version: 66.11
glider: 189
mission: 7
dive: 544
start: 3 2 113 10 11 31
data:
$ID,189
$MISSION,7
$DIVE,544
$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,-48338.559
$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
$GPS1,020313,100029,2431.752,-3746.669,40,1.0,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-60.6
$GPS2,020313,101029,2431.694,-3746.637,14,1.7,14,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.099,0.061
$KALMAN_X,129670.9,132.4,-675.9,-103434.3,264.7
$KALMAN_Y,95996.9,-102.6,581.8,-103746.8,-3159.6
$MHEAD_RNG_PITCHd_Wd,315.6,3007,-20.8,-6.667,-29.75
$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,-1.30,-92.5,0.0,0.0,0,35,0.00,0.00,-10.93,0.000,2,0.000,0.000,151,2119,1407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.31,-97.7,2.3,0.0,1,105,9.20,2.58,-50.97,0.000,4,0.187,0.051,2569,546,2720,0,0,0,0,0,0,25.34,25.94,26.70
$GC,246,-1.23,-97.7,12.4,-11.2,22,254,0.15,2.47,0.00,0.000,6,0.155,0.024,2600,2218,2720,0,0,0,0,0,0,25.77,26.25,28.83
$GC,556,-1.23,-97.7,39.4,-8.4,53,564,0.00,2.47,0.00,0.000,4,0.000,0.041,2590,3750,2720,0,0,0,0,0,0,28.83,26.01,28.83
$GC,699,-1.20,-97.7,49.4,-7.1,67,705,0.00,2.40,0.00,0.000,6,0.000,0.021,2590,2102,2721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1006,-1.18,-97.7,70.8,-7.0,98,1014,0.12,2.62,0.00,0.000,4,0.149,0.039,2612,3758,2721,0,0,0,0,0,0,26.32,26.03,28.83
$GC,1204,-1.18,-97.7,83.0,-6.9,109,1213,0.00,2.50,0.00,0.000,6,0.000,0.021,2611,2090,2721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1516,-1.18,-97.7,110.8,-8.8,120,1522,0.00,2.42,0.00,0.000,4,0.000,0.037,2611,544,2721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1576,-1.18,-97.7,116.4,-9.1,122,1582,0.00,2.42,0.00,0.000,6,0.000,0.023,2605,2193,2721,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1906,-1.18,-97.7,143.2,-7.5,133,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2193,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2207,-1.18,-97.7,160.5,-5.4,140,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2192,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,-1.18,-97.7,178.5,-6.2,145,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2193,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,-1.18,-97.7,204.6,-8.9,150,2812,0.00,2.60,0.00,0.000,4,0.000,0.035,2599,544,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2866,-1.18,-97.7,209.8,-8.9,151,2873,0.10,2.47,0.00,0.000,6,0.131,0.023,2620,2195,2723,0,0,0,0,0,0,25.94,26.36,28.83
$GC,3227,-1.21,-97.7,235.1,-6.7,157,3232,0.00,2.55,0.00,0.000,4,0.000,0.035,2621,542,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3305,-1.24,-97.7,238.5,-6.3,158,3312,0.00,2.47,0.00,0.000,6,0.000,0.023,2610,2197,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3647,-1.27,-97.7,257.0,-5.1,164,3652,0.00,2.55,0.00,0.000,4,0.000,0.035,2610,538,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3706,-1.29,-97.7,260.3,-5.1,165,3712,0.00,2.45,0.00,0.000,6,0.000,0.024,2598,2201,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4066,-1.29,-97.7,278.2,-5.0,171,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2200,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4367,-1.29,-97.7,296.8,-6.3,176,4372,0.00,2.58,0.00,0.000,4,0.000,0.036,2598,541,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4445,-1.29,-97.7,300.9,-6.6,177,4452,0.00,2.47,0.00,0.000,6,0.000,0.023,2586,2191,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4786,-1.29,-97.7,330.9,-8.6,183,4792,0.00,2.60,0.00,0.000,4,0.000,0.036,2586,538,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4855,-1.29,-97.7,336.5,-8.9,184,4862,0.00,2.47,0.00,0.000,6,0.000,0.023,2574,2187,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5206,-1.29,-97.7,369.6,-9.1,190,5212,0.00,2.58,0.00,0.000,4,0.000,0.036,2574,546,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5266,-1.29,-97.7,375.0,-9.1,191,5272,0.00,2.47,0.00,0.000,6,0.000,0.023,2562,2197,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5626,-1.29,-97.7,403.6,-7.6,197,5633,0.00,2.58,0.00,0.000,4,0.000,0.036,2562,536,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5735,-1.29,-97.7,407.9,-7.4,198,5744,0.12,2.50,0.00,0.000,6,0.161,0.024,2581,2190,2721,0,0,0,0,0,0,25.96,26.35,28.83
$GC,6047,-1.29,-97.7,429.2,-5.6,204,6053,0.00,2.55,0.00,0.000,4,0.000,0.036,2581,541,2720,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6155,-1.29,-97.7,432.8,-5.6,205,6164,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2184,2720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6466,-1.29,-97.7,457.4,-7.1,211,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2184,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6767,-1.29,-97.7,483.1,-8.8,216,6772,0.00,2.55,0.00,0.000,4,0.000,0.037,2570,543,2718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6855,-1.29,-97.7,488.8,-9.1,217,6863,0.00,2.55,0.00,0.000,6,0.000,0.024,2558,2197,2718,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7186,-1.29,-97.7,520.7,-8.9,221,7192,0.00,2.60,0.00,0.000,4,0.000,0.037,2558,546,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7287,-1.29,-97.7,520.7,-8.9,221,7293,0.15,2.45,0.00,0.000,6,0.152,0.024,2586,2200,2717,0,0,0,0,0,0,25.88,26.34,28.83
$GC,7666,-1.32,-97.7,555.5,-7.2,225,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2200,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,-1.36,-97.7,584.1,-7.7,228,8033,0.00,2.62,0.00,0.000,4,0.000,0.038,2585,545,2716,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8095,-1.40,-97.7,584.1,-7.7,228,8103,0.00,2.55,0.00,0.000,6,0.000,0.025,2575,2193,2715,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8507,-1.43,-97.7,625.9,-8.7,232,8513,0.10,2.58,0.00,0.000,4,0.096,0.038,2516,547,2714,0,0,0,0,0,0,26.63,26.06,28.83
$GC,8655,-1.43,-97.7,636.1,-8.5,233,8663,0.12,2.55,0.00,0.000,6,0.163,0.024,2534,2187,2714,0,0,0,0,0,0,25.92,26.32,28.83
$GC,8986,-1.43,-97.7,661.2,-7.3,236,8993,0.00,2.55,0.00,0.000,4,0.000,0.042,2523,3768,2713,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9045,-1.43,-97.7,661.2,-7.3,236,9053,0.00,2.53,0.00,0.000,6,0.000,0.022,2519,2094,2712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9466,-1.43,-97.7,695.9,-7.2,240,9472,0.00,2.45,0.00,0.000,4,0.000,0.039,2524,545,2711,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9606,-1.41,-97.7,706.2,-7.7,241,9613,0.10,2.55,0.00,0.000,6,0.137,0.025,2544,2185,2710,0,0,0,0,0,0,25.86,26.30,28.83
$GC,9946,-1.41,-97.7,737.0,-8.6,244,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2185,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10306,-1.41,-97.7,768.2,-8.7,247,10312,0.00,2.60,0.00,0.000,4,0.000,0.039,2544,549,2709,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10426,-1.41,-97.7,779.4,-8.8,248,10433,0.00,2.47,0.00,0.000,6,0.000,0.025,2533,2186,2708,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10786,-1.41,-97.7,812.3,-9.2,251,10792,0.00,2.55,0.00,0.000,4,0.000,0.039,2534,540,2710,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10865,-1.41,-97.7,812.3,-9.2,251,10872,0.00,2.53,0.00,0.000,6,0.000,0.024,2522,2193,2705,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11267,-1.41,-97.7,854.7,-8.8,255,11272,0.00,2.58,0.00,0.000,4,0.000,0.040,2522,543,2705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11315,-1.41,-97.7,854.7,-8.8,255,11323,0.10,2.50,0.00,0.000,6,0.138,0.025,2542,2188,2705,0,0,0,0,0,0,25.82,26.27,28.83
$GC,11626,-1.41,-97.7,881.4,-7.6,258,11633,0.00,2.60,0.00,0.000,4,0.000,0.040,2542,553,2705,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11685,-1.41,-97.7,881.4,-7.6,258,11693,0.00,2.47,0.00,0.000,6,0.000,0.025,2531,2185,2704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12106,-1.41,-97.7,917.8,-7.5,262,12113,0.00,2.60,0.00,0.000,4,0.000,0.040,2532,553,2703,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12275,-1.41,-97.7,929.2,-8.1,263,12282,0.00,2.50,0.00,0.000,6,0.000,0.026,2519,2190,2702,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12587,-1.41,-97.7,969.5,-10.8,266,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2191,2702,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12822,begin apogee
$GC,12831,-0.29,0.0,999.2,-11.9,268,12925,1.23,0.05,86.50,1.672,6,0.127,0.126,2897,1626,2320,0,0,0,0,0,0,24.87,24.72,22.95
$STATE,12927,end apogee,CONTROL_FINISHED_OK
$STATE,12927,begin climb
$GC,12934,1.31,97.7,1007.3,0.0,273,13031,1.45,0.00,92.60,1.650,6,0.062,0.000,3418,1627,1922,0,0,0,0,0,0,25.37,28.83,22.99
$GC,13326,1.22,128.6,999.4,5.1,293,13361,0.00,2.67,28.30,1.601,4,0.000,0.035,3418,3206,1794,0,0,0,0,0,0,28.83,25.54,23.50
$GC,13447,1.10,128.6,990.8,7.7,299,13452,0.28,2.53,0.00,0.000,6,0.164,0.031,3358,1581,1793,0,0,0,0,0,0,25.50,25.98,28.83
$GC,13777,1.05,128.6,962.9,8.7,305,13782,0.00,1.92,0.00,0.000,4,0.000,0.049,3366,349,1789,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13825,1.00,128.6,962.9,8.7,305,13833,0.17,1.98,0.00,0.000,6,0.159,0.024,3321,1672,1789,0,0,0,0,0,0,25.84,26.37,28.83
$GC,14136,0.97,128.6,930.3,9.1,308,14142,0.00,2.47,0.00,0.000,4,0.000,0.036,3321,3204,1788,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14286,0.97,128.6,920.1,8.9,309,14292,0.00,2.53,0.00,0.000,6,0.000,0.030,3331,1577,1787,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14616,0.97,128.6,895.3,7.3,312,14622,0.00,2.62,0.00,0.000,4,0.000,0.035,3331,3202,1786,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,25172,end climb,SURFACE_DEPTH_REACHED
$STATE,25172,begin surface coast
$FINISH,1.3,1.025273
$STATE,25207,end surface coast,CONTROL_FINISHED_OK
$STATE,25207,begin surface
$SM_CCo,25232,54.83,0.122,0,0,1093,300.00
$SM_GC,2.41,8.60,0.93,54.83,0.034,0.030,0.122,152,2217,1093,-8.83,-0.59,300.00,0,0,0,0,0,0,26.18,26.36,25.24
$IRIDIUM_FIX,2425.21,-3738.16,020313,020250
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.32
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7560928
$TM_FREEKB,4291168
$24V_AH,23.0,90.889
$10V_AH,9.8,80.868
$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
$DEVICE_SECS,22.450,232.650,255.225,54.825,0.000,25.758,52.066,203.592,0.000,0.000,15.582,2134.455,20343.672,693.005,2040.125,660.900,33.286,1668.439,0.000,1655.300,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.761,13.409,0.000,0.000
$MEM,343716
$DATA_FILE_SIZE,13428,531
$CAP_FILE_SIZE,190612,0
$CFSIZE,260034560,201596928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020313,171404,2431.751,-3747.896,24,1.0,24,-13.9