version: 66.11
glider: 190
mission: 6
dive: 452
start: 1 30 113 18 36 18
data:
$ID,190
$MISSION,6
$DIVE,452
$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,-13484.392
$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,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,1
$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
$GPS1,300113,182535,2420.490,-3746.351,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-64.6
$GPS2,300113,183547,2420.511,-3746.339,18,1.2,19,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,C_NW
$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,304.6,36331,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-10.65,0.000,2,0.000,0.000,138,1523,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.3,0.0,1,154,11.05,2.12,-93.55,0.000,4,0.340,0.157,2618,456,3626,0,0,0,0,0,0,14.12,14.14,14.69
$GC,287,-0.84,-155.7,16.8,-10.3,26,295,0.00,1.92,0.00,0.000,6,0.000,0.080,2618,1518,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,597,-0.88,-155.7,46.5,-9.7,57,606,0.00,2.08,0.00,0.000,4,0.000,0.135,2618,463,3626,0,0,0,0,0,0,28.83,13.96,28.83
$GC,668,-0.88,-155.7,53.5,-10.0,64,675,0.00,1.88,0.00,0.000,6,0.000,0.078,2618,1501,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,978,-0.91,-155.7,82.2,-8.8,95,985,0.00,2.00,0.00,0.000,4,0.000,0.135,2619,459,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1099,-0.94,-155.7,93.2,-9.1,107,1106,0.00,1.83,0.00,0.000,6,0.000,0.079,2619,1483,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1407,-0.98,-155.7,118.2,-8.2,138,1415,0.12,2.00,0.00,0.000,4,0.135,0.133,2563,462,3626,0,0,0,0,0,0,14.57,14.04,28.83
$GC,1510,-0.94,-155.7,128.4,-10.8,148,1518,0.08,1.80,0.00,0.000,6,0.239,0.083,2591,1450,3626,0,0,0,0,0,0,13.98,14.27,28.83
$GC,1819,-0.96,-155.7,158.1,-9.7,179,1826,0.00,2.08,0.00,0.000,4,0.000,0.099,2591,2581,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1949,-0.99,-155.7,170.5,-9.4,192,1956,0.00,2.15,0.00,0.000,6,0.000,0.112,2591,1456,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2257,-1.02,-155.7,201.0,-10.1,223,2265,0.00,1.95,0.00,0.000,4,0.000,0.135,2590,459,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2357,-1.02,-155.7,212.1,-11.4,233,2366,0.00,1.77,0.00,0.000,6,0.000,0.076,2591,1452,3628,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2668,-1.05,-155.7,243.4,-9.8,264,2675,0.12,0.00,0.00,0.000,6,0.136,0.000,2535,1454,3627,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2979,-1.05,-155.7,274.0,-9.7,279,2984,0.00,1.90,0.00,0.000,4,0.000,0.132,2535,459,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3037,-1.03,-155.7,280.1,-9.9,281,3044,0.00,1.77,0.00,0.000,6,0.000,0.083,2529,1441,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3371,-1.00,-155.7,310.8,-9.2,292,3377,0.12,2.08,0.00,0.000,4,0.264,0.103,2555,2574,3626,0,0,0,0,0,0,14.16,14.24,28.83
$GC,3516,-1.00,-155.7,323.7,-8.6,297,3525,0.00,2.15,0.00,0.000,6,0.000,0.116,2555,1457,3624,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3848,-1.00,-155.7,352.7,-8.8,308,3853,0.00,1.92,0.00,0.000,4,0.000,0.135,2555,460,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3926,-1.00,-155.7,358.2,-8.9,310,3934,0.00,1.80,0.00,0.000,6,0.000,0.082,2553,1455,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4238,-1.00,-155.7,388.7,-9.3,321,4244,0.00,2.05,0.00,0.000,4,0.000,0.109,2552,2575,3624,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4296,-1.00,-155.7,394.2,-9.3,323,4303,0.00,2.17,0.00,0.000,6,0.000,0.118,2552,1451,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4627,-1.00,-155.7,424.0,-8.8,334,4633,0.00,1.95,0.00,0.000,4,0.000,0.138,2553,461,3623,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4687,-1.00,-155.7,429.6,-9.1,336,4693,0.00,1.80,0.00,0.000,6,0.000,0.085,2552,1455,3623,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5016,-1.00,-155.7,457.9,-8.5,347,5023,0.00,1.98,0.00,0.000,4,0.000,0.139,2553,457,3622,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5169,-0.98,-155.7,472.7,-10.0,352,5175,0.00,1.77,0.00,0.000,6,0.000,0.086,2552,1438,3622,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5496,-0.98,-155.7,505.0,-10.1,363,5503,0.00,1.92,0.00,0.000,4,0.000,0.138,2552,463,3621,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5576,-0.98,-155.7,511.3,-10.2,365,5584,0.00,1.73,0.00,0.000,6,0.000,0.086,2552,1415,3620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5887,-0.98,-155.7,543.9,-9.7,376,5893,0.00,1.90,0.00,0.000,4,0.000,0.140,2553,461,3619,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5926,-0.98,-155.7,546.8,-9.6,377,5933,0.00,1.73,0.00,0.000,6,0.000,0.086,2552,1402,3619,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6249,-0.98,-155.7,576.4,-8.5,388,6254,0.00,1.88,0.00,0.000,4,0.000,0.140,2552,455,3618,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6375,-0.98,-155.7,586.7,-8.7,392,6379,0.00,1.70,0.00,0.000,6,0.000,0.087,2552,1377,3617,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6689,-0.98,-155.7,612.8,-8.4,403,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1377,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6988,-0.98,-155.7,639.5,-9.3,413,6994,0.00,1.83,0.00,0.000,4,0.000,0.142,2552,462,3614,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7087,-0.98,-155.7,648.6,-10.0,416,7094,0.00,1.67,0.00,0.000,6,0.000,0.088,2557,1371,3614,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7409,-0.98,-155.7,681.1,-9.8,427,7414,0.00,2.28,0.00,0.000,4,0.000,0.116,2552,2573,3612,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7447,-0.98,-155.7,684.1,-9.8,428,7454,0.00,2.38,0.00,0.000,6,0.000,0.125,2552,1373,3613,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7769,-0.98,-155.7,715.0,-9.3,439,7774,0.00,1.83,0.00,0.000,4,0.000,0.145,2552,450,3611,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7888,-0.98,-155.7,726.4,-9.6,443,7895,0.00,1.65,0.00,0.000,6,0.000,0.090,2552,1354,3611,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8219,-0.98,-155.7,754.3,-8.3,454,8224,0.00,2.28,0.00,0.000,4,0.000,0.109,2552,2579,3610,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8266,-0.98,-155.7,756.9,-8.4,455,8275,0.00,2.40,0.00,0.000,6,0.000,0.118,2552,1358,3609,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8577,-0.98,-155.7,786.3,-9.5,466,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1358,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8879,-1.00,-155.7,816.7,-10.3,476,8886,0.00,2.30,0.00,0.000,4,0.000,0.109,2549,2573,3606,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8969,-1.03,-155.7,825.8,-10.1,479,8974,0.00,2.33,0.00,0.000,6,0.000,0.116,2549,1373,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9302,-1.05,-155.7,859.0,-9.7,490,9307,0.00,1.80,0.00,0.000,4,0.000,0.137,2549,459,3605,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9357,-1.05,-155.7,865.0,-9.8,492,9365,0.00,1.70,0.00,0.000,6,0.000,0.083,2549,1385,3605,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9688,-1.05,-155.7,895.9,-9.2,503,9694,0.00,2.25,0.00,0.000,4,0.000,0.109,2549,2566,3604,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9788,-1.07,-155.7,904.0,-9.0,506,9794,0.00,2.35,0.00,0.000,6,0.000,0.127,2549,1390,3604,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10110,-1.09,-155.7,933.3,-8.7,517,10116,0.00,1.85,0.00,0.000,4,0.000,0.142,2549,460,3602,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10229,-1.09,-155.7,944.7,-9.5,521,10234,0.00,1.70,0.00,0.000,6,0.000,0.093,2549,1371,3602,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10560,-1.12,-155.7,973.0,-8.7,532,10567,0.00,2.30,0.00,0.000,4,0.000,0.116,2549,2574,3599,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10628,-1.14,-155.7,978.0,-8.5,534,10635,0.00,2.38,0.00,0.000,6,0.000,0.127,2549,1387,3599,0,0,0,0,0,0,28.83,13.75,28.83
$STATE,10765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10765,begin apogee
$GC,10773,-0.23,0.0,991.1,-8.8,539,10935,0.93,0.00,154.68,1.847,4,0.199,0.000,2808,1516,2986,0,0,0,0,0,0,13.77,28.83,13.00
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10944,0.84,155.7,1000.9,0.0,544,11116,1.10,2.03,161.68,1.825,4,0.111,0.118,3164,2578,2351,0,0,0,0,0,0,14.14,14.11,13.06
$GC,11341,0.82,201.6,994.0,5.7,558,11397,0.00,2.05,49.15,1.797,6,0.000,0.132,3172,1521,2163,0,0,0,0,0,0,28.83,14.26,13.22
$GC,11698,0.80,228.6,971.1,6.3,570,11735,0.00,2.17,28.42,1.766,4,0.000,0.161,3179,455,2050,0,0,0,0,0,0,28.83,14.27,13.33
$GC,11778,0.77,243.9,967.0,6.7,572,11801,0.12,1.98,17.52,1.709,6,0.281,0.100,3146,1512,1995,0,0,0,0,0,0,14.07,14.28,13.29
$GC,12111,0.77,243.9,941.9,7.2,584,12117,0.00,2.05,0.00,0.000,4,0.000,0.116,3146,2584,1979,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12250,0.77,243.9,932.8,7.6,588,12258,0.00,2.10,0.00,0.000,6,0.000,0.142,3154,1533,1979,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12560,0.77,243.9,906.2,8.2,599,12567,0.00,2.05,0.00,0.000,4,0.000,0.127,3153,2580,1977,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12630,0.77,243.9,901.2,8.2,601,12637,0.00,2.10,0.00,0.000,6,0.000,0.147,3160,1538,1977,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12953,0.77,243.9,876.0,7.3,612,12958,0.00,2.03,0.00,0.000,4,0.000,0.127,3161,2585,1976,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13031,0.77,244.0,871.9,7.2,614,13039,0.10,2.08,0.00,0.000,6,0.261,0.144,3141,1557,1975,0,0,0,0,0,0,13.93,14.08,28.83
$GC,13343,0.78,270.5,850.9,6.3,625,13377,0.00,2.00,28.05,1.727,4,0.000,0.129,3142,2582,1880,0,0,0,0,0,0,28.83,14.39,13.39
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$STATE,23218,end climb,SURFACE_DEPTH_REACHED
$STATE,23218,begin surface coast
$FINISH,1.4,1.025609
$STATE,23249,end surface coast,CONTROL_FINISHED_OK
$STATE,23249,begin surface
$SM_CCo,23272,17.62,0.128,0,0,1561,350.04
$SM_GC,2.27,8.80,0.40,17.62,0.072,0.151,0.128,139,1511,1561,-8.53,0.14,350.04,0,0,0,0,0,0,14.35,14.15,14.26
$IRIDIUM_FIX,2411.01,-3747.52,300113,121226
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.74
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,5
$SC_FREEKB,7597216
$24V_AH,13.0,192.472
$10V_AH,11.9,0.000
$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,23.000,202.250,486.425,17.625,0.000,0.000,0.000,335.275,1.250,0.000,20.014,3366.639,16255.687,927.668,2653.722,689.262,0.000,2495.531,0.000,2257.828,0.000,0.540,0.000
$DEVICE_MAMPS,340.425,166.770,1846.710,127.755,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.016,0.000,0.000,0.000
$MEM,344972
$DATA_FILE_SIZE,43348,1151
$CAP_FILE_SIZE,245135,0
$CFSIZE,260034560,188678144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,  4.2,1
$GPS,310113,010552,2421.217,-3747.822,39,0.8,39,-14.0