version: 66.11
glider: 190
mission: 6
dive: 391
start: 1 14 113 4 28 53
data:
$ID,190
$MISSION,6
$DIVE,391
$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,-13407.463
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,140113,041427,2421.975,-3815.285,36,1.4,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-61.6
$GPS2,140113,042823,2421.966,-3815.137,18,1.1,19,-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,41.1,31406,-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,-155.7,0.0,0.0,0,38,0.00,0.00,-10.70,0.000,2,0.000,0.000,139,1518,1722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.2,0.0,1,150,11.12,2.03,-91.45,0.000,4,0.350,0.129,2605,2579,3625,0,0,0,0,0,0,14.08,14.28,14.68
$GC,385,-0.84,-155.7,29.4,-12.6,35,391,0.00,2.03,0.00,0.000,6,0.000,0.116,2605,1518,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,692,-0.84,-155.7,64.6,-9.3,66,700,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,468,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,802,-0.84,-155.7,76.6,-11.2,77,810,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1516,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1112,-0.84,-155.7,104.7,-8.3,108,1120,0.00,2.08,0.00,0.000,4,0.000,0.138,2604,461,3625,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1172,-0.84,-155.7,110.2,-9.3,114,1180,0.00,1.90,0.00,0.000,6,0.000,0.085,2605,1506,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1482,-0.87,-155.7,138.3,-9.4,145,1491,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,465,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1661,-0.87,-155.7,156.0,-9.5,163,1670,0.00,1.88,0.00,0.000,6,0.000,0.083,2604,1495,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1974,-0.89,-155.7,184.4,-9.4,194,1980,0.00,2.00,0.00,0.000,4,0.000,0.109,2605,2576,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2022,-0.93,-155.7,189.0,-9.2,199,2030,0.00,2.12,0.00,0.000,6,0.000,0.119,2604,1475,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2333,-0.96,-155.7,217.5,-8.7,230,2340,0.00,1.98,0.00,0.000,4,0.000,0.141,2604,463,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2532,-0.96,-155.7,236.3,-9.2,250,2540,0.00,1.77,0.00,0.000,6,0.000,0.083,2605,1451,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2852,-1.00,-155.7,263.4,-8.3,272,2859,0.12,1.95,0.00,0.000,4,0.135,0.140,2547,453,3627,0,0,0,0,0,0,14.62,14.08,28.83
$GC,3092,-0.96,-155.7,288.4,-10.5,280,3099,0.10,1.77,0.00,0.000,6,0.239,0.087,2571,1434,3626,0,0,0,0,0,0,14.12,14.38,28.83
$GC,3425,-0.96,-155.7,318.3,-9.3,291,3432,0.00,2.10,0.00,0.000,4,0.000,0.108,2565,2583,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3490,-0.96,-155.7,323.9,-9.4,293,3498,0.00,2.22,0.00,0.000,6,0.000,0.119,2565,1434,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3813,-0.96,-155.7,358.5,-10.9,304,3818,0.00,2.15,0.00,0.000,4,0.000,0.110,2560,2571,3624,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3861,-0.96,-155.7,361.8,-11.0,305,3870,0.00,2.17,0.00,0.000,6,0.000,0.121,2560,1447,3624,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4172,-0.96,-155.7,399.3,-11.2,316,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1447,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-0.96,-155.7,429.8,-9.5,326,4478,0.00,2.10,0.00,0.000,4,0.000,0.111,2553,2576,3623,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4520,-0.96,-155.7,432.4,-9.3,327,4529,0.00,2.20,0.00,0.000,6,0.000,0.121,2554,1445,3622,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4832,-0.96,-155.7,461.0,-8.4,338,4838,0.00,1.92,0.00,0.000,4,0.000,0.144,2554,462,3622,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4941,-0.96,-155.7,469.0,-8.8,341,4952,0.00,1.80,0.00,0.000,6,0.000,0.093,2553,1438,3621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5252,-0.96,-155.7,496.3,-8.3,352,5258,0.00,2.15,0.00,0.000,4,0.000,0.112,2549,2576,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5313,-0.96,-155.7,501.3,-8.4,354,5319,0.12,2.17,0.00,0.000,6,0.236,0.124,2578,1442,3620,0,0,0,0,0,0,14.17,14.22,28.83
$GC,5644,-1.00,-155.7,529.8,-9.1,365,5649,0.00,1.92,0.00,0.000,4,0.000,0.145,2579,457,3620,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5772,-1.00,-155.7,542.4,-10.5,369,5778,0.00,1.75,0.00,0.000,6,0.000,0.090,2574,1419,3618,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6094,-1.02,-155.7,579.5,-11.8,380,6100,0.00,1.90,0.00,0.000,4,0.000,0.146,2573,457,3617,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6242,-1.02,-155.7,598.0,-12.4,385,6249,0.00,1.73,0.00,0.000,6,0.000,0.093,2569,1403,3616,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6574,-1.05,-155.7,632.0,-9.2,396,6580,0.00,1.90,0.00,0.000,4,0.000,0.148,2569,456,3615,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6652,-1.05,-155.7,637.5,-8.9,398,6660,0.00,1.73,0.00,0.000,6,0.000,0.093,2566,1397,3614,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6966,-1.08,-155.7,661.9,-6.8,409,6971,0.00,1.88,0.00,0.000,4,0.000,0.147,2566,463,3614,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7011,-1.08,-155.7,664.0,-6.8,410,7019,0.00,1.73,0.00,0.000,6,0.000,0.093,2562,1394,3613,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7326,-1.10,-155.7,685.0,-6.5,421,7331,0.00,1.85,0.00,0.000,4,0.000,0.147,2562,459,3612,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7382,-1.10,-155.7,689.4,-6.7,423,7389,0.00,1.70,0.00,0.000,6,0.000,0.092,2557,1382,3609,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7713,-1.10,-155.7,713.9,-8.1,434,7719,0.00,1.83,0.00,0.000,4,0.000,0.148,2558,460,3610,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7780,-1.10,-155.7,719.6,-8.9,436,7784,0.00,1.67,0.00,0.000,6,0.000,0.092,2553,1366,3610,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8092,-1.10,-155.7,751.9,-10.4,447,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1366,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8394,-1.12,-155.7,784.6,-11.1,457,8400,0.00,1.83,0.00,0.000,4,0.000,0.149,2553,462,3607,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8542,-1.12,-155.7,802.3,-11.9,462,8550,0.00,1.67,0.00,0.000,6,0.000,0.093,2553,1364,3606,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8874,-1.12,-155.7,837.9,-10.5,473,8879,0.00,1.77,0.00,0.000,4,0.000,0.151,2553,460,3605,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8932,-1.12,-155.7,844.4,-10.6,475,8939,0.00,1.67,0.00,0.000,6,0.000,0.095,2553,1358,3605,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9262,-1.12,-155.7,877.2,-9.7,486,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1358,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9564,-1.14,-155.7,905.4,-9.1,496,9569,0.00,1.80,0.00,0.000,4,0.000,0.153,2553,460,3603,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9661,-1.14,-155.7,914.0,-9.5,499,9665,0.00,1.67,0.00,0.000,6,0.000,0.096,2553,1353,3602,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9974,-1.14,-155.7,941.6,-8.5,510,9980,0.00,1.80,0.00,0.000,4,0.000,0.151,2553,466,3601,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10073,-1.14,-155.7,949.9,-9.1,513,10079,0.00,1.62,0.00,0.000,6,0.000,0.096,2553,1333,3600,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10397,-1.16,-155.7,978.0,-8.5,524,10399,0.12,0.00,0.00,0.000,6,0.173,0.000,2514,1335,3599,0,0,0,0,0,0,14.45,28.83,28.83
$STATE,10540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10540,begin apogee
$GC,10548,-0.23,0.0,992.3,-9.6,529,10706,1.08,0.00,153.52,1.877,4,0.222,0.000,2804,1523,2989,0,0,0,0,0,0,13.80,28.83,13.09
$STATE,10711,end apogee,CONTROL_FINISHED_OK
$STATE,10711,begin climb
$GC,10714,0.84,155.7,1001.7,0.0,534,10884,1.10,2.05,160.60,1.838,4,0.117,0.116,3155,2580,2354,0,0,0,0,0,0,14.11,14.08,13.10
$GC,11116,0.84,225.1,996.1,5.0,547,11194,0.00,2.08,72.82,1.803,6,0.000,0.144,3163,1521,2072,0,0,0,0,0,0,28.83,14.29,13.19
$GC,11504,0.84,262.0,972.0,6.0,561,11551,0.00,2.08,39.62,1.783,4,0.000,0.129,3163,2572,1913,0,0,0,0,0,0,28.83,14.24,13.34
$GC,11722,0.84,262.0,956.9,7.5,568,11730,0.00,2.15,0.00,0.000,6,0.000,0.150,3170,1514,1905,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12044,0.84,262.0,930.9,8.3,579,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1514,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12343,0.84,262.0,904.3,9.1,589,12350,0.00,2.15,0.00,0.000,4,0.000,0.176,3178,466,1902,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12422,0.84,262.0,898.3,9.6,591,12426,0.00,1.98,0.00,0.000,6,0.000,0.103,3178,1521,1901,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12724,0.84,262.0,865.5,10.6,601,12731,0.00,2.17,0.00,0.000,4,0.000,0.181,3179,462,1900,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12773,0.84,262.0,862.1,10.7,602,12781,0.00,1.98,0.00,0.000,6,0.000,0.103,3179,1516,1900,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13083,0.84,262.0,825.8,10.9,613,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1516,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13383,0.84,262.0,794.0,10.5,623,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1516,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13683,0.84,262.0,763.9,9.8,633,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1516,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13984,0.84,262.0,735.8,8.9,643,13990,0.00,2.08,0.00,0.000,4,0.000,0.125,3179,2579,1898,0,0,0,0,0,0,28.83,14.19,28.83
$GC,14053,0.82,262.0,730.3,9.0,645,14061,0.15,2.17,0.00,0.000,6,0.301,0.147,3150,1508,1897,0,0,0,0,0,0,13.91,14.16,28.83
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$STATE,21991,end climb,SURFACE_DEPTH_REACHED
$STATE,21991,begin surface coast
$FINISH,1.3,1.025322
$STATE,22013,end surface coast,CONTROL_FINISHED_OK
$STATE,22013,begin surface
$SM_CCo,22036,12.10,0.132,0,0,1561,350.04
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$IRIDIUM_FIX,2411.01,-3815.94,130113,212144
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.89
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7620384
$TM_FREEKB,4002816
$24V_AH,13.1,166.164
$10V_AH,12.2,0.000
$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,23.150,162.300,489.450,12.100,0.000,0.000,0.000,452.275,0.250,0.000,20.091,3069.513,15645.987,870.467,2599.674,685.347,0.000,2425.623,0.000,2036.357,0.000,0.541,0.000
$DEVICE_MAMPS,350.370,181.305,1877.310,132.345,0.000,0.000,0.000,175.185,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.750,13.243,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,40023,1096
$CAP_FILE_SIZE,227765,0
$CFSIZE,260034560,196116480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,130.4,1
$GPS,140113,103734,2423.311,-3814.272,24,1.2,24,-14.1