version: 66.11
glider: 190
mission: 6
dive: 262
start: 12 9 112 18 17 12
data:
$ID,190
$MISSION,6
$DIVE,262
$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,-13131.681
$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,10
$R_STBD_OVSHOOT,12
$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
$GPS1,091212,180434,2417.156,-3822.741,26,1.0,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-64.2
$GPS2,091212,181641,2417.165,-3822.816,17,1.0,17,-14.2
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpSW
$TGT_LATLONG,2356.000,-3800.000
$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,128.2,55028,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-10.70,0.000,2,0.000,0.000,140,1430,1730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.3,0.0,1,150,11.27,1.67,-88.25,0.000,4,0.353,0.153,2682,546,3585,0,0,0,0,0,0,14.29,14.34,14.73
$GC,220,-0.59,-146.0,6.6,-7.4,18,227,0.00,1.60,0.00,0.000,6,0.000,0.075,2677,1457,3585,0,0,0,0,0,0,28.83,14.40,28.83
$GC,526,-0.58,-146.0,31.0,-7.2,49,531,0.00,1.55,0.00,0.000,4,0.000,0.100,2675,2319,3585,0,0,0,0,0,0,28.83,14.39,28.83
$GC,589,-0.58,-146.0,35.5,-7.2,55,595,0.00,1.67,0.00,0.000,6,0.000,0.119,2675,1444,3585,0,0,0,0,0,0,28.83,14.31,28.83
$GC,903,-0.58,-146.0,59.7,-7.7,86,908,0.00,1.60,0.00,0.000,4,0.000,0.101,2675,2323,3585,0,0,0,0,0,0,28.83,14.35,28.83
$GC,967,-0.60,-146.0,64.5,-7.1,92,972,0.00,1.70,0.00,0.000,6,0.000,0.121,2675,1437,3585,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1281,-0.62,-146.0,89.2,-8.9,123,1286,0.00,1.73,0.00,0.000,4,0.000,0.141,2675,552,3585,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1365,-0.62,-146.0,96.9,-9.2,131,1370,0.00,1.58,0.00,0.000,6,0.000,0.083,2674,1435,3585,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1682,-0.64,-146.0,122.5,-7.3,162,1687,0.00,1.60,0.00,0.000,4,0.000,0.103,2675,2323,3585,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1735,-0.67,-146.0,126.9,-7.5,167,1740,0.00,1.67,0.00,0.000,6,0.000,0.122,2675,1444,3587,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2049,-0.69,-146.0,151.8,-8.2,198,2054,0.00,1.65,0.00,0.000,4,0.000,0.106,2675,2320,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2148,-0.72,-146.0,159.7,-8.4,207,2155,0.00,1.65,0.00,0.000,6,0.000,0.122,2675,1467,3585,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2455,-0.75,-146.0,186.7,-8.4,238,2460,0.00,1.73,0.00,0.000,4,0.000,0.139,2674,555,3585,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2621,-0.77,-146.0,200.9,-8.6,254,2626,0.00,1.58,0.00,0.000,6,0.000,0.083,2675,1443,3585,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2936,-0.80,-146.0,225.3,-7.1,285,2943,0.12,0.00,0.00,0.000,6,0.132,0.000,2618,1444,3585,0,0,0,0,0,0,14.63,28.83,28.83
$GC,3245,-0.80,-146.0,247.8,-6.7,316,3251,0.00,1.70,0.00,0.000,4,0.000,0.137,2618,553,3585,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3342,-0.76,-146.0,254.8,-7.4,321,3348,0.00,1.58,0.00,0.000,6,0.000,0.084,2617,1430,3585,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3679,-0.72,-146.0,280.1,-8.0,332,3685,0.12,1.60,0.00,0.000,4,0.242,0.100,2649,2322,3585,0,0,0,0,0,0,14.41,14.49,28.83
$GC,3793,-0.70,-146.0,287.8,-8.0,335,3799,0.00,1.67,0.00,0.000,6,0.000,0.122,2649,1440,3585,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4110,-0.72,-146.0,318.6,-9.5,346,4116,0.00,1.67,0.00,0.000,4,0.000,0.138,2649,554,3584,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4148,-0.74,-146.0,322.0,-9.5,347,4153,0.00,1.58,0.00,0.000,6,0.000,0.083,2648,1454,3584,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4479,-0.75,-146.0,351.4,-8.3,358,4484,0.00,1.55,0.00,0.000,4,0.000,0.106,2648,2316,3583,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4566,-0.78,-146.0,356.5,-7.9,360,4573,0.00,1.65,0.00,0.000,6,0.000,0.124,2649,1448,3582,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4875,-0.80,-146.0,378.9,-6.6,371,4880,0.00,1.62,0.00,0.000,4,0.000,0.108,2648,2314,3581,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4928,-0.82,-146.0,381.3,-6.6,372,4934,0.00,1.62,0.00,0.000,6,0.000,0.124,2648,1470,3581,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5245,-0.84,-146.0,404.6,-7.4,383,5250,0.00,1.75,0.00,0.000,4,0.000,0.141,2648,554,3580,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5288,-0.85,-146.0,407.4,-7.4,384,5294,0.00,1.62,0.00,0.000,6,0.000,0.086,2649,1477,3580,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5614,-0.87,-146.0,433.5,-8.0,395,5619,0.12,1.52,0.00,0.000,4,0.139,0.103,2583,2325,3579,0,0,0,0,0,0,14.71,14.50,28.83
$GC,5708,-0.87,-146.0,442.1,-8.8,398,5714,0.00,1.60,0.00,0.000,6,0.000,0.119,2582,1482,3578,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6044,-0.82,-146.0,475.6,-10.3,409,6046,0.15,0.00,0.00,0.000,6,0.239,0.000,2621,1482,3577,0,0,0,0,0,0,14.40,28.83,28.83
$GC,6343,-0.82,-146.0,503.3,-9.0,419,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1481,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,-0.82,-146.0,529.8,-8.8,429,6648,0.00,1.77,0.00,0.000,4,0.000,0.136,2622,550,3575,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6680,-0.82,-146.0,532.7,-8.8,430,6686,0.00,1.65,0.00,0.000,6,0.000,0.086,2618,1487,3574,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7010,-0.82,-146.0,560.3,-8.1,441,7015,0.00,1.80,0.00,0.000,4,0.000,0.140,2618,555,3573,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7075,-0.81,-146.0,565.7,-8.1,443,7080,0.00,1.65,0.00,0.000,6,0.000,0.089,2618,1478,3572,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7409,-0.81,-146.0,591.4,-7.8,454,7414,0.00,1.55,0.00,0.000,4,0.000,0.107,2617,2319,3569,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7456,-0.81,-146.0,594.1,-7.8,455,7461,0.00,1.60,0.00,0.000,6,0.000,0.125,2618,1479,3571,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7775,-0.81,-146.0,622.5,-9.0,466,7781,0.00,1.77,0.00,0.000,4,0.000,0.142,2618,555,3570,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7901,-0.80,-146.0,634.6,-9.7,470,7907,0.00,1.65,0.00,0.000,6,0.000,0.091,2618,1468,3569,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8237,-0.80,-146.0,664.6,-8.6,481,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1468,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8535,-0.80,-146.0,687.9,-7.3,491,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1469,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8836,-0.80,-146.0,710.1,-7.4,501,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1469,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,-0.80,-146.0,733.0,-8.0,511,9140,0.00,1.58,0.00,0.000,4,0.000,0.107,2618,2323,3564,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9173,-0.80,-146.0,735.6,-8.1,512,9178,0.00,1.65,0.00,0.000,6,0.000,0.120,2618,1463,3564,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9503,-0.80,-146.0,764.5,-9.0,523,9509,0.00,1.62,0.00,0.000,4,0.000,0.114,2618,2322,3565,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9546,-0.81,-146.0,767.7,-9.0,524,9552,0.00,1.62,0.00,0.000,6,0.000,0.121,2618,1469,3562,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9873,-0.82,-146.0,799.0,-9.6,535,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1469,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10170,-0.83,-146.0,826.8,-9.0,545,10176,0.00,1.60,0.00,0.000,4,0.000,0.112,2618,2330,3561,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10245,-0.84,-146.0,832.4,-8.8,547,10250,0.00,1.62,0.00,0.000,6,0.000,0.128,2617,1488,3561,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10570,-0.85,-146.0,858.0,-7.1,558,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1488,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10869,-0.87,-146.0,876.5,-5.8,568,10874,0.00,1.58,0.00,0.000,4,0.000,0.117,2618,2325,3558,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10942,-0.88,-146.0,880.0,-5.5,570,10948,0.00,1.62,0.00,0.000,6,0.000,0.128,2618,1484,3557,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11269,-0.89,-146.0,899.5,-6.1,581,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1487,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11566,-0.90,-146.0,920.2,-7.4,591,11572,0.00,1.58,0.00,0.000,4,0.000,0.119,2618,2321,3555,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11620,-0.92,-146.0,922.8,-7.5,592,11625,0.00,1.60,0.00,0.000,6,0.000,0.129,2618,1498,3555,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11935,-0.93,-146.0,952.1,-9.2,603,11940,0.00,1.85,0.00,0.000,4,0.000,0.152,2618,562,3554,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11988,-0.93,-146.0,955.5,-9.3,604,11994,0.00,1.73,0.00,0.000,6,0.000,0.099,2618,1503,3553,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12304,-0.95,-146.0,987.0,-9.2,615,12310,0.00,1.88,0.00,0.000,4,0.000,0.154,2618,562,3553,0,0,0,0,0,0,28.83,14.22,28.83
$STATE,12335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12335,begin apogee
$GC,12344,-0.23,0.0,990.2,-9.1,616,12490,0.68,0.00,137.98,1.864,4,0.207,0.000,2812,1637,2986,0,0,0,0,0,0,14.21,28.83,13.28
$STATE,12491,end apogee,CONTROL_FINISHED_OK
$STATE,12492,begin climb
$GC,12494,0.63,146.0,999.1,0.0,621,12652,0.80,1.75,146.02,1.826,4,0.109,0.122,3089,2519,2389,0,0,0,0,0,0,14.12,14.07,13.24
$GC,12718,0.62,249.5,998.2,3.6,628,12829,0.00,1.73,105.07,1.798,6,0.000,0.138,3095,1646,1969,0,0,0,0,0,0,28.83,14.16,13.26
$GC,13155,0.60,249.5,960.6,8.9,643,13160,0.00,1.75,0.00,0.000,4,0.000,0.150,3102,747,1951,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13252,0.57,249.5,952.1,9.1,646,13257,0.00,1.62,0.00,0.000,6,0.000,0.098,3102,1634,1950,0,0,0,0,0,0,28.83,14.46,28.83
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$STATE,25276,end climb,SURFACE_DEPTH_REACHED
$STATE,25276,begin surface coast
$FINISH,1.3,1.020726
$STATE,25317,end surface coast,CONTROL_FINISHED_OK
$STATE,25317,begin surface
$SM_CCo,25342,2.62,0.145,0,0,1561,350.04
$SM_GC,2.91,8.52,1.25,2.62,0.067,0.080,0.145,139,1442,1561,-8.54,-0.68,350.04,0,0,0,0,0,0,14.50,14.47,14.42
$IRIDIUM_FIX,2411.01,-3821.12,091212,101036
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.43
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.60
$XPDR_PINGS,3
$SC_FREEKB,7669664
$TM_FREEKB,5151392
$24V_AH,13.2,110.692
$10V_AH,12.9,0.000
$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,22.700,179.800,484.400,2.625,0.000,0.000,0.000,403.300,0.750,0.000,18.342,4339.507,16612.971,691.022,3800.848,610.022,0.000,2817.301,0.000,3205.443,0.000,0.542,0.000
$DEVICE_MAMPS,353.430,154.530,1863.540,144.585,0.000,0.000,0.000,185.130,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25352.000,6437.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.921,13.291,0.000,0.000
$MEM,344536
$DATA_FILE_SIZE,46579,1244
$CAP_FILE_SIZE,296924,0
$CFSIZE,260034560,213553152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,279.0,1
$GPS,101212,012059,2415.850,-3821.246,37,0.9,38,-14.2