version: 66.11
glider: 190
mission: 6
dive: 439
start: 1 27 113 5 7 43
data:
$ID,190
$MISSION,6
$DIVE,439
$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,-13467.94
$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,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
$GPS1,270113,045634,2428.076,-3744.232,24,0.9,24,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-66.0
$GPS2,270113,050711,2428.135,-3744.214,19,0.8,19,-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,195.8,14989,-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,-155.7,0.0,0.0,0,36,0.00,0.00,-10.75,0.000,2,0.000,0.000,139,1520,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.5,0.0,1,146,11.40,2.12,-85.45,0.000,4,0.360,0.168,2612,463,3625,0,0,0,0,0,0,14.11,14.09,14.62
$GC,297,-0.84,-155.7,18.0,-10.3,27,305,0.00,1.95,0.00,0.000,6,0.000,0.089,2606,1517,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,607,-0.84,-155.7,51.1,-9.0,58,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1517,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,917,-0.86,-155.7,79.2,-10.1,89,926,0.00,2.10,0.00,0.000,4,0.000,0.141,2606,465,3626,0,0,0,0,0,0,28.83,13.96,28.83
$GC,977,-0.86,-155.7,85.5,-10.7,95,985,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1512,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1288,-0.89,-155.7,116.5,-9.3,126,1295,0.00,2.08,0.00,0.000,4,0.000,0.140,2605,459,3626,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1346,-0.89,-155.7,121.8,-9.1,132,1355,0.00,1.95,0.00,0.000,6,0.000,0.086,2605,1515,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1657,-0.92,-155.7,147.3,-8.2,163,1665,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,456,3626,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1767,-0.92,-155.7,157.8,-9.9,174,1775,0.00,1.88,0.00,0.000,6,0.000,0.083,2605,1486,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2077,-0.96,-155.7,189.7,-10.5,205,2086,0.00,2.05,0.00,0.000,4,0.000,0.136,2605,456,3627,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2230,-0.96,-155.7,204.8,-9.9,220,2236,0.00,1.83,0.00,0.000,6,0.000,0.081,2605,1470,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2537,-1.00,-155.7,230.5,-7.7,251,2545,0.12,2.00,0.00,0.000,4,0.135,0.135,2549,457,3627,0,0,0,0,0,0,14.47,13.99,28.83
$GC,2617,-0.97,-155.7,237.7,-9.3,259,2625,0.08,1.80,0.00,0.000,6,0.250,0.083,2570,1445,3626,0,0,0,0,0,0,13.91,14.18,28.83
$GC,2946,-0.97,-155.7,265.6,-8.7,280,2953,0.00,1.92,0.00,0.000,4,0.000,0.136,2570,460,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3008,-0.97,-155.7,271.3,-9.1,282,3013,0.00,1.75,0.00,0.000,6,0.000,0.084,2566,1441,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3336,-0.97,-155.7,303.7,-10.1,293,3343,0.00,1.92,0.00,0.000,4,0.000,0.135,2566,461,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3375,-0.97,-155.7,306.7,-10.1,294,3379,0.00,1.75,0.00,0.000,6,0.000,0.083,2564,1426,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3690,-0.97,-155.7,337.0,-8.9,305,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1426,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-0.97,-155.7,361.8,-8.1,315,3994,0.00,1.92,0.00,0.000,4,0.000,0.135,2564,455,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4108,-0.97,-155.7,372.6,-9.1,319,4115,0.00,1.75,0.00,0.000,6,0.000,0.083,2557,1421,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4437,-0.97,-155.7,403.7,-9.8,330,4445,0.00,2.15,0.00,0.000,4,0.000,0.109,2553,2568,3623,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4476,-0.97,-155.7,406.8,-9.9,331,4485,0.00,2.25,0.00,0.000,6,0.000,0.120,2553,1416,3624,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4799,-0.97,-155.7,441.0,-10.2,342,4805,0.00,1.90,0.00,0.000,4,0.000,0.139,2553,444,3623,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4937,-0.97,-155.7,453.6,-10.5,346,4945,0.00,1.77,0.00,0.000,6,0.000,0.090,2553,1404,3622,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5249,-0.97,-155.7,484.8,-9.0,357,5255,0.00,2.20,0.00,0.000,4,0.000,0.111,2550,2581,3621,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5327,-0.97,-155.7,489.8,-8.7,359,5336,0.00,2.28,0.00,0.000,6,0.000,0.116,2550,1409,3620,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5638,-0.97,-155.7,516.5,-8.0,370,5645,0.00,1.85,0.00,0.000,4,0.000,0.130,2550,457,3620,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5758,-0.97,-155.7,527.1,-8.8,374,5766,0.05,1.70,0.00,0.000,6,0.255,0.083,2565,1399,3620,0,0,0,0,0,0,14.02,14.26,28.83
$GC,6093,-0.99,-155.7,556.6,-9.4,385,6098,0.00,1.83,0.00,0.000,4,0.000,0.140,2565,458,3618,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6150,-0.99,-155.7,562.6,-9.6,387,6155,0.00,1.70,0.00,0.000,6,0.000,0.087,2564,1396,3619,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6481,-1.01,-155.7,595.0,-9.7,398,6487,0.00,2.22,0.00,0.000,4,0.000,0.112,2561,2576,3617,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6509,-1.04,-155.7,597.8,-9.5,399,6515,0.00,2.30,0.00,0.000,6,0.000,0.123,2560,1387,3617,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6840,-1.06,-155.7,629.1,-9.2,410,6847,0.00,1.88,0.00,0.000,4,0.000,0.147,2560,457,3616,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6906,-1.06,-155.7,634.8,-9.2,412,6910,0.00,1.73,0.00,0.000,6,0.000,0.090,2555,1392,3615,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7221,-1.06,-155.7,663.9,-8.9,423,7226,0.00,1.88,0.00,0.000,4,0.000,0.145,2555,457,3614,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7378,-1.06,-155.7,677.8,-9.3,428,7382,0.00,1.67,0.00,0.000,6,0.000,0.091,2557,1361,3614,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7692,-1.06,-155.7,706.6,-9.1,439,7698,0.00,1.80,0.00,0.000,4,0.000,0.148,2553,459,3613,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7819,-1.06,-155.7,718.2,-9.7,443,7823,0.00,1.65,0.00,0.000,6,0.000,0.092,2553,1348,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8133,-1.06,-155.7,748.2,-9.4,454,8138,0.00,1.77,0.00,0.000,4,0.000,0.148,2553,459,3611,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8281,-1.06,-155.7,763.0,-10.0,459,8289,0.00,1.60,0.00,0.000,6,0.000,0.091,2552,1318,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8616,-1.08,-155.7,794.6,-9.7,470,8622,0.00,1.73,0.00,0.000,4,0.000,0.147,2553,459,3609,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8720,-1.08,-155.7,803.6,-9.9,473,8724,0.00,1.58,0.00,0.000,6,0.000,0.091,2553,1305,3609,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9022,-1.08,-155.7,833.2,-8.9,483,9028,0.00,2.45,0.00,0.000,4,0.000,0.117,2553,2575,3607,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9062,-1.10,-155.7,835.9,-8.9,484,9068,0.00,2.50,0.00,0.000,6,0.000,0.116,2553,1297,3607,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9382,-1.10,-155.7,863.6,-8.4,495,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1296,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9683,-1.12,-155.7,891.5,-9.6,505,9689,0.00,2.45,0.00,0.000,4,0.000,0.109,2553,2578,3604,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9751,-1.14,-155.7,897.3,-9.7,507,9758,0.00,2.55,0.00,0.000,6,0.000,0.125,2553,1296,3604,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10076,-1.17,-155.7,931.3,-10.3,518,10078,0.12,0.00,0.00,0.000,6,0.160,0.000,2512,1295,3603,0,0,0,0,0,0,14.42,28.83,28.83
$GC,10372,-1.17,-155.7,964.0,-10.9,528,10378,0.00,2.50,0.00,0.000,4,0.000,0.115,2510,2574,3601,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10461,-1.17,-155.7,973.5,-10.6,531,10468,0.00,2.55,0.00,0.000,6,0.000,0.133,2510,1314,3601,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,10638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10638,begin apogee
$GC,10647,-0.23,0.0,992.5,-10.5,537,10873,1.12,0.00,217.40,1.525,4,0.237,0.000,2804,1516,2991,0,0,0,0,0,0,13.66,28.83,13.21
$STATE,10874,end apogee,CONTROL_FINISHED_OK
$STATE,10874,begin climb
$GC,10879,0.84,155.7,1006.0,0.0,544,11050,1.10,2.08,161.50,1.807,4,0.119,0.125,3156,2584,2352,0,0,0,0,0,0,14.14,14.10,13.08
$GC,11285,0.80,169.4,994.8,6.7,558,11303,0.00,2.08,14.18,1.681,6,0.000,0.139,3164,1520,2298,0,0,0,0,0,0,28.83,14.26,13.31
$GC,11623,0.76,176.9,970.2,6.9,570,11631,0.00,2.08,2.38,0.539,4,0.000,0.156,3172,460,2268,0,0,0,0,0,0,28.83,14.31,13.08
$GC,11862,0.71,176.9,952.4,7.6,578,11871,0.17,1.95,1.50,0.168,6,0.271,0.095,3126,1523,2266,0,0,0,0,0,0,14.02,14.34,14.18
$GC,12194,0.73,210.2,931.6,6.1,589,12242,0.00,2.08,43.08,1.778,4,0.000,0.119,3126,2584,2128,0,0,0,0,0,0,28.83,14.30,13.31
$GC,12393,0.73,210.2,917.7,7.2,595,12399,0.00,2.10,0.00,0.000,6,0.000,0.143,3133,1540,2119,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12726,0.73,224.4,895.5,6.7,606,12751,0.00,2.05,15.05,1.706,4,0.000,0.130,3133,2581,2068,0,0,0,0,0,0,28.83,14.42,13.35
$GC,12884,0.74,234.4,885.1,6.9,611,12901,0.00,2.00,12.07,1.664,6,0.000,0.134,3140,1560,2032,0,0,0,0,0,0,28.83,14.16,13.37
$GC,13206,0.74,234.4,861.7,7.4,622,13211,0.00,1.92,0.00,0.000,4,0.000,0.122,3141,2575,2020,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13281,0.74,234.4,857.0,7.6,624,13289,0.00,2.05,0.00,0.000,6,0.000,0.145,3148,1566,2020,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13594,0.74,234.4,830.3,8.1,635,13599,0.00,2.28,0.00,0.000,4,0.000,0.174,3156,459,2021,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13622,0.74,234.4,827.8,8.1,636,13630,0.00,2.10,0.00,0.000,6,0.000,0.100,3161,1576,2020,0,0,0,0,0,0,28.83,14.32,28.83
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$STATE,23813,end climb,SURFACE_DEPTH_REACHED
$STATE,23813,begin surface coast
$FINISH,1.5,1.013809
$STATE,23843,end surface coast,CONTROL_FINISHED_OK
$STATE,23843,begin surface
$SM_CCo,23871,21.38,0.129,0,0,1562,350.04
$SM_GC,2.52,8.85,1.92,21.38,0.070,0.070,0.129,137,1537,1562,-8.55,-0.34,350.04,0,0,0,0,0,0,14.33,14.32,14.25
$IRIDIUM_FIX,2418.11,-3743.78,260113,222236
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.87
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7602208
$TM_FREEKB,141725087
$24V_AH,13.1,187.020
$10V_AH,12.4,0.000
$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,23.600,208.575,540.375,21.375,0.000,0.000,0.000,332.200,0.500,0.000,19.666,3411.782,16725.373,963.091,2681.577,735.964,0.000,2537.616,0.000,2274.121,0.000,0.540,0.000
$DEVICE_MAMPS,359.550,174.420,1806.930,128.520,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23894.000,5708.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.747,21.823,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,43319,1173
$CAP_FILE_SIZE,250569,0
$CFSIZE,260034560,190107648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.084,354.3,1
$GPS,270113,114722,2427.602,-3744.125,37,1.1,37,-13.9