version: 66.11
glider: 189
mission: 7
dive: 201
start: 11 16 112 21 58 30
data:
$ID,189
$MISSION,7
$DIVE,201
$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,-47905.102
$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
$GPS1,161112,214805,2421.701,-3746.105,34,0.9,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-56.8
$GPS2,161112,215730,2421.667,-3746.159,16,1.6,16,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.074,0.189
$KALMAN_X,32742.1,577.2,834.3,-7686.6,-1724.1
$KALMAN_Y,60236.2,-45.3,-326.4,-85691.6,-2574.5
$MHEAD_RNG_PITCHd_Wd,352.5,35123,-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,23,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-21.50,0.000,2,0.000,0.000,161,1830,1743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-0.86,-146.6,2.1,0.0,2,107,9.68,2.53,-40.92,0.000,4,0.200,0.046,2703,3449,2916,0,0,0,0,0,0,25.63,26.08,26.64
$GC,337,-0.74,-146.6,29.0,-14.0,31,346,0.17,2.50,0.00,0.000,6,0.135,0.023,2759,1817,2918,0,0,0,0,0,0,25.89,26.30,28.83
$GC,647,-0.67,-146.6,52.5,-7.3,62,656,0.00,2.55,0.00,0.000,4,0.000,0.037,2748,3445,2918,0,0,0,0,0,0,28.83,26.26,28.83
$GC,798,-0.60,-146.6,64.5,-8.3,77,806,0.15,2.45,0.00,0.000,6,0.106,0.023,2801,1819,2918,0,0,0,0,0,0,26.05,26.41,28.83
$GC,1106,-0.60,-146.6,93.3,-7.7,94,1114,0.00,2.58,0.00,0.000,4,0.000,0.037,2790,3456,2919,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1347,-0.60,-146.6,111.8,-7.6,102,1354,0.00,2.45,0.00,0.000,6,0.000,0.022,2791,1826,2919,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1677,-0.60,-146.6,133.5,-5.5,113,1684,0.00,2.53,0.00,0.000,4,0.000,0.037,2779,3446,2919,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1877,-0.60,-146.6,140.9,-4.0,119,1886,0.00,2.42,0.00,0.000,6,0.000,0.022,2779,1829,2920,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2217,-0.60,-146.6,157.6,-5.3,129,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1826,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,-0.60,-146.6,179.2,-7.3,134,2524,0.00,2.55,0.00,0.000,4,0.000,0.037,2767,3451,2920,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2758,-0.60,-146.6,197.0,-7.4,138,2765,0.10,2.45,0.00,0.000,6,0.100,0.022,2805,1818,2920,0,0,0,0,0,0,26.25,26.53,28.83
$GC,3119,-0.62,-146.6,217.0,-5.3,144,3124,0.00,2.50,0.00,0.000,4,0.000,0.037,2795,3451,2920,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3318,-0.65,-146.6,225.3,-4.7,147,3325,0.00,2.45,0.00,0.000,6,0.000,0.022,2795,1815,2920,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3656,-0.65,-146.6,244.1,-5.6,153,3665,0.00,2.58,0.00,0.000,4,0.000,0.037,2783,3451,2919,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3875,-0.65,-146.6,256.7,-6.9,156,3880,0.00,2.47,0.00,0.000,6,0.000,0.022,2783,1814,2919,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4187,-0.65,-146.6,282.5,-7.2,162,4195,0.00,2.58,0.00,0.000,4,0.000,0.037,2771,3452,2918,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4429,-0.65,-146.6,296.4,-5.8,166,4435,0.00,2.45,0.00,0.000,6,0.000,0.023,2771,1819,2918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4788,-0.65,-146.6,312.4,-4.3,172,4796,0.00,2.55,0.00,0.000,4,0.000,0.037,2760,3448,2917,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5007,-0.65,-146.6,321.2,-4.7,175,5015,0.12,2.47,0.00,0.000,6,0.124,0.023,2797,1814,2916,0,0,0,0,0,0,26.28,26.51,28.83
$GC,5328,-0.68,-146.6,338.9,-5.0,181,5335,0.00,2.58,0.00,0.000,4,0.000,0.037,2787,3449,2916,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5477,-0.71,-146.6,345.5,-5.3,183,5484,0.00,2.47,0.00,0.000,6,0.000,0.022,2786,1815,2915,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5808,-0.73,-146.6,365.3,-5.5,189,5815,0.00,2.55,0.00,0.000,4,0.000,0.037,2774,3444,2914,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6049,-0.76,-146.6,378.1,-5.4,193,6055,0.00,2.40,0.00,0.000,6,0.000,0.023,2774,1821,2914,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6408,-0.76,-146.6,395.4,-4.7,199,6416,0.00,2.58,0.00,0.000,4,0.000,0.037,2763,3455,2913,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6537,-0.76,-146.6,401.6,-4.9,201,6544,0.00,2.47,0.00,0.000,6,0.000,0.023,2763,1823,2913,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6887,-0.76,-146.6,423.0,-6.2,207,6895,0.00,2.58,0.00,0.000,4,0.000,0.037,2751,3451,2911,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7027,-0.76,-146.6,431.5,-6.8,209,7031,0.00,2.47,0.00,0.000,6,0.000,0.023,2751,1821,2911,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7358,-0.76,-146.6,457.0,-7.2,215,7366,0.00,2.60,0.00,0.000,4,0.000,0.037,2740,3461,2910,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7528,-0.76,-146.6,465.9,-7.2,217,7537,0.00,2.50,0.00,0.000,6,0.000,0.023,2739,1816,2910,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7839,-0.73,-146.6,489.5,-6.4,223,7846,0.00,2.58,0.00,0.000,4,0.000,0.037,2727,3455,2909,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7968,-0.71,-146.6,497.3,-6.3,225,7976,0.15,2.47,0.00,0.000,6,0.120,0.023,2773,1823,2908,0,0,0,0,0,0,26.21,26.50,28.83
$GC,8379,-0.71,-146.6,522.5,-6.0,229,8387,0.00,2.58,0.00,0.000,4,0.000,0.038,2762,3454,2907,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8558,-0.74,-146.6,530.5,-6.1,230,8565,0.00,2.47,0.00,0.000,6,0.000,0.023,2762,1824,2907,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8979,-0.74,-146.6,562.1,-6.6,234,8986,0.00,2.55,0.00,0.000,4,0.000,0.038,2751,3447,2906,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9187,-0.74,-146.6,569.2,-6.4,235,9191,0.00,2.47,0.00,0.000,6,0.000,0.024,2751,1822,2905,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9570,-0.74,-146.6,593.0,-5.0,239,9577,0.00,2.58,0.00,0.000,4,0.000,0.038,2739,3452,2904,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9811,-0.74,-146.6,605.2,-4.9,241,9817,0.00,2.42,0.00,0.000,6,0.000,0.024,2739,1818,2904,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10169,-0.74,-146.6,626.9,-5.8,244,10177,0.00,2.60,0.00,0.000,4,0.000,0.038,2727,3458,2903,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10398,-0.74,-146.6,635.2,-6.3,245,10408,0.12,2.50,0.00,0.000,6,0.125,0.023,2765,1817,2902,0,0,0,0,0,0,26.22,26.47,28.83
$GC,10769,-0.74,-146.6,669.8,-7.2,249,10777,0.00,2.62,0.00,0.000,4,0.000,0.039,2754,3458,2901,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10890,-0.76,-146.6,679.0,-7.3,250,10897,0.00,2.47,0.00,0.000,6,0.000,0.023,2753,1827,2902,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11249,-0.78,-146.6,707.8,-7.9,253,11257,0.00,2.58,0.00,0.000,4,0.000,0.039,2742,3450,2900,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11388,-0.80,-146.6,717.5,-8.0,254,11396,0.00,2.50,0.00,0.000,6,0.000,0.024,2742,1816,2897,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11730,-0.80,-146.6,745.1,-7.8,257,11737,0.00,2.60,0.00,0.000,4,0.000,0.039,2730,3452,2898,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11938,-0.80,-146.6,753.7,-7.5,258,11942,0.00,2.50,0.00,0.000,6,0.000,0.024,2730,1823,2898,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12321,-0.80,-146.6,781.4,-5.8,262,12328,0.00,2.58,0.00,0.000,4,0.000,0.039,2719,3448,2897,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12469,-0.80,-146.6,787.6,-5.5,263,12477,0.00,2.50,0.00,0.000,6,0.000,0.024,2719,1823,2897,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12801,-0.80,-146.6,806.6,-5.2,266,12808,0.00,2.58,0.00,0.000,4,0.000,0.039,2707,3446,2896,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12941,-0.80,-146.6,813.5,-5.4,267,12948,0.08,2.47,0.00,0.000,6,0.113,0.025,2736,1823,2895,0,0,0,0,0,0,26.14,26.41,28.83
$GC,13281,-0.80,-146.6,835.0,-5.9,270,13288,0.00,2.58,0.00,0.000,4,0.000,0.040,2726,3447,2894,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13449,-0.80,-146.6,843.5,-6.3,271,13453,0.00,2.50,0.00,0.000,6,0.000,0.025,2725,1822,2894,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13751,-0.80,-146.6,871.2,-7.7,274,13759,0.00,2.60,0.00,0.000,4,0.000,0.040,2714,3450,2893,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13850,-0.80,-146.6,871.2,-7.7,274,13854,0.00,2.50,0.00,0.000,6,0.000,0.025,2714,1823,2893,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14222,-0.80,-146.6,908.7,-8.0,278,14230,0.00,2.60,0.00,0.000,4,0.000,0.040,2701,3461,2892,0,0,0,0,0,0,28.83,26.13,28.83
$GC,14391,-0.80,-146.6,917.0,-7.6,279,14396,0.15,2.53,0.00,0.000,6,0.123,0.024,2747,1817,2891,0,0,0,0,0,0,26.06,26.37,28.83
$GC,14694,-0.80,-146.6,935.8,-5.7,282,14702,0.00,2.58,0.00,0.000,4,0.000,0.041,2735,3442,2891,0,0,0,0,0,0,28.83,26.12,28.83
$GC,14833,-0.82,-146.6,941.8,-5.2,283,14841,0.00,2.50,0.00,0.000,6,0.000,0.025,2735,1819,2891,0,0,0,0,0,0,28.83,26.36,28.83
$GC,15144,-0.82,-146.6,958.1,-5.0,288,15151,0.00,2.60,0.00,0.000,4,0.000,0.041,2724,3448,2890,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15313,-0.82,-146.6,966.2,-5.4,293,15322,0.00,2.50,0.00,0.000,6,0.000,0.026,2724,1827,2889,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15624,-0.82,-146.6,985.0,-5.8,304,15631,0.00,2.58,0.00,0.000,4,0.000,0.041,2712,3446,2889,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,15711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15711,begin apogee
$GC,15719,-0.29,0.0,990.6,-6.2,307,15846,0.57,0.00,122.90,1.681,6,0.105,0.000,2906,1827,2319,0,0,0,0,0,0,25.65,28.83,23.51
$STATE,15848,end apogee,CONTROL_FINISHED_OK
$STATE,15848,begin climb
$GC,15850,0.86,146.6,994.5,0.0,311,15992,1.05,2.62,131.30,1.648,4,0.065,0.047,3288,355,1721,0,0,0,0,0,0,24.88,24.20,22.99
$GC,16073,0.68,146.6,985.4,6.7,319,16081,0.22,2.45,0.00,0.000,6,0.136,0.025,3226,1885,1716,0,0,0,0,0,0,25.06,25.33,28.83
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$STATE,28331,end climb,SURFACE_DEPTH_REACHED
$STATE,28331,begin surface coast
$FINISH,1.0,1.018060
$STATE,28352,end surface coast,CONTROL_FINISHED_OK
$STATE,28352,begin surface
$SM_CCo,28432,0.00,0.000,0,0,863,357.40
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$TT8_MAMPS,0.026964,0.026964
$HUMID,58.82
$INTERNAL_PRESSURE,9.05573
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,7692704
$TM_FREEKB,6111584
$24V_AH,23.0,39.319
$10V_AH,10.4,32.605
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.975,263.275,432.725,0.000,0.000,24.718,36.313,236.184,0.000,0.000,17.671,2584.790,22612.020,903.133,2471.336,405.969,33.273,2041.113,0.000,2015.319,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.852,13.498,0.000,0.000
$MEM,344380
$DATA_FILE_SIZE,16748,578
$CAP_FILE_SIZE,217401,0
$CFSIZE,260034560,233689088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171112,055335,2423.894,-3746.091,40,0.9,40,-14.0