version: 66.11
glider: 189
mission: 7
dive: 494
start: 2 15 113 13 12 52
data:
$ID,189
$MISSION,7
$DIVE,494
$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,-48275.57
$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
$GPS1,150213,130159,2430.804,-3747.213,36,0.9,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-61.9
$GPS2,150213,131150,2430.825,-3747.210,15,0.8,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.094,0.067
$KALMAN_X,166332.5,407.3,-778.1,-141237.2,-18.4
$KALMAN_Y,70558.7,169.8,195.4,-79796.0,-944.2
$MHEAD_RNG_PITCHd_Wd,319.3,1745,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.70,0.000,2,0.000,0.000,155,2116,1403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.23,2.67,-49.90,0.000,4,0.190,0.050,2557,3752,2719,0,0,0,0,0,0,25.33,25.94,26.70
$GC,395,-1.25,-97.7,25.8,-9.3,37,403,0.10,2.47,0.00,0.000,6,0.136,0.021,2589,2089,2720,0,0,0,0,0,0,25.89,26.34,28.83
$GC,705,-1.23,-97.7,51.7,-8.0,68,713,0.00,2.67,0.00,0.000,4,0.000,0.040,2579,3742,2720,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1005,-1.18,-97.7,77.3,-8.4,97,1012,0.10,2.42,0.00,0.000,6,0.129,0.021,2613,2095,2721,0,0,0,0,0,0,25.98,26.42,28.83
$GC,1337,-1.18,-97.7,104.0,-8.1,108,1342,0.00,2.65,0.00,0.000,4,0.000,0.040,2601,3752,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1634,-1.18,-97.7,129.9,-8.4,118,1641,0.00,2.45,0.00,0.000,6,0.000,0.021,2601,2101,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1996,-1.18,-97.7,154.8,-6.1,129,2001,0.00,2.62,0.00,0.000,4,0.000,0.039,2589,3750,2722,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2296,-1.18,-97.7,168.1,-4.1,134,2302,0.12,2.42,0.00,0.000,6,0.145,0.021,2622,2079,2723,0,0,0,0,0,0,26.07,26.44,28.83
$GC,2655,-1.21,-97.7,189.5,-6.6,140,2661,0.00,2.67,0.00,0.000,4,0.000,0.039,2611,3757,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2954,-1.21,-97.7,216.1,-9.0,145,2961,0.00,2.45,0.00,0.000,6,0.000,0.021,2611,2107,2724,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3315,-1.23,-97.7,242.9,-7.1,151,3321,0.00,2.65,0.00,0.000,4,0.000,0.039,2598,3746,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3415,-1.23,-97.7,246.7,-6.7,152,3421,0.00,2.45,0.00,0.000,6,0.000,0.021,2598,2093,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3736,-1.23,-97.7,268.0,-5.7,158,3742,0.00,2.67,0.00,0.000,4,0.000,0.040,2586,3758,2724,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3824,-1.23,-97.7,271.6,-5.7,159,3831,0.00,2.47,0.00,0.000,6,0.000,0.020,2586,2100,2724,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4156,-1.23,-97.7,295.1,-6.7,165,4161,0.00,2.40,0.00,0.000,4,0.000,0.037,2586,545,2724,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4253,-1.23,-97.7,299.3,-6.8,166,4261,0.00,2.50,0.00,0.000,6,0.000,0.024,2575,2200,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4574,-1.23,-97.7,324.3,-6.9,172,4582,0.12,2.50,0.00,0.000,4,0.152,0.041,2597,3742,2723,0,0,0,0,0,0,26.35,26.13,28.83
$GC,4654,-1.23,-97.7,328.6,-7.0,173,4661,0.00,2.42,0.00,0.000,6,0.000,0.021,2597,2107,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4995,-1.26,-97.7,353.6,-7.1,179,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2106,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5295,-1.28,-97.7,374.1,-6.9,184,5302,0.00,2.45,0.00,0.000,4,0.000,0.037,2597,549,2722,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5395,-1.31,-97.7,378.4,-6.9,185,5401,0.00,2.45,0.00,0.000,6,0.000,0.024,2586,2185,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5715,-1.31,-97.7,405.2,-7.6,191,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2185,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6015,-1.33,-97.7,429.8,-8.4,196,6021,0.00,2.58,0.00,0.000,4,0.000,0.037,2585,546,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6065,-1.35,-97.7,429.8,-8.4,196,6072,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2193,2720,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6374,-1.35,-97.7,462.4,-9.0,202,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2193,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6675,-1.35,-97.7,486.4,-7.9,207,6681,0.00,2.60,0.00,0.000,4,0.000,0.037,2573,542,2719,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6795,-1.35,-97.7,494.9,-7.3,209,6801,0.00,2.47,0.00,0.000,6,0.000,0.024,2562,2188,2721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7155,-1.35,-97.7,515.6,-5.8,213,7161,0.00,2.58,0.00,0.000,4,0.000,0.037,2561,550,2718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7275,-1.35,-97.7,522.2,-5.6,214,7281,0.00,2.45,0.00,0.000,6,0.000,0.024,2549,2181,2717,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7636,-1.35,-97.7,542.3,-5.5,217,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2181,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7994,-1.35,-97.7,569.8,-7.2,220,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2181,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8354,-1.35,-97.7,605.5,-9.6,223,8362,0.00,2.60,0.00,0.000,4,0.000,0.038,2549,550,2714,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8503,-1.35,-97.7,618.6,-10.2,224,8511,0.00,2.50,0.00,0.000,6,0.000,0.024,2538,2188,2713,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8834,-1.35,-97.7,655.1,-10.3,227,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2188,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9195,-1.39,-97.7,687.8,-9.2,230,9202,0.00,2.55,0.00,0.000,4,0.000,0.043,2526,3739,2711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9494,-1.41,-97.7,709.8,-9.1,232,9501,0.00,2.47,0.00,0.000,6,0.000,0.023,2525,2101,2710,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9915,-1.37,-97.7,756.1,-9.5,236,9922,0.12,2.45,0.00,0.000,4,0.161,0.040,2557,549,2709,0,0,0,0,0,0,26.31,26.08,28.83
$GC,9975,-1.32,-97.7,756.1,-9.5,236,9981,0.00,2.47,0.00,0.000,6,0.000,0.026,2550,2173,2709,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10394,-1.32,-97.7,804.9,-10.1,240,10401,0.00,2.58,0.00,0.000,4,0.000,0.039,2550,552,2708,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10674,-1.32,-97.7,830.5,-10.5,242,10682,0.10,2.53,0.00,0.000,6,0.139,0.025,2570,2202,2707,0,0,0,0,0,0,25.89,26.32,28.83
$GC,10996,-1.32,-97.7,863.5,-9.5,245,11001,0.00,2.47,0.00,0.000,4,0.000,0.044,2560,3744,2705,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11164,-1.35,-97.7,873.3,-8.9,246,11171,0.00,2.47,0.00,0.000,6,0.000,0.024,2560,2101,2705,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11476,-1.38,-97.7,897.4,-7.0,249,11481,0.00,2.65,0.00,0.000,4,0.000,0.043,2548,3747,2705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11534,-1.41,-97.7,897.4,-7.0,249,11541,0.00,2.47,0.00,0.000,6,0.000,0.024,2548,2105,2705,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11955,-1.44,-97.7,927.5,-6.3,253,11961,0.00,2.65,0.00,0.000,4,0.000,0.043,2536,3746,2703,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12105,-1.44,-97.7,936.9,-6.6,254,12111,0.00,2.47,0.00,0.000,6,0.000,0.024,2536,2111,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12435,-1.44,-97.7,969.9,-8.8,257,12441,0.00,2.67,0.00,0.000,4,0.000,0.042,2524,3737,2701,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12624,-1.44,-97.7,982.7,-9.5,258,12631,0.00,2.45,0.00,0.000,6,0.000,0.024,2524,2112,2701,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,12671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12671,begin apogee
$GC,12680,-0.29,0.0,995.6,-10.2,259,12773,1.20,0.00,86.57,1.696,6,0.127,0.000,2897,1576,2322,0,0,0,0,0,0,24.98,28.83,22.89
$STATE,12775,end apogee,CONTROL_FINISHED_OK
$STATE,12775,begin climb
$GC,12778,1.33,97.7,1001.7,0.0,264,12880,1.48,2.10,92.80,1.714,4,0.063,0.047,3435,351,1921,0,0,0,0,0,0,25.27,24.91,22.96
$GC,13085,1.18,109.5,992.8,6.1,279,13101,0.17,1.95,10.70,1.501,6,0.153,0.024,3383,1657,1872,0,0,0,0,0,0,25.67,26.22,23.73
$GC,13458,1.11,116.9,969.3,6.3,288,13468,0.00,0.00,7.50,1.420,6,0.000,0.000,3382,1657,1843,0,0,0,0,0,0,28.83,28.83,23.89
$GC,13815,1.03,116.9,944.8,6.8,291,13822,0.17,2.10,0.00,0.000,4,0.166,0.047,3345,352,1841,0,0,0,0,0,0,25.99,26.15,28.83
$GC,14084,0.97,123.9,930.8,6.3,293,14097,0.12,1.95,7.93,1.448,6,0.161,0.024,3313,1660,1813,0,0,0,0,0,0,26.03,26.45,23.95
$GC,14410,0.99,155.3,913.4,5.1,296,14442,0.00,0.00,29.67,1.624,6,0.000,0.000,3313,1660,1686,0,0,0,0,0,0,28.83,28.83,23.58
$GC,14766,1.01,168.9,890.9,6.0,299,14785,0.00,2.17,13.62,1.533,4,0.000,0.048,3322,351,1631,0,0,0,0,0,0,28.83,25.86,23.84
$GC,14915,1.01,171.2,882.6,6.6,300,14922,0.00,2.03,0.00,0.000,6,0.000,0.025,3322,1657,1629,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15237,1.03,171.2,854.9,7.6,303,15243,0.00,2.05,0.00,0.000,4,0.000,0.047,3331,348,1627,0,0,0,0,0,0,28.83,26.12,28.83
$GC,15395,1.03,171.2,844.6,7.9,304,15402,0.00,1.98,0.00,0.000,6,0.000,0.025,3331,1661,1626,0,0,0,0,0,0,28.83,26.43,28.83
$GC,15716,1.03,171.2,817.1,7.9,307,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1662,1625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16077,1.03,171.2,793.3,6.7,310,16083,0.00,2.10,0.00,0.000,4,0.000,0.047,3341,354,1625,0,0,0,0,0,0,28.83,26.11,28.83
$GC,16185,1.03,171.2,793.3,6.7,310,16194,0.00,1.95,0.00,0.000,6,0.000,0.026,3341,1654,1624,0,0,0,0,0,0,28.83,26.45,28.83
$GC,16556,1.03,171.2,758.2,7.3,314,16563,0.00,2.10,0.00,0.000,4,0.000,0.047,3351,347,1624,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,25303,end climb,SURFACE_DEPTH_REACHED
$STATE,25303,begin surface coast
$FINISH,1.4,1.003979
$STATE,25334,end surface coast,CONTROL_FINISHED_OK
$STATE,25334,begin surface
$SM_CCo,25358,52.72,0.125,0,0,1096,300.00
$SM_GC,2.25,8.48,0.77,52.72,0.032,0.036,0.125,152,2187,1096,-8.81,-0.71,300.00,0,0,0,0,0,0,26.24,26.34,25.43
$IRIDIUM_FIX,2427.58,-3748.13,150213,050539
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7580160
$TM_FREEKB,4499520
$24V_AH,22.9,83.637
$10V_AH,9.6,74.279
$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,21.950,206.675,264.125,52.725,0.000,25.770,41.368,213.085,0.000,0.000,17.830,2248.143,20259.217,692.914,2181.308,606.471,33.259,1711.027,0.000,1793.200,0.000,0.535,0.000
$DEVICE_MAMPS,190.485,128.520,1714.365,124.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25346.000,2819.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.195,13.439,0.000,0.000
$MEM,343700
$DATA_FILE_SIZE,13388,515
$CAP_FILE_SIZE,190302,0
$CFSIZE,260034560,205991936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150213,201734,2431.734,-3747.614,29,1.0,29,-13.9