version: 66.11
glider: 190
mission: 6
dive: 78
start: 10 9 112 2 10 27
data:
$ID,190
$MISSION,6
$DIVE,78
$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,-12364.125
$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,19
$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
$GPS1,091012,015858,2438.144,-3720.441,37,1.0,37,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-67.7
$GPS2,091012,021000,2438.235,-3720.380,19,0.9,19,-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,13.0,62537,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
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$GC,13819,-0.69,-97.3,884.4,-6.3,702,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1800,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14119,-0.69,-97.3,905.6,-7.4,712,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1801,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14418,-0.69,-97.3,929.0,-7.8,722,14420,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1800,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14719,-0.69,-97.3,950.7,-7.0,732,14724,0.00,1.95,0.00,0.000,4,0.000,0.118,2662,730,3349,0,0,0,0,0,0,28.83,14.74,28.83
$GC,14790,-0.69,-97.3,955.2,-7.0,734,14796,0.00,1.85,0.00,0.000,6,0.000,0.082,2660,1796,3348,0,0,0,0,0,0,28.83,14.77,28.83
$GC,15114,-0.69,-97.3,975.8,-5.9,745,15115,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3348,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15352,begin apogee
$GC,15356,-0.19,0.0,990.1,-5.8,753,15448,0.55,0.00,87.07,1.922,6,0.207,0.000,2824,1479,2989,0,0,0,0,0,0,14.62,28.83,13.59
$STATE,15450,end apogee,CONTROL_FINISHED_OK
$STATE,15450,begin climb
$GC,15452,0.58,97.3,992.0,0.0,756,15552,0.77,0.00,96.88,1.891,6,0.135,0.000,3072,1478,2592,0,0,0,0,0,0,14.26,28.83,13.47
$GC,15833,0.55,108.8,975.3,5.6,769,15846,0.00,0.00,10.85,1.738,6,0.000,0.000,3072,1479,2546,0,0,0,0,0,0,28.83,28.83,13.88
$GC,16133,0.52,108.8,957.1,6.2,779,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1479,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16433,0.49,112.6,938.9,5.9,789,16439,0.00,1.98,0.00,0.000,4,0.000,0.135,3080,423,2534,0,0,0,0,0,0,28.83,14.65,28.83
$GC,16501,0.45,112.6,934.8,6.2,791,16507,0.10,1.88,0.00,0.000,6,0.263,0.078,3041,1489,2534,0,0,0,0,0,0,14.57,14.72,28.83
$GC,16831,0.47,134.0,917.1,5.2,802,16861,0.00,0.00,25.08,1.851,6,0.000,0.000,3041,1489,2437,0,0,0,0,0,0,28.83,28.83,13.98
$GC,17159,0.47,138.3,897.7,5.9,813,17165,0.00,1.85,0.00,0.000,4,0.000,0.099,3041,2531,2430,0,0,0,0,0,0,28.83,14.68,28.83
$GC,17232,0.47,140.1,894.0,6.0,815,17238,0.00,1.92,1.50,0.187,6,0.000,0.115,3049,1478,2417,0,0,0,0,0,0,28.83,14.67,14.64
$GC,17556,0.47,145.7,874.0,5.9,826,17570,0.00,0.00,12.45,1.769,6,0.000,0.000,3049,1477,2393,0,0,0,0,0,0,28.83,28.83,14.06
$GC,17856,0.47,147.4,855.8,6.0,836,17857,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1478,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18155,0.48,164.9,839.0,5.4,846,18176,0.00,0.00,19.45,1.790,6,0.000,0.000,3048,1478,2316,0,0,0,0,0,0,28.83,28.83,14.03
$GC,18456,0.49,179.3,822.6,5.5,856,18473,0.00,0.00,14.95,1.740,6,0.000,0.000,3047,1478,2258,0,0,0,0,0,0,28.83,28.83,13.99
$GC,18755,0.51,203.7,807.2,5.1,866,18785,0.00,0.00,26.33,1.759,6,0.000,0.000,3053,1479,2153,0,0,0,0,0,0,28.83,28.83,13.91
$GC,19087,0.54,229.8,791.2,5.0,877,19115,0.00,0.00,25.75,1.721,6,0.000,0.000,3048,1477,2051,0,0,0,0,0,0,28.83,28.83,13.89
$GC,19416,0.57,229.8,771.9,6.1,888,19421,0.00,1.88,0.00,0.000,4,0.000,0.094,3045,2534,2038,0,0,0,0,0,0,28.83,14.66,28.83
$GC,19473,0.60,229.8,769.7,6.2,889,19480,0.00,1.92,0.00,0.000,6,0.000,0.110,3056,1476,2038,0,0,0,0,0,0,28.83,14.65,28.83
$GC,19779,0.62,229.8,746.2,7.5,900,19781,0.10,0.00,0.00,0.000,6,0.163,0.000,3099,1476,2038,0,0,0,0,0,0,14.76,28.83,28.83
$GC,20079,0.60,229.8,719.0,9.1,910,20080,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1476,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20379,0.59,229.8,691.5,9.2,920,20380,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1476,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20679,0.57,229.8,663.9,9.0,930,20680,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1476,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20979,0.55,229.8,638.2,8.3,940,20980,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1476,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21279,0.54,229.8,613.5,8.4,950,21285,0.12,1.85,0.00,0.000,4,0.285,0.093,3061,2531,2037,0,0,0,0,0,0,14.67,14.81,28.83
$GC,21336,0.54,229.8,610.8,8.4,951,21343,0.00,1.92,0.00,0.000,6,0.000,0.110,3069,1473,2037,0,0,0,0,0,0,28.83,14.79,28.83
$GC,21642,0.54,229.8,583.7,8.6,962,21643,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1473,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21942,0.54,229.8,558.8,8.0,972,21943,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1473,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22242,0.54,229.8,535.7,7.5,982,22243,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1473,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22542,0.54,229.8,514.6,7.1,992,22543,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1473,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22842,0.54,229.8,493.6,7.0,1002,22843,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1473,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23142,0.54,229.8,471.9,7.5,1012,23147,0.00,1.85,0.00,0.000,4,0.000,0.086,3069,2541,2037,0,0,0,0,0,0,28.83,14.83,28.83
$GC,23193,0.54,229.8,469.4,7.4,1013,23199,0.00,1.90,0.00,0.000,6,0.000,0.103,3077,1474,2037,0,0,0,0,0,0,28.83,14.80,28.83
$GC,23506,0.54,229.8,442.9,8.0,1024,23507,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1475,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23807,0.54,229.8,419.1,7.9,1034,23808,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1475,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24106,0.54,229.8,394.6,8.2,1044,24107,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1474,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24407,0.54,229.8,369.9,8.0,1054,24408,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1475,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24706,0.54,229.8,346.4,8.0,1064,24707,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1475,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25006,0.54,229.8,321.0,8.4,1074,25007,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1474,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25307,0.54,229.8,296.4,8.0,1084,25313,0.00,1.83,0.00,0.000,4,0.000,0.079,3077,2543,2040,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25364,0.54,229.8,293.7,7.9,1085,25370,0.00,1.88,0.00,0.000,6,0.000,0.096,3085,1478,2040,0,0,0,0,0,0,28.83,14.81,28.83
$GC,25671,0.54,229.8,271.2,6.5,1096,25676,0.00,1.92,0.00,0.000,4,0.000,0.119,3093,416,2041,0,0,0,0,0,0,28.83,14.73,28.83
$GC,25742,0.54,229.8,266.6,6.9,1098,25749,0.12,1.77,0.00,0.000,6,0.254,0.062,3062,1487,2042,0,0,0,0,0,0,14.71,14.85,28.83
$GC,26057,0.56,229.8,245.7,7.1,1112,26062,0.00,1.80,0.00,0.000,4,0.000,0.085,3062,2540,2042,0,0,0,0,0,0,28.83,14.79,28.83
$GC,26089,0.59,229.8,243.3,7.3,1115,26094,0.00,1.90,0.00,0.000,6,0.000,0.101,3069,1482,2042,0,0,0,0,0,0,28.83,14.76,28.83
$GC,26402,0.62,229.8,216.7,9.1,1146,26404,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1482,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26702,0.64,229.8,190.1,8.3,1176,26703,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1482,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27002,0.67,229.8,167.6,6.9,1206,27004,0.12,0.00,0.00,0.000,6,0.140,0.000,3119,1482,2044,0,0,0,0,0,0,14.79,28.83,28.83
$GC,27302,0.64,229.8,142.5,8.3,1236,27303,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1482,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27602,0.62,229.8,116.9,9.6,1266,27607,0.00,1.92,0.00,0.000,4,0.000,0.114,3127,415,2045,0,0,0,0,0,0,28.83,14.69,28.83
$GC,27719,0.58,229.8,105.8,10.3,1277,27726,0.17,1.77,0.00,0.000,6,0.238,0.059,3082,1486,2046,0,0,0,0,0,0,14.62,14.76,28.83
$GC,28027,0.60,229.8,80.1,8.6,1308,28032,0.00,1.83,0.00,0.000,4,0.000,0.083,3082,2540,2046,0,0,0,0,0,0,28.83,14.73,28.83
$GC,28121,0.62,229.8,72.4,7.7,1317,28126,0.00,1.90,0.00,0.000,6,0.000,0.100,3089,1473,2046,0,0,0,0,0,0,28.83,14.68,28.83
$GC,28433,0.66,253.9,54.3,5.1,1348,28450,0.00,1.98,12.40,0.265,4,0.000,0.117,3096,415,1955,0,0,0,0,0,0,28.83,14.64,14.54
$GC,28678,0.69,253.9,40.3,6.7,1372,28690,0.00,1.77,2.28,0.171,6,0.000,0.061,3096,1483,1957,0,0,0,0,0,0,28.83,14.73,14.56
$GC,28989,0.72,253.9,19.6,6.6,1403,28995,0.00,1.88,2.15,0.168,4,0.000,0.083,3096,2536,1953,0,0,0,0,0,0,28.83,14.69,14.62
$GC,29065,0.75,253.9,14.7,7.1,1410,29071,0.00,1.92,1.38,0.186,6,0.000,0.116,3097,1476,1952,0,0,0,0,0,0,28.83,14.66,14.64
$STATE,29246,end climb,SURFACE_DEPTH_REACHED
$STATE,29246,begin surface coast
$FINISH,1.0,1.024658
$STATE,29288,end surface coast,CONTROL_FINISHED_OK
$STATE,29288,begin surface
$SM_CCo,29306,47.30,0.123,0,0,1561,350.04
$SM_GC,2.11,8.38,0.57,47.30,0.075,0.102,0.123,141,1779,1561,-8.54,-0.90,350.04,0,0,0,0,0,0,14.77,14.75,14.70
$IRIDIUM_FIX,2427.58,-3717.79,081012,171702
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.48
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7740192
$TM_FREEKB,7141728
$24V_AH,13.5,34.351
$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,22.725,135.825,338.500,47.300,0.000,0.000,0.000,398.725,0.000,0.000,19.734,4240.269,21431.152,612.053,3422.586,294.290,0.000,2465.109,0.000,2815.596,0.000,0.542,0.000
$DEVICE_MAMPS,384.030,135.405,1921.680,123.165,0.000,0.000,0.000,188.955,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29322.000,7076.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.535,13.342,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,49941,1432
$CAP_FILE_SIZE,290299,0
$CFSIZE,260034560,243732480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040, 41.8,1
$GPS,091012,102058,2441.926,-3720.038,36,0.8,36,-13.8