version: 66.11
glider: 190
mission: 6
dive: 23
start: 9 21 112 15 4 17
data:
$ID,190
$MISSION,6
$DIVE,23
$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,-12057.736
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$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,0.001
$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
$GPS1,210912,145322,2501.399,-3801.380,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.2
$GPS2,210912,150348,2501.411,-3801.372,16,1.2,17,-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,209.3,121147,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.62,-116.8,0.0,0.0,0,54,0.00,0.00,-31.75,0.000,2,0.000,0.000,140,1803,2609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.62,-116.8,2.4,-4.1,3,111,12.77,1.85,-34.72,0.000,4,0.438,0.110,2675,2854,3719,0,0,0,0,0,0,14.52,14.67,14.90
$GC,337,-0.57,-116.8,30.9,-11.8,30,344,0.12,1.85,0.00,0.000,6,0.250,0.083,2704,1781,3719,0,0,0,0,0,0,14.70,14.75,28.83
$GC,644,-0.55,-116.8,59.4,-7.6,61,649,0.00,1.83,0.00,0.000,4,0.000,0.083,2701,2849,3720,0,0,0,0,0,0,28.83,14.82,28.83
$GC,747,-0.55,-116.8,67.0,-7.4,71,752,0.00,1.83,0.00,0.000,6,0.000,0.084,2701,1784,3720,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1059,-0.55,-116.8,95.3,-8.9,102,1065,0.00,1.88,0.00,0.000,4,0.000,0.110,2701,724,3721,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1176,-0.52,-116.8,105.2,-8.4,113,1183,0.00,1.80,0.00,0.000,6,0.000,0.065,2701,1795,3721,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1482,-0.52,-116.8,129.0,-8.7,144,1487,0.00,1.77,0.00,0.000,4,0.000,0.086,2701,2848,3721,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1595,-0.55,-116.8,138.3,-7.9,155,1600,0.00,1.83,0.00,0.000,6,0.000,0.085,2701,1780,3721,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1907,-0.55,-116.8,162.8,-8.4,186,1912,0.00,1.83,0.00,0.000,4,0.000,0.086,2701,2851,3721,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1953,-0.57,-116.8,166.4,-8.6,190,1960,0.00,1.83,0.00,0.000,6,0.000,0.086,2701,1785,3720,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2260,-0.57,-116.8,194.2,-8.5,221,2265,0.00,1.85,0.00,0.000,4,0.000,0.111,2702,726,3720,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2345,-0.57,-116.8,201.3,-8.7,229,2352,0.00,1.83,0.00,0.000,6,0.000,0.067,2701,1803,3721,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2653,-0.59,-116.8,222.9,-6.7,260,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1803,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2952,-0.61,-116.8,243.1,-6.9,290,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1803,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.63,-116.8,267.2,-8.1,307,3268,0.00,1.92,0.00,0.000,4,0.000,0.111,2701,723,3717,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3304,-0.65,-116.8,270.2,-8.4,308,3310,0.00,1.80,0.00,0.000,6,0.000,0.068,2701,1792,3717,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3628,-0.68,-116.8,296.7,-7.2,319,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1792,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3928,-0.70,-116.8,314.2,-5.3,329,3934,0.12,1.88,0.00,0.000,4,0.150,0.111,2642,726,3714,0,0,0,0,0,0,15.00,14.95,28.83
$GC,3961,-0.70,-116.8,316.9,-6.0,330,3966,0.00,1.80,0.00,0.000,6,0.000,0.071,2640,1794,3714,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4294,-0.66,-116.8,346.5,-9.4,341,4296,0.12,0.00,0.00,0.000,6,0.273,0.000,2671,1795,3713,0,0,0,0,0,0,14.91,28.83,28.83
$GC,4593,-0.66,-116.8,373.2,-9.3,351,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1795,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-0.66,-116.8,400.8,-9.3,361,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1795,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5193,-0.66,-116.8,428.3,-9.3,371,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1795,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5493,-0.66,-116.8,454.9,-8.8,381,5498,0.00,1.88,0.00,0.000,4,0.000,0.115,2671,725,3708,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5525,-0.66,-116.8,457.9,-8.8,382,5531,0.00,1.80,0.00,0.000,6,0.000,0.072,2668,1792,3708,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5858,-0.66,-116.8,487.7,-8.7,393,5864,0.00,1.80,0.00,0.000,4,0.000,0.093,2664,2854,3707,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5909,-0.66,-116.8,490.5,-8.7,394,5914,0.00,1.83,0.00,0.000,6,0.000,0.092,2664,1790,3706,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6221,-0.66,-116.8,519.3,-8.7,405,6226,0.00,1.85,0.00,0.000,4,0.000,0.118,2664,728,3706,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6297,-0.66,-116.8,524.9,-8.9,407,6302,0.00,1.80,0.00,0.000,6,0.000,0.075,2661,1790,3705,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6614,-0.66,-116.8,552.8,-8.2,418,6619,0.00,1.80,0.00,0.000,4,0.000,0.096,2662,2854,3704,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6685,-0.66,-116.8,557.6,-8.0,420,6691,0.00,1.83,0.00,0.000,6,0.000,0.093,2662,1790,3704,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7008,-0.66,-116.8,583.8,-8.0,431,7013,0.00,1.88,0.00,0.000,4,0.000,0.120,2662,725,3702,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7118,-0.66,-116.8,592.2,-8.9,434,7124,0.00,1.83,0.00,0.000,6,0.000,0.076,2661,1796,3702,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7431,-0.66,-116.8,619.5,-7.9,445,7437,0.00,1.80,0.00,0.000,4,0.000,0.097,2661,2851,3701,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7494,-0.66,-116.8,624.0,-7.5,447,7500,0.00,1.85,0.00,0.000,6,0.000,0.096,2662,1781,3701,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7827,-0.66,-116.8,648.6,-7.2,458,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1780,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.66,-116.8,671.0,-7.6,468,8132,0.00,1.88,0.00,0.000,4,0.000,0.122,2661,731,3698,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8193,-0.66,-116.8,676.3,-8.1,470,8198,0.00,1.83,0.00,0.000,6,0.000,0.080,2662,1798,3698,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8520,-0.66,-116.8,703.0,-8.1,481,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1798,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8820,-0.66,-116.8,726.7,-7.7,491,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1798,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9120,-0.66,-116.8,749.0,-7.3,501,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1798,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9419,-0.66,-116.8,771.5,-7.5,511,9425,0.00,1.80,0.00,0.000,4,0.000,0.101,2662,2848,3694,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9455,-0.66,-116.8,773.7,-7.4,512,9461,0.00,1.85,0.00,0.000,6,0.000,0.099,2662,1796,3694,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9783,-0.66,-116.8,797.7,-7.3,523,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1795,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10082,-0.66,-116.8,820.1,-7.7,533,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1796,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10383,-0.66,-116.8,844.2,-8.1,543,10388,0.00,1.90,0.00,0.000,4,0.000,0.125,2662,729,3690,0,0,0,0,0,0,28.83,14.94,28.83
$GC,10483,-0.66,-116.8,852.4,-8.8,546,10489,0.00,1.83,0.00,0.000,6,0.000,0.083,2661,1789,3689,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10806,-0.66,-116.8,878.5,-7.8,557,10812,0.00,1.83,0.00,0.000,4,0.000,0.105,2662,2843,3688,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10854,-0.68,-116.8,881.0,-7.7,558,10859,0.00,1.85,0.00,0.000,6,0.000,0.102,2661,1787,3688,0,0,0,0,0,0,28.83,14.94,28.83
$GC,11171,-0.68,-116.8,904.8,-7.1,569,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1786,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11471,-0.69,-116.8,925.2,-6.8,579,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1786,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11771,-0.71,-116.8,946.6,-7.3,589,11777,0.00,1.92,0.00,0.000,4,0.000,0.129,2662,725,3685,0,0,0,0,0,0,28.83,14.92,28.83
$GC,11823,-0.73,-116.8,949.1,-7.5,590,11829,0.00,1.85,0.00,0.000,6,0.000,0.086,2662,1791,3684,0,0,0,0,0,0,28.83,14.95,28.83
$GC,12137,-0.74,-116.8,974.9,-8.0,601,12143,0.00,1.85,0.00,0.000,4,0.000,0.109,2662,2851,3683,0,0,0,0,0,0,28.83,14.93,28.83
$GC,12189,-0.76,-116.8,977.6,-8.2,602,12195,0.00,1.88,0.00,0.000,6,0.000,0.105,2662,1785,3682,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,12320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12320,begin apogee
$GC,12324,-0.19,0.0,990.1,-8.4,607,12478,0.52,0.00,148.43,1.782,6,0.212,0.000,2819,1470,3239,0,0,0,0,0,0,14.86,28.83,13.59
$STATE,12480,end apogee,CONTROL_FINISHED_OK
$STATE,12480,begin climb
$GC,12481,0.62,116.8,998.1,0.0,612,12602,0.82,2.05,112.93,2.038,4,0.128,0.140,3092,423,2758,0,0,0,0,0,0,14.17,14.02,13.42
$GC,12829,0.66,245.5,1001.6,1.7,623,12962,0.00,1.88,125.20,2.045,6,0.000,0.082,3092,1486,2236,0,0,0,0,0,0,28.83,14.61,13.43
$GC,13290,0.64,245.5,971.5,7.6,639,13295,0.00,2.00,0.00,0.000,4,0.000,0.138,3100,425,2218,0,0,0,0,0,0,28.83,14.63,28.83
$GC,13327,0.61,245.5,968.7,7.7,640,13333,0.00,1.85,0.00,0.000,6,0.000,0.080,3100,1483,2218,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13655,0.57,245.5,941.1,8.6,651,13660,0.00,2.00,0.00,0.000,4,0.000,0.151,3108,427,2217,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13688,0.54,245.5,938.0,8.8,652,13694,0.17,1.83,0.00,0.000,6,0.295,0.083,3066,1481,2216,0,0,0,0,0,0,14.70,14.80,28.83
$GC,14021,0.54,245.5,911.9,7.7,663,14026,0.00,1.88,0.00,0.000,4,0.000,0.103,3066,2540,2215,0,0,0,0,0,0,28.83,14.85,28.83
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$STATE,26082,end climb,SURFACE_DEPTH_REACHED
$STATE,26082,begin surface coast
$FINISH,0.6,1.023549
$STATE,26123,end surface coast,CONTROL_FINISHED_OK
$STATE,26123,begin surface
$SM_CCo,26201,0.00,0.000,0,0,1811,350.53
$SM_GC,1.87,8.52,0.52,0.00,0.082,0.088,0.000,150,1788,1811,-8.52,-0.93,350.53,0,0,0,0,0,0,14.83,14.85,28.83
$IRIDIUM_FIX,2456.07,-3805.02,210912,070736
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.62
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7761184
$TM_FREEKB,7716416
$24V_AH,13.4,14.515
$10V_AH,13.6,0.000
$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,23.925,154.125,513.950,0.000,0.000,0.000,0.000,391.050,0.000,0.000,18.238,4010.568,18501.541,660.805,3429.855,211.280,0.000,2575.821,0.000,2818.821,0.000,0.541,0.000
$DEVICE_MAMPS,438.345,150.705,2044.845,0.000,0.000,0.000,0.000,183.600,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26152.000,6176.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.630,13.300,0.000,0.000
$MEM,345000
$DATA_FILE_SIZE,46633,1267
$CAP_FILE_SIZE,280361,0
$CFSIZE,260034560,252215296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050, 72.9,1
$GPS,210912,222205,2458.479,-3801.532,30,1.0,30,-13.9