version: 66.11
glider: 189
mission: 7
dive: 507
start: 2 19 113 11 12 42
data:
$ID,189
$MISSION,7
$DIVE,507
$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,-48292.016
$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
$GPS1,190213,110204,2431.461,-3746.927,30,0.8,30,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-59.4
$GPS2,190213,111141,2431.459,-3746.944,13,1.7,13,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,-0.058
$KALMAN_X,166364.5,333.3,-388.4,-141137.7,1309.0
$KALMAN_Y,76023.7,191.4,-706.2,-83212.0,977.1
$MHEAD_RNG_PITCHd_Wd,254.8,2357,-19.9,-6.667,-29.07
$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,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-10.93,0.000,2,0.000,0.000,156,2178,1410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.4,0.0,1,105,9.32,2.65,-49.97,0.000,4,0.194,0.055,2582,3752,2719,0,0,0,0,0,0,25.41,25.91,26.69
$GC,129,-1.44,-97.7,2.4,-2.5,10,136,0.12,2.42,0.00,0.000,6,0.088,0.021,2525,2088,2720,0,0,0,0,0,0,26.13,26.27,28.83
$GC,436,-1.32,-97.7,28.3,-8.5,41,444,0.17,2.42,0.00,0.000,4,0.154,0.038,2571,548,2721,0,0,0,0,0,0,26.02,26.08,28.83
$GC,656,-1.22,-97.7,48.0,-9.7,63,665,0.12,2.47,0.00,0.000,6,0.136,0.024,2600,2187,2721,0,0,0,0,0,0,25.82,26.34,28.83
$GC,966,-1.18,-97.7,74.6,-8.4,94,973,0.00,2.50,0.00,0.000,4,0.000,0.041,2590,3741,2722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1215,-1.12,-97.7,93.7,-7.6,103,1223,0.12,2.42,0.00,0.000,6,0.128,0.021,2632,2095,2722,0,0,0,0,0,0,25.92,26.42,28.83
$GC,1539,-1.12,-97.7,114.4,-5.9,114,1544,0.00,2.62,0.00,0.000,4,0.000,0.040,2621,3748,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1596,-1.12,-97.7,118.0,-6.0,116,1602,0.00,2.45,0.00,0.000,6,0.000,0.021,2621,2097,2723,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1928,-1.12,-97.7,135.1,-5.1,127,1934,0.00,2.62,0.00,0.000,4,0.000,0.040,2609,3750,2723,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2056,-1.12,-97.7,141.6,-5.4,131,2062,0.00,2.45,0.00,0.000,6,0.000,0.021,2609,2099,2724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2375,-1.12,-97.7,163.4,-7.0,139,2383,0.10,2.65,0.00,0.000,4,0.156,0.040,2623,3744,2724,0,0,0,0,0,0,26.44,26.12,28.83
$GC,2445,-1.12,-97.7,167.7,-7.1,140,2452,0.00,2.42,0.00,0.000,6,0.000,0.021,2623,2105,2725,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2795,-1.12,-97.7,197.9,-8.8,146,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2105,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3095,-1.12,-97.7,225.0,-9.1,151,3103,0.00,2.45,0.00,0.000,4,0.000,0.037,2623,546,2725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3225,-1.12,-97.7,235.0,-8.6,153,3232,0.00,2.47,0.00,0.000,6,0.000,0.024,2611,2193,2724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3576,-1.12,-97.7,259.4,-6.4,159,3582,0.00,2.58,0.00,0.000,4,0.000,0.036,2611,551,2725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3675,-1.12,-97.7,262.7,-5.9,160,3683,0.10,2.45,0.00,0.000,6,0.130,0.023,2633,2185,2725,0,0,0,0,0,0,25.98,26.38,28.83
$GC,3997,-1.16,-97.7,278.9,-4.3,166,4003,0.00,2.55,0.00,0.000,4,0.000,0.036,2633,539,2725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4076,-1.19,-97.7,281.6,-4.3,167,4082,0.00,2.47,0.00,0.000,6,0.000,0.024,2623,2184,2725,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4417,-1.22,-97.7,300.4,-5.5,173,4423,0.00,2.53,0.00,0.000,4,0.000,0.036,2623,545,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4485,-1.24,-97.7,304.3,-5.9,174,4492,0.00,2.47,0.00,0.000,6,0.000,0.023,2611,2194,2725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4835,-1.24,-97.7,332.9,-8.4,180,4842,0.00,2.60,0.00,0.000,4,0.000,0.036,2611,543,2724,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5055,-1.24,-97.7,351.3,-9.9,183,5062,0.00,2.47,0.00,0.000,6,0.000,0.024,2599,2190,2723,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5376,-1.24,-97.7,385.8,-9.2,189,5382,0.00,2.53,0.00,0.000,4,0.000,0.042,2587,3750,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5455,-1.24,-97.7,390.5,-8.7,190,5462,0.00,2.45,0.00,0.000,6,0.000,0.021,2587,2102,2723,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5796,-1.24,-97.7,411.6,-5.3,196,5802,0.00,2.45,0.00,0.000,4,0.000,0.037,2587,549,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5895,-1.24,-97.7,414.2,-4.8,197,5903,0.00,2.50,0.00,0.000,6,0.000,0.024,2575,2203,2721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6217,-1.24,-97.7,428.8,-4.3,203,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2203,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-1.24,-97.7,449.4,-7.2,208,6522,0.00,2.62,0.00,0.000,4,0.000,0.037,2575,542,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6645,-1.22,-97.7,460.4,-8.5,210,6653,0.12,2.47,0.00,0.000,6,0.133,0.024,2603,2186,2720,0,0,0,0,0,0,25.88,26.36,28.83
$GC,6997,-1.25,-97.7,493.9,-9.3,216,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2187,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7356,-1.28,-97.7,523.5,-8.2,220,7362,0.00,2.55,0.00,0.000,4,0.000,0.037,2604,546,2718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7496,-1.31,-97.7,533.1,-8.0,221,7502,0.00,2.47,0.00,0.000,6,0.000,0.024,2593,2190,2718,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7836,-1.33,-97.7,562.7,-8.2,224,7842,0.00,2.55,0.00,0.000,4,0.000,0.037,2593,542,2717,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7925,-1.35,-97.7,562.7,-8.2,224,7932,0.00,2.47,0.00,0.000,6,0.000,0.024,2581,2183,2716,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8317,-1.35,-97.7,605.3,-8.9,228,8322,0.00,2.55,0.00,0.000,4,0.000,0.038,2581,548,2715,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8446,-1.35,-97.7,615.9,-8.9,229,8452,0.00,2.47,0.00,0.000,6,0.000,0.025,2570,2187,2715,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8795,-1.35,-97.7,641.2,-7.5,232,8802,0.00,2.58,0.00,0.000,4,0.000,0.038,2570,553,2712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8936,-1.35,-97.7,647.5,-6.6,233,8942,0.00,2.47,0.00,0.000,6,0.000,0.024,2557,2192,2713,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9276,-1.35,-97.7,666.1,-5.1,236,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2192,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9635,-1.35,-97.7,695.5,-7.6,239,9642,0.00,2.60,0.00,0.000,4,0.000,0.039,2557,549,2711,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9756,-1.35,-97.7,708.4,-8.8,240,9762,0.00,2.42,0.00,0.000,6,0.000,0.026,2546,2187,2711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10116,-1.35,-97.7,746.4,-10.6,243,10122,0.00,2.60,0.00,0.000,4,0.000,0.039,2546,545,2711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10277,-1.33,-97.7,758.1,-10.4,244,10283,0.15,2.45,0.00,0.000,6,0.158,0.025,2572,2197,2711,0,0,0,0,0,0,25.84,26.32,28.83
$GC,10596,-1.33,-97.7,784.9,-7.9,247,10602,0.00,2.62,0.00,0.000,4,0.000,0.039,2572,545,2710,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10674,-1.33,-97.7,784.9,-7.9,247,10682,0.00,2.53,0.00,0.000,6,0.000,0.025,2561,2196,2710,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11077,-1.33,-97.7,821.8,-7.7,251,11082,0.00,2.58,0.00,0.000,4,0.000,0.040,2561,547,2708,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11134,-1.33,-97.7,821.8,-7.7,251,11142,0.00,2.53,0.00,0.000,6,0.000,0.026,2549,2193,2708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11556,-1.33,-97.7,864.8,-9.0,255,11562,0.00,2.53,0.00,0.000,4,0.000,0.044,2538,3740,2707,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11605,-1.33,-97.7,864.8,-9.0,255,11613,0.10,2.45,0.00,0.000,6,0.132,0.023,2570,2101,2707,0,0,0,0,0,0,25.91,26.34,28.83
$GC,11917,-1.35,-97.7,892.3,-7.9,258,11923,0.00,2.45,0.00,0.000,4,0.000,0.041,2570,539,2706,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12025,-1.37,-97.7,892.3,-7.9,258,12034,0.00,2.50,0.00,0.000,6,0.000,0.025,2560,2183,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12397,-1.37,-97.7,924.1,-6.6,262,12403,0.00,2.55,0.00,0.000,4,0.000,0.041,2560,549,2704,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12525,-1.37,-97.7,932.5,-6.6,263,12532,0.00,2.47,0.00,0.000,6,0.000,0.025,2548,2180,2706,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12875,-1.37,-97.7,958.2,-7.1,266,12883,0.00,2.60,0.00,0.000,4,0.000,0.041,2548,550,2703,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12965,-1.37,-97.7,958.2,-7.1,266,12972,0.00,2.50,0.00,0.000,6,0.000,0.026,2536,2183,2703,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,13252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13252,begin apogee
$GC,13261,-0.29,0.0,991.3,-8.7,270,13354,1.17,0.00,86.55,1.674,6,0.125,0.000,2901,1577,2320,0,0,0,0,0,0,25.00,28.83,22.99
$STATE,13356,end apogee,CONTROL_FINISHED_OK
$STATE,13356,begin climb
$GC,13360,1.26,97.7,996.4,0.0,275,13457,1.40,0.00,92.70,1.651,6,0.062,0.000,3402,1577,1920,0,0,0,0,0,0,25.29,28.83,23.00
$GC,13856,1.15,118.7,977.2,5.7,295,13884,0.12,2.67,18.35,1.566,4,0.181,0.035,3374,3196,1835,0,0,0,0,0,0,26.07,25.79,23.73
$GC,14009,1.05,133.4,969.5,6.0,296,14033,0.17,2.47,14.90,1.534,6,0.171,0.031,3340,1582,1775,0,0,0,0,0,0,25.67,26.10,23.75
$GC,14336,0.97,133.4,944.2,6.9,299,14342,0.00,1.98,0.00,0.000,4,0.000,0.049,3348,351,1772,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14406,0.90,133.4,944.2,6.9,299,14413,0.17,1.95,0.00,0.000,6,0.142,0.025,3294,1655,1771,0,0,0,0,0,0,25.80,26.38,28.83
$GC,14815,0.90,133.4,911.9,6.7,303,14822,0.00,2.47,0.00,0.000,4,0.000,0.035,3293,3202,1770,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,25882,end climb,SURFACE_DEPTH_REACHED
$STATE,25882,begin surface coast
$FINISH,1.3,1.013725
$STATE,25917,end surface coast,CONTROL_FINISHED_OK
$STATE,25917,begin surface
$SM_CCo,25941,45.75,0.124,0,0,1094,300.00
$SM_GC,2.34,8.48,0.82,45.75,0.031,0.030,0.124,151,2190,1094,-8.81,-0.42,300.00,0,0,0,0,0,0,26.22,26.41,25.42
$IRIDIUM_FIX,2425.21,-3744.81,190213,040441
$TT8_MAMPS,0.026964,0.026964
$HUMID,63.19
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,19.50
$XPDR_PINGS,2
$SC_FREEKB,7575168
$TM_FREEKB,4445376
$24V_AH,23.0,85.617
$10V_AH,9.9,75.939
$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
$DEVICE_SECS,22.450,245.675,283.550,45.750,0.000,26.413,43.130,204.533,0.500,0.000,14.457,2240.021,20828.887,737.886,2092.955,650.669,33.267,1747.825,0.000,1722.392,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25931.000,2721.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.267,13.412,0.000,0.000
$MEM,343728
$DATA_FILE_SIZE,13432,525
$CAP_FILE_SIZE,199621,0
$CFSIZE,260034560,204812288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190213,182704,2431.097,-3748.187,34,0.8,34,-14.0