,2716,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7583,-1.21,-97.7,509.0,-5.8,221,7591,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,2099,2716,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7905,-1.21,-97.7,536.0,-7.2,224,7911,0.00,2.65,0.00,0.000,4,0.000,0.041,2583,3748,2715,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8025,-1.21,-97.7,547.2,-7.9,225,8032,0.00,2.45,0.00,0.000,6,0.000,0.022,2583,2105,2715,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8384,-1.21,-97.7,581.7,-9.5,228,8391,0.00,2.65,0.00,0.000,4,0.000,0.041,2571,3741,2714,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8683,-1.21,-97.7,606.4,-10.0,230,8691,0.15,2.47,0.00,0.000,6,0.144,0.021,2611,2089,2714,0,0,0,0,0,0,26.06,26.48,28.83
$GC,9104,-1.24,-97.7,646.7,-8.4,234,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2089,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9465,-1.27,-97.7,666.9,-5.9,237,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2089,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9825,-1.31,-97.7,687.2,-5.5,240,9832,0.00,2.67,0.00,0.000,4,0.000,0.042,2600,3740,2710,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9904,-1.35,-97.7,687.2,-5.5,240,9911,0.00,2.45,0.00,0.000,6,0.000,0.021,2600,2102,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10305,-1.38,-97.7,723.3,-7.5,244,10312,0.12,2.62,0.00,0.000,4,0.087,0.041,2529,3739,2709,0,0,0,0,0,0,26.63,26.16,28.83
$GC,10603,-1.38,-97.7,745.5,-8.6,246,10611,0.00,2.47,0.00,0.000,6,0.000,0.022,2529,2101,2708,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11025,-1.34,-97.7,791.6,-9.6,250,11032,0.15,2.45,0.00,0.000,4,0.158,0.041,2568,552,2707,0,0,0,0,0,0,26.24,26.17,28.83
$GC,11273,-1.29,-97.7,813.6,-9.4,252,11281,0.00,2.50,0.00,0.000,6,0.000,0.025,2558,2195,2706,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11625,-1.27,-97.7,842.3,-8.2,255,11632,0.12,2.47,0.00,0.000,4,0.166,0.044,2579,3741,2705,0,0,0,0,0,0,26.34,26.11,28.83
$GC,11793,-1.27,-97.7,851.3,-7.8,256,11801,0.00,2.47,0.00,0.000,6,0.000,0.023,2580,2103,2704,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12105,-1.27,-97.7,877.5,-7.3,259,12111,0.00,2.65,0.00,0.000,4,0.000,0.043,2568,3749,2704,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12365,-1.27,-97.7,896.7,-7.6,261,12372,0.00,2.47,0.00,0.000,6,0.000,0.024,2568,2105,2703,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12704,-1.27,-97.7,927.8,-8.5,264,12711,0.00,2.65,0.00,0.000,4,0.000,0.042,2556,3744,2702,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12793,-1.27,-97.7,927.8,-8.5,264,12802,0.12,2.47,0.00,0.000,6,0.155,0.023,2587,2104,2701,0,0,0,0,0,0,26.02,26.41,28.83
$GC,13185,-1.31,-97.7,970.9,-9.0,268,13191,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,549,2700,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13264,-1.34,-97.7,970.9,-9.0,268,13271,0.00,2.47,0.00,0.000,6,0.000,0.025,2577,2180,2700,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,13421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13421,begin apogee
$GC,13429,-0.29,0.0,990.1,-8.4,270,13523,1.02,0.00,85.60,1.670,6,0.125,0.000,2900,1574,2320,0,0,0,0,0,0,25.25,28.83,23.10
$STATE,13525,end apogee,CONTROL_FINISHED_OK
$STATE,13525,begin climb
$GC,13528,1.26,97.7,993.6,0.0,275,13626,1.40,2.12,91.07,1.642,4,0.063,0.047,3410,347,1920,0,0,0,0,0,0,25.25,24.82,23.08
$GC,13704,1.11,97.7,986.7,7.8,284,13713,0.20,2.00,0.00,0.000,6,0.159,0.023,3360,1658,1915,0,0,0,0,0,0,25.45,25.85,28.83
$GC,14075,1.00,97.7,955.6,8.1,288,14077,0.15,0.00,0.00,0.000,6,0.171,0.000,3321,1658,1909,0,0,0,0,0,0,26.03,28.83,28.83
$GC,14435,0.95,97.7,929.0,7.6,291,14442,0.00,2.12,0.00,0.000,4,0.000,0.048,3329,350,1906,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14604,0.90,97.7,920.8,7.2,292,14612,0.15,1.95,0.00,0.000,6,0.155,0.024,3290,1666,1905,0,0,0,0,0,0,26.04,26.48,28.83
$GC,14916,0.89,114.1,900.5,5.9,295,14934,0.00,2.17,13.12,1.512,4,0.000,0.049,3298,351,1855,0,0,0,0,0,0,28.83,26.05,24.06
$GC,15025,0.92,138.4,894.5,5.5,296,15053,0.00,1.95,23.73,1.563,6,0.000,0.024,3299,1653,1752,0,0,0,0,0,0,28.83,26.29,23.77
$GC,15375,0.94,149.1,872.3,6.2,299,15387,0.00,0.00,10.43,1.460,6,0.000,0.000,3299,1653,1711,0,0,0,0,0,0,28.83,28.83,24.05
$GC,15734,0.94,149.1,847.3,6.8,302,15742,0.00,2.15,0.00,0.000,4,0.000,0.048,3308,344,1709,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15833,0.94,149.1,847.3,6.8,302,15837,0.00,1.98,0.00,0.000,6,0.000,0.025,3308,1656,1708,0,0,0,0,0,0,28.83,26.42,28.83
$GC,16206,0.94,149.1,813.0,7.3,306,16213,0.00,2.47,0.00,0.000,4,0.000,0.036,3308,3205,1708,0,0,0,0,0,0,28.83,26.28,28.83
$GC,16244,0.94,149.1,813.0,7.3,306,16252,0.00,2.55,0.00,0.000,6,0.000,0.030,3321,1579,1708,0,0,0,0,0,0,28.83,26.32,28.83
$GC,16565,0.94,149.1,788.7,6.8,309,16572,0.00,1.98,0.00,0.000,4,0.000,0.049,3330,354,1707,0,0,0,0,0,0,28.83,26.20,28.83
$GC,16827,0.94,149.1,770.8,7.1,311,16832,0.00,1.92,0.00,0.000,6,0.000,0.025,3330,1649,1706,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,25877,end climb,SURFACE_DEPTH_REACHED
$STATE,25877,begin surface coast
$FINISH,1.3,1.012449
$STATE,25911,end surface coast,CONTROL_FINISHED_OK
$STATE,25911,begin surface
$SM_CCo,25933,48.72,0.128,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.57
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7631232
$TM_FREEKB,5072768
$24V_AH,23.1,64.839
$10V_AH,10.1,56.338
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.250,214.425,263.550,48.725,0.000,27.244,47.283,182.928,0.000,0.000,18.929,2389.206,20623.828,703.798,2266.824,508.045,33.266,1766.184,0.000,1898.169,0.000,0.535,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.757,13.447,0.000,0.000
$MEM,344352
$DATA_FILE_SIZE,13416,510
$CAP_FILE_SIZE,199015,0
$CFSIZE,260034560,217780224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060113,115805,2431.134,-3745.035,41,0.8,42,-13.9