version: 66.11
glider: 190
mission: 6
dive: 205
start: 11 21 112 14 51 52
data:
$ID,190
$MISSION,6
$DIVE,205
$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,570
$T_MISSION,610
$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,110
$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,-13051.204
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,211112,143852,2501.198,-3733.166,39,0.8,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-64.6
$GPS2,211112,145124,2501.151,-3733.204,17,0.9,17,-13.8
$SPEED_LIMITS,0.100,0.186
$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,330.5,120325,-11.8,-5.789,-17.25
$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,21,begin dive
$GC,23,-0.52,-107.1,0.0,0.0,0,37,0.00,0.00,-11.60,0.000,2,0.000,0.000,137,1514,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.52,-107.1,2.1,0.0,1,133,11.45,1.60,-75.68,0.000,4,0.360,0.129,2711,2402,3426,0,0,0,0,0,0,14.33,14.42,14.76
$GC,364,-0.52,-107.1,17.5,-6.7,33,370,0.00,1.67,0.00,0.000,6,0.000,0.116,2712,1516,3426,0,0,0,0,0,0,28.83,14.42,28.83
$GC,678,-0.51,-107.1,38.5,-6.9,64,683,0.00,1.62,0.00,0.000,4,0.000,0.102,2711,2405,3426,0,0,0,0,0,0,28.83,14.47,28.83
$GC,882,-0.51,-107.1,52.0,-6.3,84,887,0.00,1.67,0.00,0.000,6,0.000,0.116,2712,1518,3426,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1195,-0.51,-107.1,72.2,-5.9,115,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1518,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1495,-0.51,-107.1,90.4,-5.9,145,1500,0.00,1.58,0.00,0.000,4,0.000,0.099,2711,2401,3427,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1568,-0.52,-107.1,94.6,-5.5,152,1574,0.00,1.65,0.00,0.000,6,0.000,0.116,2711,1522,3427,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1881,-0.52,-107.1,113.8,-6.9,183,1886,0.00,1.58,0.00,0.000,4,0.000,0.103,2712,2401,3427,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1956,-0.53,-107.1,119.1,-7.3,190,1961,0.00,1.62,0.00,0.000,6,0.000,0.117,2711,1537,3426,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2271,-0.56,-107.1,142.4,-7.3,221,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1536,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2580,-0.59,-107.1,162.7,-5.9,252,2586,0.00,1.67,0.00,0.000,4,0.000,0.133,2711,636,3427,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2790,-0.61,-107.1,175.4,-6.1,272,2797,0.00,1.60,0.00,0.000,6,0.000,0.081,2711,1547,3427,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3095,-0.65,-107.1,196.8,-7.5,303,3102,0.00,1.73,0.00,0.000,4,0.000,0.135,2711,638,3428,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3204,-0.68,-107.1,205.1,-8.1,313,3211,0.12,1.52,0.00,0.000,6,0.130,0.084,2655,1512,3427,0,0,0,0,0,0,14.63,14.54,28.83
$GC,3512,-0.65,-107.1,229.5,-7.4,344,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1511,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-0.62,-107.1,252.1,-6.7,374,3837,0.12,1.58,0.00,0.000,4,0.231,0.095,2688,2406,3426,0,0,0,0,0,0,14.46,14.57,28.83
$GC,3991,-0.62,-107.1,261.3,-5.7,379,3996,0.00,1.67,0.00,0.000,6,0.000,0.111,2688,1515,3424,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4321,-0.62,-107.1,281.0,-5.9,390,4327,0.00,1.60,0.00,0.000,4,0.000,0.103,2688,2407,3425,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4484,-0.64,-107.1,290.2,-6.0,395,4490,0.00,1.67,0.00,0.000,6,0.000,0.115,2688,1522,3425,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4810,-0.66,-107.1,312.1,-6.6,406,4816,0.00,1.67,0.00,0.000,4,0.000,0.131,2688,638,3423,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4888,-0.69,-107.1,316.4,-6.6,408,4893,0.00,1.52,0.00,0.000,6,0.000,0.084,2688,1515,3423,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5208,-0.72,-107.1,339.6,-7.2,419,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1514,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5506,-0.74,-107.1,361.4,-7.3,429,5508,0.12,0.00,0.00,0.000,6,0.139,0.000,2632,1515,3421,0,0,0,0,0,0,14.76,28.83,28.83
$GC,5807,-0.72,-107.1,385.3,-7.9,439,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1515,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6106,-0.67,-107.1,408.4,-7.6,449,6112,0.12,1.60,0.00,0.000,4,0.240,0.106,2662,2407,3419,0,0,0,0,0,0,14.47,14.58,28.83
$GC,6190,-0.65,-107.1,412.6,-7.0,451,6196,0.00,1.67,0.00,0.000,6,0.000,0.117,2661,1509,3418,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6506,-0.63,-107.1,432.8,-5.8,462,6512,0.00,1.60,0.00,0.000,4,0.000,0.107,2662,2398,3417,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6632,-0.63,-107.1,439.9,-5.7,466,6637,0.00,1.65,0.00,0.000,6,0.000,0.119,2662,1520,3417,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6967,-0.61,-107.1,459.2,-5.7,477,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1520,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7267,-0.60,-107.1,475.9,-5.5,487,7269,0.12,0.00,0.00,0.000,6,0.236,0.000,2694,1520,3416,0,0,0,0,0,0,14.52,28.83,28.83
$GC,7565,-0.64,-107.1,492.3,-6.0,497,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1520,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,-0.68,-107.1,513.0,-7.2,507,7871,0.00,1.65,0.00,0.000,4,0.000,0.127,2694,629,3413,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8023,-0.70,-107.1,524.1,-7.3,512,8028,0.00,1.55,0.00,0.000,6,0.000,0.080,2693,1532,3412,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8353,-0.74,-107.1,546.8,-7.0,523,8360,0.12,1.55,0.00,0.000,4,0.137,0.102,2632,2398,3411,0,0,0,0,0,0,14.71,14.47,28.83
$GC,8378,-0.78,-107.1,546.8,-7.0,523,8383,0.00,1.65,0.00,0.000,6,0.000,0.117,2632,1515,3411,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8694,-0.74,-107.1,573.4,-8.0,534,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1515,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8991,-0.71,-107.1,596.3,-7.3,544,8996,0.00,1.60,0.00,0.000,4,0.000,0.107,2630,2398,3409,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9085,-0.68,-107.1,602.8,-7.1,547,9091,0.15,1.65,0.00,0.000,6,0.223,0.117,2670,1522,3409,0,0,0,0,0,0,14.43,14.52,28.83
$GC,9421,-0.68,-107.1,621.6,-5.4,558,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1522,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9721,-0.68,-107.1,638.1,-5.6,568,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1522,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10019,-0.71,-107.1,657.2,-6.6,578,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1522,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10321,-0.73,-107.1,675.0,-5.6,588,10326,0.00,1.67,0.00,0.000,4,0.000,0.132,2671,633,3404,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10408,-0.75,-107.1,678.6,-5.5,590,10415,0.00,1.58,0.00,0.000,6,0.000,0.085,2667,1529,3405,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10716,-0.76,-107.1,694.4,-4.8,601,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1529,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11014,-0.79,-107.1,710.4,-5.7,611,11021,0.00,1.73,0.00,0.000,4,0.000,0.135,2666,638,3403,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11146,-0.80,-107.1,718.1,-6.1,615,11151,0.00,1.52,0.00,0.000,6,0.000,0.087,2664,1503,3403,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11475,-0.82,-107.1,742.1,-7.7,626,11482,0.12,1.62,0.00,0.000,4,0.143,0.107,2605,2398,3401,0,0,0,0,0,0,14.60,14.51,28.83
$GC,11525,-0.84,-107.1,745.1,-7.9,627,11530,0.00,1.70,0.00,0.000,6,0.000,0.119,2605,1497,3401,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11845,-0.79,-107.1,776.5,-9.6,638,11851,0.12,1.65,0.00,0.000,4,0.264,0.107,2633,2398,3400,0,0,0,0,0,0,14.34,14.50,28.83
$GC,11945,-0.76,-107.1,785.1,-9.1,641,11951,0.00,1.67,0.00,0.000,6,0.000,0.120,2633,1509,3400,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12275,-0.73,-107.1,814.6,-8.8,652,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1507,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12575,-0.71,-107.1,839.9,-8.3,662,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1507,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12873,-0.68,-107.1,863.0,-7.7,672,12875,0.12,0.00,0.00,0.000,6,0.257,0.000,2663,1507,3397,0,0,0,0,0,0,14.39,28.83,28.83
$GC,13174,-0.68,-107.1,885.0,-7.6,682,13179,0.00,1.65,0.00,0.000,4,0.000,0.111,2662,2402,3396,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13231,-0.68,-107.1,887.4,-7.6,683,13237,0.00,1.70,0.00,0.000,6,0.000,0.122,2661,1508,3395,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13538,-0.71,-107.1,915.6,-8.9,694,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1507,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13837,-0.73,-107.1,943.0,-9.3,704,13843,0.00,1.70,0.00,0.000,4,0.000,0.142,2662,638,3394,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13996,-0.74,-107.1,957.1,-9.2,709,14001,0.00,1.50,0.00,0.000,6,0.000,0.093,2662,1485,3394,0,0,0,0,0,0,28.83,14.48,28.83
$GC,14325,-0.77,-107.1,983.6,-7.5,720,14331,0.00,1.73,0.00,0.000,4,0.000,0.118,2662,2403,3393,0,0,0,0,0,0,28.83,14.43,28.83
$GC,14430,-0.80,-107.1,989.9,-6.7,723,14436,0.00,1.75,0.00,0.000,6,0.000,0.127,2662,1493,3393,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,14452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14452,begin apogee
$GC,14458,-0.19,0.0,992.0,-6.4,724,14600,0.52,0.00,135.18,1.585,4,0.184,0.000,2822,1701,2988,0,0,0,0,0,0,14.43,28.83,13.50
$STATE,14602,end apogee,CONTROL_FINISHED_OK
$STATE,14602,begin climb
$GC,14604,0.52,107.1,996.3,0.0,728,14718,0.68,0.00,107.60,1.831,6,0.117,0.000,3046,1701,2547,0,0,0,0,0,0,14.16,28.83,13.35
$GC,15028,0.49,111.0,979.6,5.6,743,15030,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1702,2535,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28208,end climb,SURFACE_DEPTH_REACHED
$STATE,28208,begin surface coast
$FINISH,1.3,1.025322
$STATE,28241,end surface coast,CONTROL_FINISHED_OK
$STATE,28241,begin surface
$SM_CCo,28321,0.00,0.000,0,0,1533,357.40
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$IRIDIUM_FIX,2453.69,-3746.45,211112,060630
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.89
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.90
$XPDR_PINGS,1
$SC_FREEKB,7691584
$TM_FREEKB,5742048
$24V_AH,13.3,85.235
$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
$DEVICE_SECS,23.300,155.725,487.850,0.000,0.000,0.000,0.000,432.050,0.250,0.000,19.027,4650.797,19214.414,696.878,3960.471,525.081,0.000,2863.506,0.000,3317.948,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28295.000,7181.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.733,13.270,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,50002,1394
$CAP_FILE_SIZE,313015,0
$CFSIZE,260034560,222851072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,155.3,1
$GPS,211112,224504,2501.837,-3734.373,29,0.9,29,-13.8