version: 66.11
glider: 189
mission: 7
dive: 514
start: 2 21 113 12 35 51
data:
$ID,189
$MISSION,7
$DIVE,514
$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,-48300.82
$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
$GPS1,210213,122522,2431.359,-3748.095,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-62.0
$GPS2,210213,123449,2431.411,-3748.115,15,0.9,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.078,-0.085
$KALMAN_X,166251.0,274.8,-966.0,-142350.5,1468.8
$KALMAN_Y,81595.8,188.3,-34.6,-89543.9,1008.3
$MHEAD_RNG_PITCHd_Wd,236.4,844,-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,-11.00,0.000,2,0.000,0.000,153,2126,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.3,0.0,1,105,9.23,2.53,-49.88,0.000,4,0.191,0.050,2564,546,2719,0,0,0,0,0,0,25.26,25.92,26.70
$GC,396,-1.23,-97.7,24.4,-9.5,37,404,0.15,2.55,0.00,0.000,6,0.136,0.024,2600,2187,2719,0,0,0,0,0,0,25.72,26.29,28.83
$GC,706,-1.23,-97.7,48.4,-7.6,68,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2187,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-1.23,-97.7,72.0,-7.5,98,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2187,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1326,-1.23,-97.7,94.9,-6.9,112,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2187,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1626,-1.23,-97.7,118.0,-7.9,122,1633,0.00,2.60,0.00,0.000,4,0.000,0.036,2601,543,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1696,-1.23,-97.7,123.1,-8.3,124,1702,0.00,2.47,0.00,0.000,6,0.000,0.024,2590,2188,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2016,-1.23,-97.7,149.1,-7.7,135,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2188,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,-1.23,-97.7,172.3,-6.9,141,2353,0.00,2.58,0.00,0.000,4,0.000,0.035,2590,543,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2527,-1.20,-97.7,184.9,-6.9,144,2533,0.12,2.47,0.00,0.000,6,0.156,0.024,2610,2190,2723,0,0,0,0,0,0,26.01,26.39,28.83
$GC,2887,-1.23,-97.7,207.9,-6.2,150,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2190,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-1.26,-97.7,226.5,-6.3,155,3193,0.00,2.58,0.00,0.000,4,0.000,0.036,2610,549,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3315,-1.26,-97.7,235.5,-7.1,157,3322,0.00,2.45,0.00,0.000,6,0.000,0.023,2599,2186,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3666,-1.28,-97.7,265.0,-8.3,163,3672,0.00,2.58,0.00,0.000,4,0.000,0.036,2599,544,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3766,-1.28,-97.7,270.3,-8.5,164,3772,0.00,2.47,0.00,0.000,6,0.000,0.023,2588,2196,2724,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4086,-1.28,-97.7,298.8,-7.8,170,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2196,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4386,-1.28,-97.7,321.8,-7.7,175,4392,0.00,2.60,0.00,0.000,4,0.000,0.036,2587,550,2723,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4446,-1.28,-97.7,326.8,-7.8,176,4452,0.00,2.45,0.00,0.000,6,0.000,0.023,2576,2186,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4806,-1.28,-97.7,357.3,-8.6,182,4812,0.00,2.55,0.00,0.000,4,0.000,0.036,2576,537,2724,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4904,-1.28,-97.7,362.9,-8.9,183,4912,0.00,2.50,0.00,0.000,6,0.000,0.023,2564,2191,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5226,-1.28,-97.7,395.3,-8.9,189,5232,0.00,2.53,0.00,0.000,4,0.000,0.041,2552,3747,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5295,-1.28,-97.7,400.6,-9.0,190,5303,0.10,2.45,0.00,0.000,6,0.130,0.021,2583,2092,2722,0,0,0,0,0,0,26.01,26.43,28.83
$GC,5646,-1.28,-97.7,430.7,-8.2,196,5652,0.00,2.42,0.00,0.000,4,0.000,0.037,2584,547,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5815,-1.28,-97.7,440.6,-8.1,198,5824,0.00,2.47,0.00,0.000,6,0.000,0.024,2574,2192,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6126,-1.28,-97.7,467.8,-7.4,204,6132,0.00,2.58,0.00,0.000,4,0.000,0.037,2574,548,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6175,-1.28,-97.7,467.8,-7.4,204,6184,0.00,2.50,0.00,0.000,6,0.000,0.024,2562,2196,2720,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6487,-1.28,-97.7,490.1,-5.9,210,6492,0.00,2.47,0.00,0.000,4,0.000,0.042,2551,3750,2719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6535,-1.28,-97.7,490.1,-5.9,210,6544,0.10,2.45,0.00,0.000,6,0.131,0.021,2583,2093,2719,0,0,0,0,0,0,26.01,26.42,28.83
$GC,6846,-1.30,-97.7,510.0,-5.5,215,6852,0.00,2.38,0.00,0.000,4,0.000,0.038,2583,546,2720,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7006,-1.32,-97.7,518.1,-6.0,216,7012,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,2188,2718,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7326,-1.32,-97.7,548.0,-7.9,219,7332,0.00,2.53,0.00,0.000,4,0.000,0.041,2561,3746,2717,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7385,-1.32,-97.7,548.0,-7.9,219,7392,0.00,2.47,0.00,0.000,6,0.000,0.021,2561,2101,2717,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7806,-1.32,-97.7,594.2,-9.7,223,7812,0.00,2.40,0.00,0.000,4,0.000,0.039,2561,547,2715,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7955,-1.32,-97.7,606.1,-9.8,224,7962,0.00,2.53,0.00,0.000,6,0.000,0.024,2549,2200,2715,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8286,-1.32,-97.7,638.9,-9.3,227,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2200,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8646,-1.32,-97.7,666.4,-7.9,230,8653,0.00,2.62,0.00,0.000,4,0.000,0.038,2549,548,2713,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8694,-1.32,-97.7,666.4,-7.9,230,8703,0.15,2.50,0.00,0.000,6,0.156,0.024,2576,2188,2713,0,0,0,0,0,0,25.87,26.34,28.83
$GC,9006,-1.35,-97.7,691.3,-7.0,233,9012,0.00,2.60,0.00,0.000,4,0.000,0.038,2577,549,2712,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9096,-1.39,-97.7,691.3,-7.0,233,9103,0.00,2.47,0.00,0.000,6,0.000,0.024,2567,2188,2712,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9486,-1.42,-97.7,731.4,-8.4,237,9492,0.00,2.60,0.00,0.000,4,0.000,0.038,2567,549,2711,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9555,-1.45,-97.7,731.4,-8.4,237,9562,0.00,2.53,0.00,0.000,6,0.000,0.025,2554,2186,2711,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9967,-1.48,-97.7,773.6,-8.8,241,9972,0.00,2.55,0.00,0.000,4,0.000,0.039,2554,545,2710,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10165,-1.48,-97.7,784.2,-8.8,242,10172,0.00,2.50,0.00,0.000,6,0.000,0.024,2542,2189,2709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10566,-1.48,-97.7,826.8,-8.9,246,10573,0.00,2.62,0.00,0.000,4,0.000,0.039,2542,549,2708,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10664,-1.48,-97.7,826.8,-8.9,246,10672,0.00,2.53,0.00,0.000,6,0.000,0.025,2530,2189,2707,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11046,-1.48,-97.7,870.7,-9.2,250,11053,0.00,2.55,0.00,0.000,4,0.000,0.044,2519,3739,2706,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11105,-1.48,-97.7,870.7,-9.2,250,11113,0.00,2.47,0.00,0.000,6,0.000,0.023,2519,2105,2706,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11526,-1.48,-97.7,911.2,-8.4,254,11533,0.00,2.47,0.00,0.000,4,0.000,0.041,2519,552,2704,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11685,-1.48,-97.7,920.3,-8.1,255,11692,0.00,2.50,0.00,0.000,6,0.000,0.025,2507,2189,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12007,-1.48,-97.7,942.8,-6.5,258,12012,0.00,2.60,0.00,0.000,4,0.000,0.040,2507,539,2703,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12105,-1.48,-97.7,942.8,-6.5,258,12112,0.00,2.53,0.00,0.000,6,0.000,0.026,2495,2190,2703,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12487,-1.45,-97.7,973.4,-6.4,262,12493,0.15,2.53,0.00,0.000,4,0.162,0.045,2523,3754,2702,0,0,0,0,0,0,26.15,25.89,28.83
$GC,12586,-1.43,-97.7,973.4,-6.4,262,12592,0.00,2.50,0.00,0.000,6,0.000,0.024,2523,2106,2702,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,12722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12722,begin apogee
$GC,12731,-0.29,0.0,990.3,-6.8,264,12824,1.23,0.00,85.70,1.644,6,0.129,0.000,2900,1572,2320,0,0,0,0,0,0,24.96,28.83,23.01
$STATE,12827,end apogee,CONTROL_FINISHED_OK
$STATE,12827,begin climb
$GC,12831,1.33,97.7,993.7,0.0,269,12934,1.48,2.78,91.40,1.618,4,0.063,0.034,3430,3195,1922,0,0,0,0,0,0,25.32,25.02,23.05
$GC,12995,1.23,138.4,991.1,4.6,277,13039,0.12,2.55,37.60,1.579,6,0.162,0.029,3405,1585,1754,0,0,0,0,0,0,25.44,25.83,23.34
$GC,13440,1.15,138.4,960.1,6.9,284,13446,0.12,2.60,0.00,0.000,4,0.177,0.034,3368,3208,1747,0,0,0,0,0,0,26.03,26.17,28.83
$GC,13495,1.06,138.4,960.1,6.9,284,13503,0.10,2.53,0.00,0.000,6,0.157,0.029,3348,1585,1747,0,0,0,0,0,0,25.86,26.25,28.83
$GC,13917,1.03,138.4,927.6,6.7,288,13922,0.00,2.58,0.00,0.000,4,0.000,0.036,3348,3205,1745,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14017,0.99,138.4,927.6,6.7,288,14023,0.15,2.47,0.00,0.000,6,0.171,0.029,3321,1580,1744,0,0,0,0,0,0,25.86,26.29,28.83
$GC,14396,0.99,138.4,886.7,8.5,292,14403,0.00,2.62,0.00,0.000,4,0.000,0.036,3321,3195,1743,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14435,0.99,138.4,886.7,8.5,292,14442,0.00,2.50,0.00,0.000,6,0.000,0.028,3332,1584,1742,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14756,0.99,138.4,853.4,9.2,295,14762,0.00,1.98,0.00,0.000,4,0.000,0.047,3341,357,1741,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,25205,end climb,SURFACE_DEPTH_REACHED
$STATE,25205,begin surface coast
$FINISH,1.3,1.010210
$STATE,25236,end surface coast,CONTROL_FINISHED_OK
$STATE,25236,begin surface
$SM_CCo,25263,54.20,0.125,0,0,1095,300.00
$SM_GC,2.24,8.60,0.82,54.20,0.034,0.032,0.125,152,2202,1095,-8.82,-0.54,300.00,0,0,0,0,0,0,26.25,26.39,25.44
$IRIDIUM_FIX,2427.58,-3803.31,210213,050515
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.20
$XPDR_PINGS,2
$SC_FREEKB,7572448
$TM_FREEKB,4416928
$24V_AH,23.0,86.637
$10V_AH,9.9,76.814
$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
$DEVICE_SECS,22.175,226.400,255.775,54.200,0.000,24.944,44.042,192.002,0.500,0.000,17.950,2089.354,20507.582,703.586,1943.926,625.633,33.291,1644.469,0.000,1587.895,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.276,13.426,0.000,0.000
$MEM,343648
$DATA_FILE_SIZE,13429,508
$CAP_FILE_SIZE,186829,0
$CFSIZE,260034560,204201984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210213,193904,2430.954,-3749.405,34,0.9,34,-14.0