version: 66.11
glider: 190
mission: 6
dive: 19
start: 9 20 112 10 32 23
data:
$ID,190
$MISSION,6
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,500
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12052.608
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,200912,101829,2508.990,-3801.623,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.5
$GPS2,200912,103154,2509.121,-3801.598,18,1.4,18,-13.9
$SPEED_LIMITS,0.114,0.203
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,208.9,135422,-13.1,-6.600,-17.98
$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,20,-0.65,-116.8,0.0,0.0,0,54,0.00,0.00,-32.53,0.000,2,0.000,0.000,147,1813,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.65,-116.8,2.4,-5.7,3,111,12.85,2.00,-34.92,0.000,4,0.442,0.133,2669,728,3718,0,0,0,0,0,0,14.50,14.66,14.88
$GC,336,-0.65,-116.8,36.8,-15.5,30,343,0.00,1.85,0.00,0.000,6,0.000,0.063,2664,1799,3719,0,0,0,0,0,0,28.83,14.76,28.83
$GC,644,-0.65,-116.8,76.3,-11.2,61,649,0.00,1.92,0.00,0.000,4,0.000,0.106,2664,722,3719,0,0,0,0,0,0,28.83,14.77,28.83
$GC,720,-0.65,-116.8,84.2,-10.5,68,727,0.00,1.83,0.00,0.000,6,0.000,0.064,2661,1803,3719,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1026,-0.65,-116.8,117.4,-10.7,99,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1803,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1326,-0.65,-116.8,148.0,-9.6,129,1331,0.00,1.77,0.00,0.000,4,0.000,0.085,2661,2859,3721,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1351,-0.65,-116.8,150.1,-9.3,131,1358,0.00,1.83,0.00,0.000,6,0.000,0.085,2661,1807,3720,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1659,-0.65,-116.8,181.2,-10.5,162,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1806,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1958,-0.65,-116.8,213.0,-10.9,192,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1806,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2259,-0.65,-116.8,244.9,-10.0,222,2264,0.00,1.85,0.00,0.000,4,0.000,0.108,2661,739,3720,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2322,-0.65,-116.8,251.6,-10.8,228,2327,0.00,1.80,0.00,0.000,6,0.000,0.067,2661,1804,3720,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2655,-0.65,-116.8,278.7,-7.6,239,2660,0.00,1.88,0.00,0.000,4,0.000,0.109,2661,731,3720,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2690,-0.65,-116.8,281.4,-7.7,240,2696,0.00,1.83,0.00,0.000,6,0.000,0.070,2661,1796,3719,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3019,-0.65,-116.8,308.3,-8.5,251,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3318,-0.65,-116.8,336.2,-9.5,261,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,-0.65,-116.8,366.4,-10.2,271,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3919,-0.65,-116.8,396.0,-9.5,281,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1798,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4218,-0.65,-116.8,421.8,-8.2,291,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1798,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4518,-0.65,-116.8,445.0,-7.5,301,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1798,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4818,-0.65,-116.8,468.4,-7.8,311,4823,0.00,1.88,0.00,0.000,4,0.000,0.112,2661,730,3710,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4864,-0.65,-116.8,471.1,-8.0,312,4870,0.00,1.80,0.00,0.000,6,0.000,0.071,2661,1799,3709,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5182,-0.65,-116.8,500.1,-9.1,323,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1798,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.65,-116.8,529.6,-10.1,333,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1798,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5782,-0.65,-116.8,561.6,-10.6,343,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1799,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,-0.65,-116.8,593.1,-10.0,353,6087,0.00,1.88,0.00,0.000,4,0.000,0.117,2661,738,3703,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6138,-0.65,-116.8,596.2,-9.9,354,6144,0.00,1.80,0.00,0.000,6,0.000,0.076,2661,1797,3703,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6444,-0.65,-116.8,626.6,-8.5,365,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,-0.65,-116.8,650.9,-8.0,375,6749,0.00,1.90,0.00,0.000,4,0.000,0.120,2662,739,3701,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6795,-0.65,-116.8,653.5,-8.0,376,6800,0.00,1.77,0.00,0.000,6,0.000,0.078,2661,1785,3701,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7107,-0.65,-116.8,677.9,-7.1,387,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1785,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.65,-116.8,699.4,-7.1,397,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1784,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,-0.65,-116.8,721.3,-7.5,407,7713,0.00,1.85,0.00,0.000,4,0.000,0.101,2661,2863,3695,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7793,-0.65,-116.8,725.9,-7.4,409,7800,0.00,1.88,0.00,0.000,6,0.000,0.099,2661,1797,3695,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8100,-0.65,-116.8,751.6,-8.0,420,8105,0.00,1.88,0.00,0.000,4,0.000,0.125,2661,740,3694,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8132,-0.65,-116.8,754.3,-8.1,421,8137,0.00,1.83,0.00,0.000,6,0.000,0.083,2661,1794,3694,0,0,0,0,0,0,28.83,14.98,28.83
$GC,8465,-0.65,-116.8,781.5,-8.3,432,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1796,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8764,-0.65,-116.8,807.8,-8.9,442,8770,0.00,1.90,0.00,0.000,4,0.000,0.125,2661,735,3691,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8850,-0.65,-116.8,813.9,-9.4,444,8857,0.00,1.83,0.00,0.000,6,0.000,0.083,2661,1796,3690,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9157,-0.65,-116.8,843.9,-8.8,455,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1796,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9457,-0.65,-116.8,868.6,-7.8,465,9462,0.00,1.85,0.00,0.000,4,0.000,0.106,2661,2865,3688,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9502,-0.65,-116.8,870.9,-7.6,466,9508,0.00,1.88,0.00,0.000,6,0.000,0.103,2661,1792,3688,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9821,-0.65,-116.8,894.3,-6.9,477,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1791,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10120,-0.65,-116.8,915.5,-7.1,487,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1791,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10421,-0.65,-116.8,936.7,-7.0,497,10426,0.00,1.90,0.00,0.000,4,0.000,0.129,2661,732,3684,0,0,0,0,0,0,28.83,14.94,28.83
$GC,10467,-0.65,-116.8,939.1,-6.9,498,10472,0.00,1.83,0.00,0.000,6,0.000,0.086,2661,1786,3684,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10785,-0.65,-116.8,961.0,-6.4,509,10790,0.00,1.90,0.00,0.000,4,0.000,0.129,2661,734,3683,0,0,0,0,0,0,28.83,14.93,28.83
$GC,10821,-0.65,-116.8,963.2,-6.5,510,10826,0.00,1.83,0.00,0.000,6,0.000,0.087,2661,1786,3682,0,0,0,0,0,0,28.83,14.95,28.83
$GC,11149,-0.65,-116.8,984.7,-6.8,521,11154,0.00,1.90,0.00,0.000,4,0.000,0.129,2661,735,3682,0,0,0,0,0,0,28.83,14.92,28.83
$GC,11211,-0.65,-116.8,989.4,-7.1,523,11216,0.00,1.83,0.00,0.000,6,0.000,0.089,2661,1779,3681,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,11242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11242,begin apogee
$GC,11246,-0.19,0.0,991.9,-7.4,524,11358,0.52,0.00,106.00,2.134,4,0.211,0.000,2819,1498,3235,0,0,0,0,0,0,14.86,28.83,13.50
$STATE,11360,end apogee,CONTROL_FINISHED_OK
$STATE,11360,begin climb
$GC,11361,0.65,116.8,994.4,0.0,527,11485,0.90,2.05,113.90,2.083,4,0.147,0.145,3095,445,2757,0,0,0,0,0,0,14.19,14.17,13.40
$GC,11712,0.77,216.1,995.0,2.8,539,11820,0.12,1.88,96.00,2.097,6,0.194,0.083,3130,1510,2350,0,0,0,0,0,0,14.57,14.60,13.43
$GC,12118,0.77,216.1,964.6,8.2,553,12123,0.00,2.03,0.00,0.000,4,0.000,0.148,3139,438,2340,0,0,0,0,0,0,28.83,14.61,28.83
$GC,12349,0.77,216.1,946.0,8.7,560,12355,0.00,1.85,0.00,0.000,6,0.000,0.083,3138,1498,2338,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12663,0.77,216.1,919.3,8.1,571,12668,0.00,2.00,0.00,0.000,4,0.000,0.148,3146,439,2337,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12729,0.77,216.1,913.8,8.4,573,12734,0.00,1.83,0.00,0.000,6,0.000,0.083,3147,1491,2337,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13056,0.77,216.1,884.5,9.0,584,13062,0.00,1.90,0.00,0.000,4,0.000,0.109,3146,2564,2335,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13143,0.77,216.1,878.2,9.7,586,13149,0.00,1.95,0.00,0.000,6,0.000,0.124,3154,1498,2335,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13449,0.77,216.1,843.0,11.2,597,13454,0.00,1.90,0.00,0.000,4,0.000,0.109,3152,2562,2334,0,0,0,0,0,0,28.83,14.88,28.83
$GC,13511,0.77,216.1,835.6,11.7,599,13517,0.00,1.98,0.00,0.000,6,0.000,0.125,3162,1492,2334,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13845,0.77,216.1,795.6,11.8,610,13850,0.00,1.95,0.00,0.000,4,0.000,0.148,3169,441,2334,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13971,0.77,216.1,781.3,11.6,614,13977,0.12,1.83,0.00,0.000,6,0.323,0.083,3144,1500,2334,0,0,0,0,0,0,14.76,14.90,28.83
$GC,14299,0.77,216.1,749.6,8.9,625,14304,0.00,1.85,0.00,0.000,4,0.000,0.107,3144,2562,2333,0,0,0,0,0,0,28.83,14.90,28.83
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$STATE,22556,end climb,SURFACE_DEPTH_REACHED
$STATE,22556,begin surface coast
$FINISH,0.7,1.023927
$STATE,22587,end surface coast,CONTROL_FINISHED_OK
$STATE,22587,begin surface
$SM_CCo,22605,43.55,0.129,0,0,1811,350.04
$SM_GC,2.71,8.80,0.62,43.55,0.099,0.082,0.129,145,1803,1811,-8.54,-0.74,350.04,0,0,0,0,0,0,14.81,14.85,14.78
$IRIDIUM_FIX,2500.82,-3806.49,200912,040417
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.87
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,7762720
$TM_FREEKB,7755520
$24V_AH,13.4,12.773
$10V_AH,13.4,0.000
$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,23.775,140.000,345.875,43.550,0.000,0.000,0.000,501.800,0.250,0.000,20.190,3586.293,15795.067,563.280,3323.160,182.642,0.000,2419.738,0.000,2538.739,0.000,0.541,0.000
$DEVICE_MAMPS,442.170,148.410,2133.585,129.285,0.000,0.000,0.000,197.370,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22624.000,5550.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.168,13.171,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,39975,1106
$CAP_FILE_SIZE,245661,0
$CFSIZE,260034560,252915712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103, 28.9,1
$GPS,200912,165104,2507.567,-3801.576,33,0.9,33,-13.9