version: 66.11
glider: 189
mission: 7
dive: 478
start: 2 10 113 18 19 54
data:
$ID,189
$MISSION,7
$DIVE,478
$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,-48255.445
$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
$GPS1,100213,180904,2430.316,-3747.637,46,0.9,46,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-53.8
$GPS2,100213,181853,2430.301,-3747.742,20,1.0,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.103,0.052
$KALMAN_X,185601.0,248.8,120.5,-162130.6,-3190.4
$KALMAN_Y,59837.5,105.7,-11.6,-69773.7,34.6
$MHEAD_RNG_PITCHd_Wd,77.1,1487,-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,-11.07,0.000,2,0.000,0.000,151,2128,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,105,8.85,2.62,-49.80,0.000,4,0.174,0.048,2560,3746,2720,0,0,0,0,0,0,25.35,25.94,26.70
$GC,256,-1.25,-97.7,13.1,-8.8,23,264,0.10,2.45,0.00,0.000,6,0.132,0.021,2592,2099,2719,0,0,0,0,0,0,25.89,26.32,28.83
$GC,566,-1.22,-97.7,34.0,-7.7,54,574,0.00,2.67,0.00,0.000,4,0.000,0.039,2581,3757,2721,0,0,0,0,0,0,28.83,26.06,28.83
$GC,866,-1.18,-97.7,57.6,-8.5,84,875,0.10,2.47,0.00,0.000,6,0.129,0.021,2614,2083,2721,0,0,0,0,0,0,25.99,26.41,28.83
$GC,1196,-1.18,-97.7,81.9,-7.4,111,1202,0.00,2.67,0.00,0.000,4,0.000,0.039,2602,3741,2722,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1427,-1.18,-97.7,99.6,-8.7,118,1434,0.00,2.38,0.00,0.000,6,0.000,0.021,2603,2101,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1736,-1.18,-97.7,127.3,-7.9,129,1742,0.00,2.60,0.00,0.000,4,0.000,0.039,2591,3749,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1924,-1.18,-97.7,141.3,-7.7,135,1932,0.00,2.47,0.00,0.000,6,0.000,0.020,2591,2087,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2247,-1.18,-97.7,163.8,-6.7,143,2252,0.00,2.62,0.00,0.000,4,0.000,0.038,2579,3750,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2375,-1.16,-97.7,171.4,-6.4,145,2383,0.12,2.45,0.00,0.000,6,0.122,0.021,2620,2084,2723,0,0,0,0,0,0,25.98,26.45,28.83
$GC,2727,-1.19,-97.7,191.3,-5.4,151,2732,0.00,2.38,0.00,0.000,4,0.000,0.037,2620,543,2723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2805,-1.22,-97.7,194.7,-5.5,152,2812,0.00,2.50,0.00,0.000,6,0.000,0.023,2610,2192,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3146,-1.24,-97.7,216.1,-6.1,158,3152,0.00,2.47,0.00,0.000,4,0.000,0.040,2598,3756,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3225,-1.24,-97.7,220.1,-6.3,159,3233,0.00,2.45,0.00,0.000,6,0.000,0.021,2598,2095,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3566,-1.24,-97.7,243.1,-6.3,165,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2095,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3866,-1.24,-97.7,260.9,-5.9,170,3872,0.00,2.65,0.00,0.000,4,0.000,0.040,2586,3757,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3956,-1.24,-97.7,264.6,-6.0,171,3962,0.00,2.45,0.00,0.000,6,0.000,0.021,2586,2102,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4285,-1.24,-97.7,289.3,-7.1,177,4292,0.00,2.45,0.00,0.000,4,0.000,0.037,2586,542,2723,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4345,-1.24,-97.7,294.2,-7.5,178,4352,0.00,2.45,0.00,0.000,6,0.000,0.024,2574,2183,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4706,-1.24,-97.7,324.4,-8.4,184,4712,0.00,2.50,0.00,0.000,4,0.000,0.041,2562,3757,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4784,-1.24,-97.7,329.6,-8.6,185,4793,0.15,2.47,0.00,0.000,6,0.142,0.021,2603,2095,2723,0,0,0,0,0,0,26.01,26.46,28.83
$GC,5127,-1.27,-97.7,358.4,-7.9,191,5133,0.00,2.65,0.00,0.000,4,0.000,0.040,2592,3755,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5196,-1.30,-97.7,363.3,-8.0,192,5202,0.00,2.42,0.00,0.000,6,0.000,0.021,2591,2091,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5546,-1.32,-97.7,391.4,-7.7,198,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2091,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5847,-1.35,-97.7,415.8,-8.2,203,5852,0.00,2.40,0.00,0.000,4,0.000,0.038,2592,546,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5895,-1.37,-97.7,415.8,-8.2,203,5904,0.00,2.50,0.00,0.000,6,0.000,0.024,2580,2198,2720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6206,-1.37,-97.7,448.3,-9.0,209,6212,0.00,2.50,0.00,0.000,4,0.000,0.041,2569,3741,2720,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6266,-1.37,-97.7,453.9,-9.1,210,6272,0.00,2.40,0.00,0.000,6,0.000,0.021,2569,2088,2720,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6625,-1.37,-97.7,483.0,-7.8,216,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2088,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6926,-1.37,-97.7,503.2,-6.7,221,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2089,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7286,-1.37,-97.7,527.2,-6.6,224,7293,0.00,2.67,0.00,0.000,4,0.000,0.041,2556,3757,2717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7405,-1.37,-97.7,536.0,-6.8,225,7412,0.00,2.45,0.00,0.000,6,0.000,0.021,2556,2109,2717,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7765,-1.37,-97.7,563.6,-7.6,228,7773,0.00,2.65,0.00,0.000,4,0.000,0.041,2544,3744,2716,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7886,-1.37,-97.7,573.2,-7.8,229,7892,0.00,2.45,0.00,0.000,6,0.000,0.021,2544,2101,2716,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8245,-1.37,-97.7,602.9,-8.2,232,8253,0.00,2.67,0.00,0.000,4,0.000,0.041,2532,3749,2714,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8344,-1.37,-97.7,602.9,-8.2,232,8352,0.00,2.47,0.00,0.000,6,0.000,0.021,2532,2104,2714,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8726,-1.37,-97.7,652.2,-10.3,236,8733,0.00,2.65,0.00,0.000,4,0.000,0.041,2521,3741,2713,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8935,-1.34,-97.7,665.3,-10.7,237,8943,0.15,2.47,0.00,0.000,6,0.147,0.022,2564,2097,2712,0,0,0,0,0,0,25.91,26.41,28.83
$GC,9326,-1.34,-97.7,706.2,-8.5,241,9332,0.00,2.45,0.00,0.000,4,0.000,0.039,2565,552,2711,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9395,-1.34,-97.7,706.2,-8.5,241,9402,0.00,2.45,0.00,0.000,6,0.000,0.024,2554,2182,2712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9806,-1.37,-97.7,737.5,-6.5,245,9812,0.00,2.55,0.00,0.000,4,0.000,0.039,2554,547,2711,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9875,-1.39,-97.7,737.5,-6.5,245,9882,0.00,2.47,0.00,0.000,6,0.000,0.024,2542,2185,2710,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10287,-1.39,-97.7,775.5,-7.9,249,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2185,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,-1.39,-97.7,807.1,-8.7,252,10652,0.00,2.60,0.00,0.000,4,0.000,0.040,2542,546,2709,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10804,-1.39,-97.7,818.7,-9.0,253,10812,0.00,2.53,0.00,0.000,6,0.000,0.025,2530,2197,2708,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11126,-1.39,-97.7,852.6,-9.5,256,11132,0.00,2.47,0.00,0.000,4,0.000,0.044,2519,3747,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11184,-1.39,-97.7,852.6,-9.5,256,11193,0.12,2.47,0.00,0.000,6,0.151,0.024,2550,2105,2707,0,0,0,0,0,0,25.98,26.36,28.83
$GC,11606,-1.41,-97.7,892.5,-8.3,260,11612,0.00,2.47,0.00,0.000,4,0.000,0.041,2550,545,2705,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11797,-1.44,-97.7,902.5,-8.1,261,11802,0.00,2.53,0.00,0.000,6,0.000,0.027,2540,2194,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12206,-1.44,-97.7,943.0,-8.4,265,12212,0.00,2.62,0.00,0.000,4,0.000,0.041,2540,547,2703,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12305,-1.44,-97.7,943.0,-8.4,265,12312,0.00,2.50,0.00,0.000,6,0.000,0.025,2528,2187,2702,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12686,-1.44,-97.7,988.3,-9.4,269,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2187,2702,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12702,begin apogee
$GC,12711,-0.29,0.0,990.4,-9.5,270,12804,1.20,0.00,86.65,1.679,6,0.126,0.000,2900,1578,2317,0,0,0,0,0,0,25.03,28.83,22.99
$STATE,12806,end apogee,CONTROL_FINISHED_OK
$STATE,12806,begin climb
$GC,12810,1.33,97.7,995.4,0.0,275,12914,1.50,2.12,92.55,1.693,4,0.062,0.049,3440,350,1920,0,0,0,0,0,0,25.29,24.92,23.00
$GC,13035,1.17,99.5,989.4,6.6,286,13044,0.22,1.98,0.00,0.000,6,0.161,0.024,3382,1656,1911,0,0,0,0,0,0,25.58,26.08,28.83
$GC,13347,1.09,103.9,968.9,6.4,292,13357,0.12,2.15,4.65,1.209,4,0.177,0.049,3352,347,1896,0,0,0,0,0,0,26.05,26.13,23.91
$GC,13466,1.02,103.9,960.6,6.7,293,13473,0.00,1.98,0.00,0.000,6,0.000,0.024,3354,1650,1895,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13817,0.96,103.9,933.0,7.6,296,13824,0.17,2.45,0.00,0.000,4,0.153,0.036,3305,3207,1894,0,0,0,0,0,0,26.07,26.24,28.83
$GC,13917,0.90,103.9,933.0,7.6,296,13923,0.00,2.47,0.00,0.000,6,0.000,0.031,3316,1582,1893,0,0,0,0,0,0,28.83,26.28,28.83
$GC,14297,0.90,103.9,898.3,7.2,300,14298,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1582,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14656,0.91,112.7,876.3,6.2,303,14667,0.00,0.00,9.12,1.460,6,0.000,0.000,3316,1582,1859,0,0,0,0,0,0,28.83,28.83,23.94
$GC,15016,0.94,135.2,856.6,5.5,306,15044,0.00,2.65,22.10,1.584,4,0.000,0.035,3316,3201,1767,0,0,0,0,0,0,28.83,25.77,23.73
$GC,15166,0.96,156.4,849.2,5.6,307,15194,0.00,2.55,20.60,1.552,6,0.000,0.031,3328,1585,1681,0,0,0,0,0,0,28.83,26.06,23.63
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$STATE,25494,end climb,SURFACE_DEPTH_REACHED
$STATE,25494,begin surface coast
$FINISH,1.4,1.000504
$STATE,25518,end surface coast,CONTROL_FINISHED_OK
$STATE,25518,begin surface
$SM_CCo,25542,53.97,0.125,0,0,1093,300.00
$SM_GC,2.31,8.73,0.80,53.97,0.042,0.032,0.125,153,2198,1093,-8.82,-0.51,300.00,0,0,0,0,0,0,26.29,26.41,25.56
$IRIDIUM_FIX,2439.44,-3858.49,100213,101050
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.85
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7586304
$TM_FREEKB,4566656
$24V_AH,23.0,81.291
$10V_AH,10.0,72.251
$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,22.725,223.175,258.100,53.975,0.000,28.010,43.168,213.874,0.000,0.000,21.271,2222.314,20544.139,700.813,2096.487,608.623,33.263,1688.483,0.000,1702.525,0.000,0.535,0.000
$DEVICE_MAMPS,176.715,94.860,1692.945,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25530.000,2891.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.262,13.474,0.000,0.000
$MEM,343728
$DATA_FILE_SIZE,13431,526
$CAP_FILE_SIZE,194497,0
$CFSIZE,260034560,207421440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110213,012735,2431.328,-3747.006,24,0.8,24,-13.9