version: 66.11
glider: 190
mission: 6
dive: 435
start: 1 26 113 3 48 39
data:
$ID,190
$MISSION,6
$DIVE,435
$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,-13462.907
$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,9
$R_STBD_OVSHOOT,14
$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
$GPS1,260113,033729,2429.962,-3744.710,38,1.2,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-65.4
$GPS2,260113,034806,2430.052,-3744.769,18,1.1,18,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,194.1,18144,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.84,-155.7,0.0,0.0,0,35,0.00,0.00,-10.85,0.000,2,0.000,0.000,139,1528,1507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.4,0.0,1,157,11.00,2.17,-100.12,0.000,4,0.341,0.174,2613,460,3625,0,0,0,0,0,0,14.15,14.10,14.63
$GC,290,-0.84,-155.7,18.1,-12.4,26,297,0.00,1.92,0.00,0.000,6,0.000,0.086,2607,1524,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,599,-0.84,-155.7,45.1,-7.0,57,608,0.00,1.98,0.00,0.000,4,0.000,0.109,2605,2571,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,651,-0.86,-155.7,48.1,-6.3,62,657,0.00,2.05,0.00,0.000,6,0.000,0.121,2605,1520,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,960,-0.86,-155.7,72.3,-6.4,93,968,0.00,2.10,0.00,0.000,4,0.000,0.143,2605,457,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,998,-0.86,-155.7,75.6,-8.4,97,1009,0.00,1.98,0.00,0.000,6,0.000,0.086,2605,1527,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1309,-0.86,-155.7,100.1,-7.5,128,1317,0.00,1.98,0.00,0.000,4,0.000,0.106,2605,2576,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1359,-0.89,-155.7,104.3,-8.2,133,1369,0.00,2.05,0.00,0.000,6,0.000,0.118,2605,1529,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1669,-0.92,-155.7,135.3,-10.1,164,1677,0.00,2.12,0.00,0.000,4,0.000,0.143,2604,460,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1821,-0.92,-155.7,151.6,-10.5,179,1828,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1523,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2131,-0.95,-155.7,179.8,-9.5,210,2137,0.00,1.98,0.00,0.000,4,0.000,0.106,2605,2576,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2159,-0.99,-155.7,182.5,-9.0,213,2169,0.08,2.10,0.00,0.000,6,0.095,0.117,2560,1505,3627,0,0,0,0,0,0,14.16,14.07,28.83
$GC,2469,-0.99,-155.7,212.6,-9.9,244,2477,0.00,2.05,0.00,0.000,4,0.000,0.141,2560,464,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2508,-0.99,-155.7,216.6,-10.3,248,2517,0.00,1.92,0.00,0.000,6,0.000,0.085,2553,1514,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2819,-0.99,-155.7,244.6,-8.9,279,2827,0.00,2.00,0.00,0.000,4,0.000,0.106,2552,2578,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2869,-0.99,-155.7,248.6,-8.5,284,2877,0.00,2.08,0.00,0.000,6,0.000,0.117,2553,1513,3627,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3191,-0.99,-155.7,274.3,-8.0,296,3196,0.00,2.05,0.00,0.000,4,0.000,0.138,2552,459,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3280,-0.96,-155.7,282.8,-9.1,299,3286,0.00,1.90,0.00,0.000,6,0.000,0.085,2552,1507,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3609,-0.96,-155.7,313.1,-9.6,310,3615,0.00,2.00,0.00,0.000,4,0.000,0.109,2552,2572,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3677,-0.96,-155.7,319.3,-10.0,312,3686,0.00,2.08,0.00,0.000,6,0.000,0.118,2552,1505,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4000,-0.96,-155.7,354.0,-10.7,323,4006,0.00,2.05,0.00,0.000,4,0.000,0.140,2552,447,3625,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4037,-0.96,-155.7,357.4,-10.7,324,4046,0.00,1.95,0.00,0.000,6,0.000,0.087,2552,1511,3624,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4360,-0.96,-155.7,390.9,-9.8,335,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1511,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-0.96,-155.7,421.4,-10.4,345,4665,0.00,2.05,0.00,0.000,4,0.000,0.138,2552,468,3623,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4757,-0.96,-155.7,431.6,-11.1,348,4766,0.00,1.92,0.00,0.000,6,0.000,0.089,2552,1516,3622,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5079,-0.96,-155.7,465.8,-10.2,359,5086,0.00,2.10,0.00,0.000,4,0.000,0.141,2552,459,3622,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5128,-0.96,-155.7,468.9,-10.2,360,5137,0.00,1.90,0.00,0.000,6,0.000,0.089,2552,1498,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5440,-0.96,-155.7,500.2,-8.9,371,5446,0.00,2.05,0.00,0.000,4,0.000,0.141,2552,453,3620,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5547,-0.96,-155.7,508.4,-9.0,374,5556,0.00,1.90,0.00,0.000,6,0.000,0.090,2552,1487,3620,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5860,-0.96,-155.7,534.2,-7.8,385,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1488,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6158,-0.96,-155.7,559.7,-8.8,395,6167,0.00,2.03,0.00,0.000,4,0.000,0.141,2552,466,3618,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6257,-0.96,-155.7,569.0,-10.0,398,6264,0.00,1.88,0.00,0.000,6,0.000,0.089,2552,1485,3617,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6580,-0.96,-155.7,603.6,-10.8,409,6585,0.00,2.05,0.00,0.000,4,0.000,0.143,2551,462,3616,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6677,-0.96,-155.7,614.0,-11.5,412,6686,0.00,1.85,0.00,0.000,6,0.000,0.089,2552,1466,3619,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7000,-0.96,-155.7,648.9,-10.2,423,7006,0.00,2.00,0.00,0.000,4,0.000,0.142,2552,468,3615,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7107,-0.96,-155.7,658.1,-10.2,426,7117,0.12,1.80,0.00,0.000,6,0.266,0.089,2577,1443,3614,0,0,0,0,0,0,14.05,14.29,28.83
$GC,7423,-1.00,-155.7,686.2,-8.4,437,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1443,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7719,-1.03,-155.7,713.5,-9.3,447,7726,0.00,1.95,0.00,0.000,4,0.000,0.144,2577,466,3612,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7818,-1.05,-155.7,722.6,-9.9,450,7825,0.00,1.80,0.00,0.000,6,0.000,0.090,2577,1435,3611,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8143,-1.09,-155.7,755.4,-10.2,461,8148,0.12,1.95,0.00,0.000,4,0.150,0.144,2526,464,3611,0,0,0,0,0,0,14.47,13.92,28.83
$GC,8310,-1.06,-155.7,773.1,-12.0,466,8317,0.00,1.73,0.00,0.000,6,0.000,0.090,2523,1411,3610,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8620,-1.06,-155.7,807.2,-9.6,477,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1411,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8918,-1.06,-155.7,834.4,-9.0,487,8927,0.00,1.92,0.00,0.000,4,0.000,0.145,2523,460,3607,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9019,-1.03,-155.7,843.1,-9.5,490,9026,0.10,1.75,0.00,0.000,6,0.259,0.093,2547,1401,3606,0,0,0,0,0,0,13.80,14.14,28.83
$GC,9341,-1.03,-155.7,873.5,-9.6,501,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1401,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9640,-1.06,-155.7,905.2,-10.6,511,9646,0.00,1.90,0.00,0.000,4,0.000,0.153,2548,461,3604,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9729,-1.06,-155.7,915.3,-11.0,514,9735,0.00,1.73,0.00,0.000,6,0.000,0.095,2549,1387,3603,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10063,-1.08,-155.7,949.0,-9.9,525,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1387,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10359,-1.10,-155.7,974.9,-8.3,535,10367,0.00,1.90,0.00,0.000,4,0.000,0.154,2549,465,3600,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10467,-1.10,-155.7,982.7,-8.5,538,10471,0.00,1.73,0.00,0.000,6,0.000,0.094,2548,1382,3600,0,0,0,0,0,0,28.83,14.17,28.83
$STATE,10555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10555,begin apogee
$GC,10564,-0.23,0.0,991.7,-8.4,541,10726,0.93,0.00,155.35,1.858,4,0.208,0.000,2805,1526,2984,0,0,0,0,0,0,13.75,28.83,13.02
$STATE,10730,end apogee,CONTROL_FINISHED_OK
$STATE,10730,begin climb
$GC,10733,0.84,155.7,1000.0,0.0,546,10905,1.10,2.03,161.35,1.818,4,0.112,0.120,3160,2579,2355,0,0,0,0,0,0,14.14,14.09,13.07
$GC,11136,0.80,175.9,988.8,6.5,560,11162,0.00,2.08,21.08,1.727,6,0.000,0.143,3169,1518,2272,0,0,0,0,0,0,28.83,14.26,13.32
$GC,11485,0.78,202.7,965.7,6.3,572,11517,0.00,0.00,29.75,1.760,6,0.000,0.000,3168,1518,2163,0,0,0,0,0,0,28.83,28.83,13.33
$GC,11819,0.74,202.7,942.1,7.4,583,11824,0.12,2.12,0.00,0.000,4,0.298,0.162,3145,457,2148,0,0,0,0,0,0,14.16,14.21,28.83
$GC,11894,0.72,202.7,937.5,7.6,585,11903,0.00,1.95,0.00,0.000,6,0.000,0.101,3145,1506,2148,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12206,0.72,202.7,910.9,8.4,596,12212,0.00,2.05,0.00,0.000,4,0.000,0.126,3145,2580,2145,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12313,0.72,202.7,903.0,8.8,599,12323,0.12,2.12,0.00,0.000,6,0.301,0.139,3127,1520,2144,0,0,0,0,0,0,14.08,14.23,28.83
$GC,12628,0.72,202.7,875.4,8.2,610,12633,0.00,2.03,0.00,0.000,4,0.000,0.129,3127,2579,2144,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12704,0.72,202.7,870.8,7.8,612,12713,0.00,2.08,0.00,0.000,6,0.000,0.140,3134,1543,2144,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13018,0.74,237.7,848.6,6.1,623,13062,0.00,2.03,36.45,1.712,4,0.000,0.127,3134,2580,2013,0,0,0,0,0,0,28.83,14.33,13.35
$GC,13168,0.76,269.1,839.2,6.2,628,13213,0.00,2.03,35.05,1.681,6,0.000,0.139,3142,1556,1883,0,0,0,0,0,0,28.83,14.20,13.28
$GC,13524,0.77,284.4,816.1,6.7,640,13545,0.00,2.00,15.75,1.620,4,0.000,0.124,3142,2580,1826,0,0,0,0,0,0,28.83,14.40,13.40
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$STATE,23121,end climb,SURFACE_DEPTH_REACHED
$STATE,23121,begin surface coast
$FINISH,1.5,1.022492
$STATE,23152,end surface coast,CONTROL_FINISHED_OK
$STATE,23153,begin surface
$SM_CCo,23180,25.17,0.125,0,0,1561,350.04
$SM_GC,2.42,8.88,0.55,25.17,0.077,0.146,0.125,149,1519,1561,-8.53,0.40,350.04,0,0,0,0,0,0,14.23,14.10,14.26
$IRIDIUM_FIX,2420.48,-3745.23,250113,202018
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.38
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.00
$XPDR_PINGS,3
$SC_FREEKB,7603744
$TM_FREEKB,1601331551
$24V_AH,13.0,185.276
$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,23.100,196.675,469.925,25.175,0.000,0.000,0.000,332.575,0.750,0.000,18.952,3336.555,16224.654,953.133,2616.840,698.397,0.000,2489.545,0.000,2219.257,0.000,0.542,0.000
$DEVICE_MAMPS,341.190,173.655,1858.185,125.460,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23204.000,5880.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.942,21.853,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43285,1159
$CAP_FILE_SIZE,244602,0
$CFSIZE,260034560,190545920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,339.9,1
$GPS,260113,101652,2429.547,-3744.787,40,0.8,40,-13.9