version: 66.11
glider: 190
mission: 6
dive: 381
start: 1 11 113 10 46 54
data:
$ID,190
$MISSION,6
$DIVE,381
$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,-13394.888
$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,20
$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
$GPS1,110113,103335,2420.321,-3816.239,35,0.8,35,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-66.7
$GPS2,110113,104624,2420.332,-3816.121,18,1.0,19,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,49.4,34735,-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,-11.35,0.000,2,0.000,0.000,141,1505,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.3,0.0,1,149,12.05,2.00,-86.78,0.000,4,0.389,0.122,2605,2579,3625,0,0,0,0,0,0,14.07,14.28,14.69
$GC,381,-0.84,-155.7,23.5,-8.9,35,388,0.00,2.05,0.00,0.000,6,0.000,0.117,2605,1514,3625,0,0,0,0,0,0,28.83,14.13,28.83
$GC,690,-0.84,-155.7,51.9,-9.6,66,698,0.00,2.00,0.00,0.000,4,0.000,0.103,2605,2576,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,731,-0.84,-155.7,55.8,-9.9,70,738,0.00,2.03,0.00,0.000,6,0.000,0.115,2603,1525,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1039,-0.84,-155.7,85.3,-9.2,101,1048,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,463,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1131,-0.82,-155.7,93.7,-9.5,110,1138,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1523,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1441,-0.84,-155.7,123.1,-9.9,141,1449,0.00,1.95,0.00,0.000,4,0.000,0.103,2605,2582,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1490,-0.88,-155.7,127.9,-9.6,146,1498,0.00,2.08,0.00,0.000,6,0.000,0.114,2605,1507,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1799,-0.91,-155.7,157.2,-9.4,177,1809,0.00,2.05,0.00,0.000,4,0.000,0.136,2604,457,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1850,-0.91,-155.7,161.6,-9.3,182,1858,0.00,1.90,0.00,0.000,6,0.000,0.080,2604,1511,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2161,-0.94,-155.7,183.4,-6.5,213,2168,0.00,1.95,0.00,0.000,4,0.000,0.100,2605,2575,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2200,-0.98,-155.7,186.0,-6.4,217,2208,0.00,2.03,0.00,0.000,6,0.000,0.112,2604,1518,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2510,-1.02,-155.7,208.0,-8.1,248,2519,0.15,2.05,0.00,0.000,4,0.121,0.134,2542,459,3627,0,0,0,0,0,0,14.54,14.14,28.83
$GC,2549,-1.02,-155.7,211.8,-9.7,252,2557,0.00,1.90,0.00,0.000,6,0.000,0.079,2539,1515,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2860,-1.00,-155.7,243.8,-10.6,283,2868,0.00,1.95,0.00,0.000,4,0.000,0.101,2536,2570,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2939,-1.00,-155.7,250.2,-10.7,289,2948,0.12,2.03,0.00,0.000,6,0.248,0.107,2564,1509,3627,0,0,0,0,0,0,14.18,14.32,28.83
$GC,3252,-1.00,-155.7,283.7,-10.2,300,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1510,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3549,-1.00,-155.7,313.0,-9.6,310,3556,0.00,2.03,0.00,0.000,4,0.000,0.125,2565,456,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3599,-1.00,-155.7,316.0,-9.6,311,3609,0.00,1.92,0.00,0.000,6,0.000,0.083,2558,1523,3625,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3909,-1.00,-155.7,346.3,-9.0,322,3916,0.00,1.95,0.00,0.000,4,0.000,0.099,2553,2576,3625,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4019,-1.00,-155.7,354.2,-8.8,325,4028,0.00,2.00,0.00,0.000,6,0.000,0.106,2552,1525,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4330,-1.00,-155.7,383.3,-8.8,336,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1525,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4629,-1.00,-155.7,410.0,-9.0,346,4636,0.00,2.05,0.00,0.000,4,0.000,0.130,2553,462,3623,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4669,-1.00,-155.7,413.1,-9.2,347,4676,0.00,1.95,0.00,0.000,6,0.000,0.090,2549,1529,3623,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4989,-1.00,-155.7,446.7,-10.4,358,4996,0.00,1.95,0.00,0.000,4,0.000,0.103,2549,2577,3622,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5090,-1.00,-155.7,456.2,-10.6,361,5096,0.00,1.98,0.00,0.000,6,0.000,0.107,2549,1537,3622,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5409,-1.00,-155.7,490.5,-10.3,372,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1539,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5710,-1.00,-155.7,522.4,-10.8,382,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1538,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6011,-1.00,-155.7,555.9,-11.2,392,6016,0.00,1.95,0.00,0.000,4,0.000,0.105,2549,2600,3618,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6089,-1.00,-155.7,562.6,-11.2,394,6097,0.00,2.03,0.00,0.000,6,0.000,0.109,2549,1545,3617,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6400,-1.00,-155.7,595.6,-9.3,405,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1545,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6699,-1.00,-155.7,620.8,-8.3,415,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1545,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6999,-1.00,-155.7,645.4,-8.3,425,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1545,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,-1.00,-155.7,672.2,-9.2,435,7306,0.00,2.12,0.00,0.000,4,0.000,0.135,2549,461,3613,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7348,-1.00,-155.7,675.3,-9.4,436,7352,0.00,2.00,0.00,0.000,6,0.000,0.092,2542,1542,3612,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7651,-1.00,-155.7,707.0,-9.9,446,7656,0.00,1.95,0.00,0.000,4,0.000,0.110,2540,2577,3612,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7709,-1.00,-155.7,712.8,-9.8,448,7716,0.00,2.00,0.00,0.000,6,0.000,0.115,2540,1544,3612,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8039,-1.00,-155.7,746.6,-10.3,459,8047,0.00,2.10,0.00,0.000,4,0.000,0.136,2539,466,3611,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8131,-1.00,-155.7,756.5,-11.0,462,8137,0.12,1.95,0.00,0.000,6,0.283,0.088,2562,1547,3611,0,0,0,0,0,0,14.07,14.32,28.83
$GC,8461,-1.00,-155.7,787.6,-9.4,473,8466,0.00,1.95,0.00,0.000,4,0.000,0.112,2556,2584,3608,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8539,-1.00,-155.7,793.2,-9.3,475,8548,0.00,2.03,0.00,0.000,6,0.000,0.115,2555,1543,3608,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8850,-1.00,-155.7,825.5,-9.9,486,8856,0.00,2.12,0.00,0.000,4,0.000,0.137,2555,461,3606,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8988,-1.00,-155.7,838.3,-10.6,490,8997,0.00,1.98,0.00,0.000,6,0.000,0.087,2553,1533,3606,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9300,-1.00,-155.7,872.5,-10.2,501,9306,0.00,2.00,0.00,0.000,4,0.000,0.115,2549,2581,3605,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9359,-1.00,-155.7,878.7,-10.3,503,9367,0.00,2.05,0.00,0.000,6,0.000,0.116,2549,1529,3605,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9691,-1.00,-155.7,912.6,-10.2,514,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1529,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9989,-1.00,-155.7,941.6,-9.6,524,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1529,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10291,-1.00,-155.7,968.3,-8.7,534,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1529,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10557,begin apogee
$GC,10563,-0.23,0.0,991.0,-8.1,543,10720,0.95,0.00,152.43,1.874,4,0.222,0.000,2807,1529,2990,0,0,0,0,0,0,13.71,28.83,13.08
$STATE,10725,end apogee,CONTROL_FINISHED_OK
$STATE,10725,begin climb
$GC,10728,0.84,155.7,997.9,0.0,548,10900,1.10,2.05,159.65,1.837,4,0.116,0.119,3160,2577,2350,0,0,0,0,0,0,14.12,14.08,13.11
$GC,10919,0.89,354.9,999.2,0.9,555,11140,0.00,2.17,208.50,1.821,6,0.000,0.145,3166,1523,1539,0,0,0,0,0,0,28.83,14.09,13.11
$GC,11449,0.89,354.9,945.3,10.5,573,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1523,1525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11750,0.89,354.9,913.9,10.4,583,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1523,1524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12049,0.89,354.9,882.8,10.3,593,12056,0.00,2.08,0.00,0.000,4,0.000,0.128,3166,2576,1523,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12109,0.89,354.9,876.6,10.3,595,12117,0.00,2.12,0.00,0.000,6,0.000,0.150,3174,1525,1523,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12441,0.89,354.9,843.4,9.8,606,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1524,1522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12739,0.89,354.9,815.8,9.0,616,12746,0.00,2.05,0.00,0.000,4,0.000,0.128,3173,2571,1521,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12819,0.89,354.9,810.5,8.9,618,12828,0.00,2.12,0.00,0.000,6,0.000,0.153,3180,1530,1521,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13129,0.89,354.9,781.8,8.7,629,13136,0.00,2.15,0.00,0.000,4,0.000,0.164,3188,464,1518,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13168,0.89,354.9,779.1,8.6,630,13172,0.00,1.98,0.00,0.000,6,0.000,0.090,3188,1535,1519,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13482,0.89,354.9,749.5,9.4,641,13487,0.00,1.95,0.00,0.000,4,0.000,0.113,3188,2579,1518,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13529,0.89,354.9,746.5,9.5,642,13533,0.00,2.08,0.00,0.000,6,0.000,0.129,3196,1531,1519,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13831,0.89,354.9,714.9,9.9,652,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1531,1519,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16171,0.89,354.9,469.1,9.9,730,16172,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1548,1519,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20807,end climb,SURFACE_DEPTH_REACHED
$STATE,20807,begin surface coast
$FINISH,1.3,1.025543
$STATE,20829,end surface coast,CONTROL_FINISHED_OK
$STATE,20829,begin surface
$SM_CCo,20912,0.00,0.000,0,0,1525,359.61
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$IRIDIUM_FIX,2413.38,-3815.94,110113,040432
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.25
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7624224
$TM_FREEKB,4091584
$24V_AH,13.1,161.701
$10V_AH,12.4,0.000
$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,23.825,142.025,520.575,0.000,0.000,0.000,0.000,422.850,0.250,0.000,20.021,2817.262,15026.635,874.189,2322.862,624.037,0.000,2309.826,0.000,1825.892,0.000,0.542,0.000
$DEVICE_MAMPS,389.385,194.310,1874.250,0.000,0.000,0.000,0.000,166.005,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20853.000,5401.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.994,13.248,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,36631,1048
$CAP_FILE_SIZE,209108,0
$CFSIZE,260034560,197464064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077,137.2,1
$GPS,110113,163636,2421.225,-3814.264,25,1.5,25,-14.1