version: 66.11
glider: 190
mission: 6
dive: 233
start: 11 30 112 22 37 13
data:
$ID,190
$MISSION,6
$DIVE,233
$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,-13088.785
$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,11
$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
$GPS1,301112,222435,2500.784,-3819.194,39,1.0,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-59.3
$GPS2,301112,223642,2500.809,-3819.243,14,1.4,14,-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,247.9,56756,-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,-146.0,0.0,0.0,0,47,0.00,0.00,-21.55,0.000,2,0.000,0.000,139,1436,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-0.63,-146.0,2.4,0.0,2,151,11.32,1.73,-77.65,0.000,4,0.358,0.171,2693,554,3586,0,0,0,0,0,0,14.28,14.35,14.74
$GC,380,-0.61,-146.0,22.9,-5.0,34,387,0.00,1.55,0.00,0.000,6,0.000,0.086,2690,1439,3585,0,0,0,0,0,0,28.83,14.44,28.83
$GC,687,-0.59,-146.0,46.5,-11.7,65,693,0.00,1.73,0.00,0.000,4,0.000,0.142,2690,562,3588,0,0,0,0,0,0,28.83,14.23,28.83
$GC,742,-0.57,-146.0,53.0,-12.9,70,747,0.00,1.58,0.00,0.000,6,0.000,0.089,2688,1444,3587,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1055,-0.57,-146.0,79.0,-6.8,101,1060,0.00,1.60,0.00,0.000,4,0.000,0.109,2688,2321,3590,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1122,-0.57,-146.0,82.8,-6.5,107,1130,0.00,1.67,0.00,0.000,6,0.000,0.125,2688,1454,3587,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1428,-0.57,-146.0,106.7,-7.0,138,1433,0.00,1.60,0.00,0.000,4,0.000,0.111,2688,2321,3586,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1484,-0.57,-146.0,110.0,-6.2,143,1491,0.00,1.65,0.00,0.000,6,0.000,0.126,2688,1456,3587,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1792,-0.60,-146.0,131.2,-7.8,174,1797,0.00,1.60,0.00,0.000,4,0.000,0.110,2688,2322,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1850,-0.64,-146.0,135.3,-7.6,179,1858,0.00,1.65,0.00,0.000,6,0.000,0.128,2688,1458,3587,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2157,-0.67,-146.0,159.4,-7.9,210,2162,0.00,1.73,0.00,0.000,4,0.000,0.147,2688,556,3587,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2295,-0.69,-146.0,169.4,-7.0,223,2302,0.00,1.55,0.00,0.000,6,0.000,0.090,2688,1432,3587,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2605,-0.73,-146.0,187.9,-5.9,254,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1432,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.77,-146.0,211.1,-8.9,285,2919,0.12,1.65,0.00,0.000,4,0.135,0.105,2622,2321,3587,0,0,0,0,0,0,14.63,14.43,28.83
$GC,3151,-0.75,-146.0,234.8,-9.7,308,3156,0.00,1.70,0.00,0.000,6,0.000,0.128,2622,1437,3587,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3464,-0.72,-146.0,263.9,-8.9,329,3471,0.12,1.62,0.00,0.000,4,0.235,0.109,2657,2321,3587,0,0,0,0,0,0,14.36,14.42,28.83
$GC,3534,-0.69,-146.0,268.5,-7.9,331,3540,0.00,1.70,0.00,0.000,6,0.000,0.129,2657,1443,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3865,-0.71,-146.0,291.5,-6.9,342,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1443,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4163,-0.73,-146.0,313.6,-7.6,352,4169,0.00,1.70,0.00,0.000,4,0.000,0.146,2657,556,3586,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4396,-0.72,-146.0,331.0,-8.1,359,4402,0.00,1.58,0.00,0.000,6,0.000,0.095,2653,1439,3585,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4710,-0.72,-146.0,356.8,-7.8,370,4716,0.00,1.73,0.00,0.000,4,0.000,0.149,2653,553,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4753,-0.72,-146.0,359.6,-7.9,371,4759,0.00,1.58,0.00,0.000,6,0.000,0.097,2653,1434,3585,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5080,-0.74,-146.0,384.4,-7.3,382,5085,0.00,1.73,0.00,0.000,4,0.000,0.151,2652,550,3583,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5158,-0.76,-146.0,389.4,-7.4,384,5163,0.00,1.55,0.00,0.000,6,0.000,0.099,2652,1419,3584,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5479,-0.78,-146.0,413.1,-7.0,395,5484,0.00,1.70,0.00,0.000,4,0.000,0.152,2652,549,3581,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5561,-0.79,-146.0,418.2,-7.4,397,5566,0.00,1.52,0.00,0.000,6,0.000,0.099,2652,1403,3581,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5877,-0.81,-146.0,445.5,-8.9,408,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1403,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6174,-0.83,-146.0,474.3,-9.7,418,6180,0.00,1.70,0.00,0.000,4,0.000,0.118,2652,2320,3582,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6248,-0.85,-146.0,480.4,-9.7,420,6254,0.12,1.75,0.00,0.000,6,0.135,0.126,2596,1397,3578,0,0,0,0,0,0,14.57,14.41,28.83
$GC,6574,-0.81,-146.0,512.4,-9.0,431,6581,0.12,1.62,0.00,0.000,4,0.242,0.142,2632,550,3577,0,0,0,0,0,0,14.40,14.42,28.83
$GC,6604,-0.77,-146.0,512.4,-9.0,431,6611,0.00,1.55,0.00,0.000,6,0.000,0.103,2632,1409,3577,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6911,-0.75,-146.0,536.8,-6.9,442,6917,0.00,1.67,0.00,0.000,4,0.000,0.115,2631,2320,3576,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7066,-0.75,-146.0,547.1,-6.6,447,7071,0.00,1.75,0.00,0.000,6,0.000,0.129,2631,1412,3575,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7401,-0.76,-146.0,571.6,-7.7,458,7406,0.00,1.62,0.00,0.000,4,0.000,0.138,2631,554,3573,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7495,-0.76,-146.0,579.6,-8.2,461,7501,0.00,1.55,0.00,0.000,6,0.000,0.091,2631,1420,3572,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7831,-0.75,-146.0,608.9,-9.1,472,7837,0.00,1.65,0.00,0.000,4,0.000,0.115,2631,2323,3571,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7920,-0.75,-146.0,614.7,-9.1,474,7926,0.00,1.75,0.00,0.000,6,0.000,0.129,2631,1410,3571,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8225,-0.76,-146.0,644.0,-8.7,485,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1409,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,-0.77,-146.0,670.1,-8.6,495,8531,0.00,1.73,0.00,0.000,4,0.000,0.118,2631,2327,3569,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8568,-0.79,-146.0,672.8,-8.5,496,8573,0.00,1.75,0.00,0.000,6,0.000,0.129,2631,1410,3569,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8894,-0.80,-146.0,699.6,-7.9,507,8900,0.00,1.62,0.00,0.000,4,0.000,0.139,2631,556,3567,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8951,-0.80,-146.0,702.5,-7.9,508,8958,0.00,1.52,0.00,0.000,6,0.000,0.092,2631,1412,3567,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9259,-0.82,-146.0,726.6,-7.2,519,9264,0.00,1.70,0.00,0.000,4,0.000,0.118,2631,2325,3566,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9323,-0.83,-146.0,731.2,-7.2,521,9328,0.00,1.75,0.00,0.000,6,0.000,0.131,2631,1416,3565,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9658,-0.85,-146.0,758.2,-8.5,532,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1416,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9957,-0.87,-146.0,785.1,-8.9,542,9963,0.00,1.65,0.00,0.000,4,0.000,0.139,2631,554,3563,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10010,-0.88,-146.0,788.1,-8.8,543,10015,0.00,1.55,0.00,0.000,6,0.000,0.091,2631,1421,3562,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10326,-0.90,-146.0,814.3,-7.5,554,10331,0.00,1.67,0.00,0.000,4,0.000,0.141,2631,556,3565,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10389,-0.90,-146.0,819.2,-7.4,556,10394,0.00,1.55,0.00,0.000,6,0.000,0.093,2631,1414,3561,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10725,-0.91,-146.0,839.5,-6.0,567,10730,0.12,1.70,0.00,0.000,4,0.151,0.116,2578,2319,3560,0,0,0,0,0,0,14.60,14.42,28.83
$GC,10858,-0.90,-146.0,848.0,-6.6,571,10864,0.00,1.77,0.00,0.000,6,0.000,0.132,2578,1412,3560,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11185,-0.85,-146.0,874.0,-8.3,582,11191,0.12,1.70,0.00,0.000,4,0.256,0.115,2606,2321,3558,0,0,0,0,0,0,14.30,14.40,28.83
$GC,11290,-0.82,-146.0,881.6,-8.0,585,11295,0.00,1.75,0.00,0.000,6,0.000,0.130,2606,1413,3558,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11616,-0.79,-146.0,912.0,-9.5,596,11622,0.00,1.75,0.00,0.000,4,0.000,0.127,2605,2326,3556,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11689,-0.77,-146.0,918.1,-9.3,598,11695,0.12,1.77,0.00,0.000,6,0.243,0.145,2635,1429,3556,0,0,0,0,0,0,14.32,14.36,28.83
$GC,12016,-0.79,-146.0,949.8,-9.6,609,12022,0.00,1.73,0.00,0.000,4,0.000,0.130,2629,2322,3556,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12085,-0.82,-146.0,955.8,-9.2,611,12091,0.00,1.75,0.00,0.000,6,0.000,0.135,2633,1436,3556,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12416,-0.84,-146.0,984.4,-8.4,622,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1436,3555,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12501,begin apogee
$GC,12507,-0.23,0.0,991.9,-8.3,625,12657,0.60,0.00,136.68,1.851,4,0.185,0.000,2812,1643,2982,0,0,0,0,0,0,14.33,28.83,13.35
$STATE,12658,end apogee,CONTROL_FINISHED_OK
$STATE,12658,begin climb
$GC,12661,0.63,146.0,1000.4,0.0,630,12817,0.82,1.77,145.50,1.816,4,0.119,0.137,3094,2522,2389,0,0,0,0,0,0,14.14,14.10,13.31
$GC,13047,0.60,192.9,990.1,5.4,643,13099,0.00,1.75,46.35,1.779,6,0.000,0.156,3096,1639,2202,0,0,0,0,0,0,28.83,14.30,13.51
$GC,13407,0.57,223.4,968.7,5.9,655,13445,0.00,1.83,31.20,1.765,4,0.000,0.181,3097,759,2071,0,0,0,0,0,0,28.83,14.31,13.66
$GC,13614,0.54,230.9,956.8,6.6,661,13623,0.12,1.67,1.70,0.172,6,0.271,0.117,3068,1649,2045,0,0,0,0,0,0,14.30,14.41,14.40
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$STATE,26007,end climb,SURFACE_DEPTH_REACHED
$STATE,26007,begin surface coast
$FINISH,1.3,1.012427
$STATE,26038,end surface coast,CONTROL_FINISHED_OK
$STATE,26038,begin surface
$SM_CCo,26120,0.00,0.000,0,0,1442,379.48
$SM_GC,2.03,8.45,0.40,0.00,0.063,0.148,0.000,138,1433,1442,-8.54,0.23,379.48,0,0,0,0,0,0,14.55,14.38,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,54.64
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.00
$XPDR_PINGS,2
$SC_FREEKB,7680832
$TM_FREEKB,5439008
$24V_AH,12.5,97.646
$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
$DEVICE_SECS,22.850,172.475,534.075,0.000,0.000,0.000,0.000,418.650,0.500,0.000,16.003,4457.045,17178.148,739.294,3899.049,555.309,0.000,2906.547,0.000,3294.038,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26068.000,6523.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.639,13.324,0.000,0.000
$MEM,344768
$DATA_FILE_SIZE,46685,1277
$CAP_FILE_SIZE,306769,0
$CFSIZE,260034560,218234880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090, 91.7,1
$GPS,011212,055353,2459.443,-3820.626,39,0.8,39,-14.0