version: 66.11
glider: 189
mission: 7
dive: 539
start: 2 28 113 23 38 25
data:
$ID,189
$MISSION,7
$DIVE,539
$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,-48332.27
$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
$GPS1,280213,232737,2431.687,-3747.181,27,0.9,27,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-61.3
$GPS2,280213,233723,2431.639,-3747.213,24,1.0,24,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.099,0.060
$KALMAN_X,132918.2,182.2,-297.1,-108084.8,-2332.4
$KALMAN_Y,103003.3,202.7,254.6,-110832.5,-1619.9
$MHEAD_RNG_PITCHd_Wd,72.5,2123,-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,-90.7,0.0,0.0,0,34,0.00,0.00,-10.07,0.000,2,0.000,0.000,151,2116,1382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.10,2.55,-51.15,0.000,4,0.183,0.050,2570,545,2720,0,0,0,0,0,0,25.30,25.98,26.71
$GC,265,-1.23,-97.7,14.6,-8.7,24,273,0.12,2.55,0.00,0.000,6,0.135,0.024,2599,2191,2721,0,0,0,0,0,0,25.74,26.25,28.83
$GC,575,-1.23,-97.7,38.5,-7.7,55,583,0.00,2.50,0.00,0.000,4,0.000,0.040,2589,3747,2722,0,0,0,0,0,0,28.83,26.03,28.83
$GC,738,-1.20,-97.7,51.7,-8.5,71,745,0.00,2.42,0.00,0.000,6,0.000,0.021,2588,2097,2722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1055,-1.18,-97.7,77.7,-7.6,101,1062,0.12,2.65,0.00,0.000,4,0.150,0.039,2610,3741,2722,0,0,0,0,0,0,26.32,26.06,28.83
$GC,1175,-1.18,-97.7,86.3,-7.2,105,1181,0.00,2.45,0.00,0.000,6,0.000,0.021,2610,2093,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1505,-1.18,-97.7,107.8,-6.5,116,1512,0.00,2.42,0.00,0.000,4,0.000,0.037,2610,545,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1595,-1.18,-97.7,114.2,-6.9,119,1601,0.00,2.45,0.00,0.000,6,0.000,0.024,2598,2197,2726,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1925,-1.18,-97.7,139.5,-8.3,130,1931,0.00,2.50,0.00,0.000,4,0.000,0.040,2586,3751,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2034,-1.18,-97.7,147.7,-8.9,133,2043,0.10,2.45,0.00,0.000,6,0.125,0.021,2619,2086,2723,0,0,0,0,0,0,26.00,26.41,28.83
$GC,2345,-1.20,-97.7,173.6,-7.6,139,2352,0.00,2.42,0.00,0.000,4,0.000,0.037,2620,542,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2384,-1.23,-97.7,173.6,-7.6,139,2391,0.00,2.45,0.00,0.000,6,0.000,0.022,2609,2187,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2706,-1.25,-97.7,201.1,-7.8,145,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2187,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3005,-1.27,-97.7,221.2,-6.5,150,3011,0.00,2.58,0.00,0.000,4,0.000,0.035,2609,542,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3065,-1.27,-97.7,225.0,-6.5,151,3071,0.00,2.47,0.00,0.000,6,0.000,0.023,2597,2195,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3426,-1.27,-97.7,248.3,-6.7,157,3431,0.00,2.55,0.00,0.000,4,0.000,0.035,2597,536,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3504,-1.27,-97.7,252.3,-6.8,158,3511,0.00,2.50,0.00,0.000,6,0.000,0.023,2585,2193,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3845,-1.27,-97.7,277.6,-7.0,164,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2193,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-1.27,-97.7,299.3,-7.3,169,4151,0.00,2.55,0.00,0.000,4,0.000,0.035,2585,541,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4214,-1.27,-97.7,303.9,-7.4,170,4221,0.00,2.55,0.00,0.000,6,0.000,0.024,2573,2193,2722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4565,-1.27,-97.7,332.2,-8.0,176,4571,0.00,2.58,0.00,0.000,4,0.000,0.035,2573,550,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4644,-1.27,-97.7,337.6,-8.3,177,4652,0.00,2.45,0.00,0.000,6,0.000,0.024,2560,2186,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4985,-1.27,-97.7,369.6,-8.9,183,4986,0.12,0.00,0.00,0.000,6,0.159,0.000,2592,2185,2723,0,0,0,0,0,0,26.33,28.83,28.83
$GC,5285,-1.30,-97.7,393.1,-7.9,188,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2185,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-1.33,-97.7,416.0,-7.6,193,5591,0.00,2.55,0.00,0.000,4,0.000,0.037,2593,546,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5654,-1.36,-97.7,420.6,-7.5,194,5661,0.00,2.47,0.00,0.000,6,0.000,0.024,2583,2189,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6005,-1.38,-97.7,448.8,-7.9,200,6011,0.00,2.53,0.00,0.000,4,0.000,0.041,2571,3751,2721,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6055,-1.41,-97.7,448.8,-7.9,200,6063,0.00,2.45,0.00,0.000,6,0.000,0.021,2571,2102,2721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6365,-1.41,-97.7,480.9,-9.1,206,6371,0.00,2.45,0.00,0.000,4,0.000,0.037,2571,543,2720,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6434,-1.41,-97.7,486.9,-9.4,207,6441,0.00,2.50,0.00,0.000,6,0.000,0.023,2559,2195,2721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6846,-1.41,-97.7,528.3,-9.8,212,6851,0.00,2.55,0.00,0.000,4,0.000,0.037,2559,543,2719,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6984,-1.41,-97.7,539.9,-9.8,213,6991,0.00,2.47,0.00,0.000,6,0.000,0.024,2547,2190,2718,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7325,-1.41,-97.7,570.6,-8.8,216,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2189,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7686,-1.41,-97.7,598.4,-7.8,219,7691,0.00,2.58,0.00,0.000,4,0.000,0.037,2547,539,2716,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7834,-1.41,-97.7,608.5,-7.9,220,7841,0.00,2.53,0.00,0.000,6,0.000,0.024,2535,2199,2716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8165,-1.41,-97.7,639.9,-8.6,223,8171,0.00,2.60,0.00,0.000,4,0.000,0.037,2535,549,2715,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8254,-1.41,-97.7,639.9,-8.6,223,8261,0.00,2.47,0.00,0.000,6,0.000,0.024,2523,2188,2715,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8645,-1.41,-97.7,685.8,-9.6,227,8651,0.00,2.55,0.00,0.000,4,0.000,0.038,2523,545,2713,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8724,-1.41,-97.7,685.8,-9.6,227,8732,0.12,2.50,0.00,0.000,6,0.162,0.024,2542,2189,2713,0,0,0,0,0,0,25.91,26.32,28.83
$GC,9126,-1.41,-97.7,729.5,-9.1,231,9131,0.00,2.55,0.00,0.000,4,0.000,0.039,2542,547,2712,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9184,-1.41,-97.7,729.5,-9.1,231,9191,0.00,2.50,0.00,0.000,6,0.000,0.024,2531,2189,2711,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9605,-1.41,-97.7,776.1,-9.7,235,9611,0.00,2.60,0.00,0.000,4,0.000,0.039,2531,553,2710,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9725,-1.41,-97.7,788.2,-9.9,236,9732,0.00,2.47,0.00,0.000,6,0.000,0.025,2519,2186,2710,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10085,-1.41,-97.7,820.5,-9.2,239,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2186,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10445,-1.41,-97.7,846.3,-7.5,242,10451,0.00,2.62,0.00,0.000,4,0.000,0.040,2519,547,2707,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10555,-1.41,-97.7,846.3,-7.5,242,10564,0.10,2.50,0.00,0.000,6,0.140,0.024,2540,2192,2707,0,0,0,0,0,0,25.83,26.29,28.83
$GC,10925,-1.41,-97.7,877.4,-6.5,246,10931,0.00,2.58,0.00,0.000,4,0.000,0.040,2541,545,2706,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11024,-1.41,-97.7,877.4,-6.5,246,11031,0.00,2.50,0.00,0.000,6,0.000,0.025,2530,2189,2706,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11406,-1.41,-97.7,912.7,-7.3,250,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2189,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11765,-1.41,-97.7,942.2,-8.1,253,11771,0.00,2.65,0.00,0.000,4,0.000,0.041,2530,549,2703,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11874,-1.41,-97.7,942.2,-8.1,253,11883,0.00,2.50,0.00,0.000,6,0.000,0.026,2518,2182,2703,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12245,-1.41,-97.7,986.2,-9.2,257,12251,0.00,2.62,0.00,0.000,4,0.000,0.041,2518,545,2703,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,12281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12281,begin apogee
$GC,12292,-0.29,0.0,990.0,-9.2,259,12384,1.27,0.10,86.40,1.670,6,0.131,0.090,2899,1582,2320,0,0,0,0,0,0,24.84,24.86,22.96
$STATE,12386,end apogee,CONTROL_FINISHED_OK
$STATE,12386,begin climb
$GC,12390,1.33,97.7,995.0,0.0,264,12492,1.48,2.75,92.47,1.649,4,0.062,0.034,3426,3197,1920,0,0,0,0,0,0,25.29,25.03,22.99
$GC,12554,1.25,149.1,993.2,4.1,272,12607,0.10,2.55,47.20,1.646,6,0.162,0.030,3407,1588,1711,0,0,0,0,0,0,25.48,25.82,23.22
$GC,12921,1.16,149.1,963.9,8.2,281,12927,0.12,1.95,0.00,0.000,4,0.176,0.047,3379,348,1705,0,0,0,0,0,0,25.99,26.07,28.83
$GC,13109,1.08,149.1,954.0,8.2,282,13115,0.05,1.95,0.00,0.000,6,0.136,0.026,3355,1657,1703,0,0,0,0,0,0,25.98,26.39,28.83
$GC,13518,1.05,149.1,918.2,7.4,286,13524,0.00,2.47,0.00,0.000,4,0.000,0.036,3354,3203,1703,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13586,1.02,149.1,918.2,7.4,286,13594,0.10,2.53,0.00,0.000,6,0.148,0.031,3333,1583,1700,0,0,0,0,0,0,25.86,26.26,28.83
$GC,13997,1.04,167.4,890.6,5.7,290,14018,0.00,2.70,15.62,1.558,4,0.000,0.035,3333,3202,1639,0,0,0,0,0,0,28.83,25.96,23.83
$GC,14117,1.07,193.4,884.8,5.4,291,14147,0.00,2.55,25.40,1.544,6,0.000,0.030,3344,1580,1530,0,0,0,0,0,0,28.83,26.11,23.56
$GC,14457,1.10,213.9,864.7,5.6,294,14484,0.00,2.70,19.73,1.519,4,0.000,0.036,3344,3204,1446,0,0,0,0,0,0,28.83,25.75,23.73
$GC,14527,1.12,234.5,864.7,5.6,294,14554,0.00,2.55,20.65,1.506,6,0.000,0.030,3356,1590,1362,0,0,0,0,0,0,28.83,25.94,23.57
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$STATE,22943,end climb,SURFACE_DEPTH_REACHED
$STATE,22943,begin surface coast
$FINISH,1.2,1.025766
$STATE,22974,end surface coast,CONTROL_FINISHED_OK
$STATE,22975,begin surface
$SM_CCo,23000,29.83,0.123,0,0,1093,300.00
$SM_GC,2.40,8.85,0.80,29.83,0.043,0.032,0.123,151,2202,1093,-8.84,-0.76,300.00,0,0,0,0,0,0,26.17,26.39,25.04
$IRIDIUM_FIX,2418.11,-3810.76,280213,161623
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.56
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7562848
$TM_FREEKB,4311296
$24V_AH,23.0,90.147
$10V_AH,10.1,80.202
$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,22.300,207.275,307.475,29.825,0.000,25.257,38.192,202.250,0.000,0.000,26.060,1893.132,18617.377,677.393,1802.211,613.598,33.262,1546.149,0.000,1428.881,0.000,0.535,0.000
$DEVICE_MAMPS,182.835,95.625,1669.995,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.684,13.404,0.000,0.000
$MEM,343748
$DATA_FILE_SIZE,13423,478
$CAP_FILE_SIZE,172234,0
$CFSIZE,260034560,202035200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010313,060334,2431.695,-3746.367,35,0.9,35,-13.9