version: 66.11
glider: 190
mission: 6
dive: 486
start: 2 9 113 0 44 25
data:
$ID,190
$MISSION,6
$DIVE,486
$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,1
$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,-13527.246
$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,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
$GPS1,090213,002628,2442.480,-3814.869,36,0.9,36,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-62.6
$GPS2,090213,004355,2442.558,-3814.935,22,1.3,22,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,167.0,40977,-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,-10.50,0.000,2,0.000,0.000,137,1534,1792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,144,11.05,2.10,-86.18,0.000,4,0.341,0.158,2613,459,3625,0,0,0,0,0,0,14.16,14.07,14.69
$GC,256,-0.84,-155.7,14.3,-10.5,23,263,0.00,1.92,0.00,0.000,6,0.000,0.080,2609,1516,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,566,-0.87,-155.7,45.1,-10.7,54,573,0.00,2.08,0.00,0.000,4,0.000,0.136,2609,458,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,656,-0.87,-155.7,54.5,-10.6,63,663,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1506,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,967,-0.90,-155.7,84.7,-9.4,94,974,0.00,2.05,0.00,0.000,4,0.000,0.136,2606,457,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1074,-0.90,-155.7,95.6,-9.7,105,1084,0.00,1.88,0.00,0.000,6,0.000,0.078,2606,1485,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1385,-0.93,-155.7,123.0,-8.7,136,1393,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,459,3626,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1554,-0.93,-155.7,139.4,-9.5,153,1564,0.00,1.83,0.00,0.000,6,0.000,0.076,2605,1461,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1866,-0.97,-155.7,168.2,-9.7,184,1873,0.00,1.95,0.00,0.000,4,0.000,0.132,2605,456,3627,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2046,-0.97,-155.7,186.7,-10.1,202,2053,0.00,1.67,0.00,0.000,6,0.000,0.076,2605,1419,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2356,-1.00,-155.7,215.8,-8.7,233,2365,0.12,1.85,0.00,0.000,4,0.135,0.131,2542,458,3626,0,0,0,0,0,0,14.52,14.05,28.83
$GC,2555,-0.96,-155.7,236.7,-10.2,253,2564,0.12,1.67,0.00,0.000,6,0.219,0.078,2575,1390,3626,0,0,0,0,0,0,13.93,14.23,28.83
$GC,2875,-0.98,-155.7,262.5,-7.9,275,2881,0.00,1.83,0.00,0.000,4,0.000,0.132,2576,460,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3035,-0.98,-155.7,275.8,-9.1,280,3041,0.00,1.62,0.00,0.000,6,0.000,0.076,2570,1373,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3355,-0.98,-155.7,308.0,-10.1,291,3361,0.00,1.77,0.00,0.000,4,0.000,0.131,2571,458,3630,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3505,-0.98,-155.7,323.8,-10.7,296,3511,0.00,1.58,0.00,0.000,6,0.000,0.077,2566,1342,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3836,-0.98,-155.7,354.3,-8.7,307,3841,0.00,1.73,0.00,0.000,4,0.000,0.133,2566,447,3626,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3954,-0.98,-155.7,364.9,-8.8,311,3961,0.00,1.58,0.00,0.000,6,0.000,0.079,2565,1323,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4286,-0.98,-155.7,390.2,-7.8,322,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1323,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4586,-0.98,-155.7,416.8,-9.2,332,4591,0.00,1.70,0.00,0.000,4,0.000,0.137,2565,459,3624,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4676,-0.98,-155.7,425.3,-9.4,335,4681,0.00,1.52,0.00,0.000,6,0.000,0.081,2565,1310,3623,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5006,-0.98,-155.7,454.4,-8.6,346,5011,0.00,2.35,0.00,0.000,4,0.000,0.104,2561,2573,3622,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5054,-1.00,-155.7,456.9,-8.5,347,5063,0.00,2.45,0.00,0.000,6,0.000,0.117,2561,1306,3622,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5366,-1.00,-155.7,485.1,-8.4,358,5371,0.00,1.67,0.00,0.000,4,0.000,0.142,2561,460,3621,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5426,-1.00,-155.7,490.7,-9.0,360,5431,0.00,1.55,0.00,0.000,6,0.000,0.084,2556,1318,3621,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5756,-1.00,-155.7,521.1,-9.6,371,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1319,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,-1.00,-155.7,550.9,-9.9,381,6062,0.00,1.73,0.00,0.000,4,0.000,0.138,2556,453,3619,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6224,-1.00,-155.7,566.5,-10.5,386,6233,0.00,1.58,0.00,0.000,6,0.000,0.084,2553,1313,3618,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6536,-1.00,-155.7,599.7,-10.0,397,6542,0.00,1.70,0.00,0.000,4,0.000,0.142,2552,459,3617,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6633,-1.00,-155.7,609.1,-10.4,400,6637,0.00,1.50,0.00,0.000,6,0.000,0.086,2553,1284,3617,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6947,-1.00,-155.7,639.3,-9.2,411,6952,0.00,1.65,0.00,0.000,4,0.000,0.144,2553,453,3615,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7084,-1.00,-155.7,650.8,-9.5,415,7088,0.00,1.48,0.00,0.000,6,0.000,0.085,2552,1262,3615,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7387,-1.00,-155.7,679.4,-8.9,425,7392,0.00,1.58,0.00,0.000,4,0.000,0.144,2553,456,3613,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7514,-1.00,-155.7,691.0,-9.7,429,7517,0.00,1.42,0.00,0.000,6,0.000,0.086,2552,1236,3613,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7829,-1.00,-155.7,720.8,-9.1,440,7835,0.00,1.58,0.00,0.000,4,0.000,0.145,2557,456,3612,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7956,-1.00,-155.7,732.5,-9.8,444,7960,0.00,1.40,0.00,0.000,6,0.000,0.085,2552,1220,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8272,-1.02,-155.7,760.9,-8.7,455,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1220,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8570,-1.02,-155.7,786.3,-8.4,465,8575,0.00,1.55,0.00,0.000,4,0.000,0.146,2552,457,3608,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8727,-1.02,-155.7,799.5,-8.9,470,8730,0.00,1.35,0.00,0.000,6,0.000,0.084,2552,1196,3608,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9044,-1.04,-155.7,828.1,-8.9,481,9049,0.00,1.52,0.00,0.000,4,0.000,0.151,2553,445,3607,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9078,-1.04,-155.7,830.7,-8.9,482,9081,0.00,1.38,0.00,0.000,6,0.000,0.090,2552,1190,3607,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9395,-1.07,-155.7,860.3,-9.2,493,9400,0.00,1.50,0.00,0.000,4,0.000,0.151,2552,459,3606,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9450,-1.07,-155.7,866.1,-9.4,495,9456,0.00,1.35,0.00,0.000,6,0.000,0.090,2552,1187,3605,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9783,-1.09,-155.7,896.5,-9.2,506,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1188,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10082,-1.11,-155.7,922.7,-8.5,516,10087,0.00,1.50,0.00,0.000,4,0.000,0.155,2552,462,3603,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10179,-1.11,-155.7,930.6,-8.8,519,10182,0.00,1.33,0.00,0.000,6,0.000,0.091,2552,1174,3603,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10495,-1.13,-155.7,957.3,-8.0,530,10500,0.00,2.70,0.00,0.000,4,0.000,0.117,2552,2572,3601,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10611,-1.16,-155.7,966.4,-7.6,534,10618,0.08,2.80,0.00,0.000,6,0.118,0.129,2519,1177,3601,0,0,0,0,0,0,13.88,13.85,28.83
$STATE,10877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10877,begin apogee
$GC,10889,-0.23,0.0,990.7,-9.2,543,11115,1.05,0.00,218.35,1.527,4,0.198,0.000,2809,1514,2990,0,0,0,0,0,0,13.68,28.83,13.14
$STATE,11117,end apogee,CONTROL_FINISHED_OK
$STATE,11117,begin climb
$GC,11120,0.84,155.7,1005.3,0.0,550,11293,1.08,2.05,161.45,1.807,4,0.096,0.119,3167,2578,2355,0,0,0,0,0,0,14.19,14.12,13.05
$GC,11524,0.83,235.4,1001.7,4.7,564,11613,0.00,2.08,84.35,1.786,6,0.000,0.139,3174,1520,2030,0,0,0,0,0,0,28.83,14.22,13.12
$GC,11933,0.82,263.2,976.8,6.3,578,11970,0.00,2.17,29.90,1.746,4,0.000,0.175,3179,463,1909,0,0,0,0,0,0,28.83,14.23,13.28
$GC,12152,0.79,263.2,961.7,7.6,585,12160,0.10,1.98,0.00,0.000,6,0.262,0.099,3151,1535,1900,0,0,0,0,0,0,14.07,14.32,28.83
$GC,12477,0.79,263.2,937.3,7.8,596,12482,0.00,1.98,0.00,0.000,4,0.000,0.122,3151,2573,1899,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12581,0.79,263.2,929.6,8.4,599,12591,0.00,2.08,0.00,0.000,6,0.000,0.139,3158,1536,1898,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12892,0.79,263.2,900.5,9.1,610,12899,0.00,2.03,0.00,0.000,4,0.000,0.122,3158,2576,1897,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12954,0.79,263.2,894.8,9.2,612,12959,0.00,2.05,0.00,0.000,6,0.000,0.140,3166,1544,1897,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13285,0.79,263.2,863.2,9.7,623,13290,0.00,1.98,0.00,0.000,4,0.000,0.122,3166,2572,1896,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13353,0.79,263.2,857.3,9.9,625,13359,0.00,2.03,0.00,0.000,6,0.000,0.142,3170,1564,1896,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13675,0.79,263.2,826.5,9.1,636,13681,0.00,1.95,0.00,0.000,4,0.000,0.122,3173,2573,1898,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13732,0.79,263.2,821.1,9.1,638,13740,0.10,2.03,0.00,0.000,6,0.269,0.141,3154,1567,1895,0,0,0,0,0,0,13.74,13.93,28.83
$GC,14066,0.79,274.6,796.8,6.8,649,14074,0.00,2.00,3.17,0.952,4,0.000,0.125,3154,2579,1869,0,0,0,0,0,0,28.83,14.28,13.33
$GC,14183,0.80,283.4,788.4,6.9,653,14212,0.00,1.98,16.67,1.631,6,0.000,0.140,3161,1594,1831,0,0,0,0,1,0,28.83,14.09,13.35
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$STATE,23400,end climb,SURFACE_DEPTH_REACHED
$STATE,23400,begin surface coast
$FINISH,1.7,1.013026
$STATE,23431,end surface coast,CONTROL_FINISHED_OK
$STATE,23431,begin surface
$SM_CCo,23457,21.98,0.125,0,0,1561,350.04
$SM_GC,2.25,8.75,0.45,21.98,0.068,0.151,0.125,140,1517,1561,-8.54,0.28,350.04,0,0,0,0,0,0,14.31,14.09,14.26
$IRIDIUM_FIX,2434.69,-3814.76,090213,000001
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.29
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,7584288
$24V_AH,13.1,206.066
$10V_AH,12.0,0.000
$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,23.025,187.600,538.250,21.975,0.000,0.000,0.000,630.500,0.250,0.000,22.832,3349.652,16494.689,938.578,2921.703,780.757,0.000,2790.837,0.000,2254.996,0.000,0.542,0.000
$DEVICE_MAMPS,341.190,175.185,1806.930,125.460,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23477.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.996,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43328,1162
$CAP_FILE_SIZE,248336,0
$CFSIZE,260034560,184942592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.105,294.8,1
$GPS,090213,071706,2442.183,-3815.030,35,0.9,35,-14.1