version: 66.11
glider: 190
mission: 6
dive: 231
start: 11 30 112 8 25 0
data:
$ID,190
$MISSION,6
$DIVE,231
$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,480
$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,150
$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,-13086.177
$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,22
$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,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$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
$GPS1,301112,081234,2503.003,-3815.627,38,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-60.7
$GPS2,301112,082429,2503.028,-3815.657,15,1.9,15,-14.0
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpNW
$TGT_LATLONG,2440.000,-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,263.3,63986,-11.8,-6.875,-16.86
$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
$GC,23,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-11.43,0.000,2,0.000,0.000,139,1437,1590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.2,0.0,1,152,11.15,1.75,-92.68,0.000,4,0.350,0.171,2681,555,3587,0,0,0,0,0,0,14.33,14.38,14.73
$GC,381,-0.59,-146.0,23.3,-8.2,34,387,0.00,1.58,0.00,0.000,6,0.000,0.086,2676,1442,3587,0,0,0,0,0,0,28.83,14.41,28.83
$GC,688,-0.57,-146.0,46.0,-7.9,65,694,0.00,1.62,0.00,0.000,4,0.000,0.103,2674,2318,3586,0,0,0,0,0,0,28.83,14.26,28.83
$GC,746,-0.56,-146.0,49.5,-6.2,70,754,0.12,1.65,0.00,0.000,6,0.221,0.119,2707,1444,3587,0,0,0,0,0,0,14.31,14.35,28.83
$GC,1053,-0.56,-146.0,69.1,-6.6,101,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1444,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.56,-146.0,91.5,-8.8,131,1357,0.00,1.60,0.00,0.000,4,0.000,0.101,2703,2324,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1488,-0.60,-146.0,104.4,-9.8,144,1493,0.00,1.65,0.00,0.000,6,0.000,0.120,2703,1452,3586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1803,-0.65,-146.0,129.6,-6.9,175,1808,0.00,1.70,0.00,0.000,4,0.000,0.137,2703,557,3587,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1934,-0.67,-146.0,137.4,-5.7,187,1942,0.00,1.58,0.00,0.000,6,0.000,0.080,2703,1449,3588,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2242,-0.72,-146.0,155.3,-6.0,218,2248,0.12,1.55,0.00,0.000,4,0.135,0.096,2638,2322,3587,0,0,0,0,0,0,14.62,14.49,28.83
$GC,2378,-0.72,-146.0,165.4,-7.5,231,2383,0.00,1.67,0.00,0.000,6,0.000,0.119,2638,1439,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2693,-0.70,-146.0,189.9,-7.6,262,2698,0.00,1.67,0.00,0.000,4,0.000,0.132,2638,549,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2766,-0.65,-146.0,196.2,-8.4,269,2772,0.17,1.58,0.00,0.000,6,0.236,0.083,2680,1444,3587,0,0,0,0,0,0,14.31,14.47,28.83
$GC,3082,-0.68,-146.0,220.7,-8.2,300,3087,0.00,1.55,0.00,0.000,4,0.000,0.102,2679,2318,3587,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3200,-0.72,-146.0,229.8,-7.6,311,3207,0.00,1.65,0.00,0.000,6,0.000,0.122,2679,1458,3587,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3528,-0.75,-146.0,255.3,-7.7,340,3533,0.00,1.70,0.00,0.000,4,0.000,0.136,2679,556,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3726,-0.78,-146.0,270.4,-8.4,346,3732,0.12,1.55,0.00,0.000,6,0.137,0.083,2623,1442,3586,0,0,0,0,0,0,14.62,14.57,28.83
$GC,4046,-0.78,-146.0,301.2,-9.4,357,4051,0.00,1.70,0.00,0.000,4,0.000,0.138,2624,552,3586,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4109,-0.76,-146.0,307.6,-9.7,359,4114,0.00,1.55,0.00,0.000,6,0.000,0.085,2619,1429,3585,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4445,-0.72,-146.0,338.6,-9.1,370,4450,0.12,1.60,0.00,0.000,4,0.255,0.103,2649,2325,3584,0,0,0,0,0,0,14.42,14.54,28.83
$GC,4613,-0.72,-146.0,350.9,-7.8,375,4619,0.00,1.67,0.00,0.000,6,0.000,0.123,2649,1437,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4934,-0.74,-146.0,376.0,-7.6,386,4939,0.00,1.67,0.00,0.000,4,0.000,0.138,2649,552,3583,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5031,-0.74,-146.0,383.6,-7.8,389,5037,0.00,1.55,0.00,0.000,6,0.000,0.089,2649,1429,3582,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5362,-0.75,-146.0,408.3,-7.1,400,5367,0.00,1.65,0.00,0.000,4,0.000,0.141,2649,557,3581,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5470,-0.75,-146.0,415.1,-7.1,403,5475,0.00,1.52,0.00,0.000,6,0.000,0.088,2649,1422,3580,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5791,-0.77,-146.0,433.2,-5.3,414,5796,0.00,1.67,0.00,0.000,4,0.000,0.141,2649,552,3579,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5920,-0.77,-146.0,440.9,-6.1,418,5925,0.00,1.48,0.00,0.000,6,0.000,0.087,2648,1376,3579,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6250,-0.79,-146.0,465.7,-8.3,429,6256,0.00,1.60,0.00,0.000,4,0.000,0.143,2647,558,3577,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6309,-0.80,-146.0,468.9,-8.6,430,6316,0.00,1.42,0.00,0.000,6,0.000,0.088,2648,1355,3577,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6616,-0.82,-146.0,500.7,-9.9,441,6621,0.00,1.80,0.00,0.000,4,0.000,0.112,2648,2319,3576,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6654,-0.84,-146.0,504.1,-9.9,442,6659,0.00,1.83,0.00,0.000,6,0.000,0.129,2648,1362,3576,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6984,-0.86,-146.0,535.6,-9.1,453,6986,0.12,0.00,0.00,0.000,6,0.137,0.000,2594,1361,3574,0,0,0,0,0,0,14.71,28.83,28.83
$GC,7283,-0.83,-146.0,564.1,-9.4,463,7288,0.00,1.77,0.00,0.000,4,0.000,0.111,2592,2328,3573,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7350,-0.79,-146.0,570.1,-9.4,465,7356,0.17,1.83,0.00,0.000,6,0.224,0.129,2636,1373,3572,0,0,0,0,0,0,14.37,14.46,28.83
$GC,7683,-0.77,-146.0,599.3,-8.8,476,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1373,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7981,-0.76,-146.0,625.1,-8.5,486,7986,0.00,1.77,0.00,0.000,4,0.000,0.110,2632,2327,3571,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8053,-0.76,-146.0,630.5,-8.5,488,8058,0.00,1.83,0.00,0.000,6,0.000,0.130,2632,1373,3569,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8377,-0.76,-146.0,656.5,-7.3,499,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1373,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-0.75,-146.0,675.0,-5.6,509,8682,0.00,1.77,0.00,0.000,4,0.000,0.113,2632,2318,3568,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8755,-0.75,-146.0,678.1,-5.1,511,8760,0.00,1.80,0.00,0.000,6,0.000,0.132,2632,1383,3567,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9075,-0.77,-146.0,694.4,-5.1,522,9080,0.00,1.58,0.00,0.000,4,0.000,0.136,2631,553,3566,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9194,-0.77,-146.0,700.1,-5.8,525,9201,0.00,1.45,0.00,0.000,6,0.000,0.083,2632,1368,3565,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9500,-0.78,-146.0,723.3,-7.7,536,9505,0.00,1.55,0.00,0.000,4,0.000,0.135,2632,556,3564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9618,-0.78,-146.0,731.6,-8.5,539,9625,0.00,1.42,0.00,0.000,6,0.000,0.083,2631,1355,3563,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9925,-0.80,-146.0,761.4,-9.1,550,9930,0.00,1.50,0.00,0.000,4,0.000,0.135,2631,556,3562,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10074,-0.80,-146.0,772.9,-9.3,554,10081,0.00,1.38,0.00,0.000,6,0.000,0.082,2631,1330,3562,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10382,-0.81,-146.0,799.9,-7.6,565,10387,0.00,1.50,0.00,0.000,4,0.000,0.138,2631,558,3560,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10559,-0.81,-146.0,811.7,-7.7,570,10565,0.00,1.30,0.00,0.000,6,0.000,0.083,2631,1287,3560,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10868,-0.82,-146.0,835.8,-7.5,581,10873,0.00,1.42,0.00,0.000,4,0.000,0.139,2631,557,3559,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10956,-0.82,-146.0,841.1,-7.9,583,10962,0.00,1.27,0.00,0.000,6,0.000,0.083,2631,1273,3557,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11264,-0.84,-146.0,867.8,-8.1,594,11269,0.00,1.40,0.00,0.000,4,0.000,0.141,2631,558,3558,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11357,-0.84,-146.0,875.9,-8.4,597,11362,0.00,1.27,0.00,0.000,6,0.000,0.083,2630,1265,3557,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11693,-0.85,-146.0,902.7,-8.0,608,11698,0.00,1.38,0.00,0.000,4,0.000,0.141,2630,561,3556,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11824,-0.85,-146.0,913.2,-8.4,612,11830,0.00,1.20,0.00,0.000,6,0.000,0.083,2631,1235,3556,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12151,-0.87,-146.0,939.4,-7.8,623,12156,0.00,1.33,0.00,0.000,4,0.000,0.142,2631,560,3554,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12275,-0.87,-146.0,950.1,-8.5,627,12280,0.00,1.17,0.00,0.000,6,0.000,0.085,2631,1213,3554,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12611,-0.89,-146.0,979.9,-9.4,638,12616,0.00,1.30,0.00,0.000,4,0.000,0.143,2631,555,3553,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12699,-0.90,-146.0,986.3,-9.7,640,12706,0.00,1.15,0.00,0.000,6,0.000,0.086,2631,1198,3553,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,12732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12732,begin apogee
$GC,12739,-0.23,0.0,992.4,-9.9,642,12886,0.60,0.00,136.75,1.862,4,0.192,0.000,2809,1639,2983,0,0,0,0,0,0,14.34,28.83,13.34
$STATE,12888,end apogee,CONTROL_FINISHED_OK
$STATE,12888,begin climb
$GC,12891,0.63,146.0,1002.7,0.0,647,13045,0.82,1.80,145.32,1.844,4,0.122,0.143,3089,756,2393,0,0,0,0,0,0,14.12,14.08,13.29
$GC,13082,0.68,348.8,1005.4,0.4,653,13292,0.00,1.67,203.82,1.805,6,0.000,0.109,3088,1637,1567,0,0,0,0,0,0,28.83,14.13,13.28
$GC,13605,0.68,348.8,962.3,9.5,671,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1637,1545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13905,0.68,348.8,932.3,10.0,681,13910,0.00,1.73,0.00,0.000,4,0.000,0.151,3095,757,1544,0,0,0,0,0,0,28.83,14.45,28.83
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$STATE,24399,end climb,SURFACE_DEPTH_REACHED
$STATE,24399,begin surface coast
$FINISH,1.3,1.012773
$STATE,24420,end surface coast,CONTROL_FINISHED_OK
$STATE,24420,begin surface
$SM_CCo,24502,0.00,0.000,0,0,1316,410.39
$SM_GC,2.17,8.45,0.45,0.00,0.062,0.145,0.000,145,1437,1316,-8.52,0.37,410.39,0,0,0,0,0,0,14.55,14.41,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.47
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.00
$XPDR_PINGS,2
$SC_FREEKB,7681600
$TM_FREEKB,5459104
$24V_AH,12.3,96.743
$10V_AH,13.0,0.000
$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,22.400,171.800,576.850,0.000,0.000,0.000,0.000,407.075,0.500,0.000,17.240,4258.858,15892.461,744.870,3755.970,547.101,0.000,2849.740,0.000,3145.004,0.000,0.542,0.000
$DEVICE_MAMPS,349.605,171.360,1862.010,0.000,0.000,0.000,0.000,182.835,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24450.000,6479.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.811,13.322,0.000,0.000
$MEM,344720
$DATA_FILE_SIZE,43277,1222
$CAP_FILE_SIZE,290914,7
$CFSIZE,260034560,218566656
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,85,0,1,0
$CURRENT,0.088, 77.8,1
$GPS,301112,151435,2502.094,-3817.458,31,1.0,32,-14.0