version: 66.11
glider: 189
mission: 7
dive: 525
start: 2 24 113 20 9 55
data:
$ID,189
$MISSION,7
$DIVE,525
$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,-48314.656
$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
$GPS1,240213,195858,2429.476,-3749.045,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-57.6
$GPS2,240213,200853,2429.493,-3749.107,19,1.0,19,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.114,-0.017
$KALMAN_X,157850.0,84.1,109.8,-136497.8,-1407.4
$KALMAN_Y,105040.5,-314.0,8.5,-116066.9,3151.8
$MHEAD_RNG_PITCHd_Wd,112.5,3104,-21.1,-6.667,-30.00
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.18,0.000,2,0.000,0.000,150,2111,1382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.2,0.0,1,105,9.20,2.55,-51.47,0.000,4,0.188,0.050,2568,549,2721,0,0,0,0,0,0,25.35,25.95,26.70
$GC,395,-1.26,-97.7,26.9,-9.0,37,403,0.10,2.47,0.00,0.000,6,0.147,0.024,2587,2188,2722,0,0,0,0,0,0,25.81,26.29,28.83
$GC,705,-1.24,-97.7,51.0,-8.4,68,713,0.00,2.60,0.00,0.000,4,0.000,0.036,2588,518,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,838,-1.18,-97.7,62.4,-8.7,81,845,0.15,2.47,0.00,0.000,6,0.155,0.024,2617,2196,2722,0,0,0,0,0,0,25.86,26.34,28.83
$GC,1154,-1.18,-97.7,88.4,-8.6,103,1161,0.00,2.50,0.00,0.000,4,0.000,0.041,2606,3742,2723,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1294,-1.18,-97.7,98.3,-8.3,107,1302,0.00,2.45,0.00,0.000,6,0.000,0.020,2606,2101,2722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1605,-1.18,-97.7,120.1,-6.0,118,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2101,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1906,-1.18,-97.7,139.4,-6.4,128,1911,0.00,2.62,0.00,0.000,4,0.000,0.039,2594,3755,2724,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1965,-1.18,-97.7,143.6,-6.6,130,1971,0.00,2.45,0.00,0.000,6,0.000,0.021,2594,2101,2724,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2326,-1.18,-97.7,166.6,-6.4,138,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2101,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-1.18,-97.7,187.0,-6.9,143,2631,0.00,2.67,0.00,0.000,4,0.000,0.039,2582,3751,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2713,-1.18,-97.7,191.9,-7.2,144,2722,0.15,2.47,0.00,0.000,6,0.142,0.020,2622,2083,2725,0,0,0,0,0,0,25.97,26.42,28.83
$GC,3046,-1.21,-97.7,220.2,-7.7,150,3051,0.00,2.38,0.00,0.000,4,0.000,0.037,2623,537,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3144,-1.24,-97.7,224.3,-7.3,151,3152,0.00,2.47,0.00,0.000,6,0.000,0.023,2612,2192,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3465,-1.27,-97.7,244.0,-5.3,157,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2191,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,-1.31,-97.7,260.4,-5.5,162,3772,0.00,2.55,0.00,0.000,4,0.000,0.035,2612,539,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3874,-1.33,-97.7,264.0,-5.7,163,3883,0.00,2.47,0.00,0.000,6,0.000,0.023,2599,2190,2725,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4186,-1.36,-97.7,289.6,-7.2,169,4192,0.12,2.55,0.00,0.000,4,0.083,0.034,2524,536,2725,0,0,0,0,0,0,26.60,26.15,28.83
$GC,4253,-1.36,-97.7,294.9,-7.6,170,4262,0.17,2.50,0.00,0.000,6,0.155,0.023,2557,2193,2724,0,0,0,0,0,0,25.82,26.37,28.83
$GC,4605,-1.36,-97.7,324.7,-8.3,176,4611,0.00,2.58,0.00,0.000,4,0.000,0.036,2557,550,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4675,-1.33,-97.7,329.8,-8.3,177,4681,0.00,2.45,0.00,0.000,6,0.000,0.023,2548,2185,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5025,-1.30,-97.7,356.7,-7.3,183,5027,0.12,0.00,0.00,0.000,6,0.158,0.000,2579,2185,2724,0,0,0,0,0,0,26.32,28.83,28.83
$GC,5325,-1.30,-97.7,377.5,-6.9,188,5331,0.00,2.55,0.00,0.000,4,0.000,0.041,2569,3751,2724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5394,-1.30,-97.7,381.6,-6.8,189,5401,0.00,2.45,0.00,0.000,6,0.000,0.021,2569,2101,2724,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5745,-1.30,-97.7,405.4,-6.6,195,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2101,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6045,-1.30,-97.7,425.1,-6.6,200,6051,0.00,2.45,0.00,0.000,4,0.000,0.038,2569,551,2722,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6155,-1.30,-97.7,429.4,-6.7,201,6163,0.00,2.47,0.00,0.000,6,0.000,0.024,2557,2189,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6464,-1.30,-97.7,454.2,-6.7,207,6472,0.00,2.58,0.00,0.000,4,0.000,0.037,2557,549,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6554,-1.30,-97.7,458.4,-6.7,208,6562,0.12,2.55,0.00,0.000,6,0.161,0.024,2576,2195,2720,0,0,0,0,0,0,25.96,26.36,28.83
$GC,6887,-1.32,-97.7,480.4,-6.0,214,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2195,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,-1.32,-97.7,500.2,-6.7,219,7191,0.00,2.60,0.00,0.000,4,0.000,0.037,2577,550,2719,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7285,-1.32,-97.7,500.2,-6.7,219,7291,0.00,2.47,0.00,0.000,6,0.000,0.024,2567,2192,2718,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7666,-1.32,-97.7,541.4,-8.6,223,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2192,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8024,-1.32,-97.7,573.4,-9.0,226,8032,0.00,2.60,0.00,0.000,4,0.000,0.037,2567,548,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8113,-1.32,-97.7,573.4,-9.0,226,8121,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2190,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8505,-1.32,-97.7,610.5,-7.7,230,8512,0.00,2.60,0.00,0.000,4,0.000,0.038,2555,547,2715,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8564,-1.32,-97.7,610.5,-7.7,230,8572,0.12,2.50,0.00,0.000,6,0.163,0.024,2573,2190,2715,0,0,0,0,0,0,25.94,26.34,28.83
$GC,8985,-1.35,-97.7,644.8,-7.1,234,8992,0.00,2.60,0.00,0.000,4,0.000,0.038,2574,543,2711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9106,-1.38,-97.7,653.6,-7.1,235,9111,0.00,2.45,0.00,0.000,6,0.000,0.024,2563,2192,2713,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9465,-1.40,-97.7,681.8,-7.7,238,9471,0.00,2.60,0.00,0.000,4,0.000,0.038,2563,548,2712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9614,-1.40,-97.7,692.8,-8.1,239,9622,0.00,2.53,0.00,0.000,6,0.000,0.024,2551,2198,2712,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9945,-1.40,-97.7,725.5,-9.1,242,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2199,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10304,-1.40,-97.7,757.5,-8.9,245,10312,0.00,2.62,0.00,0.000,4,0.000,0.039,2551,546,2710,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10413,-1.40,-97.7,757.5,-8.9,245,10422,0.00,2.53,0.00,0.000,6,0.000,0.024,2539,2196,2710,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10785,-1.40,-97.7,799.1,-8.6,249,10792,0.00,2.60,0.00,0.000,4,0.000,0.039,2539,535,2709,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10905,-1.40,-97.7,809.8,-8.6,250,10911,0.00,2.50,0.00,0.000,6,0.000,0.025,2528,2181,2708,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11265,-1.40,-97.7,840.8,-8.7,253,11272,0.00,2.60,0.00,0.000,4,0.000,0.040,2528,550,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11404,-1.40,-97.7,850.9,-8.6,254,11412,0.08,2.50,0.00,0.000,6,0.146,0.025,2540,2188,2706,0,0,0,0,0,0,25.91,26.29,28.83
$GC,11745,-1.40,-97.7,878.7,-7.9,257,11751,0.00,2.62,0.00,0.000,4,0.000,0.040,2540,544,2706,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11865,-1.40,-97.7,888.9,-7.9,258,11872,0.00,2.58,0.00,0.000,6,0.000,0.026,2529,2185,2705,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12225,-1.40,-97.7,920.8,-8.8,261,12231,0.00,2.62,0.00,0.000,4,0.000,0.040,2529,545,2704,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12323,-1.40,-97.7,920.8,-8.8,261,12332,0.12,2.53,0.00,0.000,6,0.164,0.025,2548,2189,2704,0,0,0,0,0,0,25.86,26.27,28.83
$GC,12706,-1.43,-97.7,965.2,-9.2,265,12711,0.00,2.58,0.00,0.000,4,0.000,0.041,2549,549,2703,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12904,-1.46,-97.7,976.2,-9.1,266,12912,0.00,2.50,0.00,0.000,6,0.000,0.026,2537,2185,2702,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,12981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12981,begin apogee
$GC,12991,-0.29,0.0,990.3,-9.0,269,13083,1.17,0.00,85.72,1.652,6,0.125,0.000,2902,1577,2322,0,0,0,0,0,0,24.94,28.83,22.98
$STATE,13085,end apogee,CONTROL_FINISHED_OK
$STATE,13085,begin climb
$GC,13089,1.33,97.7,994.2,0.0,274,13185,1.50,0.00,92.32,1.629,6,0.060,0.000,3435,1577,1921,0,0,0,0,0,0,25.31,28.83,23.01
$GC,13565,1.19,97.7,965.8,7.9,288,13567,0.20,0.00,0.00,0.000,6,0.169,0.000,3384,1576,1912,0,0,0,0,0,0,25.84,28.83,28.83
$GC,13925,1.08,97.7,938.2,7.7,291,13932,0.12,2.65,0.00,0.000,4,0.181,0.035,3353,3204,1907,0,0,0,0,0,0,26.16,26.20,28.83
$GC,14035,0.98,97.7,938.2,7.7,291,14043,0.15,2.53,0.00,0.000,6,0.151,0.031,3318,1583,1907,0,0,0,0,0,0,25.73,26.25,28.83
$GC,14405,0.96,114.3,910.0,5.8,295,14424,0.00,2.70,13.70,1.520,4,0.000,0.035,3317,3206,1853,0,0,0,0,0,0,28.83,26.03,23.85
$GC,14504,0.95,130.8,910.0,5.8,295,14526,0.00,2.55,16.88,1.530,6,0.000,0.030,3328,1578,1785,0,0,0,0,0,0,28.83,26.13,23.67
$GC,14866,0.99,160.9,886.3,5.2,299,14903,0.00,2.72,28.38,1.565,4,0.000,0.036,3328,3201,1663,0,0,0,0,0,0,28.83,25.58,23.56
$GC,15034,1.01,184.0,878.5,5.5,300,15063,0.00,2.55,22.38,1.546,6,0.000,0.030,3340,1577,1569,0,0,0,0,0,0,28.83,26.06,23.58
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$STATE,24822,end climb,SURFACE_DEPTH_REACHED
$STATE,24822,begin surface coast
$FINISH,1.4,1.025789
$STATE,24843,end surface coast,CONTROL_FINISHED_OK
$STATE,24843,begin surface
$SM_CCo,24868,47.15,0.122,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7568224
$TM_FREEKB,4370592
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$10V_AH,10.1,78.317
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.725,211.150,270.050,47.150,0.000,25.200,35.789,219.169,0.000,0.000,20.479,2028.572,20239.602,687.732,1914.967,625.463,33.291,1595.902,0.000,1530.346,0.000,0.536,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.769,13.420,0.000,0.000
$MEM,343708
$DATA_FILE_SIZE,13416,499
$CAP_FILE_SIZE,182323,0
$CFSIZE,260034560,203235328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250213,030628,2430.190,-3748.283,36,0.7,36,-14.0