version: 66.11
glider: 189
mission: 7
dive: 78
start: 10 5 112 13 49 0
data:
$ID,189
$MISSION,7
$DIVE,78
$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,540
$T_MISSION,570
$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,150
$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,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-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,-47221.02
$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,1850
$C_ROLL_CLIMB,1850
$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
$GPS1,051012,133552,2429.012,-3747.650,40,0.9,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-51.2
$GPS2,051012,134801,2429.121,-3747.573,20,0.7,20,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.005,-0.203
$KALMAN_X,12762.7,102.9,-86.6,11338.0,392.5
$KALMAN_Y,76583.4,0.2,-25.3,-88589.7,962.3
$MHEAD_RNG_PITCHd_Wd,195.3,15981,-11.8,-6.111,-16.77
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,85,0.00,0.00,-61.58,0.000,2,0.000,0.000,161,1878,2327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.86,-146.6,2.2,-1.4,6,126,10.20,2.50,-16.45,0.000,4,0.226,0.052,2706,3456,2920,0,0,0,0,0,0,25.82,26.20,26.56
$GC,186,-0.69,-146.6,10.1,-10.2,16,196,0.22,2.47,0.00,0.000,6,0.145,0.023,2773,1823,2920,0,0,0,0,0,0,25.99,26.30,28.83
$GC,495,-0.58,-146.6,41.8,-9.8,47,497,0.12,0.00,0.00,0.000,6,0.156,0.000,2808,1823,2919,0,0,0,0,0,0,26.32,28.83,28.83
$GC,795,-0.52,-146.6,64.6,-6.9,77,804,0.00,2.53,0.00,0.000,4,0.000,0.037,2796,3452,2919,0,0,0,0,0,0,28.83,26.47,28.83
$GC,975,-0.47,-146.6,76.0,-5.5,95,983,0.17,2.45,0.00,0.000,6,0.126,0.023,2850,1820,2920,0,0,0,0,0,0,26.34,26.58,28.83
$GC,1307,-0.47,-146.6,91.3,-4.5,106,1313,0.00,2.28,0.00,0.000,4,0.000,0.042,2850,348,2921,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1545,-0.47,-146.6,104.3,-6.0,114,1549,0.00,2.30,0.00,0.000,6,0.000,0.023,2841,1893,2921,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1866,-0.47,-146.6,124.3,-6.8,125,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1893,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-0.47,-146.6,140.1,-3.9,135,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1893,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2466,-0.47,-146.6,148.4,-3.9,145,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1891,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2766,-0.49,-146.6,167.2,-6.6,151,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1893,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3067,-0.52,-146.6,183.3,-5.1,156,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1893,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3367,-0.54,-146.6,197.4,-4.7,161,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1893,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3666,-0.58,-146.6,207.3,-3.2,166,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1893,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3967,-0.61,-146.6,218.8,-4.0,171,3975,0.12,2.42,0.00,0.000,4,0.080,0.041,2766,341,2917,0,0,0,0,0,0,26.81,26.62,28.83
$GC,4065,-0.61,-146.6,222.5,-4.4,172,4070,0.17,2.30,0.00,0.000,6,0.131,0.024,2806,1887,2917,0,0,0,0,0,0,26.46,26.72,28.83
$GC,4377,-0.61,-146.6,244.0,-6.2,178,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1887,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4677,-0.61,-146.6,263.1,-6.4,183,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1887,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.61,-146.6,279.3,-5.4,188,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1887,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,-0.61,-146.6,298.0,-6.4,193,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1887,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5577,-0.61,-146.6,317.1,-6.3,198,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1887,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,-0.61,-146.6,335.1,-6.0,203,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1887,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6177,-0.61,-146.6,353.7,-6.2,208,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1887,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6477,-0.61,-146.6,374.0,-6.8,213,6484,0.00,2.42,0.00,0.000,4,0.000,0.044,2807,345,2908,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6577,-0.61,-146.6,378.5,-7.1,214,6585,0.00,2.33,0.00,0.000,6,0.000,0.024,2797,1896,2908,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6897,-0.61,-146.6,403.6,-6.9,220,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1896,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7198,-0.61,-146.6,421.3,-5.7,225,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1896,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,-0.61,-146.6,433.2,-3.8,230,7505,0.00,2.45,0.00,0.000,4,0.000,0.044,2797,342,2906,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7618,-0.61,-146.6,437.5,-3.4,232,7625,0.00,2.33,0.00,0.000,6,0.000,0.024,2786,1887,2905,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7977,-0.61,-146.6,451.4,-4.2,238,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1888,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,-0.61,-146.6,468.7,-6.0,243,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1887,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8577,-0.61,-146.6,488.6,-6.6,248,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1887,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8877,-0.61,-146.6,508.7,-6.7,252,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1887,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9237,-0.61,-146.6,530.4,-6.2,255,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1887,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9597,-0.61,-146.6,547.3,-4.8,258,9605,0.00,2.45,0.00,0.000,4,0.000,0.046,2786,345,2899,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9786,-0.61,-146.6,554.0,-4.9,259,9791,0.00,2.33,0.00,0.000,6,0.000,0.025,2775,1885,2899,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10188,-0.61,-146.6,581.8,-5.9,263,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1885,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10548,-0.61,-146.6,605.4,-6.5,266,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1885,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10908,-0.61,-146.6,627.4,-6.2,269,10915,0.00,2.45,0.00,0.000,4,0.000,0.046,2775,344,2895,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11057,-0.61,-146.6,634.9,-6.1,270,11062,0.12,2.33,0.00,0.000,6,0.140,0.025,2801,1883,2895,0,0,0,0,0,0,26.44,26.67,28.83
$GC,11380,-0.64,-146.6,653.2,-5.4,273,11387,0.00,2.42,0.00,0.000,4,0.000,0.046,2801,347,2895,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11469,-0.67,-146.6,653.2,-5.4,273,11473,0.00,2.33,0.00,0.000,6,0.000,0.025,2792,1884,2894,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11850,-0.71,-146.6,682.2,-6.2,277,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1885,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12211,-0.74,-146.6,702.1,-5.7,280,12219,0.00,2.45,0.00,0.000,4,0.000,0.042,2780,3449,2892,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12320,-0.78,-146.6,702.1,-5.7,280,12329,0.00,2.47,0.00,0.000,6,0.000,0.026,2780,1826,2890,0,0,0,0,0,0,28.83,26.63,28.83
$GC,12691,-0.81,-146.6,725.3,-4.9,284,12693,0.12,0.00,0.00,0.000,6,0.083,0.000,2715,1827,2891,0,0,0,0,0,0,26.78,28.83,28.83
$GC,13050,-0.81,-146.6,748.8,-6.1,287,13058,0.00,2.35,0.00,0.000,4,0.000,0.047,2715,349,2890,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13130,-0.81,-146.6,748.8,-6.1,287,13138,0.12,2.33,0.00,0.000,6,0.152,0.026,2737,1885,2889,0,0,0,0,0,0,26.36,26.65,28.83
$GC,13531,-0.79,-146.6,777.5,-5.9,291,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1885,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13890,-0.79,-146.6,796.7,-5.3,294,13898,0.00,2.45,0.00,0.000,4,0.000,0.047,2738,353,2888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13970,-0.79,-146.6,796.7,-5.3,294,13974,0.00,2.33,0.00,0.000,6,0.000,0.026,2728,1883,2888,0,0,0,0,0,0,28.83,26.63,28.83
$GC,14361,-0.77,-146.6,830.8,-7.2,298,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1885,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14721,-0.77,-146.6,857.7,-7.5,301,14725,0.00,2.45,0.00,0.000,4,0.000,0.047,2727,351,2886,0,0,0,0,0,0,28.83,26.46,28.83
$GC,14852,-0.75,-146.6,866.4,-7.5,302,14857,0.15,2.33,0.00,0.000,6,0.138,0.026,2760,1882,2886,0,0,0,0,0,0,26.32,26.63,28.83
$GC,15184,-0.75,-146.6,888.0,-6.5,305,15185,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1882,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15545,-0.77,-146.6,908.7,-5.8,308,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1882,2884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15905,-0.79,-146.6,928.4,-5.5,311,15912,0.00,2.45,0.00,0.000,4,0.000,0.048,2760,355,2883,0,0,0,0,0,0,28.83,26.43,28.83
$GC,15993,-0.82,-146.6,928.4,-5.5,311,15998,0.00,2.33,0.00,0.000,6,0.000,0.027,2750,1880,2883,0,0,0,0,0,0,28.83,26.60,28.83
$GC,16375,-0.82,-146.6,957.8,-6.2,315,16382,0.00,2.45,0.00,0.000,4,0.000,0.047,2750,352,2882,0,0,0,0,0,0,28.83,26.41,28.83
$GC,16454,-0.82,-146.6,957.8,-6.2,315,16458,0.00,2.33,0.00,0.000,6,0.000,0.027,2739,1880,2882,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,16843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16843,begin apogee
$GC,16848,-0.29,0.0,990.6,-7.0,319,16974,0.50,0.00,118.90,1.750,6,0.109,0.000,2904,1840,2317,0,0,0,0,0,0,26.11,28.83,23.80
$STATE,16976,end apogee,CONTROL_FINISHED_OK
$STATE,16976,begin climb
$GC,16978,0.86,146.6,993.6,0.0,320,17112,1.05,0.00,129.77,1.708,6,0.070,0.000,3272,1839,1723,0,0,0,0,0,0,25.02,28.83,23.58
$GC,17446,0.72,146.6,954.3,10.1,324,17448,0.15,0.00,0.00,0.000,6,0.153,0.000,3232,1839,1715,0,0,0,0,0,0,25.84,28.83,28.83
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$STATE,29829,end climb,SURFACE_DEPTH_REACHED
$STATE,29830,begin surface coast
$FINISH,0.8,1.013101
$STATE,29861,end surface coast,CONTROL_FINISHED_OK
$STATE,29861,begin surface
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$TM_FREEKB,7210528
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$10V_AH,10.3,14.483
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$FG_AHR_10Vo,0.000
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$MEM,344540
$DATA_FILE_SIZE,16723,569
$CAP_FILE_SIZE,189088,0
$CFSIZE,260034560,246329344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051012,220904,2425.806,-3747.852,32,0.9,32,-14.0