version: 66.11
glider: 190
mission: 6
dive: 383
start: 1 11 113 23 32 31
data:
$ID,190
$MISSION,6
$DIVE,383
$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,-13397.403
$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,11
$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
$GPS1,110113,231728,2421.789,-3815.366,37,0.9,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-63.5
$GPS2,110113,233159,2421.877,-3815.179,14,1.2,15,-14.1
$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,251.8,3789,-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,-11.38,0.000,2,0.000,0.000,128,1516,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.2,0.0,1,149,11.45,2.10,-88.25,0.000,4,0.362,0.160,2616,456,3623,0,0,0,0,0,0,14.16,14.18,14.66
$GC,209,-0.84,-155.7,7.5,-9.9,18,219,0.00,1.95,0.00,0.000,6,0.000,0.080,2610,1525,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,519,-0.84,-155.7,36.3,-8.2,49,528,0.00,1.98,0.00,0.000,4,0.000,0.109,2605,2575,3624,0,0,0,0,0,0,28.83,14.19,28.83
$GC,630,-0.84,-155.7,45.7,-9.2,60,638,0.00,2.03,0.00,0.000,6,0.000,0.119,2606,1533,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,942,-0.87,-155.7,76.3,-10.3,91,948,0.00,2.10,0.00,0.000,4,0.000,0.142,2605,456,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1109,-0.87,-155.7,95.3,-11.5,108,1117,0.00,1.95,0.00,0.000,6,0.000,0.086,2606,1517,3624,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1420,-0.90,-155.7,131.1,-11.3,139,1428,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,455,3625,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1510,-0.90,-155.7,140.4,-9.6,148,1518,0.00,1.88,0.00,0.000,6,0.000,0.086,2605,1486,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1821,-0.93,-155.7,165.6,-8.1,179,1828,0.00,2.03,0.00,0.000,4,0.000,0.141,2605,460,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1929,-0.93,-155.7,175.2,-8.9,190,1939,0.00,1.85,0.00,0.000,6,0.000,0.085,2605,1473,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2242,-0.97,-155.7,201.0,-7.9,221,2249,0.00,1.98,0.00,0.000,4,0.000,0.142,2605,457,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2360,-0.97,-155.7,211.2,-8.8,233,2368,0.00,1.80,0.00,0.000,6,0.000,0.085,2610,1448,3625,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2671,-1.00,-155.7,236.9,-7.8,264,2679,0.12,2.10,0.00,0.000,4,0.140,0.107,2548,2576,3624,0,0,0,0,0,0,14.56,14.23,28.83
$GC,2740,-1.00,-155.7,242.9,-8.6,271,2748,0.00,2.15,0.00,0.000,6,0.000,0.115,2548,1451,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3069,-0.98,-155.7,271.0,-8.4,288,3076,0.00,2.12,0.00,0.000,4,0.000,0.110,2548,2579,3624,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3129,-0.98,-155.7,276.3,-8.6,290,3137,0.00,2.20,0.00,0.000,6,0.000,0.122,2548,1448,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3463,-0.96,-155.7,309.6,-10.7,301,3469,0.12,2.12,0.00,0.000,4,0.251,0.108,2575,2581,3623,0,0,0,0,0,0,14.28,14.32,28.83
$GC,3558,-0.96,-155.7,318.6,-10.2,304,3565,0.00,2.17,0.00,0.000,6,0.000,0.121,2575,1460,3623,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3883,-0.98,-155.7,350.5,-9.3,315,3888,0.00,1.95,0.00,0.000,4,0.000,0.142,2575,456,3623,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3999,-0.98,-155.7,361.5,-9.2,319,4006,0.00,1.83,0.00,0.000,6,0.000,0.085,2568,1464,3622,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4329,-0.98,-155.7,390.4,-8.8,330,4337,0.00,2.00,0.00,0.000,4,0.000,0.142,2568,451,3621,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4429,-0.98,-155.7,399.0,-9.3,333,4436,0.00,1.83,0.00,0.000,6,0.000,0.088,2565,1448,3621,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4749,-0.98,-155.7,430.0,-9.6,344,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1449,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5050,-0.98,-155.7,458.7,-9.3,354,5057,0.00,1.95,0.00,0.000,4,0.000,0.142,2568,460,3619,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5109,-0.98,-155.7,464.6,-9.6,356,5116,0.00,1.80,0.00,0.000,6,0.000,0.086,2558,1446,3618,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5439,-0.98,-155.7,495.3,-9.3,367,5446,0.00,2.10,0.00,0.000,4,0.000,0.109,2553,2569,3617,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5509,-0.98,-155.7,501.0,-9.4,369,5516,0.00,2.17,0.00,0.000,6,0.000,0.120,2555,1438,3617,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5829,-0.98,-155.7,532.0,-9.1,380,5836,0.00,1.95,0.00,0.000,4,0.000,0.145,2553,455,3615,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5890,-0.98,-155.7,537.9,-9.4,382,5897,0.00,1.80,0.00,0.000,6,0.000,0.092,2549,1435,3615,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6220,-0.98,-155.7,569.0,-9.4,393,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1435,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6520,-0.98,-155.7,595.8,-8.7,403,6526,0.00,1.95,0.00,0.000,4,0.000,0.144,2549,453,3613,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6569,-0.98,-155.7,598.4,-8.7,404,6579,0.00,1.83,0.00,0.000,6,0.000,0.093,2549,1435,3612,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6879,-0.98,-155.7,626.4,-8.3,415,6886,0.00,2.15,0.00,0.000,4,0.000,0.109,2549,2579,3612,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6918,-0.98,-155.7,628.9,-8.3,416,6925,0.00,2.25,0.00,0.000,6,0.000,0.116,2549,1419,3611,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7240,-0.98,-155.7,658.6,-9.2,427,7246,0.00,1.88,0.00,0.000,4,0.000,0.138,2549,460,3610,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7318,-0.98,-155.7,664.5,-9.5,429,7322,0.00,1.77,0.00,0.000,6,0.000,0.086,2549,1426,3610,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7621,-0.98,-155.7,696.2,-10.1,439,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1426,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,-0.98,-155.7,726.6,-10.1,449,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1429,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8221,-0.98,-155.7,755.2,-9.2,459,8226,0.00,1.92,0.00,0.000,4,0.000,0.148,2548,456,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8259,-0.98,-155.7,757.8,-9.1,460,8266,0.00,1.77,0.00,0.000,6,0.000,0.093,2545,1412,3606,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8580,-0.98,-155.7,785.5,-8.2,471,8586,0.00,2.22,0.00,0.000,4,0.000,0.116,2540,2578,3605,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8640,-0.98,-155.7,790.3,-7.9,473,8647,0.12,2.25,0.00,0.000,6,0.232,0.119,2569,1411,3605,0,0,0,0,0,0,14.07,14.09,28.83
$GC,8972,-1.01,-155.7,816.3,-8.1,484,8978,0.00,2.22,0.00,0.000,4,0.000,0.116,2562,2575,3603,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9029,-1.05,-155.7,821.5,-8.4,486,9036,0.00,2.25,0.00,0.000,6,0.000,0.119,2562,1420,3603,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9363,-1.07,-155.7,852.5,-9.9,497,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1420,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,-1.09,-155.7,883.0,-10.2,507,9667,0.00,2.22,0.00,0.000,4,0.000,0.112,2554,2576,3600,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9740,-1.12,-155.7,889.0,-10.2,509,9748,0.00,2.28,0.00,0.000,6,0.000,0.130,2554,1431,3600,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10052,-1.14,-155.7,922.9,-10.3,520,10058,0.00,1.92,0.00,0.000,4,0.000,0.144,2554,457,3598,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10129,-1.14,-155.7,929.3,-10.5,522,10139,0.00,1.83,0.00,0.000,6,0.000,0.091,2554,1434,3598,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10442,-1.16,-155.7,961.6,-9.4,533,10444,0.12,0.00,0.00,0.000,6,0.174,0.000,2515,1435,3597,0,0,0,0,0,0,14.45,28.83,28.83
$STATE,10737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10738,begin apogee
$GC,10748,-0.23,0.0,990.4,-9.6,543,10927,1.10,0.00,167.32,2.225,4,0.231,0.000,2808,1535,2991,0,0,0,0,1,0,13.79,28.83,12.74
$STATE,10931,end apogee,CONTROL_FINISHED_OK
$STATE,10931,begin climb
$GC,10934,0.84,155.7,1001.1,0.0,549,11112,1.08,0.00,168.48,2.538,6,0.114,0.000,3158,1535,2356,0,0,0,0,1,0,14.01,28.83,12.71
$GC,11425,0.81,180.7,984.5,6.4,566,11462,0.00,2.17,31.62,1.809,4,0.000,0.172,3166,457,2249,0,0,0,0,0,0,28.83,14.23,13.36
$GC,11608,0.76,180.7,971.1,7.7,572,11615,0.12,1.95,0.00,0.000,6,0.299,0.104,3140,1511,2245,0,0,0,0,0,0,14.19,14.39,28.83
$GC,11938,0.76,221.8,950.4,5.9,583,11987,0.00,2.10,43.95,1.822,4,0.000,0.129,3140,2576,2082,0,0,0,0,0,0,28.83,14.27,13.34
$GC,12088,0.77,236.0,940.9,6.7,587,12108,0.00,2.05,16.02,1.750,6,0.000,0.135,3148,1520,2027,0,0,0,0,0,0,28.83,14.28,13.36
$GC,12428,0.78,245.0,916.9,6.9,599,12440,0.00,0.00,10.35,1.701,6,0.000,0.000,3148,1520,1990,0,0,0,0,0,0,28.83,28.83,13.43
$GC,12727,0.78,245.0,894.6,7.6,609,12735,0.00,2.05,0.00,0.000,4,0.000,0.122,3148,2581,1982,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12836,0.78,245.0,886.9,8.4,612,12840,0.00,2.10,0.00,0.000,6,0.000,0.139,3155,1526,1981,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13139,0.78,245.0,857.0,9.8,622,13144,0.00,2.03,0.00,0.000,4,0.000,0.125,3155,2582,1981,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13206,0.78,245.0,851.0,10.1,624,13214,0.00,2.08,0.00,0.000,6,0.000,0.136,3163,1539,1979,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13528,0.78,245.0,817.9,9.6,635,13535,0.00,1.98,0.00,0.000,4,0.000,0.118,3163,2570,1982,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13626,0.78,245.0,809.3,9.4,638,13630,0.00,2.00,0.00,0.000,6,0.000,0.129,3172,1554,1979,0,0,0,0,0,0,28.83,14.28,28.83
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$STATE,22946,end climb,SURFACE_DEPTH_REACHED
$STATE,22946,begin surface coast
$FINISH,1.3,1.023506
$STATE,22967,end surface coast,CONTROL_FINISHED_OK
$STATE,22967,begin surface
$SM_CCo,23054,0.00,0.000,0,0,1542,355.19
$SM_GC,2.27,8.95,0.30,0.00,0.081,0.151,0.000,141,1515,1542,-8.53,0.28,355.19,0,0,0,0,0,0,14.40,14.29,28.83
$IRIDIUM_FIX,2413.38,-3815.94,110113,161618
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.99
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7623456
$TM_FREEKB,4073440
$24V_AH,12.7,162.620
$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,23.725,185.275,559.375,0.000,0.000,0.000,0.000,494.675,0.500,0.000,16.385,3217.093,16318.779,963.172,2667.682,742.398,0.000,2613.226,0.000,2099.417,0.000,0.542,0.000
$DEVICE_MAMPS,361.845,172.125,2538.270,0.000,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23015.000,5732.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.811,13.234,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,43327,1139
$CAP_FILE_SIZE,244743,0
$CFSIZE,260034560,197169152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.072, 91.1,1
$GPS,120113,055805,2420.875,-3815.821,37,0.9,37,-14.1