version: 66.11
glider: 190
mission: 6
dive: 392
start: 1 14 113 10 55 58
data:
$ID,190
$MISSION,6
$DIVE,392
$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,-13408.721
$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,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
$GPS1,140113,103734,2423.311,-3814.272,24,1.2,24,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-62.5
$GPS2,140113,105526,2423.407,-3814.040,22,1.1,23,-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,44.4,28216,-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,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.12,0.000,2,0.000,0.000,138,1521,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.3,0.0,1,149,11.35,2.00,-84.38,0.000,4,0.359,0.127,2617,2578,3626,0,0,0,0,0,0,14.15,14.23,14.68
$GC,359,-0.84,-155.7,22.1,-9.2,33,368,0.00,2.05,0.00,0.000,6,0.000,0.116,2616,1520,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,669,-0.84,-155.7,51.9,-9.7,64,678,0.00,2.08,0.00,0.000,4,0.000,0.140,2616,460,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,813,-0.84,-155.7,66.0,-9.9,78,820,0.00,1.92,0.00,0.000,6,0.000,0.085,2617,1530,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1120,-0.84,-155.7,93.1,-8.6,109,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1530,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-0.88,-155.7,116.6,-6.9,140,1438,0.00,2.10,0.00,0.000,4,0.000,0.137,2616,454,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1520,-0.88,-155.7,123.4,-7.9,149,1529,0.00,1.88,0.00,0.000,6,0.000,0.081,2617,1501,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1831,-0.92,-155.7,151.6,-10.1,180,1839,0.00,2.03,0.00,0.000,4,0.000,0.108,2617,2580,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1919,-0.97,-155.7,160.6,-10.0,189,1929,0.10,2.05,0.00,0.000,6,0.079,0.115,2560,1512,3627,0,0,0,0,0,0,14.33,14.17,28.83
$GC,2229,-0.97,-155.7,193.6,-10.5,220,2238,0.00,2.05,0.00,0.000,4,0.000,0.137,2560,460,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2331,-0.94,-155.7,204.6,-11.0,230,2338,0.12,1.88,0.00,0.000,6,0.275,0.084,2582,1514,3627,0,0,0,0,0,0,14.10,14.33,28.83
$GC,2643,-0.96,-155.7,233.8,-9.3,261,2651,0.00,2.05,0.00,0.000,4,0.000,0.138,2582,457,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2699,-0.96,-155.7,239.5,-9.9,267,2708,0.00,1.90,0.00,0.000,6,0.000,0.083,2579,1505,3627,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3020,-0.98,-155.7,270.8,-10.0,285,3027,0.00,2.03,0.00,0.000,4,0.000,0.137,2580,462,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3079,-0.98,-155.7,277.2,-10.3,287,3086,0.00,1.85,0.00,0.000,6,0.000,0.083,2574,1487,3625,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3411,-0.98,-155.7,308.8,-9.0,298,3416,0.00,2.00,0.00,0.000,4,0.000,0.138,2574,459,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3458,-0.98,-155.7,311.7,-9.0,299,3462,0.00,1.85,0.00,0.000,6,0.000,0.084,2568,1481,3625,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3759,-0.98,-155.7,337.2,-7.3,309,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1481,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.98,-155.7,359.3,-7.5,319,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1482,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.98,-155.7,385.7,-9.4,329,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1482,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4660,-0.98,-155.7,415.5,-10.1,339,4668,0.00,2.00,0.00,0.000,4,0.000,0.136,2568,457,3622,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4719,-0.98,-155.7,422.0,-10.3,341,4726,0.00,1.85,0.00,0.000,6,0.000,0.086,2562,1475,3621,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5049,-0.98,-155.7,454.2,-9.4,352,5056,0.00,2.08,0.00,0.000,4,0.000,0.109,2555,2578,3619,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5089,-0.98,-155.7,457.2,-9.5,353,5096,0.00,2.12,0.00,0.000,6,0.000,0.116,2554,1470,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5409,-0.98,-155.7,488.4,-9.6,364,5416,0.00,1.98,0.00,0.000,4,0.000,0.140,2555,456,3619,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5478,-0.98,-155.7,494.5,-9.9,366,5482,0.00,1.85,0.00,0.000,6,0.000,0.087,2550,1470,3619,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5792,-0.98,-155.7,525.4,-9.4,377,5797,0.00,2.03,0.00,0.000,4,0.000,0.114,2547,2578,3617,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5880,-0.98,-155.7,533.6,-9.3,380,5887,0.00,2.15,0.00,0.000,6,0.000,0.118,2548,1465,3617,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6211,-0.98,-155.7,565.1,-9.6,391,6217,0.00,1.98,0.00,0.000,4,0.000,0.142,2548,460,3616,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6271,-0.98,-155.7,571.5,-10.0,393,6278,0.10,1.83,0.00,0.000,6,0.243,0.090,2568,1463,3615,0,0,0,0,0,0,14.03,14.31,28.83
$GC,6604,-1.00,-155.7,602.7,-9.5,404,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1463,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6901,-1.03,-155.7,630.6,-9.1,414,6908,0.00,2.00,0.00,0.000,4,0.000,0.144,2569,459,3613,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7059,-1.03,-155.7,645.4,-10.0,419,7063,0.00,1.85,0.00,0.000,6,0.000,0.090,2565,1466,3612,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7375,-1.05,-155.7,674.9,-9.1,430,7380,0.00,2.05,0.00,0.000,4,0.000,0.112,2557,2577,3610,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7441,-1.07,-155.7,680.3,-9.0,432,7448,0.00,2.17,0.00,0.000,6,0.000,0.120,2557,1462,3610,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7765,-1.10,-155.7,709.7,-8.8,443,7770,0.00,1.92,0.00,0.000,4,0.000,0.138,2557,457,3608,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7853,-1.10,-155.7,718.3,-9.3,446,7858,0.00,1.83,0.00,0.000,6,0.000,0.089,2552,1456,3608,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8182,-1.10,-155.7,747.2,-8.9,457,8190,0.00,2.10,0.00,0.000,4,0.000,0.109,2548,2569,3607,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8250,-1.10,-155.7,752.6,-8.9,459,8257,0.00,2.17,0.00,0.000,6,0.000,0.121,2546,1456,3607,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8571,-1.10,-155.7,785.3,-10.4,470,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1456,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8873,-1.10,-155.7,817.3,-10.7,480,8878,0.00,1.95,0.00,0.000,4,0.000,0.146,2546,458,3605,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9000,-1.10,-155.7,831.0,-11.4,484,9004,0.00,1.88,0.00,0.000,6,0.000,0.093,2540,1469,3605,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9314,-1.10,-155.7,864.5,-10.1,495,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1469,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,-1.10,-155.7,893.9,-9.7,505,9619,0.00,2.03,0.00,0.000,4,0.000,0.148,2540,462,3602,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9703,-1.10,-155.7,903.3,-10.3,508,9710,0.00,1.85,0.00,0.000,6,0.000,0.097,2540,1451,3601,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10033,-1.10,-155.7,934.9,-9.2,519,10039,0.00,2.20,0.00,0.000,4,0.000,0.122,2540,2578,3599,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10171,-1.10,-155.7,945.6,-9.0,523,10180,0.00,2.17,0.00,0.000,6,0.000,0.112,2540,1456,3599,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10484,-1.10,-155.7,976.3,-9.6,534,10489,0.00,2.15,0.00,0.000,4,0.000,0.114,2536,2582,3598,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10531,-1.10,-155.7,979.1,-9.5,535,10540,0.00,2.17,0.00,0.000,6,0.000,0.115,2536,1466,3598,0,0,0,0,0,0,28.83,14.14,28.83
$STATE,10629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10629,begin apogee
$GC,10638,-0.23,0.0,990.8,-9.8,539,10863,1.00,0.00,214.10,1.541,4,0.219,0.000,2809,1533,2986,0,0,0,0,0,0,13.81,28.83,13.27
$STATE,10864,end apogee,CONTROL_FINISHED_OK
$STATE,10865,begin climb
$GC,10868,0.84,155.7,1005.3,0.0,546,11039,1.10,2.00,160.82,1.823,4,0.117,0.116,3162,2573,2356,0,0,0,0,0,0,14.15,14.12,13.11
$GC,11046,0.91,389.4,1010.2,-0.2,553,11301,0.00,2.12,246.93,1.797,6,0.000,0.128,3170,1516,1400,0,0,0,0,0,0,28.83,14.07,13.13
$GC,11611,0.94,389.4,956.0,10.9,572,11618,0.00,2.05,0.00,0.000,4,0.000,0.160,3178,461,1381,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11779,0.94,389.4,938.2,12.0,577,11788,0.00,1.98,0.00,0.000,6,0.000,0.099,3178,1526,1379,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12093,0.96,389.4,899.1,11.8,588,12100,0.00,1.95,0.00,0.000,4,0.000,0.109,3178,2582,1379,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12188,0.96,389.4,888.2,12.0,591,12192,0.00,2.03,0.00,0.000,6,0.000,0.125,3185,1541,1379,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12503,0.96,389.4,850.1,11.8,602,12508,0.00,2.12,0.00,0.000,4,0.000,0.162,3194,461,1378,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12540,0.96,389.4,846.5,11.8,603,12547,0.00,2.00,0.00,0.000,6,0.000,0.092,3194,1552,1377,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12864,0.96,389.4,810.0,10.6,614,12869,0.00,1.88,0.00,0.000,4,0.000,0.108,3194,2583,1379,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12930,0.96,389.4,803.6,10.5,616,12933,0.00,2.03,0.00,0.000,6,0.000,0.125,3201,1550,1377,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13242,0.96,389.4,771.3,9.6,627,13249,0.00,2.20,0.00,0.000,4,0.000,0.162,3210,461,1376,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13352,0.96,389.4,762.7,9.6,630,13361,0.00,2.03,0.00,0.000,6,0.000,0.099,3210,1544,1375,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13663,0.96,389.4,733.4,8.7,641,13669,0.00,2.22,0.00,0.000,4,0.000,0.167,3218,461,1375,0,0,0,0,0,0,28.83,14.09,28.83
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$GC,15993,0.96,389.4,475.1,11.0,719,16000,0.00,2.15,0.00,0.000,4,0.000,0.155,3232,456,1375,0,0,0,0,0,0,28.83,13.96,28.83
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$STATE,20350,end climb,SURFACE_DEPTH_REACHED
$STATE,20350,begin surface coast
$FINISH,1.2,1.014662
$STATE,20372,end surface coast,CONTROL_FINISHED_OK
$STATE,20372,begin surface
$SM_CCo,20457,0.00,0.000,0,0,1379,395.18
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$IRIDIUM_FIX,2413.38,-3815.94,140113,101042
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.82
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,3
$SC_FREEKB,7620000
$TM_FREEKB,3994688
$24V_AH,13.1,166.635
$10V_AH,12.6,0.000
$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,23.150,174.250,621.850,0.000,0.000,0.000,0.000,627.625,0.750,0.000,23.548,2875.058,14345.521,983.162,2631.364,678.503,0.000,2683.507,0.000,1896.656,0.000,0.541,0.000
$DEVICE_MAMPS,358.785,187.425,1822.995,0.000,0.000,0.000,0.000,161.415,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20423.000,5169.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.791,13.227,0.000,0.000
$MEM,344972
$DATA_FILE_SIZE,36659,1019
$CAP_FILE_SIZE,219261,0
$CFSIZE,260034560,195997696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067, 89.9,1
$GPS,140113,163804,2424.824,-3812.270,25,1.0,25,-14.1