version: 66.11
glider: 190
mission: 6
dive: 438
start: 1 26 113 22 29 56
data:
$ID,190
$MISSION,6
$DIVE,438
$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,-13466.683
$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,7
$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
$GPS1,260113,221852,2428.247,-3744.931,41,0.9,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-62.1
$GPS2,260113,222923,2428.310,-3745.006,17,1.0,18,-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,182.3,14913,-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,-11.00,0.000,2,0.000,0.000,139,1527,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.6,0.0,1,146,11.02,2.08,-86.55,0.000,4,0.341,0.153,2616,456,3625,0,0,0,0,0,0,14.08,14.12,14.62
$GC,380,-0.84,-155.7,26.7,-13.6,35,386,0.00,1.88,0.00,0.000,6,0.000,0.075,2613,1520,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,688,-0.84,-155.7,55.8,-9.3,66,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1520,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,998,-0.87,-155.7,83.4,-8.5,97,1006,0.00,2.10,0.00,0.000,4,0.000,0.137,2611,450,3625,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1066,-0.87,-155.7,89.1,-8.4,104,1075,0.00,1.98,0.00,0.000,6,0.000,0.083,2606,1521,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1378,-0.90,-155.7,116.2,-8.7,135,1385,0.00,2.10,0.00,0.000,4,0.000,0.140,2606,453,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1466,-0.90,-155.7,124.4,-9.1,144,1475,0.00,1.95,0.00,0.000,6,0.000,0.084,2605,1510,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1777,-0.94,-155.7,152.2,-8.7,175,1785,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,458,3626,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1836,-0.94,-155.7,157.7,-9.4,181,1847,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1493,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2148,-0.98,-155.7,185.9,-9.9,212,2155,0.10,2.05,0.00,0.000,4,0.161,0.138,2562,452,3626,0,0,0,0,0,0,14.43,14.01,28.83
$GC,2279,-0.94,-155.7,199.6,-10.4,225,2287,0.12,1.88,0.00,0.000,6,0.269,0.086,2582,1483,3626,0,0,0,0,0,0,13.97,14.21,28.83
$GC,2589,-0.97,-155.7,224.9,-7.7,256,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1483,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-0.99,-155.7,247.6,-7.1,287,2905,0.00,2.03,0.00,0.000,4,0.000,0.135,2582,459,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2987,-0.99,-155.7,254.9,-8.3,293,2993,0.00,1.85,0.00,0.000,6,0.000,0.084,2579,1480,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3319,-1.02,-155.7,284.7,-9.8,304,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1480,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,-1.04,-155.7,316.2,-10.6,314,3623,0.00,1.98,0.00,0.000,4,0.000,0.138,2579,456,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3655,-1.04,-155.7,319.3,-10.5,315,3659,0.00,1.88,0.00,0.000,6,0.000,0.085,2577,1483,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3971,-1.07,-155.7,349.6,-8.8,326,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1483,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-1.09,-155.7,373.6,-7.9,336,4275,0.12,2.03,0.00,0.000,4,0.144,0.140,2524,452,3623,0,0,0,0,0,0,14.58,14.12,28.83
$GC,4408,-1.06,-155.7,385.4,-9.9,340,4416,0.00,1.88,0.00,0.000,6,0.000,0.090,2522,1478,3622,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4721,-1.02,-155.7,418.0,-9.9,351,4723,0.15,0.00,0.00,0.000,6,0.262,0.000,2558,1478,3622,0,0,0,0,0,0,14.21,28.83,28.83
$GC,5017,-1.02,-155.7,447.6,-10.2,361,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1477,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-1.02,-155.7,477.8,-10.0,371,5325,0.00,2.03,0.00,0.000,4,0.000,0.140,2558,460,3621,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5517,-1.02,-155.7,497.0,-10.6,377,5526,0.00,1.88,0.00,0.000,6,0.000,0.089,2553,1479,3620,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5829,-1.02,-155.7,529.4,-9.8,388,5835,0.00,2.03,0.00,0.000,4,0.000,0.142,2553,462,3619,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5986,-1.02,-155.7,544.5,-10.1,393,5990,0.00,1.83,0.00,0.000,6,0.000,0.090,2552,1449,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6300,-1.02,-155.7,575.9,-9.8,404,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1450,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6599,-1.02,-155.7,605.4,-9.7,414,6606,0.00,1.98,0.00,0.000,4,0.000,0.145,2553,462,3616,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6689,-1.02,-155.7,614.5,-9.9,417,6695,0.00,1.80,0.00,0.000,6,0.000,0.093,2551,1440,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7020,-1.02,-155.7,645.7,-9.6,428,7025,0.00,2.15,0.00,0.000,4,0.000,0.110,2549,2600,3614,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7067,-1.02,-155.7,648.5,-9.7,429,7076,0.00,2.28,0.00,0.000,6,0.000,0.117,2549,1435,3614,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7380,-1.02,-155.7,683.7,-11.3,440,7385,0.00,1.92,0.00,0.000,4,0.000,0.138,2549,460,3612,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7427,-1.02,-155.7,687.2,-11.4,441,7431,0.00,1.83,0.00,0.000,6,0.000,0.086,2549,1454,3613,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7729,-1.02,-155.7,725.4,-11.8,451,7736,0.00,2.15,0.00,0.000,4,0.000,0.112,2549,2584,3611,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7778,-1.02,-155.7,728.9,-11.8,452,7786,0.00,2.25,0.00,0.000,6,0.000,0.118,2549,1437,3611,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8089,-1.02,-155.7,764.7,-10.4,463,8095,0.00,1.92,0.00,0.000,4,0.000,0.135,2549,457,3609,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8178,-1.02,-155.7,774.0,-10.2,466,8185,0.00,1.83,0.00,0.000,6,0.000,0.085,2549,1448,3609,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8510,-1.02,-155.7,803.1,-8.4,477,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1448,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8809,-1.02,-155.7,827.8,-8.2,487,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1448,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,-1.02,-155.7,855.6,-9.6,497,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1448,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9409,-1.02,-155.7,887.8,-11.1,507,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1448,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9710,-1.02,-155.7,921.8,-11.3,517,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1449,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10009,-1.02,-155.7,952.9,-10.1,527,10010,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1449,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10309,-1.04,-155.7,980.0,-8.7,537,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1449,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10455,begin apogee
$GC,10464,-0.23,0.0,992.4,-8.2,542,10626,0.93,0.00,154.88,1.829,4,0.203,0.000,2807,1534,2986,0,0,0,0,0,0,13.75,28.83,13.02
$STATE,10630,end apogee,CONTROL_FINISHED_OK
$STATE,10630,begin climb
$GC,10634,0.84,155.7,1000.6,0.0,547,10805,1.10,1.95,160.55,1.812,4,0.115,0.106,3161,2569,2354,0,0,0,0,0,0,14.14,14.12,13.08
$GC,11036,0.80,177.6,989.3,6.5,561,11063,0.00,2.05,22.62,1.727,6,0.000,0.135,3169,1514,2265,0,0,0,0,0,0,28.83,14.27,13.31
$GC,11375,0.78,215.9,967.5,6.0,573,11421,0.00,2.08,41.55,1.772,4,0.000,0.154,3177,456,2104,0,0,0,0,0,0,28.83,14.22,13.28
$GC,11603,0.75,221.0,953.3,7.0,580,11614,0.20,1.98,0.00,0.000,6,0.278,0.097,3131,1518,2094,0,0,0,0,0,0,14.09,14.38,28.83
$GC,11916,0.77,267.0,934.6,5.7,591,11975,0.00,2.08,54.17,1.771,4,0.000,0.118,3131,2582,1897,0,0,0,0,0,0,28.83,14.23,13.25
$GC,12114,0.77,267.0,920.1,7.6,598,12121,0.00,2.10,0.00,0.000,6,0.000,0.144,3138,1544,1883,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12447,0.77,267.0,891.3,9.3,609,12453,0.00,2.00,0.00,0.000,4,0.000,0.129,3138,2580,1880,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12544,0.77,267.0,882.4,9.7,612,12551,0.00,2.03,0.00,0.000,6,0.000,0.145,3146,1568,1878,0,0,0,0,0,0,28.83,14.18,28.83
$GC,12867,0.77,267.0,848.8,10.4,623,12872,0.00,1.95,0.00,0.000,4,0.000,0.129,3145,2578,1878,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12975,0.77,267.0,839.0,10.8,626,12983,0.00,2.00,0.00,0.000,6,0.000,0.145,3152,1588,1878,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13284,0.77,267.0,806.1,9.5,637,13292,0.00,1.92,0.00,0.000,4,0.000,0.129,3152,2570,1877,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13364,0.77,267.0,800.4,9.3,639,13373,0.00,1.98,0.00,0.000,6,0.000,0.144,3160,1593,1877,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13674,0.77,267.0,772.9,8.0,650,13681,0.00,1.92,0.00,0.000,4,0.000,0.128,3159,2573,1877,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13783,0.77,267.0,765.7,7.9,653,13791,0.00,1.95,0.00,0.000,6,0.000,0.144,3166,1614,1876,0,0,0,0,0,0,28.83,14.07,28.83
$GC,14096,0.77,267.0,740.5,7.8,664,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1614,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14394,0.77,267.0,714.9,8.5,674,14401,0.00,1.90,0.00,0.000,4,0.000,0.127,3166,2575,1875,0,0,0,0,0,0,28.83,14.14,28.83
$GC,14455,0.77,267.0,709.7,8.6,676,14462,0.08,1.95,0.00,0.000,6,0.262,0.145,3146,1618,1875,0,0,0,0,0,0,13.87,13.96,28.83
$GC,14787,0.78,272.0,685.0,7.0,687,14792,0.00,1.83,0.00,0.000,4,0.000,0.116,3145,2576,1874,0,0,0,0,0,0,28.83,14.15,28.83
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$STATE,23042,end climb,SURFACE_DEPTH_REACHED
$STATE,23042,begin surface coast
$FINISH,1.5,1.008038
$STATE,23076,end surface coast,CONTROL_FINISHED_OK
$STATE,23076,begin surface
$SM_CCo,23100,25.50,0.127,0,0,1560,350.04
$SM_GC,2.58,8.82,0.52,25.50,0.072,0.152,0.127,140,1523,1560,-8.53,0.54,350.04,0,0,0,0,0,0,14.35,14.09,14.27
$IRIDIUM_FIX,2418.11,-3745.23,260113,151506
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.95
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,5
$SC_FREEKB,7602592
$TM_FREEKB,539386207
$24V_AH,13.0,186.587
$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,23.000,152.275,466.025,25.500,0.000,0.000,0.000,326.650,1.250,0.000,18.666,3240.519,16460.793,860.062,2519.396,663.667,0.000,2328.173,0.000,2118.422,0.000,0.541,0.000
$DEVICE_MAMPS,341.190,153.765,1829.115,126.990,0.000,0.000,0.000,172.125,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23127.000,5817.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.865,21.818,0.000,0.000
$MEM,344920
$DATA_FILE_SIZE,43282,1155
$CAP_FILE_SIZE,234129,0
$CFSIZE,260034560,190234624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,358.1,1
$GPS,270113,045634,2428.076,-3744.232,24,0.9,24,-13.9