version: 66.11
glider: 190
mission: 6
dive: 272
start: 12 12 112 18 46 1
data:
$ID,190
$MISSION,6
$DIVE,272
$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,-13144.92
$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,2
$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,6
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,2.0999999
$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
$GPS1,121212,183304,2407.246,-3810.088,35,1.0,36,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-60.7
$GPS2,121212,184531,2407.187,-3810.127,18,1.2,18,-14.1
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$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,85.1,87346,-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,-10.68,0.000,2,0.000,0.000,136,1433,1742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.2,0.0,1,137,11.43,0.00,-81.03,0.000,6,0.358,0.000,2677,1433,3587,0,0,0,0,0,0,14.21,28.83,14.71
$GC,437,-0.63,-146.0,28.6,-6.6,41,442,0.00,1.65,0.00,0.000,4,0.000,0.100,2674,2330,3587,0,0,0,0,0,0,28.83,14.34,28.83
$GC,525,-0.63,-146.0,34.0,-6.2,49,531,0.00,1.70,0.00,0.000,6,0.000,0.120,2674,1439,3588,0,0,0,0,0,0,28.83,14.28,28.83
$GC,830,-0.63,-146.0,56.9,-8.5,80,835,0.00,1.70,0.00,0.000,4,0.000,0.139,2674,559,3587,0,0,0,0,0,0,28.83,14.29,28.83
$GC,868,-0.63,-146.0,59.9,-9.0,83,875,0.00,1.58,0.00,0.000,6,0.000,0.082,2674,1433,3588,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1174,-0.63,-146.0,88.0,-9.4,114,1180,0.00,1.60,0.00,0.000,4,0.000,0.103,2674,2323,3588,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1370,-0.65,-146.0,102.8,-6.2,133,1375,0.00,1.67,0.00,0.000,6,0.000,0.120,2674,1450,3587,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1687,-0.67,-146.0,120.2,-6.0,164,1692,0.00,1.70,0.00,0.000,4,0.000,0.135,2674,553,3588,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1892,-0.67,-146.0,136.7,-8.6,184,1897,0.00,1.55,0.00,0.000,6,0.000,0.077,2674,1417,3588,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2206,-0.70,-146.0,165.3,-9.2,215,2211,0.00,1.65,0.00,0.000,4,0.000,0.137,2674,552,3588,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2310,-0.70,-146.0,174.8,-9.0,225,2316,0.00,1.50,0.00,0.000,6,0.000,0.080,2674,1386,3588,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2624,-0.73,-146.0,200.3,-7.6,256,2629,0.00,1.70,0.00,0.000,4,0.000,0.098,2674,2328,3588,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2749,-0.76,-146.0,209.3,-7.5,268,2754,0.00,1.80,0.00,0.000,6,0.000,0.119,2674,1398,3587,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3065,-0.79,-146.0,230.9,-6.6,299,3071,0.12,1.70,0.00,0.000,4,0.135,0.097,2609,2325,3588,0,0,0,0,0,0,14.60,14.43,28.83
$GC,3155,-0.79,-146.0,237.6,-8.2,307,3161,0.00,1.67,0.00,0.000,6,0.000,0.119,2609,1437,3588,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3480,-0.75,-146.0,267.1,-9.5,328,3482,0.15,0.00,0.00,0.000,6,0.225,0.000,2647,1436,3588,0,0,0,0,0,0,14.32,28.83,28.83
$GC,3780,-0.75,-146.0,294.4,-9.1,338,3785,0.00,1.65,0.00,0.000,4,0.000,0.134,2647,555,3587,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3904,-0.75,-146.0,305.9,-9.2,342,3909,0.00,1.58,0.00,0.000,6,0.000,0.082,2645,1452,3586,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4240,-0.75,-146.0,335.6,-9.0,353,4245,0.00,1.70,0.00,0.000,4,0.000,0.136,2645,548,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4364,-0.75,-146.0,347.1,-9.1,357,4370,0.00,1.52,0.00,0.000,6,0.000,0.083,2645,1419,3585,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4700,-0.75,-146.0,373.4,-7.2,368,4705,0.00,1.62,0.00,0.000,4,0.000,0.136,2645,555,3585,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4825,-0.75,-146.0,381.9,-6.7,372,4830,0.00,1.48,0.00,0.000,6,0.000,0.082,2645,1378,3584,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5161,-0.75,-146.0,399.2,-5.0,383,5166,0.00,1.70,0.00,0.000,4,0.000,0.105,2645,2322,3583,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5290,-0.77,-146.0,406.2,-5.5,387,5295,0.00,1.75,0.00,0.000,6,0.000,0.123,2644,1414,3582,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5621,-0.77,-146.0,430.9,-8.2,398,5626,0.00,1.67,0.00,0.000,4,0.000,0.106,2645,2319,3581,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5679,-0.77,-146.0,434.0,-8.4,399,5685,0.00,1.70,0.00,0.000,6,0.000,0.124,2642,1429,3580,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5986,-0.79,-146.0,464.6,-9.5,410,5992,0.00,1.70,0.00,0.000,4,0.000,0.142,2645,544,3579,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6139,-0.79,-146.0,478.8,-9.0,415,6145,0.00,1.55,0.00,0.000,6,0.000,0.087,2645,1398,3579,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6476,-0.79,-146.0,505.4,-7.8,426,6481,0.00,1.62,0.00,0.000,4,0.000,0.142,2645,555,3578,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6617,-0.79,-146.0,514.9,-7.5,430,6622,0.00,1.45,0.00,0.000,6,0.000,0.087,2645,1359,3577,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6934,-0.81,-146.0,536.3,-6.2,441,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1359,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,-0.83,-146.0,559.2,-8.6,451,7237,0.00,1.75,0.00,0.000,4,0.000,0.110,2645,2320,3575,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7321,-0.85,-146.0,565.1,-9.0,453,7327,0.00,1.85,0.00,0.000,6,0.000,0.128,2645,1358,3574,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7626,-0.88,-146.0,596.6,-9.4,464,7628,0.12,0.00,0.00,0.000,6,0.137,0.000,2589,1359,3573,0,0,0,0,0,0,14.68,28.83,28.83
$GC,7926,-0.88,-146.0,627.3,-10.4,474,7931,0.00,1.58,0.00,0.000,4,0.000,0.145,2589,556,3572,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8089,-0.82,-146.0,645.8,-12.1,479,8095,0.15,1.48,0.00,0.000,6,0.257,0.089,2620,1371,3571,0,0,0,0,0,0,14.22,14.41,28.83
$GC,8416,-0.82,-146.0,682.4,-10.9,490,8422,0.00,1.75,0.00,0.000,4,0.000,0.109,2618,2318,3570,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8489,-0.82,-146.0,689.5,-10.8,492,8494,0.00,1.83,0.00,0.000,6,0.000,0.127,2618,1384,3570,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8814,-0.82,-146.0,721.8,-8.9,503,8821,0.00,1.62,0.00,0.000,4,0.000,0.145,2618,559,3569,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8984,-0.82,-146.0,734.2,-7.7,508,8989,0.00,1.45,0.00,0.000,6,0.000,0.090,2618,1352,3568,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9304,-0.82,-146.0,752.4,-4.8,519,9310,0.00,1.58,0.00,0.000,4,0.000,0.148,2618,549,3568,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9447,-0.82,-146.0,758.5,-4.8,523,9452,0.00,1.40,0.00,0.000,6,0.000,0.091,2618,1317,3566,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9767,-0.82,-146.0,775.4,-5.7,534,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1317,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10065,-0.82,-146.0,795.8,-7.5,544,10071,0.00,1.52,0.00,0.000,4,0.000,0.148,2618,542,3564,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10138,-0.82,-146.0,801.4,-8.1,546,10143,0.00,1.40,0.00,0.000,6,0.000,0.093,2618,1304,3563,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10463,-0.82,-146.0,832.6,-10.0,557,10468,0.00,1.92,0.00,0.000,4,0.000,0.118,2618,2318,3562,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10527,-0.82,-146.0,839.5,-10.3,559,10533,0.00,1.98,0.00,0.000,6,0.000,0.134,2617,1314,3562,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10862,-0.82,-146.0,875.0,-10.6,570,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1314,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11162,-0.82,-146.0,902.5,-8.6,580,11167,0.00,1.52,0.00,0.000,4,0.000,0.154,2618,543,3563,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11203,-0.82,-146.0,905.3,-8.4,581,11208,0.00,1.45,0.00,0.000,6,0.000,0.099,2617,1319,3562,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11529,-0.82,-146.0,927.9,-6.3,592,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1320,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11827,-0.82,-146.0,946.8,-6.4,602,11832,0.00,1.90,0.00,0.000,4,0.000,0.122,2618,2317,3561,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11906,-0.82,-146.0,951.0,-6.6,604,11911,0.00,1.98,0.00,0.000,6,0.000,0.137,2617,1313,3560,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12224,-0.82,-146.0,976.8,-8.0,615,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1312,3560,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12401,begin apogee
$GC,12408,-0.23,0.0,991.7,-8.4,621,12557,0.65,0.00,138.95,1.847,4,0.198,0.000,2807,1641,2987,0,0,0,0,0,0,14.16,28.83,13.27
$STATE,12558,end apogee,CONTROL_FINISHED_OK
$STATE,12558,begin climb
$GC,12561,0.63,146.0,1000.7,0.0,626,12718,0.82,1.75,146.88,1.817,4,0.108,0.125,3094,2520,2390,0,0,0,0,0,0,14.12,14.07,13.21
$GC,12740,0.67,336.1,1002.3,0.8,632,12940,0.00,1.73,193.27,1.789,6,0.000,0.132,3099,1640,1617,0,0,0,0,0,0,28.83,14.05,13.25
$GC,13250,0.67,336.1,958.2,9.8,649,13256,0.00,1.73,0.00,0.000,4,0.000,0.152,3106,755,1597,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13302,0.67,336.1,954.5,10.0,650,13307,0.00,1.60,0.00,0.000,6,0.000,0.099,3106,1632,1596,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13616,0.67,336.1,920.9,9.9,661,13621,0.00,1.70,0.00,0.000,4,0.000,0.154,3112,755,1595,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13723,0.67,336.1,911.8,9.8,664,13729,0.00,1.55,0.00,0.000,6,0.000,0.099,3112,1611,1594,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14045,0.67,336.1,882.4,8.3,675,14050,0.00,1.67,0.00,0.000,4,0.000,0.155,3115,755,1594,0,0,0,0,0,0,28.83,14.39,28.83
$GC,14127,0.67,336.1,877.0,8.2,677,14132,0.00,1.52,0.00,0.000,6,0.000,0.097,3115,1600,1593,0,0,0,0,0,0,28.83,14.50,28.83
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$STATE,23646,end climb,SURFACE_DEPTH_REACHED
$STATE,23646,begin surface coast
$FINISH,1.3,1.014266
$STATE,23678,end surface coast,CONTROL_FINISHED_OK
$STATE,23678,begin surface
$SM_CCo,23759,0.00,0.000,0,0,1404,389.29
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$IRIDIUM_FIX,2359.20,-3813.41,121212,111154
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.94
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7665824
$TM_FREEKB,5052320
$24V_AH,13.2,115.116
$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,22.875,159.900,528.625,0.000,0.000,0.000,0.000,418.150,0.000,0.000,20.105,4077.329,15489.774,687.962,3650.673,579.354,0.000,2734.701,0.000,3040.234,0.000,0.542,0.000
$DEVICE_MAMPS,358.020,165.240,1846.710,0.000,0.000,0.000,0.000,185.895,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.783,13.265,0.000,0.000
$MEM,344520
$DATA_FILE_SIZE,43319,1158
$CAP_FILE_SIZE,269977,0
$CFSIZE,260034560,211980288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,226.3,1
$GPS,131212,012304,2406.817,-3808.702,22,1.1,23,-14.1