version: 66.11
glider: 190
mission: 6
dive: 92
start: 10 13 112 17 38 39
data:
$ID,190
$MISSION,6
$DIVE,92
$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,-12381.927
$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,13
$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
$GPS1,131012,172652,2512.030,-3730.287,36,0.8,36,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.5
$GPS2,131012,173811,2512.056,-3730.343,16,0.9,17,-13.8
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,297.3,123429,-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,14091,-0.63,-97.3,941.8,-6.3,713,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14391,-0.63,-97.3,960.5,-6.1,723,14396,0.00,2.00,0.00,0.000,4,0.000,0.119,2661,723,3350,0,0,0,0,0,0,28.83,14.69,28.83
$GC,14493,-0.63,-97.3,966.6,-6.6,726,14499,0.00,1.92,0.00,0.000,6,0.000,0.091,2661,1797,3349,0,0,0,0,0,0,28.83,14.72,28.83
$GC,14817,-0.63,-97.3,985.7,-5.4,737,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1798,3348,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14904,begin apogee
$GC,14909,-0.19,0.0,990.4,-5.3,740,15001,0.52,0.00,87.03,1.907,6,0.207,0.000,2817,1479,2987,0,0,0,0,0,0,14.59,28.83,13.56
$STATE,15004,end apogee,CONTROL_FINISHED_OK
$STATE,15004,begin climb
$GC,15005,0.58,97.3,991.4,0.0,743,15106,0.80,0.00,97.25,1.874,6,0.135,0.000,3072,1479,2591,0,0,0,0,0,0,14.25,28.83,13.46
$GC,15386,0.54,97.3,970.5,6.8,756,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1479,2576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15686,0.50,97.3,950.5,6.6,766,15687,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1479,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15987,0.47,102.4,931.7,5.9,776,15989,0.12,0.00,0.00,0.000,6,0.293,0.000,3045,1479,2573,0,0,0,0,0,0,14.45,28.83,28.83
$GC,16286,0.50,154.3,918.4,3.9,786,16346,0.00,0.00,54.12,1.839,6,0.000,0.000,3045,1480,2353,0,0,0,0,0,0,28.83,28.83,13.77
$GC,16647,0.52,200.7,902.5,4.1,798,16700,0.00,1.98,45.85,1.810,4,0.000,0.099,3045,2538,2166,0,0,0,0,0,0,28.83,14.31,13.71
$GC,16743,0.55,245.6,898.5,4.2,801,16799,0.00,2.00,46.67,1.771,6,0.000,0.114,3052,1485,1979,0,0,0,0,0,0,28.83,14.40,13.58
$GC,17098,0.59,260.7,879.8,5.5,813,17115,0.00,0.00,14.62,1.701,6,0.000,0.000,3052,1480,1927,0,0,0,0,0,0,28.83,28.83,13.88
$GC,17398,0.62,260.7,860.8,6.8,823,17400,0.12,0.00,0.00,0.000,6,0.148,0.000,3098,1480,1913,0,0,0,0,0,0,14.66,28.83,28.83
$GC,17698,0.62,260.7,831.3,10.2,833,17703,0.00,2.00,0.00,0.000,4,0.000,0.135,3106,418,1911,0,0,0,0,0,0,28.83,14.64,28.83
$GC,17750,0.60,260.7,827.8,10.4,834,17756,0.00,1.88,0.00,0.000,6,0.000,0.080,3106,1484,1911,0,0,0,0,0,0,28.83,14.73,28.83
$GC,18064,0.58,260.7,792.2,10.6,845,18065,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1485,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18363,0.56,260.7,761.3,10.0,855,18369,0.12,1.88,0.00,0.000,4,0.285,0.098,3072,2543,1909,0,0,0,0,0,0,14.60,14.73,28.83
$GC,18401,0.55,260.7,758.4,9.7,856,18407,0.00,1.98,0.00,0.000,6,0.000,0.117,3079,1468,1908,0,0,0,0,0,0,28.83,14.72,28.83
$GC,18730,0.55,260.7,730.4,8.6,867,18736,0.00,1.95,0.00,0.000,4,0.000,0.135,3088,424,1908,0,0,0,0,0,0,28.83,14.68,28.83
$GC,18813,0.55,260.7,724.5,8.8,869,18819,0.00,1.85,0.00,0.000,6,0.000,0.082,3088,1481,1908,0,0,0,0,0,0,28.83,14.78,28.83
$GC,19126,0.55,260.7,694.2,9.0,880,19127,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1481,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19426,0.55,260.7,667.1,8.9,890,19431,0.00,2.00,0.00,0.000,4,0.000,0.134,3097,420,1908,0,0,0,0,0,0,28.83,14.68,28.83
$GC,19463,0.55,260.7,664.1,9.0,891,19468,0.12,1.88,0.00,0.000,6,0.281,0.082,3068,1490,1908,0,0,0,0,0,0,14.62,14.78,28.83
$GC,19792,0.56,260.7,639.1,7.1,902,19793,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1492,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20092,0.58,260.7,617.8,7.3,912,20097,0.00,1.88,0.00,0.000,4,0.000,0.102,3068,2538,1908,0,0,0,0,0,0,28.83,14.75,28.83
$GC,20125,0.60,260.7,615.3,7.3,913,20131,0.00,1.95,0.00,0.000,6,0.000,0.116,3075,1480,1908,0,0,0,0,0,0,28.83,14.70,28.83
$GC,20459,0.60,260.7,588.4,8.3,924,20465,0.00,1.98,0.00,0.000,4,0.000,0.135,3084,422,1908,0,0,0,0,0,0,28.83,14.68,28.83
$GC,20506,0.60,260.7,585.3,8.5,925,20512,0.00,1.85,0.00,0.000,6,0.000,0.081,3084,1482,1906,0,0,0,0,0,0,28.83,14.78,28.83
$GC,20824,0.60,260.7,554.7,9.4,936,20825,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1483,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21124,0.60,260.7,526.0,9.6,946,21130,0.00,2.00,0.00,0.000,4,0.000,0.132,3092,417,1908,0,0,0,0,0,0,28.83,14.68,28.83
$GC,21166,0.60,260.7,522.8,9.7,947,21172,0.00,1.85,0.00,0.000,6,0.000,0.080,3092,1482,1909,0,0,0,0,0,0,28.83,14.78,28.83
$GC,21490,0.60,260.7,488.5,10.1,958,21491,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1482,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21789,0.60,260.7,458.6,9.9,968,21795,0.00,2.00,0.00,0.000,4,0.000,0.129,3100,416,1909,0,0,0,0,0,0,28.83,14.67,28.83
$GC,21847,0.60,260.7,455.2,9.8,969,21853,0.00,1.85,0.00,0.000,6,0.000,0.077,3100,1482,1909,0,0,0,0,0,0,28.83,14.78,28.83
$GC,22153,0.60,260.7,423.8,9.1,980,22154,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1481,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22452,0.60,260.7,396.1,9.1,990,22458,0.00,1.98,0.00,0.000,4,0.000,0.128,3107,422,1910,0,0,0,0,0,0,28.83,14.67,28.83
$GC,22490,0.58,260.7,393.1,9.0,991,22495,0.00,1.85,0.00,0.000,6,0.000,0.077,3108,1487,1910,0,0,0,0,0,0,28.83,14.79,28.83
$GC,22818,0.57,260.7,363.1,9.0,1002,22824,0.12,1.98,0.00,0.000,4,0.262,0.127,3081,419,1910,0,0,0,0,0,0,14.60,14.67,28.83
$GC,22857,0.57,260.7,360.3,8.7,1003,22862,0.00,1.85,0.00,0.000,6,0.000,0.078,3081,1484,1911,0,0,0,0,0,0,28.83,14.79,28.83
$GC,23185,0.57,260.7,337.7,6.5,1014,23186,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1485,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23484,0.57,260.7,317.5,7.0,1024,23485,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1485,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23784,0.57,260.7,293.8,8.3,1034,23790,0.00,1.98,0.00,0.000,4,0.000,0.122,3089,417,1912,0,0,0,0,0,0,28.83,14.69,28.83
$GC,23826,0.57,260.7,290.9,8.5,1035,23832,0.00,1.83,0.00,0.000,6,0.000,0.072,3089,1483,1912,0,0,0,0,0,0,28.83,14.80,28.83
$GC,24150,0.57,260.7,260.4,9.2,1046,24155,0.00,1.85,0.00,0.000,4,0.000,0.090,3089,2538,1913,0,0,0,0,0,0,28.83,14.75,28.83
$GC,24187,0.57,260.7,257.2,9.3,1047,24192,0.00,1.95,0.00,0.000,6,0.000,0.119,3096,1484,1913,0,0,0,0,0,0,28.83,14.70,28.83
$GC,24494,0.57,260.7,227.2,9.4,1072,24499,0.00,1.98,0.00,0.000,4,0.000,0.129,3105,415,1913,0,0,0,0,0,0,28.83,14.64,28.83
$GC,24547,0.55,260.7,221.8,10.3,1077,24553,0.15,1.83,0.00,0.000,6,0.243,0.073,3066,1476,1915,0,0,0,0,0,0,14.59,14.74,28.83
$GC,24862,0.58,260.7,196.9,7.8,1108,24863,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1476,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25161,0.62,260.7,174.9,6.7,1138,25163,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1481,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25461,0.65,260.7,154.7,7.5,1168,25463,0.10,0.00,0.00,0.000,6,0.164,0.000,3109,1476,1914,0,0,0,0,0,0,14.66,28.83,28.83
$GC,25760,0.65,260.7,129.2,8.0,1198,25766,0.00,1.88,0.00,0.000,4,0.000,0.090,3109,2541,1915,0,0,0,0,0,0,28.83,14.67,28.83
$GC,25797,0.65,260.7,126.4,8.7,1201,25804,0.00,1.98,0.00,0.000,6,0.000,0.116,3114,1475,1915,0,0,0,0,0,0,28.83,14.63,28.83
$GC,26103,0.65,260.7,99.3,8.6,1232,26109,0.00,1.95,0.00,0.000,4,0.000,0.123,3123,418,1916,0,0,0,0,0,0,28.83,14.58,28.83
$GC,26151,0.63,260.7,95.6,8.3,1236,26158,0.00,1.83,0.00,0.000,6,0.000,0.066,3122,1488,1917,0,0,0,0,0,0,28.83,14.71,28.83
$GC,26456,0.63,260.7,70.0,8.1,1267,26462,0.00,2.00,0.00,0.000,4,0.000,0.131,3131,419,1917,0,0,0,0,0,0,28.83,14.59,28.83
$GC,26505,0.61,260.7,66.6,8.0,1271,26512,0.15,1.83,0.00,0.000,6,0.237,0.070,3091,1478,1920,0,0,0,0,0,0,14.57,14.68,28.83
$GC,26811,0.65,260.7,44.4,7.3,1302,26812,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1485,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27110,0.69,260.7,22.7,7.8,1332,27111,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1484,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27410,0.74,260.7,4.5,7.1,1362,27411,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1490,1919,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,27438,end climb,SURFACE_DEPTH_REACHED
$STATE,27438,begin surface coast
$FINISH,1.0,1.009957
$STATE,27479,end surface coast,CONTROL_FINISHED_OK
$STATE,27479,begin surface
$SM_CCo,27498,41.85,0.126,0,0,1562,350.04
$SM_GC,2.69,8.35,0.55,41.85,0.072,0.077,0.126,143,1794,1562,-8.54,-0.79,350.04,0,0,0,0,0,0,14.70,14.76,14.67
$IRIDIUM_FIX,2503.20,-3727.44,131012,090921
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.54
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7734816
$TM_FREEKB,6990144
$24V_AH,13.5,39.637
$10V_AH,13.5,0.000
$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,22.975,157.475,345.550,41.850,0.000,0.000,0.000,413.650,0.000,0.000,18.233,4187.413,19595.109,635.470,3457.573,327.324,0.000,2532.837,0.000,2828.646,0.000,0.542,0.000
$DEVICE_MAMPS,393.210,141.525,1907.145,126.225,0.000,0.000,0.000,186.660,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27512.000,7018.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.683,13.313,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,49925,1369
$CAP_FILE_SIZE,286080,0
$CFSIZE,260034560,241545216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021, 65.4,1
$GPS,141012,011858,2512.804,-3733.454,37,0.8,37,-13.8