version: 66.11
glider: 189
mission: 7
dive: 306
start: 12 20 112 9 53 48
data:
$ID,189
$MISSION,7
$DIVE,306
$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,-48038.789
$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
$GPS1,201212,094404,2438.955,-3744.427,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-60.5
$GPS2,201212,095248,2438.975,-3744.449,17,1.0,17,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.055,0.107
$KALMAN_X,136102.0,63.9,-312.8,-106464.4,4400.7
$KALMAN_Y,-75138.3,334.2,108.6,80896.6,-1763.5
$MHEAD_RNG_PITCHd_Wd,346.9,16434,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.26,-97.7,0.0,0.0,0,33,0.00,0.00,-11.45,0.000,2,0.000,0.000,152,2129,1426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.26,-97.7,2.0,0.0,1,103,9.18,2.53,-49.42,0.000,4,0.190,0.051,2594,549,2719,0,0,0,0,0,0,25.46,26.00,26.69
$GC,393,-1.16,-97.7,25.6,-7.2,37,402,0.12,2.47,0.00,0.000,6,0.141,0.024,2623,2187,2721,0,0,0,0,0,0,25.85,26.34,28.83
$GC,703,-1.12,-97.7,47.7,-7.7,68,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2187,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-1.09,-97.7,70.3,-7.4,98,1012,0.00,2.50,0.00,0.000,4,0.000,0.041,2612,3752,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1243,-1.04,-97.7,88.4,-7.4,111,1251,0.15,2.45,0.00,0.000,6,0.124,0.021,2662,2097,2723,0,0,0,0,0,0,25.98,26.49,28.83
$GC,1576,-1.04,-97.7,106.7,-5.8,122,1581,0.00,2.60,0.00,0.000,4,0.000,0.040,2652,3758,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1873,-1.04,-97.7,125.6,-5.9,132,1880,0.00,2.47,0.00,0.000,6,0.000,0.021,2652,2095,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2204,-1.04,-97.7,145.4,-6.4,143,2210,0.00,2.65,0.00,0.000,4,0.000,0.039,2640,3756,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2503,-1.04,-97.7,165.5,-6.6,150,2510,0.00,2.47,0.00,0.000,6,0.000,0.020,2640,2091,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2864,-1.04,-97.7,186.4,-5.6,156,2870,0.00,2.62,0.00,0.000,4,0.000,0.039,2627,3744,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3163,-1.04,-97.7,202.8,-5.5,161,3171,0.10,2.45,0.00,0.000,6,0.121,0.021,2662,2089,2725,0,0,0,0,0,0,26.17,26.55,28.83
$GC,3524,-1.08,-97.7,223.0,-5.8,167,3530,0.00,2.60,0.00,0.000,4,0.000,0.040,2651,3755,2725,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3822,-1.08,-97.7,243.6,-7.0,172,3830,0.00,2.47,0.00,0.000,6,0.000,0.021,2651,2101,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4184,-1.11,-97.7,269.2,-7.1,178,4190,0.00,2.60,0.00,0.000,4,0.000,0.039,2639,3741,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4482,-1.11,-97.7,290.5,-7.1,183,4490,0.00,2.45,0.00,0.000,6,0.000,0.020,2639,2101,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4844,-1.13,-97.7,311.8,-5.7,189,4850,0.00,2.62,0.00,0.000,4,0.000,0.041,2627,3774,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5143,-1.13,-97.7,329.7,-6.2,194,5150,0.00,2.50,0.00,0.000,6,0.000,0.021,2627,2095,2723,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5503,-1.13,-97.7,357.1,-7.9,200,5510,0.00,2.47,0.00,0.000,4,0.000,0.038,2627,538,2721,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5803,-1.13,-97.7,383.6,-8.9,205,5810,0.00,2.47,0.00,0.000,6,0.000,0.024,2615,2188,2721,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6163,-1.13,-97.7,413.4,-8.1,211,6170,0.00,2.50,0.00,0.000,4,0.000,0.041,2603,3748,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6463,-1.13,-97.7,437.2,-7.9,216,6471,0.08,2.47,0.00,0.000,6,0.126,0.021,2630,2093,2719,0,0,0,0,0,0,26.22,26.53,28.83
$GC,6823,-1.16,-97.7,462.7,-7.1,222,6830,0.00,2.65,0.00,0.000,4,0.000,0.041,2619,3746,2719,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7122,-1.16,-97.7,485.2,-7.5,227,7130,0.00,2.47,0.00,0.000,6,0.000,0.022,2619,2102,2718,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7483,-1.16,-97.7,511.9,-7.4,232,7490,0.00,2.62,0.00,0.000,4,0.000,0.041,2607,3743,2717,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7781,-1.16,-97.7,530.3,-7.5,234,7786,0.00,2.47,0.00,0.000,6,0.000,0.022,2607,2102,2716,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8194,-1.16,-97.7,564.1,-7.2,238,8201,0.00,2.45,0.00,0.000,4,0.000,0.038,2607,550,2715,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8484,-1.16,-97.7,581.5,-7.1,240,8492,0.08,2.47,0.00,0.000,6,0.136,0.024,2621,2188,2715,0,0,0,0,0,0,26.13,26.46,28.83
$GC,8794,-1.16,-97.7,607.5,-7.2,243,8801,0.00,2.50,0.00,0.000,4,0.000,0.043,2611,3752,2714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9093,-1.18,-97.7,626.8,-7.6,245,9100,0.00,2.50,0.00,0.000,6,0.000,0.022,2610,2098,2714,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9515,-1.21,-97.7,666.2,-8.2,249,9521,0.00,2.47,0.00,0.000,4,0.000,0.040,2610,543,2712,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9796,-1.21,-97.7,684.9,-7.9,251,9801,0.00,2.45,0.00,0.000,6,0.000,0.025,2598,2192,2711,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10114,-1.21,-97.7,709.3,-7.0,254,10121,0.00,2.50,0.00,0.000,4,0.000,0.043,2591,3751,2710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10413,-1.21,-97.7,726.5,-6.9,256,10417,0.00,2.50,0.00,0.000,6,0.000,0.023,2587,2098,2709,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10825,-1.21,-97.7,763.2,-7.7,260,10832,0.00,2.65,0.00,0.000,4,0.000,0.043,2575,3751,2708,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11124,-1.21,-97.7,787.4,-9.1,262,11132,0.12,2.50,0.00,0.000,6,0.150,0.023,2607,2097,2707,0,0,0,0,0,0,26.10,26.46,28.83
$GC,11546,-1.23,-97.7,832.7,-9.5,266,11552,0.00,2.45,0.00,0.000,4,0.000,0.041,2607,553,2705,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11674,-1.26,-97.7,842.4,-8.9,267,11682,0.00,2.50,0.00,0.000,6,0.000,0.026,2596,2189,2705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12025,-1.26,-97.7,865.3,-6.8,270,12032,0.00,2.53,0.00,0.000,4,0.000,0.044,2585,3756,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12324,-1.26,-97.7,881.6,-6.4,272,12332,0.00,2.50,0.00,0.000,6,0.000,0.022,2585,2105,2703,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12745,-1.26,-97.7,921.0,-8.2,276,12752,0.00,2.47,0.00,0.000,4,0.000,0.040,2585,553,2706,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12964,-1.26,-97.7,933.0,-8.9,277,12972,0.00,2.50,0.00,0.000,6,0.000,0.025,2573,2187,2701,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13345,-1.26,-97.7,977.9,-9.3,281,13352,0.00,2.55,0.00,0.000,4,0.000,0.044,2561,3756,2703,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,13482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13482,begin apogee
$GC,13493,-0.29,0.0,990.3,-8.9,283,13585,1.08,0.05,84.75,1.661,6,0.125,0.130,2899,1621,2320,0,0,0,0,0,0,25.29,24.79,23.24
$STATE,13587,end apogee,CONTROL_FINISHED_OK
$STATE,13587,begin climb
$GC,13589,1.26,97.7,994.0,0.0,288,13687,1.40,2.20,90.70,1.632,4,0.060,0.047,3413,358,1921,0,0,0,0,0,0,25.21,24.75,23.13
$GC,13975,1.11,97.7,971.8,8.6,301,13983,0.22,1.98,0.00,0.000,6,0.158,0.024,3354,1649,1908,0,0,0,0,0,0,25.75,26.23,28.83
$GC,14296,1.00,97.7,945.4,7.6,304,14304,0.12,2.10,0.00,0.000,4,0.169,0.048,3331,355,1908,0,0,0,0,0,0,26.17,26.20,28.83
$GC,14497,0.91,97.7,937.2,7.2,305,14504,0.10,1.92,0.00,0.000,6,0.135,0.025,3298,1648,1905,0,0,0,0,0,0,26.08,26.45,28.83
$GC,14897,0.93,132.0,912.7,5.1,309,14934,0.00,2.15,29.02,1.598,4,0.000,0.049,3306,360,1781,0,0,0,0,0,0,28.83,25.63,23.90
$GC,15165,0.98,169.9,899.9,4.9,311,15204,0.00,1.98,34.90,1.584,6,0.000,0.026,3306,1651,1626,0,0,0,0,0,0,28.83,26.25,23.74
$GC,15606,0.99,176.0,869.9,6.4,315,15617,0.00,2.15,5.75,1.290,4,0.000,0.049,3316,356,1602,0,0,0,0,0,0,28.83,26.10,24.13
$GC,15675,1.00,182.1,869.9,6.4,315,15687,0.00,1.98,7.57,1.395,6,0.000,0.025,3316,1648,1576,0,0,0,0,0,0,28.83,26.27,24.14
$GC,16066,1.00,182.1,832.4,8.2,319,16073,0.00,2.10,0.00,0.000,4,0.000,0.048,3326,350,1574,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16215,1.00,182.1,821.6,8.4,320,16219,0.00,1.98,0.00,0.000,6,0.000,0.025,3326,1657,1573,0,0,0,0,0,0,28.83,26.44,28.83
$GC,16537,1.00,182.1,789.7,9.1,323,16544,0.00,2.12,0.00,0.000,4,0.000,0.048,3335,350,1573,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16798,1.00,182.1,766.1,9.5,325,16804,0.00,1.92,0.00,0.000,6,0.000,0.026,3336,1642,1571,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17137,1.00,182.1,732.3,9.5,328,17144,0.00,2.10,0.00,0.000,4,0.000,0.049,3345,350,1571,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17417,1.00,182.1,708.2,9.7,330,17424,0.00,1.92,0.00,0.000,6,0.000,0.026,3346,1644,1570,0,0,0,0,0,0,28.83,26.53,28.83
$GC,17736,1.00,182.1,673.5,9.8,333,17744,0.00,2.10,0.00,0.000,4,0.000,0.048,3355,355,1570,0,0,0,0,0,0,28.83,26.21,28.83
$GC,17825,1.00,182.1,673.5,9.8,333,17830,0.12,1.95,0.00,0.000,6,0.151,0.026,3322,1657,1570,0,0,0,0,0,0,26.15,26.52,28.83
$GC,18209,1.00,182.1,632.8,8.6,337,18215,0.00,2.10,0.00,0.000,4,0.000,0.048,3331,353,1570,0,0,0,0,0,0,28.83,26.20,28.83
$GC,18277,1.00,182.1,632.8,8.6,337,18281,0.00,1.95,0.00,0.000,6,0.000,0.025,3331,1651,1570,0,0,0,0,0,0,28.83,26.52,28.83
$GC,18678,1.00,182.1,592.9,8.5,341,18686,0.00,2.12,0.00,0.000,4,0.000,0.048,3340,348,1570,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18908,1.00,182.1,583.9,8.1,342,18917,0.00,1.98,0.00,0.000,6,0.000,0.026,3340,1660,1570,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,25522,end climb,SURFACE_DEPTH_REACHED
$STATE,25522,begin surface coast
$FINISH,1.1,1.013248
$STATE,25555,end surface coast,CONTROL_FINISHED_OK
$STATE,25555,begin surface
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$TT8_MAMPS,0.026215,0.026215
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$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7652352
$TM_FREEKB,5304800
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$10V_AH,9.8,48.735
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.255,13.431,0.000,0.000
$MEM,344344
$DATA_FILE_SIZE,13437,535
$CAP_FILE_SIZE,196220,0
$CFSIZE,260034560,222900224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201212,170205,2439.246,-3743.926,28,1.0,28,-13.9