version: 66.11
glider: 190
mission: 6
dive: 74
start: 10 7 112 17 7 45
data:
$ID,190
$MISSION,6
$DIVE,74
$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,540
$T_MISSION,580
$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,100
$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,1
$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,-12359.092
$T_RSLEEP,3
$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,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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
$GPS1,071012,165635,2422.787,-3720.754,35,0.8,35,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.9
$GPS2,071012,170718,2422.852,-3720.756,19,0.9,20,-13.8
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,16.7,91031,-13.5,-6.111,-18.49
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,13952,-0.76,-97.3,908.7,-4.3,713,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1794,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14253,-0.78,-97.3,921.5,-4.3,723,14255,0.12,0.00,0.00,0.000,6,0.165,0.000,2631,1794,3349,0,0,0,0,0,0,14.80,28.83,28.83
$GC,14552,-0.75,-97.3,940.9,-7.0,733,14553,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1794,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14852,-0.73,-97.3,964.0,-7.7,743,14858,0.00,1.95,0.00,0.000,4,0.000,0.116,2631,725,3347,0,0,0,0,0,0,28.83,14.72,28.83
$GC,14909,-0.70,-97.3,966.7,-7.9,744,14917,0.12,1.88,0.00,0.000,6,0.292,0.082,2659,1791,3346,0,0,0,0,0,0,14.58,14.77,28.83
$GC,15216,-0.70,-97.3,989.7,-6.7,755,15221,0.00,1.88,0.00,0.000,4,0.000,0.105,2653,2848,3344,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,15247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15247,begin apogee
$GC,15254,-0.19,0.0,992.1,-6.7,756,15348,0.57,0.00,89.57,1.875,6,0.212,0.000,2822,1477,2989,0,0,0,0,0,0,14.62,28.83,13.58
$STATE,15351,end apogee,CONTROL_FINISHED_OK
$STATE,15351,begin climb
$GC,15352,0.58,97.3,995.0,0.0,759,15462,0.77,2.12,96.38,1.894,4,0.140,0.140,3077,424,2585,0,0,0,0,0,0,14.25,14.04,13.47
$GC,15526,0.57,186.7,992.6,2.3,765,15624,0.00,1.92,88.20,1.869,6,0.000,0.081,3077,1502,2221,0,0,0,0,0,0,28.83,14.38,13.48
$GC,15946,0.57,187.1,969.0,6.1,779,15951,0.00,1.85,0.00,0.000,4,0.000,0.103,3077,2537,2209,0,0,0,0,0,0,28.83,14.58,28.83
$GC,16033,0.57,187.1,965.0,6.2,781,16040,0.00,1.98,0.00,0.000,6,0.000,0.117,3084,1476,2207,0,0,0,0,0,0,28.83,14.59,28.83
$GC,16340,0.56,187.1,943.8,6.6,792,16345,0.00,2.00,0.00,0.000,4,0.000,0.142,3092,416,2206,0,0,0,0,0,0,28.83,14.64,28.83
$GC,16403,0.53,187.1,938.9,7.2,794,16409,0.12,1.85,0.00,0.000,6,0.288,0.083,3065,1483,2205,0,0,0,0,0,0,14.57,14.73,28.83
$GC,16735,0.53,187.1,916.0,7.2,805,16737,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1483,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17036,0.53,187.1,893.0,7.8,815,17041,0.00,1.85,0.00,0.000,4,0.000,0.102,3065,2534,2204,0,0,0,0,0,0,28.83,14.75,28.83
$GC,17082,0.53,187.1,890.4,7.9,816,17087,0.00,1.95,0.00,0.000,6,0.000,0.116,3073,1475,2203,0,0,0,0,0,0,28.83,14.73,28.83
$GC,17399,0.53,187.1,866.0,7.0,827,17400,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1474,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17700,0.53,187.1,845.6,6.8,837,17705,0.00,1.98,0.00,0.000,4,0.000,0.135,3081,418,2203,0,0,0,0,0,0,28.83,14.70,28.83
$GC,17765,0.53,187.1,841.0,7.0,839,17771,0.00,1.88,0.00,0.000,6,0.000,0.080,3081,1476,2202,0,0,0,0,0,0,28.83,14.78,28.83
$GC,18094,0.53,187.1,816.5,7.6,850,18100,0.00,1.90,0.00,0.000,4,0.000,0.101,3081,2544,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,18171,0.53,187.1,811.1,7.9,852,18176,0.00,1.95,0.00,0.000,6,0.000,0.116,3088,1473,2202,0,0,0,0,0,0,28.83,14.74,28.83
$GC,18490,0.51,187.1,783.2,8.3,863,18496,0.12,1.98,0.00,0.000,4,0.298,0.134,3063,417,2201,0,0,0,0,0,0,14.57,14.70,28.83
$GC,18553,0.51,187.1,778.1,8.1,865,18559,0.00,1.83,0.00,0.000,6,0.000,0.081,3063,1481,2201,0,0,0,0,0,0,28.83,14.79,28.83
$GC,18887,0.51,187.1,752.4,8.1,876,18888,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1480,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19185,0.51,187.1,725.8,8.9,886,19190,0.00,1.85,0.00,0.000,4,0.000,0.097,3063,2538,2201,0,0,0,0,0,0,28.83,14.77,28.83
$GC,19251,0.51,187.1,719.9,9.2,888,19257,0.00,1.95,0.00,0.000,6,0.000,0.112,3071,1477,2201,0,0,0,0,0,0,28.83,14.73,28.83
$GC,19580,0.51,187.1,688.7,9.4,899,19581,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1477,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19879,0.51,187.1,662.8,8.3,909,19881,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1477,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20179,0.51,187.1,639.9,7.3,919,20184,0.00,1.88,0.00,0.000,4,0.000,0.094,3071,2542,2202,0,0,0,0,0,0,28.83,14.77,28.83
$GC,20245,0.51,187.1,635.5,7.2,921,20251,0.00,1.92,0.00,0.000,6,0.000,0.109,3079,1475,2201,0,0,0,0,0,0,28.83,14.74,28.83
$GC,20574,0.52,198.6,614.9,5.6,932,20580,0.00,0.00,2.75,0.751,6,0.000,0.000,3079,1475,2178,0,0,0,0,0,0,28.83,28.83,13.97
$GC,20908,0.54,223.0,597.7,5.1,943,20946,0.00,2.00,31.60,1.532,4,0.000,0.132,3087,429,2072,0,0,0,0,0,0,28.83,14.60,14.09
$GC,21015,0.54,226.0,592.0,6.0,946,21021,0.00,1.83,0.00,0.000,6,0.000,0.074,3087,1490,2066,0,0,0,0,0,0,28.83,14.67,28.83
$GC,21333,0.54,226.0,567.1,8.1,957,21334,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1490,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21633,0.54,226.0,538.8,10.0,967,21634,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1490,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21933,0.54,226.0,508.8,10.0,977,21934,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1490,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22233,0.54,226.0,481.8,8.7,987,22234,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1490,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22533,0.54,226.0,457.0,8.2,997,22538,0.00,2.00,0.00,0.000,4,0.000,0.128,3095,415,2065,0,0,0,0,0,0,28.83,14.70,28.83
$GC,22569,0.54,226.0,454.1,8.3,998,22576,0.12,1.83,0.00,0.000,6,0.281,0.073,3066,1489,2065,0,0,0,0,0,0,14.62,14.80,28.83
$GC,22898,0.56,226.0,429.1,7.5,1009,22900,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1493,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23199,0.57,226.0,407.0,7.2,1019,23200,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1493,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23499,0.59,226.0,386.4,6.6,1029,23500,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1493,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23799,0.61,226.0,366.5,6.7,1039,23800,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1493,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24099,0.63,226.2,347.4,6.1,1049,24100,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1493,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24399,0.65,226.2,327.7,7.1,1059,24405,0.10,1.80,0.00,0.000,4,0.171,0.082,3107,2539,2067,0,0,0,0,0,0,14.84,14.80,28.83
$GC,24497,0.65,226.2,318.5,9.2,1062,24503,0.00,1.88,0.00,0.000,6,0.000,0.101,3114,1479,2067,0,0,0,0,0,0,28.83,14.76,28.83
$GC,24826,0.63,226.2,283.4,10.7,1073,24827,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1479,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25126,0.60,226.2,252.8,9.9,1083,25131,0.00,1.90,0.00,0.000,4,0.000,0.118,3122,423,2068,0,0,0,0,0,0,28.83,14.73,28.83
$GC,25165,0.57,226.2,249.3,9.9,1084,25173,0.17,1.77,0.00,0.000,6,0.241,0.063,3078,1483,2068,0,0,0,0,0,0,14.62,14.76,28.83
$GC,25472,0.57,226.2,224.3,7.6,1115,25473,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1484,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25772,0.57,228.3,205.7,6.0,1145,25778,0.00,1.95,1.23,0.182,4,0.000,0.115,3085,415,2057,0,0,0,0,0,0,28.83,14.68,14.68
$GC,25816,0.57,228.3,202.8,6.5,1149,25821,0.00,1.77,0.00,0.000,6,0.000,0.063,3085,1480,2064,0,0,0,0,0,0,28.83,14.76,28.83
$GC,26128,0.57,228.3,180.9,7.7,1180,26131,0.00,0.00,1.15,0.190,6,0.000,0.000,3086,1480,2057,0,0,0,0,0,0,28.83,28.83,14.69
$GC,26428,0.57,228.3,158.6,7.3,1210,26431,0.00,0.00,1.20,0.186,6,0.000,0.000,3085,1481,2057,0,0,0,0,0,0,28.83,28.83,14.68
$GC,26728,0.57,228.3,135.4,8.0,1240,26735,0.00,1.83,1.35,0.177,4,0.000,0.076,3086,2542,2058,0,0,0,0,0,0,28.83,14.73,14.63
$GC,26755,0.57,228.3,133.4,8.3,1242,26762,0.00,1.90,0.00,0.000,6,0.000,0.097,3092,1472,2065,0,0,0,0,0,0,28.83,14.69,28.83
$GC,27063,0.57,228.3,105.0,9.5,1273,27069,0.00,1.85,1.48,0.177,4,0.000,0.080,3090,2531,2057,0,0,0,0,0,0,28.83,14.72,14.66
$GC,27126,0.57,228.3,98.6,10.1,1279,27132,0.00,1.88,0.00,0.000,6,0.000,0.099,3104,1475,2068,0,0,0,0,0,0,28.83,14.69,28.83
$GC,27439,0.57,228.3,71.1,8.3,1310,27442,0.00,0.00,1.25,0.184,6,0.000,0.000,3101,1474,2059,0,0,0,0,0,0,28.83,28.83,14.66
$GC,27739,0.58,253.5,52.7,5.0,1340,27761,0.00,1.88,15.50,0.265,4,0.000,0.114,3109,422,1957,0,0,0,0,0,0,28.83,14.69,14.54
$GC,27907,0.60,280.1,44.0,5.0,1356,27929,0.00,1.80,16.17,0.240,6,0.000,0.063,3109,1489,1847,0,0,0,0,0,0,28.83,14.73,14.52
$GC,28236,0.63,280.1,21.2,7.7,1389,28243,0.00,1.88,1.75,0.163,4,0.000,0.085,3109,2537,1847,0,0,0,0,0,0,28.83,14.65,14.66
$GC,28331,0.66,280.1,14.0,7.5,1398,28337,0.00,1.92,1.58,0.172,6,0.000,0.118,3108,1488,1846,0,0,0,0,0,0,28.83,14.64,14.64
$STATE,28492,end climb,SURFACE_DEPTH_REACHED
$STATE,28492,begin surface coast
$FINISH,1.1,1.024514
$STATE,28534,end surface coast,CONTROL_FINISHED_OK
$STATE,28534,begin surface
$SM_CCo,28553,35.22,0.124,0,0,1561,350.04
$SM_GC,2.31,8.45,0.57,35.22,0.078,0.095,0.124,141,1788,1561,-8.54,-0.71,350.04,0,0,0,0,0,0,14.76,14.75,14.69
$IRIDIUM_FIX,2411.01,-3718.68,071012,080844
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.63
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7741728
$TM_FREEKB,7187008
$24V_AH,13.5,32.828
$10V_AH,13.7,0.000
$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,23.425,165.900,351.150,35.225,0.000,0.000,0.000,383.450,0.000,0.000,21.016,4414.919,20234.861,607.448,3667.588,292.284,0.000,2602.612,0.000,3063.920,0.000,0.541,0.000
$DEVICE_MAMPS,395.505,141.525,1894.140,123.930,0.000,0.000,0.000,190.485,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28570.000,7260.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.663,13.350,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,49956,1418
$CAP_FILE_SIZE,300870,0
$CFSIZE,260034560,244359168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,348.8,1
$GPS,081012,010534,2426.752,-3720.709,40,0.8,40,-13.8