version: 66.11
glider: 189
mission: 7
dive: 359
start: 1 5 113 13 57 15
data:
$ID,189
$MISSION,7
$DIVE,359
$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,-48105.449
$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
$GPS1,050113,134452,2430.168,-3742.285,39,0.7,40,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-62.4
$GPS2,050113,135617,2430.186,-3742.292,17,1.0,17,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,-0.036
$KALMAN_X,187722.4,-535.2,-806.7,-153355.0,6185.5
$KALMAN_Y,-92771.8,112.3,331.9,82265.4,480.0
$MHEAD_RNG_PITCHd_Wd,266.4,33938,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.65,0.000,2,0.000,0.000,151,2124,1436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.15,2.53,-48.70,0.000,4,0.188,0.053,2587,544,2720,0,0,0,0,0,0,25.44,25.99,26.67
$GC,394,-1.16,-97.7,27.2,-9.2,37,403,0.15,2.47,0.00,0.000,6,0.139,0.024,2624,2185,2721,0,0,0,0,0,0,25.77,26.34,28.83
$GC,704,-1.13,-97.7,53.9,-9.0,68,713,0.00,2.50,0.00,0.000,4,0.000,0.041,2614,3748,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,847,-1.09,-97.7,65.9,-8.3,82,854,0.12,2.40,0.00,0.000,6,0.149,0.021,2646,2091,2723,0,0,0,0,0,0,26.09,26.46,28.83
$GC,1174,-1.09,-97.7,88.2,-6.1,101,1181,0.00,2.65,0.00,0.000,4,0.000,0.039,2641,3752,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1474,-1.07,-97.7,107.8,-6.8,111,1481,0.00,2.45,0.00,0.000,6,0.000,0.021,2635,2098,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1807,-1.07,-97.7,129.6,-6.5,122,1812,0.00,2.60,0.00,0.000,4,0.000,0.039,2623,3756,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2105,-1.05,-97.7,148.8,-6.2,132,2112,0.10,2.45,0.00,0.000,6,0.126,0.021,2657,2090,2724,0,0,0,0,0,0,26.13,26.53,28.83
$GC,2434,-1.07,-97.7,170.4,-6.7,138,2441,0.00,2.42,0.00,0.000,4,0.000,0.037,2657,548,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2734,-1.07,-97.7,189.2,-6.2,143,2741,0.00,2.45,0.00,0.000,6,0.000,0.023,2647,2190,2724,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3095,-1.09,-97.7,209.3,-5.6,149,3101,0.00,2.47,0.00,0.000,4,0.000,0.040,2635,3746,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3254,-1.09,-97.7,216.7,-6.0,151,3262,0.00,2.42,0.00,0.000,6,0.000,0.020,2635,2104,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3574,-1.09,-97.7,239.0,-6.3,157,3581,0.00,2.62,0.00,0.000,4,0.000,0.038,2623,3746,2724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3863,-1.09,-97.7,255.5,-6.9,161,3872,0.00,2.45,0.00,0.000,6,0.000,0.021,2623,2102,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4175,-1.09,-97.7,279.2,-6.5,167,4181,0.00,2.62,0.00,0.000,4,0.000,0.040,2611,3743,2723,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4475,-1.09,-97.7,299.9,-6.9,172,4482,0.10,2.42,0.00,0.000,6,0.122,0.021,2645,2098,2723,0,0,0,0,0,0,26.15,26.53,28.83
$GC,4834,-1.13,-97.7,324.5,-6.9,178,4841,0.00,2.62,0.00,0.000,4,0.000,0.040,2634,3746,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4923,-1.17,-97.7,328.8,-7.1,179,4931,0.00,2.47,0.00,0.000,6,0.000,0.021,2634,2088,2722,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5255,-1.19,-97.7,355.8,-7.4,185,5261,0.00,2.60,0.00,0.000,4,0.000,0.040,2622,3749,2721,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5505,-1.19,-97.7,372.8,-7.1,189,5512,0.00,2.45,0.00,0.000,6,0.000,0.021,2622,2095,2721,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5855,-1.19,-97.7,394.7,-6.0,195,5862,0.00,2.65,0.00,0.000,4,0.000,0.041,2610,3749,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6154,-1.19,-97.7,416.6,-7.4,200,6162,0.00,2.47,0.00,0.000,6,0.000,0.021,2610,2096,2720,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6515,-1.19,-97.7,447.7,-8.8,206,6521,0.00,2.60,0.00,0.000,4,0.000,0.041,2599,3748,2719,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6814,-1.19,-97.7,473.4,-8.4,211,6821,0.00,2.47,0.00,0.000,6,0.000,0.021,2598,2097,2718,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7175,-1.19,-97.7,497.2,-6.4,217,7181,0.00,2.62,0.00,0.000,4,0.000,0.041,2587,3755,2717,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7473,-1.19,-97.7,512.0,-6.2,220,7481,0.12,2.47,0.00,0.000,6,0.147,0.021,2619,2100,2716,0,0,0,0,0,0,26.15,26.51,28.83
$GC,7896,-1.22,-97.7,541.9,-6.2,224,7901,0.00,2.62,0.00,0.000,4,0.000,0.041,2608,3757,2715,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8194,-1.24,-97.7,558.4,-6.6,226,8201,0.00,2.45,0.00,0.000,6,0.000,0.021,2608,2109,2714,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8616,-1.26,-97.7,590.9,-6.7,230,8621,0.00,2.60,0.00,0.000,4,0.000,0.041,2595,3758,2714,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8914,-1.26,-97.7,609.4,-7.3,232,8921,0.00,2.47,0.00,0.000,6,0.000,0.021,2596,2102,2713,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9335,-1.26,-97.7,646.0,-7.6,236,9341,0.00,2.62,0.00,0.000,4,0.000,0.042,2583,3757,2711,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9633,-1.26,-97.7,663.9,-7.5,238,9641,0.00,2.47,0.00,0.000,6,0.000,0.021,2583,2105,2711,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10055,-1.26,-97.7,700.1,-7.5,242,10061,0.00,2.60,0.00,0.000,4,0.000,0.041,2571,3748,2709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10353,-1.26,-97.7,720.1,-8.0,244,10361,0.00,2.47,0.00,0.000,6,0.000,0.022,2572,2104,2708,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10775,-1.26,-97.7,759.5,-8.2,248,10781,0.00,2.58,0.00,0.000,4,0.000,0.041,2559,3748,2707,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11073,-1.26,-97.7,779.3,-8.2,250,11081,0.12,2.47,0.00,0.000,6,0.152,0.022,2590,2102,2706,0,0,0,0,0,0,26.08,26.46,28.83
$GC,11495,-1.26,-97.7,818.4,-8.1,254,11501,0.00,2.60,0.00,0.000,4,0.000,0.043,2580,3746,2705,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11755,-1.26,-97.7,841.1,-8.8,256,11761,0.00,2.45,0.00,0.000,6,0.000,0.024,2580,2113,2704,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12094,-1.26,-97.7,877.3,-10.0,259,12102,0.00,2.65,0.00,0.000,4,0.000,0.043,2568,3748,2703,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12264,-1.26,-97.7,889.4,-10.1,260,12271,0.00,2.50,0.00,0.000,6,0.000,0.023,2568,2097,2703,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12574,-1.26,-97.7,921.8,-9.3,263,12581,0.00,2.67,0.00,0.000,4,0.000,0.042,2556,3742,2702,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12873,-1.26,-97.7,940.6,-8.2,265,12881,0.15,2.47,0.00,0.000,6,0.147,0.023,2596,2106,2701,0,0,0,0,0,0,25.96,26.42,28.83
$GC,13295,-1.29,-97.7,969.6,-6.0,269,13301,0.00,2.62,0.00,0.000,4,0.000,0.043,2586,3749,2699,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13556,-1.32,-97.7,984.1,-5.9,271,13562,0.00,2.42,0.00,0.000,6,0.000,0.024,2585,2111,2699,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,13652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13652,begin apogee
$GC,13659,-0.29,0.0,991.5,-6.0,272,13753,1.00,0.00,85.70,1.657,6,0.126,0.000,2900,1574,2321,0,0,0,0,0,0,25.23,28.83,23.09
$STATE,13755,end apogee,CONTROL_FINISHED_OK
$STATE,13755,begin climb
$GC,13759,1.26,97.7,994.0,0.0,277,13858,1.42,2.12,92.12,1.653,4,0.065,0.047,3417,347,1920,0,0,0,0,0,0,25.25,24.81,23.08
$GC,14007,1.10,97.7,980.3,8.3,289,14015,0.20,2.00,0.00,0.000,6,0.151,0.024,3358,1656,1911,0,0,0,0,0,0,25.60,26.07,28.83
$GC,14367,0.99,97.7,956.1,6.8,292,14369,0.15,0.00,0.00,0.000,6,0.171,0.000,3318,1656,1907,0,0,0,0,0,0,26.03,28.83,28.83
$GC,14727,0.96,122.8,937.0,5.5,295,14755,0.00,2.12,21.33,1.574,4,0.000,0.048,3327,349,1818,0,0,0,0,0,0,28.83,25.78,23.90
$GC,14908,0.95,150.0,930.0,5.4,296,14939,0.00,1.95,26.05,1.584,6,0.000,0.024,3327,1645,1707,0,0,0,0,0,0,28.83,26.25,23.72
$GC,15318,0.93,150.9,899.0,6.6,300,15325,0.00,2.10,0.00,0.000,4,0.000,0.049,3336,346,1702,0,0,0,0,0,0,28.83,26.13,28.83
$GC,15617,0.90,150.9,882.9,6.7,302,15625,0.17,2.00,0.00,0.000,6,0.148,0.026,3290,1656,1700,0,0,0,0,0,0,25.98,26.45,28.83
$GC,16038,0.91,160.6,853.0,6.2,306,16055,0.00,2.12,9.73,1.451,4,0.000,0.050,3297,360,1664,0,0,0,0,0,0,28.83,26.15,24.12
$GC,16259,0.94,161.9,843.6,6.6,307,16265,0.00,1.95,0.00,0.000,6,0.000,0.026,3298,1649,1662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,16637,0.94,161.9,801.5,8.8,311,16645,0.00,2.12,0.00,0.000,4,0.000,0.048,3308,347,1662,0,0,0,0,0,0,28.83,26.19,28.83
$GC,16758,0.94,161.9,789.9,9.1,312,16765,0.00,1.95,0.00,0.000,6,0.000,0.025,3308,1654,1661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,17117,0.94,161.9,756.1,9.5,315,17118,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1654,1661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17478,0.96,161.9,726.0,8.6,318,17485,0.00,2.10,0.00,0.000,4,0.000,0.048,3318,353,1660,0,0,0,0,0,0,28.83,26.17,28.83
$GC,17547,0.99,161.9,726.0,8.6,318,17555,0.00,1.95,0.00,0.000,6,0.000,0.026,3318,1648,1663,0,0,0,0,0,0,28.83,26.50,28.83
$GC,17957,0.99,161.9,690.7,7.3,322,17965,0.00,2.10,0.00,0.000,4,0.000,0.048,3327,354,1660,0,0,0,0,0,0,28.83,26.16,28.83
$GC,18219,0.99,161.9,673.6,7.1,324,18225,0.00,1.90,0.00,0.000,6,0.000,0.026,3327,1660,1660,0,0,0,0,0,0,28.83,26.50,28.83
$GC,18558,1.00,167.2,651.2,6.4,327,18566,0.00,0.00,6.62,1.261,6,0.000,0.000,3327,1661,1637,0,0,0,0,0,0,28.83,28.83,24.03
$GC,18918,1.02,184.1,630.1,5.9,330,18937,0.00,0.00,17.12,1.408,6,0.000,0.000,3327,1661,1565,0,0,0,0,0,0,28.83,28.83,24.06
$GC,19278,1.03,197.1,607.9,6.1,333,19296,0.00,2.17,12.88,1.375,4,0.000,0.048,3337,356,1515,0,0,0,0,0,0,28.83,25.94,24.10
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$STATE,25966,end climb,SURFACE_DEPTH_REACHED
$STATE,25966,begin surface coast
$FINISH,1.2,1.020473
$STATE,26000,end surface coast,CONTROL_FINISHED_OK
$STATE,26000,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,60.98
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$XPDR_PINGS,0
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$TM_FREEKB,5080928
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$10V_AH,10.0,56.051
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.000,193.875,278.300,42.500,0.000,63.828,87.018,198.794,0.000,0.000,18.364,2523.125,20489.422,674.859,2529.662,516.530,33.267,1786.883,0.000,2055.103,0.000,0.535,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.821,13.487,0.000,0.000
$MEM,344320
$DATA_FILE_SIZE,13439,521
$CAP_FILE_SIZE,195524,0
$CFSIZE,260034560,217968640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050113,211300,2430.994,-3742.905,40,1.5,40,-13.9