version: 66.11
glider: 189
mission: 7
dive: 127
start: 10 22 112 3 51 28
data:
$ID,189
$MISSION,7
$DIVE,127
$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,-47602.426
$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
$GPS1,221012,034205,2442.007,-3810.029,35,1.0,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-59.1
$GPS2,221012,035029,2442.022,-3810.075,14,1.3,14,-14.0
$SPEED_LIMITS,0.106,0.203
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.172,0.107
$KALMAN_X,23421.7,112.7,-61.7,-37244.0,886.3
$KALMAN_Y,102114.3,-1.6,296.0,-90554.5,731.6
$MHEAD_RNG_PITCHd_Wd,315.8,15240,-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,22,-0.86,-146.6,0.0,0.0,0,46,0.00,0.00,-22.27,0.000,2,0.000,0.000,162,1832,1547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.86,-146.6,2.0,0.0,2,118,9.73,2.58,-52.50,0.000,4,0.205,0.052,2714,3449,2918,0,0,0,0,0,0,25.84,26.20,26.65
$GC,346,-0.70,-146.6,22.8,-9.7,32,356,0.20,2.47,0.00,0.000,6,0.135,0.024,2770,1825,2919,0,0,0,0,0,0,25.96,26.35,28.83
$GC,656,-0.60,-146.6,47.7,-9.3,63,666,0.12,2.55,0.00,0.000,4,0.146,0.037,2796,3458,2920,0,0,0,0,0,0,26.35,26.32,28.83
$GC,806,-0.54,-146.6,61.3,-8.8,78,815,0.00,2.47,0.00,0.000,6,0.000,0.024,2796,1825,2919,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1126,-0.50,-146.6,83.1,-6.5,102,1135,0.15,2.55,0.00,0.000,4,0.128,0.037,2831,3463,2920,0,0,0,0,0,0,26.41,26.39,28.83
$GC,1366,-0.50,-146.6,99.6,-7.0,110,1373,0.00,2.47,0.00,0.000,6,0.000,0.022,2831,1821,2921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1697,-0.50,-146.6,120.1,-5.7,121,1705,0.00,2.53,0.00,0.000,4,0.000,0.037,2824,3456,2921,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1825,-0.50,-146.6,126.0,-5.0,125,1829,0.00,2.45,0.00,0.000,6,0.000,0.023,2819,1824,2922,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2137,-0.50,-146.6,140.8,-5.1,136,2145,0.00,2.33,0.00,0.000,4,0.000,0.041,2819,342,2921,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2216,-0.50,-146.6,144.4,-5.7,138,2221,0.12,2.33,0.00,0.000,6,0.135,0.024,2845,1897,2922,0,0,0,0,0,0,26.34,26.59,28.83
$GC,2517,-0.54,-146.6,155.6,-2.9,145,2525,0.00,2.38,0.00,0.000,4,0.000,0.038,2835,3445,2922,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2616,-0.57,-146.6,157.4,-2.8,146,2620,0.00,2.45,0.00,0.000,6,0.000,0.023,2835,1816,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2929,-0.60,-146.6,172.8,-4.8,152,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1816,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3228,-0.63,-146.6,193.8,-7.1,157,3237,0.12,2.53,0.00,0.000,4,0.079,0.037,2747,3451,2921,0,0,0,0,0,0,26.76,26.48,28.83
$GC,3409,-0.61,-146.6,209.7,-8.6,160,3417,0.15,2.42,0.00,0.000,6,0.109,0.024,2800,1825,2920,0,0,0,0,0,0,26.25,26.60,28.83
$GC,3768,-0.61,-146.6,227.1,-4.3,166,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1825,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4068,-0.61,-146.6,238.0,-3.7,171,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1825,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-0.61,-146.6,254.3,-5.6,176,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1825,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4668,-0.61,-146.6,274.0,-6.6,181,4675,0.00,2.55,0.00,0.000,4,0.000,0.039,2789,3454,2917,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4807,-0.61,-146.6,281.8,-6.5,183,4811,0.00,2.47,0.00,0.000,6,0.000,0.024,2789,1821,2917,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5139,-0.61,-146.6,301.4,-5.4,189,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1821,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5438,-0.61,-146.6,316.5,-5.0,194,5446,0.00,2.55,0.00,0.000,4,0.000,0.039,2779,3451,2915,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5527,-0.61,-146.6,319.7,-5.0,195,5531,0.00,2.47,0.00,0.000,6,0.000,0.024,2776,1817,2918,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5849,-0.61,-146.6,341.0,-6.2,201,5856,0.00,2.33,0.00,0.000,4,0.000,0.042,2776,345,2915,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5937,-0.61,-146.6,345.2,-6.4,202,5942,0.12,2.33,0.00,0.000,6,0.139,0.024,2802,1888,2914,0,0,0,0,0,0,26.34,26.60,28.83
$GC,6260,-0.63,-146.6,366.2,-5.7,208,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1888,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6561,-0.66,-146.6,380.9,-4.8,213,6568,0.00,2.42,0.00,0.000,4,0.000,0.040,2792,3453,2911,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6689,-0.69,-146.6,387.1,-5.0,215,6694,0.00,2.47,0.00,0.000,6,0.000,0.024,2792,1821,2911,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7031,-0.69,-146.6,408.1,-6.1,221,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1820,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7331,-0.69,-146.6,428.3,-6.8,226,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1820,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7631,-0.71,-146.6,448.7,-6.9,231,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1824,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.73,-146.6,468.0,-6.4,236,7939,0.00,2.58,0.00,0.000,4,0.000,0.040,2780,3463,2908,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8040,-0.75,-146.6,471.8,-6.4,237,8045,0.00,2.47,0.00,0.000,6,0.000,0.024,2780,1828,2907,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8341,-0.75,-146.6,494.2,-6.3,242,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1828,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8701,-0.75,-146.6,515.4,-5.9,246,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1827,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9061,-0.75,-146.6,534.7,-5.4,249,9069,0.00,2.55,0.00,0.000,4,0.000,0.041,2768,3449,2904,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9150,-0.75,-146.6,534.7,-5.4,249,9154,0.00,2.47,0.00,0.000,6,0.000,0.024,2768,1823,2903,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9532,-0.75,-146.6,564.1,-6.2,253,9539,0.00,2.58,0.00,0.000,4,0.000,0.040,2757,3461,2902,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9672,-0.75,-146.6,572.6,-6.6,254,9680,0.00,2.50,0.00,0.000,6,0.000,0.024,2757,1818,2902,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10012,-0.75,-146.6,598.4,-7.2,257,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1818,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10372,-0.75,-146.6,621.5,-6.6,260,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1818,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10732,-0.75,-146.6,645.0,-6.4,263,10740,0.00,2.60,0.00,0.000,4,0.000,0.041,2750,3460,2899,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10840,-0.75,-146.6,645.0,-6.4,263,10845,0.00,2.50,0.00,0.000,6,0.000,0.025,2745,1822,2899,0,0,0,0,0,0,28.83,26.54,28.83
$GC,11201,-0.75,-146.6,679.8,-7.2,266,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1821,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11561,-0.75,-146.6,706.9,-7.6,269,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1821,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11922,-0.75,-146.6,730.2,-6.7,272,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1821,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12282,-0.75,-146.6,749.9,-5.7,275,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1821,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12642,-0.75,-146.6,769.1,-5.2,278,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1821,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13001,-0.75,-146.6,792.4,-6.3,281,13009,0.00,2.60,0.00,0.000,4,0.000,0.043,2733,3452,2893,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13211,-0.75,-146.6,801.1,-6.7,282,13215,0.00,2.50,0.00,0.000,6,0.000,0.026,2733,1824,2892,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13592,-0.75,-146.6,835.7,-7.4,286,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1822,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13953,-0.75,-146.6,859.5,-6.7,289,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1824,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14312,-0.75,-146.6,883.6,-6.7,292,14320,0.00,2.60,0.00,0.000,4,0.000,0.044,2720,3449,2890,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14391,-0.75,-146.6,883.6,-6.7,292,14396,0.12,2.50,0.00,0.000,6,0.136,0.027,2755,1825,2890,0,0,0,0,0,0,26.20,26.47,28.83
$GC,14783,-0.75,-146.6,912.9,-6.2,296,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1825,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15144,-0.78,-146.6,933.7,-5.8,299,15152,0.00,2.35,0.00,0.000,4,0.000,0.047,2756,358,2888,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15223,-0.80,-146.6,933.7,-5.8,299,15231,0.00,2.35,0.00,0.000,6,0.000,0.027,2747,1888,2888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15624,-0.80,-146.6,960.9,-5.6,303,15625,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1889,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15984,-0.80,-146.6,981.7,-5.7,306,15992,0.00,2.50,0.00,0.000,4,0.000,0.044,2735,3452,2886,0,0,0,0,0,0,28.83,26.23,28.83
$GC,16072,-0.80,-146.6,981.7,-5.7,306,16077,0.00,2.50,0.00,0.000,6,0.000,0.028,2735,1833,2886,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,16212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16213,begin apogee
$GC,16217,-0.29,0.0,995.3,-5.9,308,16343,0.50,0.00,120.57,1.688,6,0.107,0.000,2905,1838,2319,0,0,0,0,0,0,25.89,28.83,23.73
$STATE,16345,end apogee,CONTROL_FINISHED_OK
$STATE,16345,begin climb
$GC,16347,0.86,146.6,997.4,0.0,309,16481,1.05,0.00,130.05,1.665,6,0.069,0.000,3275,1832,1721,0,0,0,0,0,0,24.95,28.83,23.39
$GC,16815,0.72,146.6,956.3,10.4,313,16817,0.15,0.00,0.00,0.000,6,0.154,0.000,3235,1832,1713,0,0,0,0,0,0,25.78,28.83,28.83
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$STATE,29370,end climb,SURFACE_DEPTH_REACHED
$STATE,29370,begin surface coast
$FINISH,0.8,1.022159
$STATE,29401,end surface coast,CONTROL_FINISHED_OK
$STATE,29401,begin surface
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$TCM_TEMP,24.40
$XPDR_PINGS,0
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$TM_FREEKB,6778368
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$10V_AH,10.3,21.706
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344492
$DATA_FILE_SIZE,13397,554
$CAP_FILE_SIZE,189704,0
$CFSIZE,260034560,241467392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221012,120401,2444.729,-3812.808,41,0.9,41,-14.0