version: 66.11
glider: 189
mission: 7
dive: 449
start: 2 1 113 23 29 18
data:
$ID,189
$MISSION,7
$DIVE,449
$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,-48218.969
$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
$GPS1,010213,231906,2430.972,-3747.418,27,1.0,27,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-55.7
$GPS2,010213,232817,2431.030,-3747.433,16,0.8,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.067,-0.094
$KALMAN_X,218144.4,268.6,-539.9,-193518.1,-278.2
$KALMAN_Y,47511.0,79.2,-181.1,-55908.9,1385.2
$MHEAD_RNG_PITCHd_Wd,229.4,1354,-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,-90.7,0.0,0.0,0,35,0.00,0.00,-11.32,0.000,2,0.000,0.000,153,2126,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.1,0.0,1,105,8.85,2.53,-50.12,0.000,4,0.176,0.051,2566,546,2720,0,0,0,0,0,0,25.31,25.94,26.71
$GC,395,-1.22,-97.7,20.0,-9.8,37,404,0.15,2.47,0.00,0.000,6,0.139,0.024,2602,2188,2720,0,0,0,0,0,0,25.75,26.33,28.83
$GC,706,-1.19,-97.7,48.2,-6.7,68,714,0.00,2.53,0.00,0.000,4,0.000,0.041,2592,3777,2720,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1006,-1.15,-97.7,75.4,-8.6,98,1013,0.10,2.50,0.00,0.000,6,0.128,0.021,2625,2094,2721,0,0,0,0,0,0,26.04,26.45,28.83
$GC,1338,-1.15,-97.7,99.8,-7.3,109,1343,0.00,2.65,0.00,0.000,4,0.000,0.039,2614,3757,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1584,-1.15,-97.7,117.1,-7.2,117,1592,0.00,2.47,0.00,0.000,6,0.000,0.021,2614,2098,2722,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1906,-1.15,-97.7,141.6,-7.6,128,1912,0.00,2.62,0.00,0.000,4,0.000,0.039,2602,3758,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2044,-1.15,-97.7,150.3,-7.3,132,2052,0.00,2.47,0.00,0.000,6,0.000,0.020,2602,2093,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2386,-1.15,-97.7,175.1,-6.8,138,2392,0.00,2.42,0.00,0.000,4,0.000,0.037,2602,546,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2454,-1.15,-97.7,179.6,-6.9,139,2462,0.15,2.47,0.00,0.000,6,0.149,0.023,2630,2196,2723,0,0,0,0,0,0,25.99,26.42,28.83
$GC,2806,-1.18,-97.7,205.5,-7.3,145,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2196,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3107,-1.22,-97.7,225.0,-6.4,150,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2196,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3406,-1.27,-97.7,242.3,-5.8,155,3413,0.10,2.55,0.00,0.000,4,0.094,0.036,2577,545,2723,0,0,0,0,0,0,26.66,26.22,28.83
$GC,3534,-1.27,-97.7,251.8,-7.2,157,3542,0.00,2.47,0.00,0.000,6,0.000,0.023,2564,2192,2723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3886,-1.24,-97.7,281.3,-8.6,163,3893,0.15,2.50,0.00,0.000,4,0.151,0.040,2594,3745,2723,0,0,0,0,0,0,26.27,26.19,28.83
$GC,4185,-1.24,-97.7,307.4,-8.7,168,4192,0.00,2.45,0.00,0.000,6,0.000,0.021,2595,2095,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4546,-1.24,-97.7,334.9,-7.4,174,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2095,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4846,-1.24,-97.7,353.3,-6.0,179,4852,0.00,2.67,0.00,0.000,4,0.000,0.040,2583,3745,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4975,-1.24,-97.7,360.1,-5.8,181,4982,0.00,2.45,0.00,0.000,6,0.000,0.021,2583,2099,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5326,-1.24,-97.7,383.1,-6.6,187,5332,0.00,2.65,0.00,0.000,4,0.000,0.040,2570,3742,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5394,-1.24,-97.7,387.7,-7.0,188,5402,0.12,2.45,0.00,0.000,6,0.151,0.021,2602,2095,2720,0,0,0,0,0,0,26.10,26.48,28.83
$GC,5746,-1.27,-97.7,418.0,-8.7,194,5752,0.00,2.40,0.00,0.000,4,0.000,0.038,2602,543,2720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5795,-1.30,-97.7,418.0,-8.7,194,5804,0.00,2.50,0.00,0.000,6,0.000,0.023,2592,2198,2719,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6106,-1.32,-97.7,448.0,-8.0,200,6112,0.00,2.50,0.00,0.000,4,0.000,0.041,2581,3746,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6185,-1.32,-97.7,452.5,-7.8,201,6192,0.00,2.45,0.00,0.000,6,0.000,0.021,2580,2095,2719,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6526,-1.32,-97.7,475.9,-6.2,207,6532,0.00,2.42,0.00,0.000,4,0.000,0.038,2580,552,2718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6575,-1.32,-97.7,475.9,-6.2,207,6584,0.00,2.53,0.00,0.000,6,0.000,0.024,2569,2187,2717,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6886,-1.32,-97.7,496.5,-5.7,213,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2187,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7186,-1.32,-97.7,515.7,-6.3,216,7193,0.00,2.60,0.00,0.000,4,0.000,0.038,2565,549,2715,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7265,-1.32,-97.7,515.7,-6.3,216,7272,0.00,2.47,0.00,0.000,6,0.000,0.024,2556,2194,2715,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7666,-1.32,-97.7,558.0,-8.8,220,7673,0.00,2.53,0.00,0.000,4,0.000,0.043,2545,3745,2714,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7734,-1.32,-97.7,558.0,-8.8,220,7742,0.00,2.47,0.00,0.000,6,0.000,0.021,2545,2094,2713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8145,-1.32,-97.7,599.2,-8.6,224,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2094,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8506,-1.32,-97.7,625.0,-7.3,227,8513,0.00,2.67,0.00,0.000,4,0.000,0.041,2533,3743,2712,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8564,-1.32,-97.7,625.0,-7.3,227,8573,0.15,2.47,0.00,0.000,6,0.149,0.021,2572,2087,2712,0,0,0,0,0,0,25.98,26.44,28.83
$GC,8986,-1.35,-97.7,659.6,-7.2,231,8993,0.00,2.45,0.00,0.000,4,0.000,0.040,2572,543,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9115,-1.37,-97.7,670.2,-7.6,232,9122,0.00,2.47,0.00,0.000,6,0.000,0.024,2561,2182,2710,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9465,-1.37,-97.7,702.7,-9.0,235,9473,0.00,2.58,0.00,0.000,4,0.000,0.038,2562,553,2709,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9534,-1.37,-97.7,702.7,-9.0,235,9542,0.00,2.50,0.00,0.000,6,0.000,0.024,2549,2198,2709,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9946,-1.37,-97.7,745.6,-8.9,239,9953,0.00,2.60,0.00,0.000,4,0.000,0.039,2549,549,2709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10004,-1.37,-97.7,745.6,-8.9,239,10012,0.00,2.50,0.00,0.000,6,0.000,0.024,2538,2193,2708,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10425,-1.37,-97.7,791.0,-9.4,243,10433,0.00,2.53,0.00,0.000,4,0.000,0.043,2526,3743,2706,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10485,-1.37,-97.7,791.0,-9.4,243,10493,0.08,2.45,0.00,0.000,6,0.137,0.022,2551,2096,2707,0,0,0,0,0,0,26.05,26.41,28.83
$GC,10905,-1.37,-97.7,838.1,-9.8,247,10913,0.00,2.45,0.00,0.000,4,0.000,0.041,2551,552,2704,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11065,-1.37,-97.7,849.0,-9.5,248,11072,0.00,2.50,0.00,0.000,6,0.000,0.025,2541,2188,2703,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11386,-1.37,-97.7,875.7,-7.8,251,11392,0.00,2.53,0.00,0.000,4,0.000,0.044,2529,3755,2703,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11444,-1.37,-97.7,875.7,-7.8,251,11452,0.12,2.50,0.00,0.000,6,0.153,0.023,2561,2103,2702,0,0,0,0,0,0,26.00,26.38,28.83
$GC,11866,-1.40,-97.7,906.1,-6.3,255,11872,0.00,2.42,0.00,0.000,4,0.000,0.042,2561,550,2702,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11917,-1.43,-97.7,906.1,-6.3,255,11923,0.00,2.45,0.00,0.000,6,0.000,0.027,2550,2193,2702,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12226,-1.46,-97.7,935.2,-7.7,258,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2193,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12586,-1.49,-97.7,967.0,-8.8,261,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2193,2700,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12862,begin apogee
$GC,12871,-0.29,0.0,990.2,-8.3,265,12965,1.12,0.03,85.75,1.691,6,0.126,0.038,2901,1648,2321,0,0,0,0,0,0,25.13,24.77,22.94
$STATE,12967,end apogee,CONTROL_FINISHED_OK
$STATE,12967,begin climb
$GC,12970,1.33,97.7,993.8,0.0,270,13073,1.45,2.70,92.45,1.677,4,0.059,0.036,3431,3211,1920,0,0,0,0,0,0,25.29,24.96,23.03
$GC,13205,1.18,97.7,984.1,8.3,281,13213,0.17,2.58,0.00,0.000,6,0.158,0.030,3386,1577,1914,0,0,0,0,0,0,25.58,26.01,28.83
$GC,13586,1.08,97.7,954.2,7.5,285,13593,0.15,1.95,0.00,0.000,4,0.167,0.049,3355,360,1907,0,0,0,0,0,0,26.06,26.15,28.83
$GC,13829,1.00,97.7,938.0,7.1,287,13834,0.12,1.90,0.00,0.000,6,0.164,0.025,3325,1665,1905,0,0,0,0,0,0,26.03,26.44,28.83
$GC,14187,0.99,121.8,919.5,5.5,290,14209,0.00,0.00,20.40,1.579,6,0.000,0.000,3324,1665,1823,0,0,0,0,0,0,28.83,28.83,23.80
$GC,14545,1.03,150.4,900.1,5.2,293,14577,0.00,2.22,26.83,1.590,4,0.000,0.050,3333,348,1707,0,0,0,0,0,0,28.83,25.56,23.65
$GC,14665,1.05,169.9,892.6,5.7,294,14693,0.00,2.00,19.23,1.554,6,0.000,0.024,3333,1655,1626,0,0,0,0,0,0,28.83,26.09,23.63
$GC,15017,1.05,169.9,863.6,7.8,297,15023,0.00,2.10,0.00,0.000,4,0.000,0.049,3342,356,1622,0,0,0,0,0,0,28.83,26.08,28.83
$GC,15155,1.05,169.9,852.8,8.3,298,15162,0.00,2.00,0.00,0.000,6,0.000,0.025,3342,1648,1621,0,0,0,0,0,0,28.83,26.39,28.83
$GC,15497,1.05,169.9,822.3,8.6,301,15503,0.00,2.08,0.00,0.000,4,0.000,0.049,3352,361,1619,0,0,0,0,0,0,28.83,26.15,28.83
$GC,15625,1.05,169.9,812.7,8.3,302,15632,0.00,1.95,0.00,0.000,6,0.000,0.026,3352,1654,1619,0,0,0,0,0,0,28.83,26.46,28.83
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$STATE,24913,end climb,SURFACE_DEPTH_REACHED
$STATE,24913,begin surface coast
$FINISH,1.2,1.025726
$STATE,24954,end surface coast,CONTROL_FINISHED_OK
$STATE,24954,begin surface
$SM_CCo,24981,44.17,0.125,0,0,1094,300.00
$SM_GC,2.14,8.60,2.80,44.17,0.037,0.024,0.125,151,2193,1094,-8.83,-0.65,300.00,0,0,0,0,0,0,26.27,26.33,25.48
$IRIDIUM_FIX,2429.95,-3754.79,010213,161628
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.57
$INTERNAL_PRESSURE,9.04597
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7597440
$TM_FREEKB,4693536
$24V_AH,22.9,77.276
$10V_AH,9.9,68.538
$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,21.975,206.500,271.900,44.175,0.000,27.878,48.029,188.293,0.000,0.000,17.200,2160.587,20092.189,702.912,2046.881,561.042,33.263,1677.801,0.000,1687.685,0.000,0.535,0.000
$DEVICE_MAMPS,175.950,96.390,1691.415,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24964.000,2657.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.202,13.497,0.000,0.000
$MEM,343708
$DATA_FILE_SIZE,13399,503
$CAP_FILE_SIZE,185861,0
$CFSIZE,260034560,209969152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020213,062734,2430.923,-3748.567,30,0.9,30,-14.0