version: 66.11
glider: 190
mission: 6
dive: 442
start: 1 28 113 1 10 4
data:
$ID,190
$MISSION,6
$DIVE,442
$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,-13471.716
$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,11
$R_STBD_OVSHOOT,19
$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
$GPS1,280113,005835,2426.646,-3744.103,31,1.0,31,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-67.2
$GPS2,280113,010931,2426.717,-3744.093,17,1.2,17,-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,196.0,12624,-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,20,begin dive
$GC,23,-0.84,-155.7,0.0,0.0,0,36,0.00,0.00,-10.62,0.000,2,0.000,0.000,137,1509,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.5,0.0,1,145,10.90,2.12,-82.93,0.000,4,0.335,0.163,2617,459,3629,0,0,0,0,0,0,14.12,14.09,14.63
$GC,196,-0.84,-155.7,9.3,-10.9,17,206,0.00,1.95,0.00,0.000,6,0.000,0.083,2615,1518,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,507,-0.86,-155.7,39.5,-8.9,48,515,0.00,2.00,0.00,0.000,4,0.000,0.108,2608,2577,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,569,-0.90,-155.7,45.3,-9.7,54,575,0.00,2.05,0.00,0.000,6,0.000,0.119,2608,1517,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,878,-0.93,-155.7,76.4,-10.1,85,885,0.00,2.08,0.00,0.000,4,0.000,0.138,2608,456,3626,0,0,0,0,0,0,28.83,13.98,28.83
$GC,976,-0.93,-155.7,87.4,-11.5,95,985,0.00,1.95,0.00,0.000,6,0.000,0.081,2605,1519,3624,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1288,-0.96,-155.7,120.4,-9.7,126,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1518,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.99,-155.7,146.4,-7.2,157,1606,0.12,0.00,0.00,0.000,6,0.140,0.000,2551,1520,3626,0,0,0,0,0,0,14.42,28.83,28.83
$GC,1908,-0.99,-155.7,170.0,-8.2,188,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1520,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-0.99,-155.7,200.5,-11.3,219,2225,0.00,2.08,0.00,0.000,4,0.000,0.135,2551,459,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2339,-0.96,-155.7,215.2,-12.5,231,2347,0.12,1.90,0.00,0.000,6,0.264,0.080,2577,1517,3627,0,0,0,0,0,0,14.00,14.24,28.83
$GC,2650,-0.98,-155.7,249.8,-11.2,262,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1517,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,-1.00,-155.7,281.8,-9.8,273,2964,0.00,2.08,0.00,0.000,4,0.000,0.136,2577,462,3626,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2995,-1.00,-155.7,284.7,-9.7,274,3004,0.00,1.90,0.00,0.000,6,0.000,0.080,2571,1502,3627,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3321,-1.02,-155.7,310.5,-6.9,285,3327,0.00,2.05,0.00,0.000,4,0.000,0.138,2571,456,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3366,-1.02,-155.7,312.6,-6.9,286,3375,0.00,1.90,0.00,0.000,6,0.000,0.083,2565,1511,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3680,-1.02,-155.7,335.3,-7.1,297,3686,0.00,2.05,0.00,0.000,4,0.000,0.138,2566,460,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3707,-1.02,-155.7,337.5,-7.2,298,3713,0.00,1.85,0.00,0.000,6,0.000,0.083,2561,1491,3625,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4036,-1.02,-155.7,365.2,-9.1,309,4045,0.00,2.00,0.00,0.000,4,0.000,0.106,2554,2569,3624,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4086,-1.02,-155.7,368.1,-9.3,310,4095,0.00,2.10,0.00,0.000,6,0.000,0.116,2553,1483,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4398,-1.02,-155.7,403.9,-11.3,321,4404,0.00,2.00,0.00,0.000,4,0.000,0.138,2554,449,3623,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4465,-1.02,-155.7,411.0,-11.6,323,4472,0.00,1.90,0.00,0.000,6,0.000,0.089,2558,1482,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4787,-1.02,-155.7,448.1,-11.0,334,4793,0.00,2.05,0.00,0.000,4,0.000,0.108,2550,2577,3623,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4855,-1.02,-155.7,454.5,-10.8,336,4862,0.00,2.12,0.00,0.000,6,0.000,0.115,2550,1483,3622,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5177,-1.02,-155.7,487.8,-9.7,347,5183,0.00,1.98,0.00,0.000,4,0.000,0.132,2550,465,3621,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5256,-1.02,-155.7,493.8,-9.7,349,5265,0.00,1.83,0.00,0.000,6,0.000,0.081,2550,1480,3621,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5567,-1.02,-155.7,524.1,-9.2,360,5573,0.00,2.08,0.00,0.000,4,0.000,0.111,2549,2577,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5607,-1.02,-155.7,527.0,-9.3,361,5613,0.00,2.12,0.00,0.000,6,0.000,0.120,2549,1486,3620,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5927,-1.02,-155.7,560.0,-10.2,372,5933,0.00,1.98,0.00,0.000,4,0.000,0.129,2549,467,3619,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5956,-1.02,-155.7,563.3,-10.4,373,5965,0.00,1.83,0.00,0.000,6,0.000,0.077,2549,1482,3622,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6291,-1.02,-155.7,596.5,-9.8,384,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1482,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6586,-1.02,-155.7,623.8,-8.8,394,6593,0.00,2.00,0.00,0.000,4,0.000,0.132,2549,461,3616,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6696,-1.02,-155.7,632.3,-9.2,397,6705,0.00,1.83,0.00,0.000,6,0.000,0.080,2549,1476,3616,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7007,-1.02,-155.7,662.2,-9.4,408,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1476,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-1.02,-155.7,692.8,-10.7,418,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1476,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7608,-1.02,-155.7,725.9,-10.8,428,7613,0.00,2.00,0.00,0.000,4,0.000,0.137,2549,460,3612,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7655,-1.02,-155.7,729.2,-10.9,429,7664,0.00,1.85,0.00,0.000,6,0.000,0.086,2549,1465,3613,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7968,-1.02,-155.7,763.0,-9.9,440,7973,0.00,2.10,0.00,0.000,4,0.000,0.110,2549,2577,3612,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8028,-1.04,-155.7,768.6,-9.5,442,8033,0.00,2.15,0.00,0.000,6,0.000,0.119,2549,1456,3611,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8356,-1.04,-155.7,798.3,-8.9,453,8364,0.00,1.95,0.00,0.000,4,0.000,0.136,2549,462,3609,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8417,-1.04,-155.7,804.1,-9.2,455,8423,0.00,1.83,0.00,0.000,6,0.000,0.087,2549,1459,3609,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8746,-1.04,-155.7,834.3,-9.3,466,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1458,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9048,-1.04,-155.7,863.0,-9.7,476,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1458,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9347,-1.06,-155.7,892.2,-9.6,486,9353,0.00,2.15,0.00,0.000,4,0.000,0.112,2549,2578,3605,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9386,-1.08,-155.7,895.2,-9.6,487,9393,0.00,2.22,0.00,0.000,6,0.000,0.117,2549,1449,3605,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9708,-1.08,-155.7,927.4,-9.9,498,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1449,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10007,-1.11,-155.7,956.5,-9.7,508,10013,0.00,2.20,0.00,0.000,4,0.000,0.117,2549,2573,3603,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10068,-1.13,-155.7,962.2,-9.6,510,10073,0.00,2.17,0.00,0.000,6,0.000,0.127,2549,1460,3603,0,0,0,0,0,0,28.83,13.92,28.83
$STATE,10396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10396,begin apogee
$GC,10404,-0.23,0.0,992.3,-9.1,521,10576,0.93,0.00,166.80,1.748,4,0.203,0.000,2807,1521,2987,0,0,0,0,0,0,13.73,28.83,13.05
$STATE,10581,end apogee,CONTROL_FINISHED_OK
$STATE,10581,begin climb
$GC,10584,0.84,155.7,1003.5,0.0,527,10756,1.10,2.05,160.77,1.807,4,0.113,0.119,3162,2578,2351,0,0,0,0,0,0,14.14,14.12,13.09
$GC,10970,0.79,156.8,991.9,7.1,540,10977,0.00,2.05,0.00,0.000,6,0.000,0.135,3170,1524,2339,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11300,0.75,174.9,969.3,6.6,551,11327,0.12,2.08,19.83,1.722,4,0.317,0.128,3140,2579,2270,0,0,0,0,0,0,14.12,14.42,13.38
$GC,11378,0.72,194.1,965.3,6.6,553,11404,0.00,2.05,22.08,1.720,6,0.000,0.134,3148,1524,2197,0,0,0,0,0,0,28.83,14.30,13.35
$GC,11721,0.70,200.5,939.5,7.0,565,11727,0.12,2.08,1.65,0.168,4,0.315,0.125,3117,2576,2170,0,0,0,0,0,0,14.12,14.32,14.27
$GC,11795,0.71,213.5,935.7,6.8,567,11824,0.00,2.08,17.83,1.642,6,0.000,0.136,3125,1537,2115,0,0,0,0,1,0,28.83,14.25,13.40
$GC,12141,0.73,255.3,913.3,5.9,579,12196,0.00,2.08,49.50,1.759,4,0.000,0.123,3125,2584,1943,0,0,0,0,0,0,28.83,14.25,13.28
$GC,12346,0.74,273.8,900.0,6.6,586,12377,0.00,2.03,20.40,1.698,6,0.000,0.136,3132,1566,1865,0,0,0,0,0,0,28.83,14.18,13.32
$GC,12680,0.74,273.8,877.1,7.2,597,12685,0.00,1.92,0.00,0.000,4,0.000,0.123,3132,2580,1856,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12889,0.74,273.8,859.4,8.8,604,12895,0.00,1.98,0.00,0.000,6,0.000,0.138,3139,1580,1856,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13220,0.74,273.8,826.0,10.7,615,13226,0.00,1.90,0.00,0.000,4,0.000,0.122,3139,2584,1854,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13355,0.74,273.8,813.0,10.9,619,13364,0.00,1.95,0.00,0.000,6,0.000,0.137,3146,1608,1852,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13667,0.74,273.8,777.7,10.5,630,13673,0.00,1.88,0.00,0.000,4,0.000,0.123,3146,2568,1854,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13835,0.74,273.8,762.8,9.9,635,13844,0.00,1.88,0.00,0.000,6,0.000,0.134,3153,1636,1853,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,22748,end climb,SURFACE_DEPTH_REACHED
$STATE,22749,begin surface coast
$FINISH,1.4,1.011517
$STATE,22781,end surface coast,CONTROL_FINISHED_OK
$STATE,22781,begin surface
$SM_CCo,22804,23.33,0.126,0,0,1561,350.04
$SM_GC,2.26,8.90,0.57,23.33,0.076,0.145,0.126,142,1514,1561,-8.53,0.17,350.04,0,0,0,0,0,0,14.31,14.08,14.21
$IRIDIUM_FIX,2418.11,-3745.23,270113,181823
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.11
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7601056
$TM_FREEKB,919581171
$24V_AH,12.7,188.302
$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,22.800,182.675,528.050,23.325,0.000,0.000,0.000,349.275,0.250,0.000,17.719,3240.780,16039.497,912.392,2564.958,711.884,0.000,2432.912,0.000,2144.747,0.000,0.541,0.000
$DEVICE_MAMPS,335.070,162.945,1806.930,126.225,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22822.000,5429.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.775,21.841,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,40022,1119
$CAP_FILE_SIZE,241550,0
$CFSIZE,260034560,189784064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.079,351.9,1
$GPS,280113,073159,2426.131,-3744.025,39,0.7,39,-13.9