version: 66.11
glider: 189
mission: 7
dive: 486
start: 2 13 113 3 44 14
data:
$ID,189
$MISSION,7
$DIVE,486
$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,-48265.504
$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
$GPS1,130213,033335,2430.675,-3746.659,32,0.9,32,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-59.9
$GPS2,130213,034312,2430.702,-3746.711,19,1.1,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.087,-0.075
$KALMAN_X,169630.6,379.1,480.8,-144929.7,-4608.3
$KALMAN_Y,68731.4,-269.4,-92.7,-77470.2,2262.8
$MHEAD_RNG_PITCHd_Wd,144.6,2613,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.32,-90.7,0.0,0.0,0,34,0.00,0.00,-10.82,0.000,2,0.000,0.000,152,2111,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.33,-97.7,2.3,0.0,1,104,9.15,2.55,-50.42,0.000,4,0.190,0.050,2567,546,2720,0,0,0,0,0,0,25.35,26.00,26.68
$GC,157,-1.25,-97.7,5.0,-7.3,13,164,0.15,2.42,0.00,0.000,6,0.155,0.024,2595,2191,2721,0,0,0,0,0,0,25.79,26.25,28.83
$GC,464,-1.25,-97.7,30.4,-8.0,44,473,0.00,2.53,0.00,0.000,4,0.000,0.041,2585,3749,2721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,645,-1.21,-97.7,46.7,-8.7,62,653,0.00,2.45,0.00,0.000,6,0.000,0.021,2585,2105,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,955,-1.18,-97.7,71.6,-8.0,93,963,0.12,2.62,0.00,0.000,4,0.154,0.039,2606,3755,2722,0,0,0,0,0,0,26.32,26.11,28.83
$GC,1075,-1.18,-97.7,81.0,-7.8,101,1081,0.00,2.47,0.00,0.000,6,0.000,0.021,2606,2094,2722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1405,-1.18,-97.7,102.7,-5.7,112,1411,0.00,2.67,0.00,0.000,4,0.000,0.039,2594,3753,2723,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1565,-1.16,-97.7,111.1,-6.0,117,1572,0.08,2.45,0.00,0.000,6,0.130,0.021,2620,2093,2723,0,0,0,0,0,0,26.10,26.45,28.83
$GC,1888,-1.18,-97.7,133.4,-7.6,128,1893,0.00,2.38,0.00,0.000,4,0.000,0.037,2620,546,2723,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2014,-1.18,-97.7,144.1,-9.0,132,2021,0.00,2.47,0.00,0.000,6,0.000,0.023,2609,2200,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2335,-1.18,-97.7,170.6,-7.7,139,2341,0.00,2.50,0.00,0.000,4,0.000,0.040,2597,3748,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2454,-1.18,-97.7,179.6,-7.5,141,2462,0.00,2.45,0.00,0.000,6,0.000,0.021,2597,2094,2724,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2816,-1.18,-97.7,202.8,-6.5,147,2821,0.00,2.38,0.00,0.000,4,0.000,0.037,2597,545,2724,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2934,-1.18,-97.7,211.5,-7.1,149,2942,0.08,2.47,0.00,0.000,6,0.137,0.023,2611,2193,2724,0,0,0,0,0,0,26.06,26.40,28.83
$GC,3296,-1.21,-97.7,231.5,-5.2,155,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2193,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3595,-1.24,-97.7,250.5,-6.6,160,3601,0.00,2.55,0.00,0.000,4,0.000,0.036,2612,540,2725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3704,-1.26,-97.7,255.3,-7.2,161,3713,0.00,2.47,0.00,0.000,6,0.000,0.023,2601,2194,2724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4016,-1.28,-97.7,287.6,-9.2,167,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2194,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-1.30,-97.7,313.6,-8.6,172,4321,0.00,2.55,0.00,0.000,4,0.000,0.036,2601,545,2725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4434,-1.30,-97.7,323.3,-8.2,174,4442,0.00,2.47,0.00,0.000,6,0.000,0.024,2588,2192,2724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4796,-1.30,-97.7,347.9,-6.6,180,4801,0.00,2.47,0.00,0.000,4,0.000,0.041,2578,3750,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4884,-1.30,-97.7,351.6,-6.3,181,4891,0.00,2.47,0.00,0.000,6,0.000,0.021,2577,2090,2723,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5216,-1.30,-97.7,372.6,-5.8,187,5221,0.00,2.62,0.00,0.000,4,0.000,0.040,2566,3749,2723,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5304,-1.30,-97.7,376.4,-5.9,188,5312,0.00,2.47,0.00,0.000,6,0.000,0.021,2566,2092,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5634,-1.30,-97.7,402.5,-7.5,194,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2092,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5935,-1.30,-97.7,428.3,-8.7,199,5941,0.00,2.42,0.00,0.000,4,0.000,0.037,2566,551,2722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6014,-1.30,-97.7,433.9,-8.8,200,6021,0.00,2.50,0.00,0.000,6,0.000,0.024,2553,2203,2722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6355,-1.30,-97.7,465.1,-8.5,206,6361,0.00,2.60,0.00,0.000,4,0.000,0.036,2553,551,2720,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6415,-1.30,-97.7,470.2,-8.3,207,6422,0.15,2.42,0.00,0.000,6,0.157,0.024,2579,2200,2720,0,0,0,0,0,0,25.93,26.39,28.83
$GC,6775,-1.32,-97.7,497.1,-7.4,213,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2200,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7075,-1.35,-97.7,519.3,-7.4,216,7081,0.00,2.60,0.00,0.000,4,0.000,0.037,2580,550,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7155,-1.37,-97.7,519.3,-7.4,216,7161,0.00,2.53,0.00,0.000,6,0.000,0.025,2570,2189,2718,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7554,-1.37,-97.7,556.3,-7.7,220,7561,0.00,2.58,0.00,0.000,4,0.000,0.037,2570,553,2717,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7674,-1.37,-97.7,566.2,-7.8,221,7681,0.00,2.47,0.00,0.000,6,0.000,0.025,2558,2190,2719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8036,-1.37,-97.7,594.6,-7.9,224,8042,0.00,2.58,0.00,0.000,4,0.000,0.037,2558,542,2716,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8103,-1.37,-97.7,594.6,-7.9,224,8111,0.00,2.53,0.00,0.000,6,0.000,0.024,2546,2198,2715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8514,-1.37,-97.7,633.8,-8.2,228,8521,0.00,2.60,0.00,0.000,4,0.000,0.038,2546,553,2714,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8654,-1.37,-97.7,644.2,-8.3,229,8662,0.00,2.47,0.00,0.000,6,0.000,0.025,2534,2188,2714,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8995,-1.35,-97.7,674.9,-8.6,232,9002,0.12,2.50,0.00,0.000,4,0.164,0.043,2556,3754,2712,0,0,0,0,0,0,26.31,26.07,28.83
$GC,9074,-1.33,-97.7,674.9,-8.6,232,9081,0.00,2.47,0.00,0.000,6,0.000,0.022,2555,2102,2712,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9476,-1.33,-97.7,712.3,-7.8,236,9481,0.00,2.42,0.00,0.000,4,0.000,0.040,2555,546,2711,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9683,-1.33,-97.7,721.7,-7.6,237,9691,0.00,2.53,0.00,0.000,6,0.000,0.025,2544,2197,2711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10075,-1.33,-97.7,761.6,-8.3,241,10081,0.00,2.58,0.00,0.000,4,0.000,0.039,2544,542,2710,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10163,-1.33,-97.7,761.6,-8.3,241,10172,0.15,2.53,0.00,0.000,6,0.157,0.024,2570,2196,2710,0,0,0,0,0,0,25.86,26.34,28.83
$GC,10555,-1.37,-97.7,801.0,-8.1,245,10561,0.00,2.62,0.00,0.000,4,0.000,0.040,2570,549,2708,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10665,-1.40,-97.7,801.0,-8.1,245,10673,0.00,2.47,0.00,0.000,6,0.000,0.026,2560,2180,2708,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11035,-1.43,-97.7,840.8,-8.3,249,11041,0.00,2.60,0.00,0.000,4,0.000,0.040,2559,546,2707,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11094,-1.47,-97.7,840.8,-8.3,249,11101,0.00,2.50,0.00,0.000,6,0.000,0.026,2548,2188,2707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11516,-1.50,-97.7,882.0,-8.6,253,11521,0.00,2.58,0.00,0.000,4,0.000,0.041,2548,545,2706,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11653,-1.50,-97.7,893.3,-8.8,254,11661,0.00,2.60,0.00,0.000,6,0.000,0.026,2538,2191,2704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11994,-1.50,-97.7,925.0,-9.0,257,12001,0.00,2.62,0.00,0.000,4,0.000,0.041,2536,544,2704,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12054,-1.50,-97.7,925.0,-9.0,257,12061,0.00,2.50,0.00,0.000,6,0.000,0.027,2524,2182,2703,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12474,-1.50,-97.7,965.2,-8.4,261,12481,0.00,2.60,0.00,0.000,4,0.000,0.041,2524,553,2702,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12613,-1.50,-97.7,975.7,-8.3,262,12621,0.00,2.53,0.00,0.000,6,0.000,0.026,2512,2195,2702,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,12771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12771,begin apogee
$GC,12781,-0.29,0.0,991.4,-8.7,266,12874,1.25,0.05,86.82,1.691,6,0.129,0.129,2898,1626,2320,0,0,0,0,0,0,25.00,24.72,22.95
$STATE,12876,end apogee,CONTROL_FINISHED_OK
$STATE,12876,begin climb
$GC,12879,1.33,97.7,995.8,0.0,271,12977,1.50,0.00,93.60,1.709,6,0.060,0.000,3431,1626,1920,0,0,0,0,0,0,25.28,28.83,22.97
$GC,13295,1.22,120.5,978.4,5.5,287,13319,0.15,0.00,20.45,1.592,6,0.174,0.000,3394,1625,1827,0,0,0,0,0,0,25.95,28.83,23.69
$GC,13656,1.14,136.9,956.8,5.8,290,13676,0.00,2.12,15.70,1.561,4,0.000,0.049,3402,349,1761,0,0,0,0,0,0,28.83,25.82,23.84
$GC,13807,1.05,144.9,948.8,6.3,291,13824,0.22,1.92,8.32,1.444,6,0.155,0.025,3342,1669,1729,0,0,0,0,0,0,25.70,26.25,23.85
$GC,14126,1.01,144.9,922.6,7.2,294,14132,0.00,2.42,0.00,0.000,4,0.000,0.036,3342,3202,1727,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14184,0.96,144.9,922.6,7.2,294,14193,0.12,2.55,0.00,0.000,6,0.148,0.031,3314,1574,1727,0,0,0,0,0,0,25.84,26.24,28.83
$GC,14605,0.96,144.9,886.6,7.5,298,14612,0.00,2.62,0.00,0.000,4,0.000,0.034,3314,3197,1726,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14745,0.96,144.9,877.8,7.5,299,14752,0.00,2.53,0.00,0.000,6,0.000,0.031,3325,1580,1726,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,25952,end climb,SURFACE_DEPTH_REACHED
$STATE,25952,begin surface coast
$FINISH,1.2,1.021177
$STATE,25983,end surface coast,CONTROL_FINISHED_OK
$STATE,25983,begin surface
$SM_CCo,26009,68.53,0.124,0,0,1093,300.00
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$IRIDIUM_FIX,2413.38,-3831.09,120213,202040
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.30
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.50
$XPDR_PINGS,-1
$SC_FREEKB,7583232
$TM_FREEKB,4532352
$24V_AH,23.0,82.453
$10V_AH,9.9,73.266
$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
$DEVICE_SECS,22.500,247.625,228.575,68.525,0.000,25.527,45.123,202.204,0.000,0.000,20.473,2237.341,20958.783,742.248,2083.597,618.691,33.288,1744.255,0.000,1696.035,0.000,1.051,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.297,13.475,0.000,0.000
$MEM,343696
$DATA_FILE_SIZE,13429,538
$CAP_FILE_SIZE,198498,0
$CFSIZE,260034560,206700544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130213,110004,2429.901,-3746.231,31,0.9,31,-13.9