version: 66.11
glider: 190
mission: 6
dive: 376
start: 1 10 113 1 48 38
data:
$ID,190
$MISSION,6
$DIVE,376
$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,-13388.602
$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,13
$R_STBD_OVSHOOT,17
$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
$GPS1,100113,013205,2424.299,-3825.744,39,0.9,39,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-68.8
$GPS2,100113,014806,2424.253,-3825.636,18,0.8,19,-14.2
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,127.4,16388,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.48,0.000,2,0.000,0.000,139,1512,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,140,11.30,2.10,-80.22,0.000,4,0.357,0.158,2612,459,3625,0,0,0,0,0,0,14.16,14.17,14.68
$GC,229,-0.84,-155.7,12.8,-10.5,20,238,0.00,1.95,0.00,0.000,6,0.000,0.085,2606,1520,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,539,-0.84,-155.7,42.2,-9.7,51,547,0.00,2.00,0.00,0.000,4,0.000,0.103,2605,2585,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,640,-0.87,-155.7,51.1,-9.5,61,649,0.00,2.05,0.00,0.000,6,0.000,0.112,2605,1521,3627,0,0,0,0,0,0,28.83,14.10,28.83
$GC,951,-0.90,-155.7,78.4,-8.3,92,958,0.00,2.08,0.00,0.000,4,0.000,0.140,2605,455,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1190,-0.90,-155.7,102.6,-10.7,116,1198,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1502,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1501,-0.92,-155.7,130.6,-8.2,147,1508,0.00,2.05,0.00,0.000,4,0.000,0.136,2603,449,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1589,-0.92,-155.7,138.7,-8.9,156,1597,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1488,3627,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1900,-0.96,-155.7,161.0,-6.9,187,1908,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,459,3630,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2100,-0.96,-155.7,176.4,-7.9,207,2108,0.00,1.80,0.00,0.000,6,0.000,0.082,2605,1459,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2411,-1.00,-155.7,203.4,-9.1,238,2419,0.12,1.95,0.00,0.000,4,0.137,0.133,2550,453,3627,0,0,0,0,0,0,14.55,14.18,28.83
$GC,2650,-0.95,-155.7,230.5,-11.1,262,2658,0.10,1.77,0.00,0.000,6,0.236,0.084,2577,1435,3626,0,0,0,0,0,0,14.07,14.33,28.83
$GC,2959,-0.95,-155.7,258.1,-8.3,287,2966,0.00,1.92,0.00,0.000,4,0.000,0.135,2578,456,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3009,-0.95,-155.7,260.7,-8.3,288,3017,0.00,1.75,0.00,0.000,6,0.000,0.083,2573,1425,3626,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3319,-0.95,-155.7,288.0,-8.5,299,3326,0.00,1.90,0.00,0.000,4,0.000,0.135,2573,456,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3521,-0.93,-155.7,305.9,-10.2,305,3528,0.00,1.67,0.00,0.000,6,0.000,0.083,2566,1404,3625,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3830,-0.93,-155.7,341.3,-11.1,316,3836,0.00,1.83,0.00,0.000,4,0.000,0.132,2566,463,3624,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3909,-0.93,-155.7,348.3,-11.3,318,3917,0.00,1.67,0.00,0.000,6,0.000,0.083,2565,1391,3624,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4220,-0.93,-155.7,385.8,-11.2,329,4227,0.00,1.83,0.00,0.000,4,0.000,0.137,2566,455,3623,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4369,-0.93,-155.7,402.4,-11.1,334,4376,0.00,1.65,0.00,0.000,6,0.000,0.084,2565,1366,3623,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4700,-0.93,-155.7,430.2,-7.6,345,4707,0.00,1.77,0.00,0.000,4,0.000,0.140,2566,462,3621,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4829,-0.93,-155.7,439.4,-7.6,349,4836,0.00,1.60,0.00,0.000,6,0.000,0.085,2565,1347,3621,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5153,-0.93,-155.7,461.8,-7.1,360,5159,0.00,1.77,0.00,0.000,4,0.000,0.141,2566,450,3620,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5278,-0.93,-155.7,471.7,-8.3,364,5281,0.00,1.60,0.00,0.000,6,0.000,0.086,2562,1330,3620,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5592,-0.93,-155.7,503.4,-10.7,375,5597,0.00,2.28,0.00,0.000,4,0.000,0.107,2553,2578,3618,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5669,-0.93,-155.7,510.0,-11.1,377,5679,0.15,2.42,0.00,0.000,6,0.219,0.116,2591,1320,3618,0,0,0,0,0,0,14.18,14.27,28.83
$GC,5982,-0.96,-155.7,547.7,-11.5,388,5988,0.00,1.65,0.00,0.000,4,0.000,0.143,2591,459,3618,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6110,-0.96,-155.7,561.7,-11.7,392,6117,0.00,1.58,0.00,0.000,6,0.000,0.086,2585,1333,3617,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6433,-1.00,-155.7,595.8,-9.7,403,6438,0.00,2.33,0.00,0.000,4,0.000,0.109,2579,2584,3615,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6461,-1.03,-155.7,598.7,-9.5,404,6467,0.00,2.45,0.00,0.000,6,0.000,0.122,2579,1305,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6793,-1.06,-155.7,626.0,-7.6,415,6798,0.00,1.65,0.00,0.000,4,0.000,0.145,2579,459,3614,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6831,-1.09,-155.7,628.2,-7.5,416,6837,0.08,1.55,0.00,0.000,6,0.106,0.087,2536,1321,3614,0,0,0,0,0,0,14.31,14.35,28.83
$GC,7153,-1.06,-155.7,653.6,-7.6,427,7159,0.00,2.38,0.00,0.000,4,0.000,0.110,2536,2584,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7320,-1.06,-155.7,664.9,-7.5,432,7328,0.00,2.42,0.00,0.000,6,0.000,0.122,2535,1334,3611,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7631,-1.06,-155.7,693.2,-9.2,443,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1334,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,-1.04,-155.7,722.6,-9.8,453,7937,0.00,2.38,0.00,0.000,4,0.000,0.112,2535,2575,3609,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8081,-1.04,-155.7,736.2,-9.0,458,8087,0.00,2.42,0.00,0.000,6,0.000,0.124,2536,1335,3609,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8410,-1.04,-155.7,765.8,-8.8,469,8417,0.00,2.38,0.00,0.000,4,0.000,0.112,2535,2572,3607,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8471,-1.04,-155.7,770.9,-8.6,471,8477,0.00,2.40,0.00,0.000,6,0.000,0.124,2535,1336,3605,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8800,-1.04,-155.7,802.6,-10.0,482,8807,0.00,2.40,0.00,0.000,4,0.000,0.116,2535,2579,3606,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8869,-1.04,-155.7,808.7,-10.2,484,8877,0.00,2.42,0.00,0.000,6,0.000,0.123,2535,1344,3605,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9191,-1.04,-155.7,845.5,-11.6,495,9197,0.00,2.38,0.00,0.000,4,0.000,0.117,2535,2581,3604,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9269,-1.04,-155.7,852.3,-11.6,497,9278,0.00,2.42,0.00,0.000,6,0.000,0.124,2536,1356,3604,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9581,-1.04,-155.7,887.2,-10.0,508,9588,0.00,2.38,0.00,0.000,4,0.000,0.118,2535,2579,3602,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9629,-1.04,-155.7,889.8,-9.6,509,9638,0.00,2.40,0.00,0.000,6,0.000,0.124,2535,1365,3602,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9940,-1.04,-155.7,916.7,-7.7,520,9948,0.00,2.35,0.00,0.000,4,0.000,0.119,2540,2575,3601,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10001,-1.04,-155.7,921.0,-7.4,522,10007,0.00,2.38,0.00,0.000,6,0.000,0.125,2535,1372,3601,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10332,-1.04,-155.7,945.7,-7.7,533,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1372,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10632,-1.04,-155.7,970.6,-8.5,543,10637,0.00,2.35,0.00,0.000,4,0.000,0.120,2535,2579,3599,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10709,-1.04,-155.7,975.9,-8.6,545,10718,0.00,2.40,0.00,0.000,6,0.000,0.126,2535,1376,3598,0,0,0,0,0,0,28.83,14.07,28.83
$STATE,10867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10867,begin apogee
$GC,10875,-0.23,0.0,993.0,-9.6,551,11040,1.00,0.00,155.65,2.502,4,0.226,0.000,2805,1524,2990,0,0,0,0,1,0,13.81,28.83,12.73
$STATE,11044,end apogee,CONTROL_FINISHED_OK
$STATE,11044,begin climb
$GC,11047,0.84,155.7,1003.6,0.0,556,11231,1.10,2.08,168.98,2.535,4,0.114,0.121,3156,2582,2355,0,0,0,0,1,0,14.02,13.98,12.72
$GC,11460,0.85,245.9,1002.7,4.3,570,11571,0.00,2.10,100.75,1.821,6,0.000,0.135,3164,1516,1981,0,0,0,0,0,0,28.83,14.31,13.19
$GC,11870,0.85,245.9,973.2,8.0,584,11877,0.00,2.10,0.00,0.000,4,0.000,0.157,3172,463,1973,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12039,0.82,245.9,959.7,9.0,589,12049,0.00,1.98,0.00,0.000,6,0.000,0.093,3172,1534,1971,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12353,0.80,245.9,930.3,8.8,600,12359,0.00,1.98,0.00,0.000,4,0.000,0.119,3172,2587,1969,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12429,0.78,245.9,924.8,9.0,602,12439,0.17,2.08,0.00,0.000,6,0.304,0.132,3142,1533,1966,0,0,0,0,0,0,14.16,14.38,28.83
$GC,12743,0.78,245.9,899.2,7.3,613,12748,0.00,1.98,0.00,0.000,4,0.000,0.122,3142,2585,1968,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12879,0.78,245.9,890.4,7.3,617,12888,0.00,2.05,0.00,0.000,6,0.000,0.141,3149,1555,1967,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13191,0.78,246.2,867.0,7.2,628,13197,0.00,1.98,0.00,0.000,4,0.000,0.127,3149,2582,1967,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13269,0.78,246.2,862.4,7.6,630,13272,0.00,2.05,0.00,0.000,6,0.000,0.145,3156,1566,1966,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13572,0.78,246.2,835.7,8.7,640,13577,0.00,1.98,0.00,0.000,4,0.000,0.128,3156,2586,1966,0,0,0,0,0,0,28.83,14.34,28.83
$GC,13639,0.78,246.2,830.2,9.2,642,13643,0.00,2.03,0.00,0.000,6,0.000,0.144,3163,1578,1965,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13951,0.78,246.2,798.7,9.8,653,13958,0.00,1.95,0.00,0.000,4,0.000,0.126,3163,2580,1965,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,23400,end climb,SURFACE_DEPTH_REACHED
$STATE,23400,begin surface coast
$FINISH,1.3,1.012036
$STATE,23424,end surface coast,CONTROL_FINISHED_OK
$STATE,23425,begin surface
$SM_CCo,23449,20.60,0.129,0,0,1561,350.04
$SM_GC,2.07,8.75,1.95,20.60,0.070,0.085,0.129,141,1524,1561,-8.53,-0.45,350.04,0,0,0,0,0,0,14.41,14.28,14.31
$IRIDIUM_FIX,2415.74,-3825.91,090113,191900
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.67
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7626016
$TM_FREEKB,4135040
$24V_AH,12.7,159.520
$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,23.350,200.225,482.200,20.600,0.000,0.000,0.000,530.275,0.500,0.000,19.987,3331.960,16604.635,929.326,2831.288,723.551,0.000,2660.235,0.000,2215.653,0.000,0.541,0.000
$DEVICE_MAMPS,357.255,163.710,2535.210,128.520,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23458.000,5981.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.883,13.254,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,43381,1173
$CAP_FILE_SIZE,248820,0
$CFSIZE,260034560,198082560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.027,219.0,1
$GPS,100113,082104,2423.545,-3824.252,30,0.8,30,-14.1