version: 66.11
glider: 189
mission: 7
dive: 543
start: 3 2 113 2 50 56
data:
$ID,189
$MISSION,7
$DIVE,543
$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,-48337.301
$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
$GPS1,020313,024004,2431.768,-3747.594,31,0.8,31,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-62.4
$GPS2,020313,024954,2431.690,-3747.559,13,1.1,14,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,0.037
$KALMAN_X,129967.5,-400.5,1202.9,-106627.6,-3184.9
$KALMAN_Y,97490.0,141.5,-112.8,-104796.0,-2019.5
$MHEAD_RNG_PITCHd_Wd,85.4,1755,-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,-10.82,0.000,2,0.000,0.000,152,2133,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,9.27,2.60,-50.65,0.000,4,0.192,0.050,2565,546,2720,0,0,0,0,0,0,25.29,25.95,26.70
$GC,396,-1.25,-97.7,25.3,-8.1,37,404,0.12,2.47,0.00,0.000,6,0.134,0.024,2594,2189,2721,0,0,0,0,0,0,25.77,26.28,28.83
$GC,706,-1.25,-97.7,51.1,-8.4,68,714,0.00,2.60,0.00,0.000,4,0.000,0.037,2593,540,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,849,-1.20,-97.7,63.6,-9.1,82,855,0.00,2.42,0.00,0.000,6,0.000,0.024,2584,2191,2723,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1156,-1.18,-97.7,92.3,-9.7,101,1158,0.12,0.00,0.00,0.000,6,0.162,0.000,2616,2191,2721,0,0,0,0,0,0,26.29,28.83,28.83
$GC,1456,-1.18,-97.7,121.3,-9.8,111,1462,0.00,2.60,0.00,0.000,4,0.000,0.036,2617,547,2722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1494,-1.18,-97.7,124.2,-9.8,112,1502,0.00,2.50,0.00,0.000,6,0.000,0.023,2606,2201,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1846,-1.18,-97.7,154.4,-7.7,123,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2201,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2146,-1.18,-97.7,172.1,-5.6,128,2152,0.00,2.58,0.00,0.000,4,0.000,0.036,2605,538,2723,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2215,-1.18,-97.7,175.5,-5.4,129,2222,0.00,2.47,0.00,0.000,6,0.000,0.022,2594,2193,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2567,-1.18,-97.7,192.2,-4.5,135,2572,0.00,2.55,0.00,0.000,4,0.000,0.035,2594,542,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2655,-1.18,-97.7,195.4,-4.7,136,2663,0.10,2.47,0.00,0.000,6,0.134,0.022,2614,2196,2723,0,0,0,0,0,0,25.94,26.36,28.83
$GC,2986,-1.21,-97.7,213.9,-5.4,142,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2196,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3287,-1.25,-97.7,232.1,-6.2,147,3293,0.00,2.58,0.00,0.000,4,0.000,0.036,2614,541,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3406,-1.25,-97.7,239.9,-6.4,149,3412,0.00,2.47,0.00,0.000,6,0.000,0.023,2604,2194,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3767,-1.27,-97.7,266.9,-7.7,155,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2194,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4066,-1.30,-97.7,292.3,-8.5,160,4072,0.00,2.55,0.00,0.000,4,0.000,0.036,2604,535,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4135,-1.32,-97.7,297.5,-8.6,161,4142,0.00,2.47,0.00,0.000,6,0.000,0.023,2592,2191,2723,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4487,-1.32,-97.7,325.6,-7.6,167,4492,0.00,2.55,0.00,0.000,4,0.000,0.036,2592,538,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4615,-1.32,-97.7,334.1,-7.2,169,4622,0.00,2.50,0.00,0.000,6,0.000,0.023,2579,2193,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4966,-1.32,-97.7,355.0,-5.6,175,4972,0.00,2.58,0.00,0.000,4,0.000,0.036,2580,531,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5126,-1.32,-97.7,362.3,-5.7,177,5132,0.00,2.47,0.00,0.000,6,0.000,0.023,2568,2182,2723,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5446,-1.32,-97.7,385.2,-6.6,183,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2182,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5746,-1.32,-97.7,410.8,-8.7,188,5752,0.00,2.58,0.00,0.000,4,0.000,0.036,2568,552,2721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5795,-1.32,-97.7,410.8,-8.7,188,5804,0.00,2.47,0.00,0.000,6,0.000,0.024,2556,2193,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6106,-1.32,-97.7,444.0,-9.1,194,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2193,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6406,-1.32,-97.7,467.8,-7.8,199,6412,0.00,2.60,0.00,0.000,4,0.000,0.037,2555,552,2719,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6546,-1.32,-97.7,476.8,-7.6,201,6553,0.08,2.47,0.00,0.000,6,0.141,0.024,2568,2190,2719,0,0,0,0,0,0,25.98,26.35,28.83
$GC,6886,-1.32,-97.7,501.3,-6.8,207,6892,0.00,2.60,0.00,0.000,4,0.000,0.037,2568,545,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6935,-1.32,-97.7,501.3,-6.8,207,6942,0.00,2.50,0.00,0.000,6,0.000,0.024,2558,2190,2718,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7247,-1.32,-97.7,529.8,-7.9,210,7252,0.00,2.55,0.00,0.000,4,0.000,0.037,2559,543,2717,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7355,-1.32,-97.7,529.8,-7.9,210,7364,0.00,2.50,0.00,0.000,6,0.000,0.024,2546,2190,2716,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7726,-1.32,-97.7,566.9,-7.7,214,7733,0.12,2.55,0.00,0.000,4,0.158,0.037,2578,543,2716,0,0,0,0,0,0,26.31,26.08,28.83
$GC,7785,-1.32,-97.7,566.9,-7.7,214,7792,0.00,2.50,0.00,0.000,6,0.000,0.024,2568,2196,2717,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8206,-1.34,-97.7,602.8,-7.4,218,8212,0.00,2.58,0.00,0.000,4,0.000,0.037,2568,537,2715,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8275,-1.36,-97.7,602.8,-7.4,218,8282,0.00,2.55,0.00,0.000,6,0.000,0.024,2555,2183,2714,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8687,-1.36,-97.7,644.6,-8.7,222,8692,0.00,2.55,0.00,0.000,4,0.000,0.038,2556,543,2713,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8876,-1.36,-97.7,656.6,-9.3,223,8882,0.00,2.50,0.00,0.000,6,0.000,0.024,2544,2193,2713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9286,-1.36,-97.7,701.6,-9.4,227,9293,0.00,2.60,0.00,0.000,4,0.000,0.038,2544,552,2711,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9346,-1.36,-97.7,701.6,-9.4,227,9353,0.08,2.47,0.00,0.000,6,0.143,0.024,2556,2182,2711,0,0,0,0,0,0,25.94,26.32,28.83
$GC,9766,-1.38,-97.7,733.0,-6.5,231,9773,0.00,2.60,0.00,0.000,4,0.000,0.039,2556,553,2710,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9835,-1.41,-97.7,733.0,-6.5,231,9842,0.00,2.47,0.00,0.000,6,0.000,0.024,2546,2188,2710,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10247,-1.41,-97.7,759.6,-5.5,235,10253,0.00,2.60,0.00,0.000,4,0.000,0.039,2546,539,2709,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10315,-1.41,-97.7,759.6,-5.5,235,10323,0.00,2.50,0.00,0.000,6,0.000,0.024,2533,2186,2709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10727,-1.41,-97.7,798.0,-8.0,239,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2185,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11086,-1.41,-97.7,833.9,-9.7,242,11092,0.00,2.55,0.00,0.000,4,0.000,0.043,2522,3740,2706,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11135,-1.41,-97.7,833.9,-9.7,242,11142,0.00,2.47,0.00,0.000,6,0.000,0.023,2522,2108,2706,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11446,-1.41,-97.7,872.4,-10.6,245,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2108,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11806,-1.41,-97.7,909.5,-10.4,248,11812,0.00,2.45,0.00,0.000,4,0.000,0.041,2522,542,2705,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11875,-1.41,-97.7,909.5,-10.4,248,11883,0.15,2.53,0.00,0.000,6,0.155,0.025,2553,2187,2704,0,0,0,0,0,0,25.73,26.25,28.83
$GC,12286,-1.44,-97.7,951.9,-8.8,252,12287,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2187,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12647,-1.48,-97.7,983.0,-8.5,255,12652,0.00,2.58,0.00,0.000,4,0.000,0.041,2553,547,2702,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12755,-1.53,-97.7,983.0,-8.5,255,12764,0.00,2.50,0.00,0.000,6,0.000,0.026,2543,2185,2702,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,12782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12782,begin apogee
$GC,12791,-0.29,0.0,995.9,-9.0,257,12884,1.15,0.00,86.35,1.663,6,0.124,0.000,2900,1577,2319,0,0,0,0,0,0,24.94,28.83,22.97
$STATE,12886,end apogee,CONTROL_FINISHED_OK
$STATE,12886,begin climb
$GC,12891,1.33,97.7,1000.8,0.0,262,12991,1.48,2.10,91.70,1.652,4,0.062,0.047,3440,352,1922,0,0,0,0,0,0,25.32,24.97,22.99
$GC,13115,1.18,106.3,995.5,6.2,273,13129,0.20,1.98,7.97,1.407,6,0.167,0.024,3387,1668,1887,0,0,0,0,0,0,25.56,26.11,23.64
$GC,13538,1.11,118.5,969.4,6.1,285,13553,0.00,0.00,12.60,1.516,6,0.000,0.000,3386,1668,1835,0,0,0,0,0,0,28.83,28.83,23.82
$GC,13899,1.03,120.0,945.1,6.6,288,13901,0.20,0.00,0.00,0.000,6,0.164,0.000,3332,1667,1833,0,0,0,0,0,0,25.87,28.83,28.83
$GC,14258,1.00,125.7,922.6,6.4,291,14274,0.00,2.53,7.30,1.394,4,0.000,0.035,3332,3203,1806,0,0,0,0,0,0,28.83,26.17,24.00
$GC,14430,0.98,132.4,914.7,6.3,292,14445,0.00,2.50,7.70,1.407,6,0.000,0.031,3343,1576,1780,0,0,0,0,0,0,28.83,26.20,23.92
$GC,14859,0.95,132.4,881.9,6.9,296,14865,0.12,2.60,0.00,0.000,4,0.173,0.034,3312,3210,1778,0,0,0,0,0,0,26.16,26.17,28.83
$GC,14967,0.93,132.4,881.9,6.9,296,14975,0.00,2.55,0.00,0.000,6,0.000,0.030,3323,1579,1778,0,0,0,0,0,0,28.83,26.24,28.83
$GC,15339,0.94,138.7,851.2,6.4,300,15354,0.00,2.67,6.82,1.360,4,0.000,0.035,3323,3206,1753,0,0,0,0,0,0,28.83,26.20,24.03
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$STATE,25594,end climb,SURFACE_DEPTH_REACHED
$STATE,25594,begin surface coast
$FINISH,1.4,1.025846
$STATE,25619,end surface coast,CONTROL_FINISHED_OK
$STATE,25619,begin surface
$SM_CCo,25644,47.40,0.124,0,0,1095,300.00
$SM_GC,2.25,8.73,0.82,47.40,0.040,0.034,0.124,151,2194,1095,-8.83,-0.59,300.00,0,0,0,0,0,0,26.16,26.33,25.29
$IRIDIUM_FIX,2411.01,-3744.21,010313,191912
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.75
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7561312
$TM_FREEKB,4295712
$24V_AH,23.0,90.753
$10V_AH,10.1,80.728
$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,22.800,234.150,279.525,47.400,0.000,28.779,39.466,212.010,0.000,0.000,15.304,2041.370,20922.432,718.788,1924.419,660.772,33.283,1652.701,0.000,1544.494,0.000,0.535,0.000
$DEVICE_MAMPS,192.015,77.265,1663.110,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25632.000,2781.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.739,13.444,0.000,0.000
$MEM,343676
$DATA_FILE_SIZE,13403,513
$CAP_FILE_SIZE,190411,0
$CFSIZE,260034560,201682944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020313,100029,2431.752,-3746.669,40,1.0,40,-13.9