version: 66.11
glider: 189
mission: 7
dive: 551
start: 3 4 113 11 3 7
data:
$ID,189
$MISSION,7
$DIVE,551
$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,-48347.363
$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
$GPS1,040313,105228,2431.912,-3747.495,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-61.7
$GPS2,040313,110205,2431.926,-3747.472,17,0.9,17,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.112,0.029
$KALMAN_X,128709.7,104.9,-612.1,-103906.4,522.5
$KALMAN_Y,88446.2,289.5,468.6,-96053.0,-2233.2
$MHEAD_RNG_PITCHd_Wd,298.5,2190,-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,-10.82,0.000,2,0.000,0.000,151,2124,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,104,9.20,0.00,-50.60,0.000,6,0.189,0.000,2566,2122,2720,0,0,0,0,0,0,25.24,28.83,26.70
$GC,409,-1.28,-97.7,25.4,-8.0,38,415,0.00,2.60,0.00,0.000,4,0.000,0.040,2555,3745,2721,0,0,0,0,0,0,28.83,25.99,28.83
$GC,569,-1.20,-97.7,38.6,-8.5,54,576,0.20,2.42,0.00,0.000,6,0.142,0.022,2610,2095,2722,0,0,0,0,0,0,25.73,26.34,28.83
$GC,876,-1.20,-97.7,59.5,-7.4,85,884,0.00,2.67,0.00,0.000,4,0.000,0.039,2599,3746,2722,0,0,0,0,0,0,28.83,26.01,28.83
$GC,966,-1.20,-97.7,66.6,-8.2,94,974,0.00,2.45,0.00,0.000,6,0.000,0.021,2599,2103,2722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1286,-1.20,-97.7,92.6,-8.3,112,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2103,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,-1.20,-97.7,120.7,-9.9,122,1592,0.00,2.45,0.00,0.000,4,0.000,0.037,2599,543,2723,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1646,-1.20,-97.7,126.6,-9.9,124,1652,0.00,2.42,0.00,0.000,6,0.000,0.023,2587,2196,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1976,-1.20,-97.7,156.0,-7.7,134,1982,0.00,2.58,0.00,0.000,4,0.000,0.035,2592,546,2723,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2075,-1.20,-97.7,159.9,-7.2,135,2083,0.10,2.47,0.00,0.000,6,0.135,0.022,2607,2197,2723,0,0,0,0,0,0,25.91,26.35,28.83
$GC,2397,-1.20,-97.7,178.9,-5.2,141,2403,0.00,2.45,0.00,0.000,4,0.000,0.041,2597,3747,2724,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2435,-1.20,-97.7,178.9,-5.2,141,2442,0.00,2.45,0.00,0.000,6,0.000,0.020,2597,2093,2724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2756,-1.20,-97.7,204.5,-7.5,147,2762,0.00,2.42,0.00,0.000,4,0.000,0.036,2597,545,2724,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2816,-1.20,-97.7,209.8,-8.1,148,2822,0.00,2.42,0.00,0.000,6,0.000,0.023,2585,2201,2724,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3176,-1.20,-97.7,240.3,-8.5,154,3182,0.00,2.47,0.00,0.000,4,0.000,0.040,2574,3740,2724,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3265,-1.20,-97.7,245.1,-8.3,155,3273,0.15,2.45,0.00,0.000,6,0.140,0.021,2614,2088,2724,0,0,0,0,0,0,25.96,26.40,28.83
$GC,3597,-1.24,-97.7,273.6,-7.8,161,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2088,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3897,-1.28,-97.7,299.4,-8.7,166,3902,0.00,2.38,0.00,0.000,4,0.000,0.037,2614,539,2724,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3985,-1.32,-97.7,305.0,-8.9,167,3992,0.00,2.47,0.00,0.000,6,0.000,0.023,2604,2189,2724,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4317,-1.36,-97.7,338.7,-9.5,173,4319,0.12,0.00,0.00,0.000,6,0.083,0.000,2535,2189,2724,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4616,-1.32,-97.7,368.4,-9.9,178,4623,0.15,2.58,0.00,0.000,4,0.146,0.036,2576,547,2724,0,0,0,0,0,0,26.23,26.12,28.83
$GC,4786,-1.29,-97.7,378.8,-9.2,180,4794,0.00,2.53,0.00,0.000,6,0.000,0.024,2565,2190,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5096,-1.29,-97.7,401.0,-5.6,186,5103,0.00,2.53,0.00,0.000,4,0.000,0.041,2553,3752,2723,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5185,-1.29,-97.7,404.0,-5.3,187,5192,0.00,2.45,0.00,0.000,6,0.000,0.021,2553,2097,2723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5517,-1.29,-97.7,421.4,-4.9,193,5523,0.12,2.40,0.00,0.000,4,0.152,0.036,2591,546,2722,0,0,0,0,0,0,26.25,26.10,28.83
$GC,5585,-1.29,-97.7,424.6,-5.1,194,5592,0.00,2.47,0.00,0.000,6,0.000,0.024,2581,2195,2722,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5937,-1.32,-97.7,448.3,-7.0,200,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2195,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-1.35,-97.7,475.8,-9.4,205,6243,0.00,2.62,0.00,0.000,4,0.000,0.037,2581,540,2721,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6345,-1.37,-97.7,482.4,-10.1,206,6354,0.00,2.50,0.00,0.000,6,0.000,0.024,2569,2196,2721,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6717,-1.37,-97.7,529.8,-11.3,211,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2196,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7076,-1.39,-97.7,561.2,-9.2,214,7082,0.00,2.58,0.00,0.000,4,0.000,0.037,2569,544,2718,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7145,-1.41,-97.7,561.2,-9.2,214,7152,0.00,2.47,0.00,0.000,6,0.000,0.024,2557,2186,2718,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7557,-1.41,-97.7,589.5,-5.9,218,7562,0.00,2.55,0.00,0.000,4,0.000,0.038,2557,540,2717,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7615,-1.41,-97.7,589.5,-5.9,218,7622,0.00,2.47,0.00,0.000,6,0.000,0.024,2545,2184,2717,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8036,-1.41,-97.7,625.4,-7.5,222,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2184,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8397,-1.41,-97.7,657.7,-8.8,225,8402,0.00,2.55,0.00,0.000,4,0.000,0.038,2545,545,2715,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8536,-1.41,-97.7,668.7,-9.0,226,8542,0.00,2.55,0.00,0.000,6,0.000,0.024,2533,2184,2714,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8876,-1.41,-97.7,698.2,-8.4,229,8883,0.00,2.60,0.00,0.000,4,0.000,0.038,2533,543,2713,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8965,-1.41,-97.7,698.2,-8.4,229,8972,0.00,2.58,0.00,0.000,6,0.000,0.024,2521,2200,2713,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9357,-1.41,-97.7,733.1,-7.2,233,9363,0.00,2.58,0.00,0.000,4,0.000,0.038,2521,548,2711,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9415,-1.41,-97.7,733.1,-7.2,233,9423,0.15,2.50,0.00,0.000,6,0.157,0.024,2552,2189,2711,0,0,0,0,0,0,25.77,26.29,28.83
$GC,9836,-1.41,-97.7,771.8,-8.0,237,9843,0.00,2.60,0.00,0.000,4,0.000,0.039,2552,553,2711,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9926,-1.41,-97.7,771.8,-8.0,237,9932,0.00,2.47,0.00,0.000,6,0.000,0.024,2542,2190,2711,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10316,-1.41,-97.7,816.2,-9.2,241,10323,0.00,2.60,0.00,0.000,4,0.000,0.039,2542,552,2709,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10365,-1.41,-97.7,816.2,-9.2,241,10373,0.00,2.50,0.00,0.000,6,0.000,0.024,2528,2190,2709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10677,-1.41,-97.7,847.8,-8.9,244,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2189,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11036,-1.41,-97.7,878.7,-8.6,247,11043,0.00,2.62,0.00,0.000,4,0.000,0.040,2530,545,2706,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11175,-1.41,-97.7,889.3,-8.6,248,11183,0.00,2.53,0.00,0.000,6,0.000,0.024,2518,2203,2706,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11517,-1.41,-97.7,919.3,-8.5,251,11522,0.00,2.60,0.00,0.000,4,0.000,0.041,2518,549,2705,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11595,-1.41,-97.7,919.3,-8.5,251,11603,0.12,2.60,0.00,0.000,6,0.165,0.025,2540,2192,2705,0,0,0,0,0,0,25.79,26.25,28.83
$GC,11996,-1.43,-97.7,959.2,-8.3,255,12002,0.00,2.58,0.00,0.000,4,0.000,0.041,2540,549,2704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12056,-1.46,-97.7,959.2,-8.3,255,12062,0.00,2.47,0.00,0.000,6,0.000,0.025,2530,2180,2703,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,12352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12353,begin apogee
$GC,12362,-0.29,0.0,992.4,-9.0,258,12454,1.20,0.00,85.78,1.636,6,0.124,0.000,2903,1572,2321,0,0,0,0,0,0,24.92,28.83,22.99
$STATE,12456,end apogee,CONTROL_FINISHED_OK
$STATE,12456,begin climb
$GC,12461,1.33,97.7,998.2,0.0,263,12563,1.45,2.78,92.10,1.613,4,0.061,0.034,3424,3198,1921,0,0,0,0,0,0,25.32,25.04,23.00
$GC,12616,1.28,177.4,998.8,2.7,271,12695,0.00,2.53,72.75,1.595,6,0.000,0.031,3436,1581,1594,0,0,0,0,0,0,28.83,25.77,23.18
$GC,13076,1.18,177.4,965.6,7.5,284,13083,0.20,1.98,0.00,0.000,4,0.168,0.049,3391,356,1586,0,0,0,0,0,0,25.86,26.09,28.83
$GC,13376,1.09,177.4,946.8,7.7,286,13383,0.12,1.95,0.00,0.000,6,0.148,0.025,3354,1660,1583,0,0,0,0,0,0,25.89,26.41,28.83
$GC,13796,1.07,177.4,905.8,8.6,290,13803,0.00,2.12,0.00,0.000,4,0.000,0.048,3362,349,1582,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13975,1.07,177.4,894.3,9.0,291,13982,0.00,1.98,0.00,0.000,6,0.000,0.025,3363,1661,1581,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14397,1.07,177.4,847.4,9.8,295,14402,0.00,2.45,0.00,0.000,4,0.000,0.036,3362,3203,1580,0,0,0,0,0,0,28.83,26.17,28.83
$GC,14435,1.07,177.4,847.4,9.8,295,14442,0.00,2.55,0.00,0.000,6,0.000,0.030,3374,1576,1580,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14756,1.07,177.4,813.0,9.6,298,14757,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,1576,1580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15118,1.05,177.4,780.0,9.2,301,15120,0.15,0.00,0.00,0.000,6,0.163,0.000,3335,1576,1579,0,0,0,0,0,0,26.12,28.83,28.83
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$STATE,23542,end climb,SURFACE_DEPTH_REACHED
$STATE,23542,begin surface coast
$FINISH,1.4,1.025826
$STATE,23563,end surface coast,CONTROL_FINISHED_OK
$STATE,23563,begin surface
$SM_CCo,23592,38.20,0.125,0,0,1095,300.00
$SM_GC,2.46,8.57,2.83,38.20,0.027,0.025,0.125,159,2187,1095,-8.82,-0.59,300.00,0,0,0,0,0,0,26.26,26.24,25.27
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$TT8_MAMPS,0.026964,0.026964
$HUMID,64.41
$INTERNAL_PRESSURE,9.0069
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,7558240
$TM_FREEKB,4263808
$24V_AH,23.0,91.972
$10V_AH,9.6,81.778
$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
$DEVICE_SECS,22.525,212.375,290.100,38.200,0.000,25.797,41.909,195.880,0.000,0.000,18.654,1903.837,19153.400,694.133,1796.764,646.728,33.258,1576.497,0.000,1445.254,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.801,13.415,0.000,0.000
$MEM,343640
$DATA_FILE_SIZE,13373,482
$CAP_FILE_SIZE,174964,0
$CFSIZE,260034560,201027584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040313,173805,2432.595,-3748.917,25,0.9,25,-14.0