version: 66.11
glider: 189
mission: 7
dive: 398
start: 1 17 113 11 18 54
data:
$ID,189
$MISSION,7
$DIVE,398
$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,-48154.852
$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
$GPS1,170113,110835,2435.121,-3750.226,34,0.8,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-54.6
$GPS2,170113,111754,2435.145,-3750.222,20,0.8,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.024,-0.118
$KALMAN_X,218088.4,61.7,-221.3,-198279.7,333.1
$KALMAN_Y,-51918.3,-153.7,-240.1,51436.0,1119.3
$MHEAD_RNG_PITCHd_Wd,182.7,8430,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-10.62,0.000,2,0.000,0.000,153,2120,1406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,8.90,2.50,-50.40,0.000,4,0.177,0.052,2588,551,2719,0,0,0,0,0,0,25.48,25.95,26.69
$GC,304,-1.15,-97.7,16.2,-7.7,28,314,0.15,2.47,0.00,0.000,6,0.138,0.024,2624,2184,2719,0,0,0,0,0,0,25.75,26.29,28.83
$GC,614,-1.13,-97.7,37.1,-7.2,59,623,0.00,2.53,0.00,0.000,4,0.000,0.041,2614,3744,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,784,-1.08,-97.7,49.4,-7.6,76,793,0.10,2.45,0.00,0.000,6,0.134,0.021,2646,2091,2720,0,0,0,0,0,0,26.02,26.44,28.83
$GC,1094,-1.08,-97.7,73.5,-7.4,107,1103,0.00,2.67,0.00,0.000,4,0.000,0.040,2635,3750,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1163,-1.08,-97.7,78.3,-8.1,111,1171,0.00,2.47,0.00,0.000,6,0.000,0.021,2635,2095,2721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1485,-1.08,-97.7,105.9,-9.1,122,1491,0.00,2.65,0.00,0.000,4,0.000,0.040,2624,3746,2721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1784,-1.08,-97.7,129.5,-7.8,132,1791,0.00,2.45,0.00,0.000,6,0.000,0.021,2623,2097,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2117,-1.08,-97.7,151.1,-6.3,143,2123,0.00,2.62,0.00,0.000,4,0.000,0.040,2611,3757,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2203,-1.08,-97.7,155.1,-6.4,144,2212,0.15,2.47,0.00,0.000,6,0.139,0.020,2649,2085,2722,0,0,0,0,0,0,26.07,26.50,28.83
$GC,2536,-1.11,-97.7,173.5,-4.7,150,2541,0.00,2.38,0.00,0.000,4,0.000,0.038,2652,539,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2654,-1.11,-97.7,177.5,-3.7,152,2662,0.00,2.47,0.00,0.000,6,0.000,0.023,2642,2196,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3015,-1.14,-97.7,191.2,-4.1,158,3021,0.00,2.55,0.00,0.000,4,0.000,0.037,2642,542,2724,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3104,-1.14,-97.7,194.7,-4.7,159,3111,0.00,2.47,0.00,0.000,6,0.000,0.023,2629,2194,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3434,-1.14,-97.7,220.0,-7.3,165,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2194,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3734,-1.14,-97.7,241.2,-7.0,170,3741,0.00,2.50,0.00,0.000,4,0.000,0.041,2618,3745,2723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3844,-1.14,-97.7,245.0,-6.8,171,3853,0.00,2.45,0.00,0.000,6,0.000,0.021,2618,2093,2722,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4154,-1.14,-97.7,266.3,-5.8,177,4162,0.00,2.65,0.00,0.000,4,0.000,0.039,2606,3743,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4253,-1.14,-97.7,270.1,-5.9,178,4261,0.00,2.45,0.00,0.000,6,0.000,0.021,2606,2099,2722,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4575,-1.14,-97.7,295.6,-7.3,184,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2100,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4874,-1.14,-97.7,318.5,-7.7,189,4881,0.00,2.65,0.00,0.000,4,0.000,0.040,2594,3739,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5174,-1.12,-97.7,341.0,-7.4,194,5182,0.10,2.42,0.00,0.000,6,0.125,0.021,2629,2100,2721,0,0,0,0,0,0,26.10,26.49,28.83
$GC,5535,-1.15,-97.7,362.8,-6.1,200,5541,0.00,2.45,0.00,0.000,4,0.000,0.039,2629,549,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5615,-1.18,-97.7,367.1,-6.4,201,5622,0.00,2.45,0.00,0.000,6,0.000,0.024,2618,2183,2720,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5954,-1.20,-97.7,395.9,-8.3,207,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2183,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6255,-1.23,-97.7,422.2,-8.8,212,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2184,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,-1.25,-97.7,447.6,-8.4,217,6561,0.00,2.50,0.00,0.000,4,0.000,0.042,2607,3747,2718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6674,-1.25,-97.7,457.5,-8.3,219,6681,0.00,2.45,0.00,0.000,6,0.000,0.021,2606,2103,2718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7034,-1.25,-97.7,485.9,-7.9,225,7041,0.00,2.65,0.00,0.000,4,0.000,0.041,2595,3739,2717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7123,-1.25,-97.7,490.6,-7.9,226,7131,0.00,2.45,0.00,0.000,6,0.000,0.021,2595,2104,2717,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7514,-1.25,-97.7,519.5,-6.8,231,7521,0.00,2.45,0.00,0.000,4,0.000,0.038,2595,548,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7613,-1.25,-97.7,519.5,-6.8,231,7621,0.00,2.53,0.00,0.000,6,0.000,0.024,2586,2187,2715,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7995,-1.25,-97.7,558.1,-8.0,235,8001,0.00,2.53,0.00,0.000,4,0.000,0.042,2571,3749,2714,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8173,-1.25,-97.7,568.6,-8.3,236,8181,0.00,2.47,0.00,0.000,6,0.000,0.022,2571,2101,2714,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8594,-1.25,-97.7,610.0,-8.7,240,8602,0.00,2.65,0.00,0.000,4,0.000,0.042,2559,3738,2713,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8664,-1.25,-97.7,610.0,-8.7,240,8672,0.15,2.45,0.00,0.000,6,0.147,0.022,2598,2101,2713,0,0,0,0,0,0,26.01,26.46,28.83
$GC,9074,-1.25,-97.7,645.3,-7.3,244,9082,0.00,2.67,0.00,0.000,4,0.000,0.042,2588,3747,2712,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9253,-1.25,-97.7,654.9,-7.4,245,9261,0.00,2.47,0.00,0.000,6,0.000,0.022,2588,2106,2711,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9675,-1.25,-97.7,689.6,-7.2,249,9681,0.00,2.60,0.00,0.000,4,0.000,0.042,2576,3746,2710,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9743,-1.25,-97.7,689.6,-7.2,249,9750,0.00,2.47,0.00,0.000,6,0.000,0.022,2576,2102,2709,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10155,-1.25,-97.7,719.0,-6.1,253,10161,0.00,2.45,0.00,0.000,4,0.000,0.040,2576,551,2709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10206,-1.25,-97.7,719.0,-6.1,253,10212,0.12,2.42,0.00,0.000,6,0.161,0.025,2595,2188,2708,0,0,0,0,0,0,26.01,26.39,28.83
$GC,10515,-1.27,-97.7,741.8,-6.2,256,10522,0.00,2.60,0.00,0.000,4,0.000,0.039,2595,548,2708,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10595,-1.30,-97.7,741.8,-6.2,256,10601,0.00,2.47,0.00,0.000,6,0.000,0.025,2585,2185,2708,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10994,-1.32,-97.7,779.1,-7.8,260,11002,0.00,2.53,0.00,0.000,4,0.000,0.044,2573,3742,2707,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11083,-1.34,-97.7,779.1,-7.8,260,11091,0.00,2.47,0.00,0.000,6,0.000,0.023,2573,2106,2706,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11475,-1.34,-97.7,817.6,-8.0,264,11482,0.00,2.65,0.00,0.000,4,0.000,0.043,2562,3744,2705,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11623,-1.34,-97.7,828.1,-8.1,265,11631,0.00,2.47,0.00,0.000,6,0.000,0.023,2561,2107,2704,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11954,-1.34,-97.7,859.4,-8.7,268,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2107,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12315,-1.34,-97.7,889.4,-8.4,271,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2108,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12674,-1.34,-97.7,916.2,-7.6,274,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2108,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13034,-1.34,-97.7,942.7,-7.3,277,13042,0.00,2.50,0.00,0.000,4,0.000,0.041,2561,556,2700,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13113,-1.34,-97.7,942.7,-7.3,277,13121,0.00,2.50,0.00,0.000,6,0.000,0.025,2549,2187,2700,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13515,-1.34,-97.7,982.7,-8.3,281,13522,0.00,2.55,0.00,0.000,4,0.000,0.045,2538,3742,2699,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13583,-1.34,-97.7,982.7,-8.3,281,13591,0.00,2.50,0.00,0.000,6,0.000,0.024,2538,2100,2699,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,13631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13631,begin apogee
$GC,13639,-0.29,0.0,993.8,-8.6,282,13734,1.17,0.03,85.68,1.678,6,0.132,0.075,2899,1614,2320,0,0,0,0,0,0,25.07,24.42,23.04
$STATE,13735,end apogee,CONTROL_FINISHED_OK
$STATE,13736,begin climb
$GC,13739,1.26,97.7,998.7,0.0,287,13836,1.45,0.00,92.47,1.681,6,0.063,0.000,3410,1615,1920,0,0,0,0,0,0,25.27,28.83,22.99
$GC,14195,1.12,97.7,976.3,6.9,305,14202,0.17,2.00,0.00,0.000,4,0.167,0.048,3373,346,1908,0,0,0,0,0,0,25.90,26.11,28.83
$GC,14333,0.99,97.7,967.7,7.0,306,14341,0.20,1.98,0.00,0.000,6,0.161,0.024,3322,1661,1907,0,0,0,0,0,0,25.83,26.37,28.83
$GC,14675,0.91,97.7,943.4,6.8,309,14681,0.00,2.45,0.00,0.000,4,0.000,0.037,3322,3208,1905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14794,0.84,97.7,935.0,6.8,310,14802,0.17,2.55,0.00,0.000,6,0.146,0.031,3279,1574,1905,0,0,0,0,0,0,25.82,26.32,28.83
$GC,15154,0.86,108.4,913.6,6.2,313,15167,0.00,2.00,7.85,1.449,4,0.000,0.050,3286,354,1878,0,0,0,0,0,0,28.83,26.17,23.96
$GC,15349,0.88,123.1,906.8,6.0,314,15369,0.00,1.90,15.10,1.554,6,0.000,0.026,3287,1651,1818,0,0,0,0,0,0,28.83,26.39,23.92
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$STATE,25606,end climb,SURFACE_DEPTH_REACHED
$STATE,25606,begin surface coast
$FINISH,1.3,1.025623
$STATE,25637,end surface coast,CONTROL_FINISHED_OK
$STATE,25637,begin surface
$SM_CCo,25661,39.15,0.127,0,0,1095,300.00
$SM_GC,2.24,8.52,0.93,39.15,0.036,0.029,0.127,153,2182,1095,-8.83,-0.62,300.00,0,0,0,0,0,0,26.34,26.45,25.18
$IRIDIUM_FIX,2418.11,-3750.42,170113,030344
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7617024
$TM_FREEKB,4917312
$24V_AH,23.0,70.257
$10V_AH,9.8,61.591
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.825,202.125,290.300,39.150,0.000,27.680,37.408,215.118,0.000,0.000,20.962,2100.619,20958.133,718.252,1951.705,517.669,33.265,1632.443,0.000,1564.911,0.000,0.536,0.000
$DEVICE_MAMPS,177.480,97.155,1680.705,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25645.000,2657.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.785,13.440,0.000,0.000
$MEM,343676
$DATA_FILE_SIZE,13400,524
$CAP_FILE_SIZE,185596,0
$CFSIZE,260034560,214433792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170113,182834,2434.585,-3749.623,40,0.8,41,-14.0