version: 66.11
glider: 189
mission: 7
dive: 240
start: 11 30 112 11 50 13
data:
$ID,189
$MISSION,7
$DIVE,240
$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,200
$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,446.44598
$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,-47955.574
$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,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
$GPS1,301112,113252,2422.517,-3819.720,40,0.8,40,-14.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-57.1
$GPS2,301112,114911,2422.589,-3819.788,16,1.3,16,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.216,-0.067
$KALMAN_X,56811.2,222.7,301.5,-87461.5,-8559.0
$KALMAN_Y,55585.1,-92.1,141.1,-79761.0,3372.8
$MHEAD_RNG_PITCHd_Wd,121.3,6302,-9.7,-6.111,-15.10
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.79,-195.4,0.0,0.0,0,38,0.00,0.00,-12.12,0.000,2,0.000,0.000,151,2124,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.79,-195.4,2.1,0.0,1,128,9.38,2.60,-68.12,0.000,4,0.181,0.051,2736,3736,3117,0,0,0,0,0,0,25.72,26.13,26.73
$GC,150,-0.82,-195.4,3.0,-4.7,12,157,0.00,2.40,0.00,0.000,6,0.000,0.021,2736,2096,3118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,458,-0.71,-195.4,30.0,-10.8,43,468,0.12,2.62,0.00,0.000,4,0.135,0.042,2761,3745,3118,0,0,0,0,0,0,26.37,26.20,28.83
$GC,548,-0.64,-195.4,37.0,-6.9,52,557,0.12,2.45,0.00,0.000,6,0.127,0.021,2798,2103,3118,0,0,0,0,0,0,26.20,26.46,28.83
$GC,858,-0.61,-195.4,57.7,-7.6,83,866,0.00,2.60,0.00,0.000,4,0.000,0.042,2786,3746,3118,0,0,0,0,0,0,28.83,26.27,28.83
$GC,979,-0.58,-195.4,66.9,-7.6,95,986,0.00,2.42,0.00,0.000,6,0.000,0.021,2787,2105,3117,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1288,-0.53,-195.4,91.2,-7.3,112,1296,0.15,2.60,0.00,0.000,4,0.119,0.042,2823,3754,3118,0,0,0,0,0,0,26.44,26.29,28.83
$GC,1440,-0.56,-195.4,101.4,-6.7,117,1445,0.00,2.40,0.00,0.000,6,0.000,0.021,2823,2088,3117,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1770,-0.61,-195.4,123.1,-6.4,128,1776,0.00,2.35,0.00,0.000,4,0.000,0.038,2823,547,3118,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1838,-0.65,-195.4,127.0,-6.4,130,1845,0.00,2.45,0.00,0.000,6,0.000,0.024,2815,2183,3118,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2158,-0.70,-195.4,147.9,-6.3,141,2166,0.12,2.55,0.00,0.000,4,0.077,0.037,2731,542,3118,0,0,0,0,0,0,26.72,26.36,28.83
$GC,2297,-0.66,-195.4,157.3,-7.6,144,2306,0.22,2.47,0.00,0.000,6,0.117,0.024,2788,2190,3118,0,0,0,0,0,0,26.13,26.52,28.83
$GC,2637,-0.66,-195.4,182.0,-6.9,150,2645,0.00,2.47,0.00,0.000,4,0.000,0.041,2778,3757,3118,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2767,-0.66,-195.4,190.0,-6.7,152,2774,0.00,2.45,0.00,0.000,6,0.000,0.020,2778,2097,3118,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3118,-0.68,-195.4,213.3,-6.5,158,3125,0.00,2.42,0.00,0.000,4,0.000,0.037,2778,538,3118,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3186,-0.68,-195.4,217.2,-6.5,159,3191,0.00,2.47,0.00,0.000,6,0.000,0.024,2768,2188,3118,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3529,-0.68,-195.4,238.4,-6.2,165,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2188,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3828,-0.68,-195.4,257.6,-6.4,170,3836,0.00,2.47,0.00,0.000,4,0.000,0.043,2757,3747,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3917,-0.68,-195.4,261.5,-6.4,171,3922,0.00,2.45,0.00,0.000,6,0.000,0.021,2757,2092,3118,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4240,-0.68,-195.4,285.7,-7.0,177,4247,0.00,2.40,0.00,0.000,4,0.000,0.037,2756,553,3116,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4468,-0.68,-195.4,300.5,-8.0,180,4473,0.12,2.47,0.00,0.000,6,0.127,0.025,2783,2195,3116,0,0,0,0,0,0,26.29,26.53,28.83
$GC,4771,-0.73,-195.4,330.1,-8.5,185,4777,0.00,2.45,0.00,0.000,4,0.000,0.043,2773,3744,3115,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4820,-0.78,-195.4,330.1,-8.5,185,4828,0.00,2.42,0.00,0.000,6,0.000,0.021,2774,2102,3115,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5130,-0.82,-195.4,356.1,-6.9,191,5138,0.12,2.42,0.00,0.000,4,0.080,0.037,2694,550,3114,0,0,0,0,0,0,26.72,26.37,28.83
$GC,5351,-0.77,-195.4,368.3,-6.6,194,5358,0.20,2.45,0.00,0.000,6,0.105,0.026,2753,2185,3114,0,0,0,0,0,0,26.10,26.52,28.83
$GC,5670,-0.77,-195.4,384.5,-4.2,200,5677,0.00,2.47,0.00,0.000,4,0.000,0.044,2743,3755,3113,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5730,-0.77,-195.4,387.5,-4.4,201,5737,0.00,2.45,0.00,0.000,6,0.000,0.021,2743,2098,3111,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6089,-0.77,-195.4,411.1,-7.0,207,6097,0.00,2.45,0.00,0.000,4,0.000,0.038,2743,540,3111,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6238,-0.77,-195.4,420.9,-7.8,209,6243,0.00,2.50,0.00,0.000,6,0.000,0.025,2731,2190,3110,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6561,-0.73,-195.4,451.7,-8.9,215,6569,0.12,2.45,0.00,0.000,4,0.130,0.044,2759,3741,3110,0,0,0,0,0,0,26.53,26.31,28.83
$GC,6729,-0.73,-195.4,461.2,-8.4,217,6733,0.00,2.45,0.00,0.000,6,0.000,0.021,2759,2095,3109,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7032,-0.77,-195.4,484.5,-6.2,222,7038,0.00,2.62,0.00,0.000,4,0.000,0.042,2748,3752,3108,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7140,-0.81,-195.4,487.8,-5.9,223,7150,0.00,2.47,0.00,0.000,6,0.000,0.021,2747,2091,3108,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7451,-0.84,-195.4,508.4,-5.7,228,7458,0.00,2.42,0.00,0.000,4,0.000,0.039,2747,550,3107,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7560,-0.88,-195.4,508.4,-5.7,228,7569,0.00,2.47,0.00,0.000,6,0.000,0.025,2738,2187,3107,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7931,-0.90,-195.4,543.8,-7.4,232,7938,0.00,2.58,0.00,0.000,4,0.000,0.038,2738,551,3106,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8020,-0.93,-195.4,543.8,-7.4,232,8027,0.00,2.50,0.00,0.000,6,0.000,0.025,2727,2198,3106,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8411,-0.93,-195.4,587.5,-9.1,236,8418,0.00,2.47,0.00,0.000,4,0.000,0.044,2715,3752,3104,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8449,-0.93,-195.4,587.5,-9.1,236,8453,0.00,2.47,0.00,0.000,6,0.000,0.022,2715,2096,3104,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8761,-0.93,-195.4,616.1,-8.4,239,8768,0.00,2.45,0.00,0.000,4,0.000,0.039,2715,548,3103,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8872,-0.93,-195.4,616.1,-8.4,239,8880,0.00,2.47,0.00,0.000,6,0.000,0.026,2704,2180,3102,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9241,-0.93,-195.4,648.4,-6.7,243,9248,0.00,2.60,0.00,0.000,4,0.000,0.039,2704,543,3101,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9320,-0.93,-195.4,648.4,-6.7,243,9324,0.00,2.50,0.00,0.000,6,0.000,0.026,2692,2188,3101,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9713,-0.87,-195.4,683.4,-7.4,247,9720,0.00,2.47,0.00,0.000,4,0.000,0.045,2680,3740,3100,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9954,-0.81,-195.4,703.7,-8.2,249,9960,0.20,2.40,0.00,0.000,6,0.117,0.024,2742,2104,3099,0,0,0,0,0,0,26.12,26.53,28.83
$GC,10312,-0.81,-195.4,728.8,-7.3,252,10320,0.00,2.62,0.00,0.000,4,0.000,0.044,2732,3743,3098,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10381,-0.81,-195.4,728.8,-7.3,252,10385,0.00,2.47,0.00,0.000,6,0.000,0.022,2731,2093,3098,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10783,-0.85,-195.4,759.6,-6.5,256,10790,0.00,2.45,0.00,0.000,4,0.000,0.041,2732,546,3096,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10843,-0.89,-195.4,759.6,-6.5,256,10850,0.00,2.53,0.00,0.000,6,0.000,0.026,2722,2188,3096,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11263,-0.93,-195.4,792.4,-6.8,260,11270,0.00,2.58,0.00,0.000,4,0.000,0.040,2722,556,3095,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11383,-0.96,-195.4,801.6,-7.1,261,11390,0.00,2.45,0.00,0.000,6,0.000,0.026,2712,2179,3094,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11743,-0.98,-195.4,831.8,-8.2,264,11750,0.00,2.50,0.00,0.000,4,0.000,0.044,2700,3743,3093,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11852,-1.00,-195.4,831.8,-8.2,264,11861,0.00,2.47,0.00,0.000,6,0.000,0.023,2700,2097,3093,0,0,0,0,0,0,28.83,26.50,28.83
$GC,12223,-1.00,-195.4,874.7,-9.0,268,12230,0.00,2.47,0.00,0.000,4,0.000,0.041,2700,544,3092,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12352,-1.00,-195.4,885.4,-9.0,269,12360,0.00,2.53,0.00,0.000,6,0.000,0.026,2689,2193,3091,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12703,-1.00,-195.4,917.8,-9.0,272,12710,0.00,2.53,0.00,0.000,4,0.000,0.045,2677,3748,3091,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12752,-1.00,-195.4,917.8,-9.0,272,12756,0.00,2.50,0.00,0.000,6,0.000,0.024,2677,2097,3090,0,0,0,0,0,0,28.83,26.47,28.83
$GC,13054,-1.00,-195.4,948.5,-8.9,275,13061,0.00,2.45,0.00,0.000,4,0.000,0.041,2677,553,3090,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13122,-1.00,-195.4,948.5,-8.9,275,13127,0.00,2.50,0.00,0.000,6,0.000,0.027,2665,2183,3089,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13525,-0.95,-195.4,981.5,-7.0,279,13533,0.10,2.50,0.00,0.000,4,0.158,0.047,2682,3740,3088,0,0,0,0,0,0,26.51,26.11,28.83
$STATE,13682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13683,begin apogee
$GC,13694,-0.29,0.0,991.2,-6.1,282,13865,0.65,0.00,164.05,1.659,6,0.102,0.000,2902,1578,2319,0,0,0,0,0,0,25.75,28.83,23.34
$STATE,13868,end apogee,CONTROL_FINISHED_OK
$STATE,13869,begin climb
$GC,13871,0.79,195.4,997.2,0.0,291,14055,1.00,2.17,172.95,1.623,4,0.064,0.050,3266,353,1522,0,0,0,0,0,0,24.89,24.21,22.92
$GC,14105,0.64,195.4,984.9,8.1,303,14113,0.20,2.05,0.00,0.000,6,0.127,0.024,3210,1651,1519,0,0,0,0,0,0,25.03,25.24,28.83
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$STATE,27897,end climb,SURFACE_DEPTH_REACHED
$STATE,27897,begin surface coast
$FINISH,1.1,1.025372
$STATE,27928,end surface coast,CONTROL_FINISHED_OK
$STATE,27929,begin surface
$SM_CCo,27951,84.90,0.122,0,0,497,446.45
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$TT8_MAMPS,0.026964,0.026964
$HUMID,57.48
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,7677728
$TM_FREEKB,5754016
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$10V_AH,10.0,39.326
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,268.275,380.425,84.900,0.000,141.910,318.801,0.000,0.000,0.000,17.862,2423.575,22718.693,958.480,2470.779,433.078,33.278,2033.323,0.000,1837.958,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344700
$DATA_FILE_SIZE,16759,565
$CAP_FILE_SIZE,218713,0
$CFSIZE,260034560,229261312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301112,193834,2421.861,-3819.273,28,1.3,28,-14.1