version: 66.11
glider: 189
mission: 7
dive: 400
start: 1 18 113 2 6 53
data:
$ID,189
$MISSION,7
$DIVE,400
$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,-48157.367
$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
$GPS1,180113,015634,2434.004,-3748.637,40,0.8,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-60.5
$GPS2,180113,020553,2434.028,-3748.531,20,1.0,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.019,-0.119
$KALMAN_X,218617.2,202.6,71.5,-196388.8,-239.4
$KALMAN_Y,-48167.9,112.4,577.2,44528.7,36.6
$MHEAD_RNG_PITCHd_Wd,185.0,5688,-19.9,-6.667,-29.06
$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,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.20,0.000,2,0.000,0.000,151,2170,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,103,9.18,0.00,-49.92,0.000,6,0.188,0.000,2585,2170,2719,0,0,0,0,0,0,25.33,28.83,26.69
$GC,406,-1.20,-97.7,27.9,-7.2,38,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2171,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,714,-1.13,-97.7,52.3,-8.5,69,723,0.17,2.58,0.00,0.000,4,0.155,0.041,2623,3745,2721,0,0,0,0,0,0,26.10,26.14,28.83
$GC,1014,-1.10,-97.7,79.1,-9.5,97,1021,0.00,2.45,0.00,0.000,6,0.000,0.021,2624,2102,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1344,-1.10,-97.7,108.1,-8.4,108,1351,0.00,2.65,0.00,0.000,4,0.000,0.039,2611,3746,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1423,-1.08,-97.7,113.0,-8.3,110,1433,0.15,2.45,0.00,0.000,6,0.142,0.021,2651,2094,2722,0,0,0,0,0,0,26.04,26.48,28.83
$GC,1737,-1.08,-97.7,132.4,-5.3,121,1743,0.00,2.62,0.00,0.000,4,0.000,0.040,2641,3751,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2034,-1.08,-97.7,148.3,-5.4,131,2041,0.00,2.45,0.00,0.000,6,0.000,0.021,2641,2093,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2365,-1.10,-97.7,169.5,-6.6,137,2371,0.00,2.62,0.00,0.000,4,0.000,0.039,2628,3758,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2653,-1.10,-97.7,186.4,-7.0,141,2662,0.00,2.47,0.00,0.000,6,0.000,0.021,2628,2098,2723,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2965,-1.10,-97.7,211.1,-6.9,147,2971,0.00,2.62,0.00,0.000,4,0.000,0.039,2617,3750,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3084,-1.10,-97.7,220.0,-7.1,149,3092,0.00,2.45,0.00,0.000,6,0.000,0.021,2616,2093,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3445,-1.10,-97.7,244.7,-6.7,155,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2093,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-1.10,-97.7,262.7,-6.0,160,3751,0.00,2.62,0.00,0.000,4,0.000,0.039,2604,3754,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3865,-1.10,-97.7,270.5,-6.1,162,3872,0.10,2.45,0.00,0.000,6,0.120,0.021,2639,2087,2723,0,0,0,0,0,0,26.12,26.51,28.83
$GC,4225,-1.14,-97.7,293.7,-6.7,168,4231,0.00,2.62,0.00,0.000,4,0.000,0.040,2629,3754,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4353,-1.16,-97.7,302.9,-7.3,170,4361,0.00,2.47,0.00,0.000,6,0.000,0.021,2628,2092,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4704,-1.19,-97.7,331.5,-7.9,176,4711,0.00,2.42,0.00,0.000,4,0.000,0.037,2628,548,2722,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4794,-1.19,-97.7,336.5,-8.0,177,4801,0.00,2.47,0.00,0.000,6,0.000,0.023,2617,2192,2721,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5124,-1.19,-97.7,366.8,-8.6,183,5131,0.00,2.50,0.00,0.000,4,0.000,0.041,2605,3748,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5233,-1.19,-97.7,371.9,-8.4,184,5242,0.00,2.47,0.00,0.000,6,0.000,0.021,2604,2090,2721,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5545,-1.19,-97.7,399.0,-7.2,190,5551,0.00,2.65,0.00,0.000,4,0.000,0.041,2592,3741,2720,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5623,-1.19,-97.7,403.0,-6.9,191,5630,0.00,2.45,0.00,0.000,6,0.000,0.021,2592,2098,2720,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5964,-1.19,-97.7,422.8,-5.3,197,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2098,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,-1.19,-97.7,441.1,-6.2,202,6272,0.00,2.67,0.00,0.000,4,0.000,0.041,2581,3748,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6363,-1.19,-97.7,445.0,-6.5,203,6372,0.15,2.47,0.00,0.000,6,0.141,0.021,2621,2093,2719,0,0,0,0,0,0,26.07,26.48,28.83
$GC,6685,-1.22,-97.7,469.6,-6.9,209,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2092,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,-1.26,-97.7,491.7,-7.4,214,6991,0.00,2.62,0.00,0.000,4,0.000,0.041,2610,3747,2717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7053,-1.28,-97.7,496.4,-7.5,215,7061,0.00,2.47,0.00,0.000,6,0.000,0.021,2610,2094,2717,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7464,-1.31,-97.7,529.0,-7.8,219,7471,0.00,2.67,0.00,0.000,4,0.000,0.041,2598,3745,2715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7585,-1.33,-97.7,539.1,-7.9,220,7591,0.00,2.45,0.00,0.000,6,0.000,0.022,2598,2103,2715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7944,-1.35,-97.7,571.3,-8.8,223,7951,0.00,2.45,0.00,0.000,4,0.000,0.039,2598,551,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8074,-1.35,-97.7,583.2,-9.2,224,8081,0.00,2.50,0.00,0.000,6,0.000,0.024,2586,2199,2715,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8424,-1.35,-97.7,616.7,-9.5,227,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2199,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8784,-1.35,-97.7,646.3,-8.4,230,8791,0.00,2.50,0.00,0.000,4,0.000,0.043,2575,3740,2713,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8844,-1.35,-97.7,646.3,-8.4,230,8851,0.00,2.47,0.00,0.000,6,0.000,0.022,2575,2093,2713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9264,-1.35,-97.7,684.9,-8.0,234,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2093,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9624,-1.35,-97.7,711.1,-7.5,237,9631,0.00,2.70,0.00,0.000,4,0.000,0.042,2563,3746,2710,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9703,-1.35,-97.7,711.1,-7.5,237,9711,0.00,2.47,0.00,0.000,6,0.000,0.022,2562,2106,2710,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10105,-1.35,-97.7,739.4,-5.9,241,10111,0.00,2.62,0.00,0.000,4,0.000,0.042,2550,3746,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10253,-1.35,-97.7,746.9,-5.8,242,10261,0.00,2.47,0.00,0.000,6,0.000,0.023,2551,2109,2709,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10585,-1.35,-97.7,773.3,-7.0,245,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2109,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10944,-1.35,-97.7,810.0,-9.7,248,10951,0.00,2.47,0.00,0.000,4,0.000,0.040,2550,549,2707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11013,-1.35,-97.7,810.0,-9.7,248,11021,0.00,2.50,0.00,0.000,6,0.000,0.024,2539,2190,2707,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11424,-1.33,-97.7,860.6,-10.6,252,11432,0.12,2.60,0.00,0.000,4,0.161,0.039,2570,552,2705,0,0,0,0,0,0,26.34,26.13,28.83
$GC,11494,-1.31,-97.7,860.6,-10.6,252,11501,0.00,2.47,0.00,0.000,6,0.000,0.025,2560,2186,2705,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11904,-1.31,-97.7,898.6,-7.9,256,11911,0.00,2.55,0.00,0.000,4,0.000,0.044,2548,3748,2704,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12014,-1.31,-97.7,898.6,-7.9,256,12023,0.00,2.47,0.00,0.000,6,0.000,0.024,2548,2101,2704,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12384,-1.31,-97.7,937.0,-8.0,260,12391,0.00,2.70,0.00,0.000,4,0.000,0.043,2537,3741,2703,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12553,-1.31,-97.7,947.7,-8.2,261,12562,0.15,2.47,0.00,0.000,6,0.148,0.024,2574,2106,2702,0,0,0,0,0,0,25.92,26.38,28.83
$GC,12865,-1.31,-97.7,979.5,-8.8,264,12871,0.00,2.67,0.00,0.000,4,0.000,0.043,2565,3739,2701,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12913,-1.31,-97.7,979.5,-8.8,264,12921,0.00,2.47,0.00,0.000,6,0.000,0.024,2564,2110,2701,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,12981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12981,begin apogee
$GC,12989,-0.29,0.0,990.7,-9.0,265,13083,1.10,0.00,86.20,1.672,6,0.128,0.000,2906,1573,2319,0,0,0,0,0,0,25.18,28.83,23.02
$STATE,13085,end apogee,CONTROL_FINISHED_OK
$STATE,13085,begin climb
$GC,13089,1.26,97.7,995.7,0.0,270,13192,1.42,2.80,92.18,1.676,4,0.063,0.035,3409,3209,1920,0,0,0,0,0,0,25.26,24.89,23.03
$GC,13254,1.17,147.2,993.8,4.4,278,13304,0.15,2.60,44.85,1.631,6,0.158,0.029,3378,1574,1720,0,0,0,0,0,0,25.40,25.76,23.32
$GC,13628,1.09,147.2,964.6,8.1,287,13633,0.00,2.60,0.00,0.000,4,0.000,0.035,3378,3204,1712,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13693,1.02,147.2,964.6,8.1,287,13702,0.22,2.55,0.00,0.000,6,0.164,0.029,3330,1582,1712,0,0,0,0,0,0,25.79,26.25,28.83
$GC,14105,0.98,147.2,924.2,8.4,291,14111,0.00,2.55,0.00,0.000,4,0.000,0.036,3330,3202,1709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14153,0.94,147.2,924.2,8.4,291,14162,0.15,2.55,0.00,0.000,6,0.164,0.029,3302,1569,1710,0,0,0,0,0,0,25.96,26.34,28.83
$GC,14464,0.94,147.2,896.8,7.8,294,14471,0.00,1.95,0.00,0.000,4,0.000,0.048,3310,358,1708,0,0,0,0,0,0,28.83,26.23,28.83
$GC,14524,0.94,147.2,896.8,7.8,294,14531,0.00,1.95,0.00,0.000,6,0.000,0.024,3310,1657,1707,0,0,0,0,0,0,28.83,26.51,28.83
$GC,14945,0.97,167.5,869.2,5.7,298,14967,0.00,2.55,17.27,1.548,4,0.000,0.036,3310,3205,1636,0,0,0,0,0,0,28.83,25.97,23.89
$GC,15056,1.00,194.2,862.9,5.4,299,15087,0.00,2.55,25.85,1.579,6,0.000,0.031,3323,1581,1525,0,0,0,0,0,0,28.83,26.11,23.62
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$STATE,24775,end climb,SURFACE_DEPTH_REACHED
$STATE,24775,begin surface coast
$FINISH,1.3,1.010918
$STATE,24797,end surface coast,CONTROL_FINISHED_OK
$STATE,24797,begin surface
$SM_CCo,24821,47.22,0.125,0,0,1094,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,61.97
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$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7616256
$TM_FREEKB,4908480
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$10V_AH,9.9,61.867
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.975,206.825,266.350,47.225,0.000,28.793,41.813,206.753,0.000,0.000,21.170,2077.209,20156.891,714.152,1957.301,508.224,33.267,1629.165,0.000,1575.816,0.000,0.535,0.000
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$MEM,343696
$DATA_FILE_SIZE,13428,515
$CAP_FILE_SIZE,182247,0
$CFSIZE,260034560,214257664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180113,090234,2432.912,-3747.618,33,0.8,33,-13.9