version: 66.11
glider: 189
mission: 7
dive: 524
start: 2 24 113 12 53 43
data:
$ID,189
$MISSION,7
$DIVE,524
$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,-48313.398
$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
$GPS1,240213,124304,2430.098,-3747.940,31,0.8,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-58.3
$GPS2,240213,125241,2430.129,-3747.951,17,1.4,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.044,-0.107
$KALMAN_X,159405.7,-85.3,-605.2,-135225.4,394.1
$KALMAN_Y,103231.4,-19.7,-420.7,-112946.5,3669.0
$MHEAD_RNG_PITCHd_Wd,216.3,1625,-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,-10.68,0.000,2,0.000,0.000,151,2117,1397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,8.93,2.72,-51.12,0.000,4,0.179,0.050,2558,3747,2719,0,0,0,0,0,0,25.45,25.98,26.70
$GC,396,-1.25,-97.7,27.6,-9.3,37,404,0.10,2.45,0.00,0.000,6,0.134,0.021,2590,2097,2721,0,0,0,0,0,0,25.89,26.34,28.83
$GC,706,-1.22,-97.7,50.8,-7.6,68,714,0.00,2.62,0.00,0.000,4,0.000,0.040,2579,3748,2721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,896,-1.18,-97.7,67.8,-8.1,87,904,0.10,2.45,0.00,0.000,6,0.130,0.021,2612,2086,2721,0,0,0,0,0,0,25.96,26.38,28.83
$GC,1205,-1.18,-97.7,91.0,-7.7,104,1212,0.00,2.42,0.00,0.000,4,0.000,0.037,2613,542,2721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1255,-1.18,-97.7,93.4,-7.7,105,1263,0.00,2.50,0.00,0.000,6,0.000,0.023,2601,2196,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1566,-1.18,-97.7,117.7,-7.3,116,1572,0.00,2.50,0.00,0.000,4,0.000,0.040,2590,3748,2723,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1645,-1.18,-97.7,122.4,-7.7,118,1654,0.00,2.45,0.00,0.000,6,0.000,0.021,2590,2092,2723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1955,-1.18,-97.7,145.9,-7.2,129,1963,0.12,2.42,0.00,0.000,4,0.148,0.037,2623,544,2723,0,0,0,0,0,0,26.34,26.13,28.83
$GC,2015,-1.18,-97.7,150.5,-7.5,131,2022,0.00,2.47,0.00,0.000,6,0.000,0.023,2613,2193,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2377,-1.18,-97.7,179.1,-8.0,137,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2193,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-1.18,-97.7,202.4,-7.8,142,2682,0.00,2.58,0.00,0.000,4,0.000,0.035,2613,541,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2764,-1.18,-97.7,207.0,-7.7,143,2772,0.00,2.50,0.00,0.000,6,0.000,0.023,2600,2198,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3097,-1.18,-97.7,231.1,-6.6,149,3102,0.00,2.45,0.00,0.000,4,0.000,0.041,2588,3758,2724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3195,-1.18,-97.7,235.0,-6.7,150,3203,0.08,2.45,0.00,0.000,6,0.127,0.020,2614,2087,2724,0,0,0,0,0,0,26.10,26.44,28.83
$GC,3517,-1.21,-97.7,257.7,-6.4,156,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2087,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3817,-1.25,-97.7,277.4,-6.6,161,3822,0.00,2.38,0.00,0.000,4,0.000,0.037,2615,541,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3915,-1.28,-97.7,281.6,-6.6,162,3922,0.00,2.47,0.00,0.000,6,0.000,0.023,2604,2191,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4237,-1.30,-97.7,307.2,-7.1,168,4242,0.00,2.55,0.00,0.000,4,0.000,0.035,2604,535,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4404,-1.30,-97.7,316.0,-7.2,170,4414,0.00,2.50,0.00,0.000,6,0.000,0.023,2592,2193,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4716,-1.32,-97.7,340.7,-6.8,176,4722,0.00,2.58,0.00,0.000,4,0.000,0.036,2592,548,2724,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4785,-1.32,-97.7,344.9,-6.8,177,4792,0.00,2.47,0.00,0.000,6,0.000,0.023,2580,2192,2723,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5136,-1.32,-97.7,370.0,-7.1,183,5142,0.00,2.58,0.00,0.000,4,0.000,0.035,2580,547,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5195,-1.32,-97.7,374.6,-7.3,184,5202,0.00,2.47,0.00,0.000,6,0.000,0.023,2568,2196,2722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5556,-1.32,-97.7,404.4,-8.4,190,5563,0.00,2.60,0.00,0.000,4,0.000,0.037,2568,543,2721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5644,-1.32,-97.7,409.6,-8.4,191,5652,0.00,2.50,0.00,0.000,6,0.000,0.023,2556,2195,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5977,-1.32,-97.7,437.1,-7.4,197,5982,0.00,2.47,0.00,0.000,4,0.000,0.042,2544,3754,2721,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6145,-1.30,-97.7,446.0,-7.3,199,6154,0.10,2.45,0.00,0.000,6,0.130,0.021,2577,2095,2720,0,0,0,0,0,0,25.98,26.41,28.83
$GC,6456,-1.30,-97.7,471.2,-6.9,205,6462,0.00,2.42,0.00,0.000,4,0.000,0.037,2577,547,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6517,-1.30,-97.7,475.7,-7.0,206,6522,0.00,2.42,0.00,0.000,6,0.000,0.024,2567,2191,2720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6875,-1.30,-97.7,504.1,-8.1,212,6882,0.00,2.58,0.00,0.000,4,0.000,0.036,2567,547,2718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6934,-1.30,-97.7,504.1,-8.1,212,6942,0.00,2.50,0.00,0.000,6,0.000,0.024,2554,2193,2718,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7356,-1.30,-97.7,546.3,-8.8,216,7362,0.00,2.55,0.00,0.000,4,0.000,0.037,2555,539,2717,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7475,-1.30,-97.7,557.3,-8.8,217,7483,0.10,2.50,0.00,0.000,6,0.137,0.024,2575,2190,2717,0,0,0,0,0,0,25.91,26.35,28.83
$GC,7835,-1.30,-97.7,586.1,-8.2,220,7843,0.00,2.58,0.00,0.000,4,0.000,0.037,2574,552,2716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7975,-1.30,-97.7,595.3,-7.9,221,7983,0.00,2.47,0.00,0.000,6,0.000,0.024,2565,2189,2715,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8315,-1.30,-97.7,619.4,-6.9,224,8323,0.00,2.58,0.00,0.000,4,0.000,0.037,2565,549,2715,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8395,-1.30,-97.7,619.4,-6.9,224,8402,0.00,2.47,0.00,0.000,6,0.000,0.024,2553,2187,2714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8796,-1.30,-97.7,651.8,-6.8,228,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2187,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9155,-1.30,-97.7,681.0,-7.8,231,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2187,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9515,-1.30,-97.7,713.7,-9.0,234,9522,0.00,2.60,0.00,0.000,4,0.000,0.038,2552,546,2711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9596,-1.30,-97.7,713.7,-9.0,234,9603,0.10,2.50,0.00,0.000,6,0.138,0.024,2573,2185,2709,0,0,0,0,0,0,25.87,26.32,28.83
$GC,9996,-1.34,-97.7,754.9,-8.6,238,10003,0.00,2.60,0.00,0.000,4,0.000,0.039,2574,548,2709,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10157,-1.37,-97.7,763.5,-7.9,239,10162,0.00,2.45,0.00,0.000,6,0.000,0.025,2563,2190,2709,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10478,-1.40,-97.7,782.8,-5.8,242,10483,0.00,2.58,0.00,0.000,4,0.000,0.039,2563,549,2708,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10575,-1.43,-97.7,782.8,-5.8,242,10582,0.00,2.50,0.00,0.000,6,0.000,0.024,2551,2187,2707,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10958,-1.46,-97.7,809.9,-5.6,246,10963,0.00,2.58,0.00,0.000,4,0.000,0.039,2552,539,2706,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11045,-1.48,-97.7,809.9,-5.6,246,11052,0.00,2.50,0.00,0.000,6,0.000,0.025,2540,2185,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11436,-1.48,-97.7,848.1,-8.0,250,11442,0.00,2.58,0.00,0.000,4,0.000,0.040,2539,537,2705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11535,-1.48,-97.7,848.1,-8.0,250,11542,0.00,2.58,0.00,0.000,6,0.000,0.026,2527,2178,2705,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11916,-1.48,-97.7,895.0,-9.8,254,11922,0.00,2.60,0.00,0.000,4,0.000,0.041,2527,551,2704,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12085,-1.48,-97.7,907.3,-10.0,255,12092,0.00,2.53,0.00,0.000,6,0.000,0.025,2515,2190,2703,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12397,-1.48,-97.7,939.8,-9.3,258,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2190,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12755,-1.48,-97.7,968.8,-8.1,261,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2190,2701,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13032,begin apogee
$GC,13041,-0.29,0.0,991.3,-8.1,265,13134,1.25,0.00,85.65,1.640,6,0.127,0.000,2900,1573,2321,0,0,0,0,0,0,24.89,28.83,23.00
$STATE,13136,end apogee,CONTROL_FINISHED_OK
$STATE,13136,begin climb
$GC,13140,1.33,97.7,995.2,0.0,270,13243,1.45,2.83,92.00,1.637,4,0.060,0.034,3424,3210,1920,0,0,0,0,0,0,25.34,25.04,23.03
$GC,13417,1.18,99.4,984.4,6.6,284,13423,0.20,2.53,0.00,0.000,6,0.177,0.031,3386,1573,1915,0,0,0,0,0,0,25.59,26.07,28.83
$GC,13756,1.09,115.1,964.4,5.9,287,13777,0.12,2.03,15.30,1.525,4,0.182,0.049,3364,350,1849,0,0,0,0,0,0,26.11,25.86,23.80
$GC,13929,1.01,128.5,957.1,6.0,288,13948,0.15,1.92,13.20,1.504,6,0.164,0.025,3327,1666,1795,0,0,0,0,0,0,25.82,26.27,23.79
$GC,14340,1.00,131.8,926.6,6.5,292,14349,0.00,2.55,4.30,1.158,4,0.000,0.035,3327,3207,1781,0,0,0,0,0,0,28.83,26.20,23.98
$GC,14399,0.98,135.2,926.6,6.5,292,14409,0.00,2.55,4.88,1.239,6,0.000,0.031,3337,1545,1767,0,0,0,0,0,0,28.83,26.22,23.90
$GC,14798,0.99,142.9,897.7,6.3,296,14809,0.00,0.00,8.27,1.440,6,0.000,0.000,3337,1545,1737,0,0,0,0,0,0,28.83,28.83,23.95
$GC,15158,1.01,163.2,877.6,5.6,299,15186,0.00,2.72,20.17,1.542,4,0.000,0.036,3337,3208,1654,0,0,0,0,0,0,28.83,25.81,23.80
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$STATE,25325,end climb,SURFACE_DEPTH_REACHED
$STATE,25325,begin surface coast
$FINISH,1.4,1.017821
$STATE,25356,end surface coast,CONTROL_FINISHED_OK
$STATE,25356,begin surface
$SM_CCo,25382,53.88,0.124,0,0,1093,300.00
$SM_GC,2.30,8.57,0.75,53.88,0.037,0.036,0.124,150,2184,1093,-8.84,-0.54,300.00,0,0,0,0,0,0,26.17,26.32,25.19
$IRIDIUM_FIX,2422.84,-3736.71,240213,050520
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.48
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7568608
$TM_FREEKB,4374624
$24V_AH,23.0,88.014
$10V_AH,9.8,78.183
$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,21.950,226.925,263.125,53.875,0.000,25.146,36.933,201.226,0.000,0.000,18.484,2105.538,20573.855,713.739,1974.557,631.562,33.291,1666.060,0.000,1604.168,0.000,0.535,0.000
$DEVICE_MAMPS,182.070,78.030,1640.160,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.773,13.440,0.000,0.000
$MEM,343640
$DATA_FILE_SIZE,13445,512
$CAP_FILE_SIZE,188361,0
$CFSIZE,260034560,203317248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240213,195858,2429.476,-3749.045,37,0.8,37,-14.0