version: 66.11
glider: 190
mission: 6
dive: 344
start: 1 1 113 11 41 17
data:
$ID,190
$MISSION,6
$DIVE,344
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,160
$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,0.035
$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,4
$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,-13348.246
$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,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$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,10
$MINV_10V,10
$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,48
$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
$GPS1,010113,112704,2505.593,-3808.336,31,0.9,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-65.1
$GPS2,010113,114047,2505.523,-3808.432,14,1.6,14,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,217.6,79946,-16.4,-7.174,-28.86
$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,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.52,0.000,2,0.000,0.000,137,1512,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,158,11.05,2.10,-94.57,0.000,4,0.347,0.161,2616,455,3624,0,0,0,0,0,0,14.14,14.24,14.69
$GC,289,-0.84,-155.7,15.7,-11.2,26,298,0.00,1.95,0.00,0.000,6,0.000,0.085,2610,1524,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,599,-0.84,-155.7,44.7,-7.8,57,609,0.00,1.98,0.00,0.000,4,0.000,0.102,2605,2578,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,690,-0.84,-155.7,51.4,-7.3,66,698,0.00,2.00,0.00,0.000,6,0.000,0.109,2605,1529,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1000,-0.84,-155.7,79.2,-9.4,97,1009,0.00,2.10,0.00,0.000,4,0.000,0.140,2605,460,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1079,-0.84,-155.7,87.9,-11.0,105,1088,0.00,1.92,0.00,0.000,6,0.000,0.083,2604,1518,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1390,-0.84,-155.7,117.2,-9.1,136,1398,0.00,1.98,0.00,0.000,4,0.000,0.104,2604,2581,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1490,-0.88,-155.7,126.2,-9.0,146,1498,0.00,2.03,0.00,0.000,6,0.000,0.114,2604,1528,3625,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1799,-0.91,-155.7,153.7,-9.1,177,1809,0.00,2.08,0.00,0.000,4,0.000,0.141,2604,465,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1969,-0.91,-155.7,169.6,-9.5,194,1978,0.00,1.92,0.00,0.000,6,0.000,0.083,2604,1523,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2280,-0.94,-155.7,196.0,-8.8,225,2288,0.00,2.10,0.00,0.000,4,0.000,0.138,2604,456,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2370,-0.94,-155.7,204.5,-9.5,234,2378,0.00,1.90,0.00,0.000,6,0.000,0.083,2604,1508,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2680,-0.98,-155.7,232.6,-9.0,265,2688,0.00,2.05,0.00,0.000,4,0.000,0.141,2604,463,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2769,-0.98,-155.7,241.2,-9.8,274,2778,0.00,1.88,0.00,0.000,6,0.000,0.084,2604,1493,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3089,-1.01,-155.7,268.6,-8.4,292,3097,0.12,2.03,0.00,0.000,4,0.138,0.141,2551,462,3626,0,0,0,0,0,0,14.64,14.21,28.83
$GC,3261,-0.97,-155.7,284.0,-10.5,297,3270,0.00,1.80,0.00,0.000,6,0.000,0.087,2549,1457,3625,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3573,-0.95,-155.7,318.8,-11.1,308,3578,0.12,2.08,0.00,0.000,4,0.268,0.105,2575,2581,3624,0,0,0,0,0,0,14.31,14.39,28.83
$GC,3638,-0.95,-155.7,325.2,-10.9,310,3642,0.00,2.15,0.00,0.000,6,0.000,0.119,2575,1469,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3951,-0.95,-155.7,358.7,-10.2,321,3957,0.00,1.95,0.00,0.000,4,0.000,0.138,2575,465,3624,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4011,-0.95,-155.7,365.3,-10.5,323,4017,0.00,1.80,0.00,0.000,6,0.000,0.087,2568,1463,3623,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4340,-0.95,-155.7,396.3,-8.9,334,4348,0.00,2.10,0.00,0.000,4,0.000,0.106,2560,2583,3622,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4400,-0.95,-155.7,401.4,-8.4,336,4407,0.00,2.15,0.00,0.000,6,0.000,0.119,2560,1470,3622,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4733,-0.95,-155.7,427.8,-7.9,347,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1471,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.95,-155.7,453.6,-9.1,357,5037,0.00,2.08,0.00,0.000,4,0.000,0.110,2553,2576,3621,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5130,-0.95,-155.7,462.2,-9.6,360,5138,0.12,2.15,0.00,0.000,6,0.233,0.119,2583,1469,3620,0,0,0,0,0,0,14.23,14.31,28.83
$GC,5452,-0.95,-155.7,494.5,-10.1,371,5457,0.00,2.08,0.00,0.000,4,0.000,0.111,2582,2575,3619,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5541,-0.97,-155.7,503.3,-9.8,374,5549,0.00,2.10,0.00,0.000,6,0.000,0.118,2577,1488,3619,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5873,-1.00,-155.7,533.3,-8.7,385,5878,0.00,2.05,0.00,0.000,4,0.000,0.114,2570,2575,3618,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5940,-1.03,-155.7,538.3,-8.5,387,5948,0.00,2.08,0.00,0.000,6,0.000,0.116,2571,1492,3618,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6262,-1.05,-155.7,566.1,-8.6,398,6269,0.00,2.05,0.00,0.000,4,0.000,0.111,2562,2579,3617,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6310,-1.07,-155.7,568.8,-8.6,399,6319,0.00,2.10,0.00,0.000,6,0.000,0.122,2565,1502,3617,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6621,-1.07,-155.7,598.6,-9.2,410,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1502,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,-1.10,-155.7,626.2,-9.2,420,6928,0.00,2.05,0.00,0.000,4,0.000,0.112,2559,2577,3615,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7012,-1.12,-155.7,634.5,-9.2,423,7018,0.00,2.05,0.00,0.000,6,0.000,0.118,2558,1504,3614,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7342,-1.12,-155.7,662.7,-8.1,434,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1504,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,-1.12,-155.7,685.8,-7.7,444,7647,0.00,2.05,0.00,0.000,4,0.000,0.116,2553,2569,3612,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7700,-1.12,-155.7,690.4,-7.6,446,7708,0.00,2.05,0.00,0.000,6,0.000,0.112,2553,1510,3612,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8031,-1.12,-155.7,716.2,-8.0,457,8037,0.00,2.03,0.00,0.000,4,0.000,0.112,2549,2571,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8070,-1.12,-155.7,718.8,-8.2,458,8077,0.00,2.03,0.00,0.000,6,0.000,0.114,2549,1520,3610,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8391,-1.12,-155.7,749.2,-9.7,469,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1521,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8690,-1.12,-155.7,781.0,-10.8,479,8698,0.00,2.05,0.00,0.000,4,0.000,0.112,2543,2582,3607,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8752,-1.12,-155.7,787.9,-11.1,481,8757,0.00,2.05,0.00,0.000,6,0.000,0.116,2542,1524,3607,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9080,-1.12,-155.7,825.0,-11.0,492,9087,0.00,2.10,0.00,0.000,4,0.000,0.136,2542,457,3606,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9151,-1.12,-155.7,831.8,-11.1,494,9157,0.00,1.92,0.00,0.000,6,0.000,0.088,2540,1514,3606,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9471,-1.12,-155.7,866.8,-10.6,505,9477,0.00,2.03,0.00,0.000,4,0.000,0.112,2536,2579,3604,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9539,-1.12,-155.7,873.0,-10.5,507,9543,0.00,2.10,0.00,0.000,6,0.000,0.129,2536,1522,3604,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9852,-1.12,-155.7,907.1,-10.7,518,9858,0.00,2.10,0.00,0.000,4,0.000,0.143,2536,463,3603,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9921,-1.10,-155.7,914.1,-11.0,520,9928,0.00,1.98,0.00,0.000,6,0.000,0.093,2536,1524,3603,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10243,-1.10,-155.7,949.5,-10.4,531,10248,0.00,2.00,0.00,0.000,4,0.000,0.115,2529,2577,3602,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10340,-1.10,-155.7,958.4,-9.9,534,10344,0.00,2.08,0.00,0.000,6,0.000,0.116,2529,1517,3599,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10656,-1.08,-155.7,988.7,-9.3,545,10661,0.00,2.05,0.00,0.000,4,0.000,0.122,2524,2578,3600,0,0,0,0,0,0,28.83,14.17,28.83
$STATE,10680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10680,begin apogee
$GC,10688,-0.23,0.0,991.4,-9.2,546,10845,1.05,0.00,152.43,1.844,4,0.223,0.000,2811,1521,2988,0,0,0,0,0,0,13.93,28.83,13.15
$STATE,10850,end apogee,CONTROL_FINISHED_OK
$STATE,10850,begin climb
$GC,10853,0.84,155.7,999.6,0.0,551,11021,1.08,2.05,158.55,1.811,4,0.114,0.117,3156,2578,2352,0,0,0,0,0,0,14.11,14.07,13.14
$GC,11121,0.82,202.2,996.7,5.7,561,11175,0.00,2.12,49.12,1.770,6,0.000,0.134,3164,1520,2166,0,0,0,0,0,0,28.83,14.23,13.26
$GC,11474,0.82,261.1,976.0,5.3,572,11541,0.00,2.08,61.75,1.773,4,0.000,0.130,3164,2577,1920,0,0,0,0,0,0,28.83,14.15,13.32
$GC,11615,0.82,306.5,969.1,5.7,576,11672,0.00,2.10,48.53,1.749,6,0.000,0.145,3172,1521,1733,0,0,0,0,0,0,28.83,14.23,13.29
$GC,11982,0.82,306.5,942.8,7.3,589,11991,0.00,2.10,0.00,0.000,4,0.000,0.132,3172,2583,1720,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12033,0.82,306.5,940.4,7.6,590,12041,0.00,2.08,0.00,0.000,6,0.000,0.144,3179,1545,1719,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12342,0.82,306.5,906.8,11.6,601,12351,0.00,2.22,0.00,0.000,4,0.000,0.171,3186,457,1718,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12392,0.82,306.5,903.0,11.9,602,12401,0.12,2.00,0.00,0.000,6,0.283,0.098,3158,1540,1718,0,0,0,0,0,0,14.26,14.47,28.83
$GC,12704,0.82,306.5,862.4,12.3,613,12710,0.00,1.98,0.00,0.000,4,0.000,0.127,3158,2579,1716,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12832,0.82,306.5,847.5,12.5,617,12839,0.00,2.05,0.00,0.000,6,0.000,0.145,3166,1556,1715,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13154,0.82,306.5,811.7,10.0,628,13155,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1557,1715,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21727,end climb,SURFACE_DEPTH_REACHED
$STATE,21727,begin surface coast
$FINISH,1.3,1.010946
$STATE,21758,end surface coast,CONTROL_FINISHED_OK
$STATE,21759,begin surface
$SM_CCo,21785,13.90,0.132,0,0,1562,350.04
$SM_GC,2.87,8.82,0.17,13.90,0.079,0.171,0.132,139,1507,1562,-8.52,0.11,350.04,0,0,0,0,0,0,14.45,14.31,14.31
$IRIDIUM_FIX,2458.45,-3805.02,010113,040420
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.42
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7638176
$TM_FREEKB,4416032
$24V_AH,13.1,145.596
$10V_AH,12.3,0.000
$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,23.175,199.525,482.525,13.900,0.000,0.000,0.000,469.525,0.250,0.000,15.509,3091.491,15358.677,935.493,2595.417,627.114,0.000,2522.307,0.000,2017.550,0.000,0.540,0.000
$DEVICE_MAMPS,347.310,171.360,1844.415,131.580,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21808.000,5619.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.205,13.209,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,39952,1096
$CAP_FILE_SIZE,235931,0
$CFSIZE,260034560,202317824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.023,226.3,1
$GPS,010113,174558,2503.663,-3809.431,37,0.8,37,-14.0