version: 66.11
glider: 190
mission: 6
dive: 349
start: 1 2 113 20 17 26
data:
$ID,190
$MISSION,6
$DIVE,349
$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,-13354.536
$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,9
$R_STBD_OVSHOOT,19
$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
$GPS1,020113,200134,2457.482,-3816.024,25,0.8,25,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-66.4
$GPS2,020113,201656,2457.501,-3816.091,19,1.4,19,-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,248.9,60337,-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,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.93,0.000,2,0.000,0.000,141,1518,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.3,0.0,1,142,11.48,2.12,-83.25,0.000,4,0.367,0.162,2612,452,3624,0,0,0,0,0,0,14.16,14.23,14.67
$GC,354,-0.82,-155.7,24.1,-10.3,32,361,0.00,1.92,0.00,0.000,6,0.000,0.085,2605,1519,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,662,-0.82,-155.7,54.9,-10.1,63,670,0.00,1.98,0.00,0.000,4,0.000,0.103,2605,2579,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,791,-0.82,-155.7,68.2,-10.3,76,800,0.00,2.05,0.00,0.000,6,0.000,0.114,2605,1522,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1101,-0.82,-155.7,103.7,-11.3,107,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1522,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1401,-0.82,-155.7,132.5,-7.5,137,1411,0.00,2.00,0.00,0.000,4,0.000,0.103,2605,2576,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1473,-0.84,-155.7,136.8,-6.3,144,1480,0.00,2.00,0.00,0.000,6,0.000,0.115,2605,1536,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1785,-0.88,-155.7,150.8,-4.9,175,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1536,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2093,-0.92,-155.7,174.4,-10.0,206,2100,0.00,2.10,0.00,0.000,4,0.000,0.138,2604,456,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2201,-0.92,-155.7,186.6,-11.5,217,2211,0.00,1.92,0.00,0.000,6,0.000,0.081,2605,1517,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2512,-0.96,-155.7,218.8,-10.0,248,2520,0.00,1.98,0.00,0.000,4,0.000,0.103,2605,2580,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2561,-1.00,-155.7,223.4,-9.5,253,2572,0.08,2.03,0.00,0.000,6,0.090,0.113,2555,1523,3627,0,0,0,0,0,0,14.34,14.26,28.83
$GC,2881,-1.00,-155.7,257.0,-10.9,281,2889,0.00,2.08,0.00,0.000,4,0.000,0.135,2560,457,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2932,-0.98,-155.7,260.5,-11.1,282,2940,0.00,1.92,0.00,0.000,6,0.000,0.082,2552,1530,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3241,-0.98,-155.7,297.5,-11.1,293,3249,0.00,1.92,0.00,0.000,4,0.000,0.102,2549,2571,3626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3341,-0.98,-155.7,306.9,-10.6,296,3348,0.00,1.98,0.00,0.000,6,0.000,0.109,2549,1533,3626,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3664,-0.96,-155.7,338.8,-9.2,307,3669,0.12,1.95,0.00,0.000,4,0.249,0.102,2576,2582,3625,0,0,0,0,0,0,14.35,14.40,28.83
$GC,3771,-0.96,-155.7,346.5,-8.7,310,3780,0.00,2.00,0.00,0.000,6,0.000,0.114,2577,1544,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4082,-0.96,-155.7,377.8,-9.7,321,4089,0.00,1.92,0.00,0.000,4,0.000,0.106,2569,2571,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4120,-0.96,-155.7,380.8,-9.7,322,4124,0.00,1.98,0.00,0.000,6,0.000,0.114,2570,1544,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4433,-0.96,-155.7,409.2,-8.4,333,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1545,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-0.96,-155.7,433.4,-8.2,343,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1543,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.96,-155.7,461.6,-9.9,353,5039,0.00,1.95,0.00,0.000,4,0.000,0.106,2565,2577,3622,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5082,-0.96,-155.7,464.6,-10.0,354,5092,0.00,2.00,0.00,0.000,6,0.000,0.118,2565,1545,3620,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5392,-0.96,-155.7,498.0,-9.8,365,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1545,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5693,-0.96,-155.7,525.0,-8.8,375,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1545,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5992,-0.96,-155.7,551.5,-9.1,385,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1545,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6293,-0.96,-155.7,579.1,-9.4,395,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1545,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6593,-0.96,-155.7,606.8,-9.0,405,6599,0.00,1.95,0.00,0.000,4,0.000,0.112,2560,2568,3616,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6652,-0.96,-155.7,611.8,-8.7,407,6659,0.00,1.95,0.00,0.000,6,0.000,0.120,2560,1554,3616,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6985,-0.96,-155.7,640.5,-8.9,418,6990,0.00,2.12,0.00,0.000,4,0.000,0.138,2560,459,3614,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7021,-0.96,-155.7,643.3,-9.0,419,7025,0.00,2.03,0.00,0.000,6,0.000,0.092,2553,1555,3614,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7334,-0.96,-155.7,674.7,-10.0,430,7340,0.00,1.95,0.00,0.000,4,0.000,0.114,2549,2576,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7443,-0.96,-155.7,683.4,-9.8,433,7453,0.12,1.98,0.00,0.000,6,0.225,0.116,2580,1557,3613,0,0,0,0,0,0,14.21,14.27,28.83
$GC,7755,-1.00,-155.7,714.4,-9.4,444,7761,0.00,2.15,0.00,0.000,4,0.000,0.142,2580,461,3612,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7923,-1.00,-155.7,729.5,-10.1,449,7934,0.00,2.00,0.00,0.000,6,0.000,0.095,2574,1536,3611,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8235,-1.03,-155.7,762.6,-10.0,460,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1536,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8535,-1.07,-155.7,791.9,-9.5,470,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1536,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8833,-1.10,-155.7,818.5,-8.3,480,8835,0.12,0.00,0.00,0.000,6,0.151,0.000,2527,1536,3608,0,0,0,0,0,0,14.58,28.83,28.83
$GC,9134,-1.10,-155.7,842.7,-7.6,490,9140,0.00,2.15,0.00,0.000,4,0.000,0.137,2527,460,3606,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9223,-1.07,-155.7,850.2,-8.1,493,9230,0.00,2.00,0.00,0.000,6,0.000,0.093,2523,1539,3606,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9557,-1.05,-155.7,873.1,-7.0,504,9562,0.00,1.98,0.00,0.000,4,0.000,0.116,2516,2583,3604,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9622,-1.03,-155.7,877.5,-7.3,506,9630,0.17,2.03,0.00,0.000,6,0.236,0.117,2558,1547,3603,0,0,0,0,0,0,14.03,14.16,28.83
$GC,9945,-1.03,-155.7,904.1,-8.9,517,9950,0.00,2.15,0.00,0.000,4,0.000,0.144,2557,457,3602,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9993,-1.03,-155.7,907.1,-9.1,518,10001,0.00,2.05,0.00,0.000,6,0.000,0.095,2551,1550,3602,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10305,-1.05,-155.7,940.3,-10.0,529,10310,0.00,2.17,0.00,0.000,4,0.000,0.148,2551,462,3601,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10394,-1.05,-155.7,949.6,-10.2,532,10400,0.00,2.03,0.00,0.000,6,0.000,0.103,2548,1533,3601,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10725,-1.05,-155.7,979.8,-8.9,543,10731,0.00,2.00,0.00,0.000,4,0.000,0.120,2540,2580,3598,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10772,-1.05,-155.7,982.5,-8.8,544,10781,0.00,2.10,0.00,0.000,6,0.000,0.130,2545,1530,3599,0,0,0,0,0,0,28.83,14.08,28.83
$STATE,10840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10840,begin apogee
$GC,10847,-0.23,0.0,990.1,-8.5,547,11073,0.98,0.00,214.73,1.553,4,0.218,0.000,2808,1530,2988,0,0,0,0,0,0,13.90,28.83,13.21
$STATE,11074,end apogee,CONTROL_FINISHED_OK
$STATE,11074,begin climb
$GC,11077,0.84,155.7,1001.2,0.0,554,11252,1.10,2.08,162.88,1.921,4,0.121,0.128,3157,2582,2350,0,0,0,0,0,0,14.11,14.07,13.07
$GC,11484,0.79,155.7,987.3,7.3,568,11490,0.00,2.12,0.00,0.000,6,0.000,0.144,3165,1524,2337,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11806,0.76,174.2,965.3,6.6,579,11833,0.12,2.12,18.48,1.718,4,0.308,0.171,3143,453,2272,0,0,0,0,0,0,14.23,14.38,13.52
$GC,12064,0.74,200.9,950.1,6.3,587,12104,0.00,2.00,28.95,1.760,6,0.000,0.109,3143,1516,2165,0,0,0,0,0,0,28.83,14.37,13.47
$GC,12403,0.77,249.7,929.3,5.6,599,12463,0.00,0.00,52.25,1.774,6,0.000,0.000,3139,1516,1964,0,0,0,0,0,0,28.83,28.83,13.38
$GC,12766,0.79,286.9,907.9,6.0,611,12811,0.00,2.05,38.88,1.743,4,0.000,0.129,3143,2588,1813,0,0,0,0,0,0,28.83,14.26,13.40
$GC,12863,0.80,304.8,901.8,6.6,614,12891,0.00,2.17,20.12,1.688,6,0.000,0.145,3150,1521,1740,0,0,0,0,0,0,28.83,14.23,13.37
$GC,13213,0.80,304.8,871.2,9.2,626,13221,0.00,2.20,0.00,0.000,4,0.000,0.177,3158,460,1731,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13262,0.80,304.8,868.3,9.4,627,13271,0.00,2.00,0.00,0.000,6,0.000,0.105,3158,1523,1728,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13574,0.80,304.8,832.9,11.0,638,13581,0.00,2.05,0.00,0.000,4,0.000,0.130,3158,2577,1728,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13612,0.80,304.8,829.4,11.1,639,13620,0.00,2.12,0.00,0.000,6,0.000,0.148,3166,1524,1728,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13933,0.80,304.8,795.5,9.6,650,13941,0.00,2.22,0.00,0.000,4,0.000,0.177,3172,448,1727,0,0,0,0,0,0,28.83,14.21,28.83
$GC,14002,0.80,304.8,789.8,9.4,652,14010,0.00,2.03,0.00,0.000,6,0.000,0.104,3172,1524,1726,0,0,0,0,0,0,28.83,14.41,28.83
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$STATE,21345,end climb,SURFACE_DEPTH_REACHED
$STATE,21345,begin surface coast
$FINISH,1.3,1.013446
$STATE,21366,end surface coast,CONTROL_FINISHED_OK
$STATE,21366,begin surface
$SM_CCo,21448,0.00,0.000,0,0,1268,422.65
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$IRIDIUM_FIX,2448.93,-3815.84,020113,131339
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.72
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.00
$XPDR_PINGS,1
$SC_FREEKB,7636256
$TM_FREEKB,4372960
$24V_AH,13.1,147.834
$10V_AH,12.5,0.000
$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,23.575,166.975,654.800,0.000,0.000,0.000,0.000,517.775,0.250,0.000,21.015,2916.450,15181.146,1019.087,2554.843,661.577,0.000,2621.320,0.000,1935.194,0.000,0.541,0.000
$DEVICE_MAMPS,367.200,177.480,1920.915,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21417.000,5005.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.888,13.194,0.000,0.000
$MEM,345564
$DATA_FILE_SIZE,36658,1040
$CAP_FILE_SIZE,225305,0
$CFSIZE,260034560,201654272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.018,202.6,1
$GPS,030113,021604,2456.335,-3817.974,26,1.0,26,-14.0