version: 66.11
glider: 190
mission: 6
dive: 505
start: 2 14 113 9 4 9
data:
$ID,190
$MISSION,6
$DIVE,505
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,-13551.142
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,8
$R_STBD_OVSHOOT,18
$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,2694
$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
$GPS1,140213,085222,2442.286,-3813.158,38,0.8,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-65.2
$GPS2,140213,090336,2442.354,-3813.225,23,0.8,23,-14.0
$SPEED_LIMITS,0.123,0.130
$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,175.7,40930,-16.1,-7.101,-28.69
$D_GRID,980
$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,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.82,0.000,2,0.000,0.000,140,1517,1515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,11.07,2.10,-85.65,0.000,4,0.351,0.158,2575,453,3329,0,0,0,0,0,0,14.12,14.06,14.67
$GC,336,-0.84,-155.7,23.4,-11.4,31,344,0.10,1.95,0.00,0.000,6,0.230,0.080,2595,1522,3330,0,0,0,0,0,0,13.78,14.06,28.83
$GC,647,-0.84,-155.7,51.1,-8.8,62,653,0.00,2.12,0.00,0.000,4,0.000,0.136,2596,449,3330,0,0,0,0,0,0,28.83,13.96,28.83
$GC,726,-0.80,-155.7,58.2,-9.2,70,733,0.00,1.92,0.00,0.000,6,0.000,0.083,2591,1513,3330,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1035,-0.80,-155.7,84.4,-8.7,101,1044,0.00,2.10,0.00,0.000,4,0.000,0.133,2591,459,3330,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1095,-0.76,-155.7,90.0,-9.4,107,1103,0.10,1.88,0.00,0.000,6,0.224,0.081,2615,1487,3330,0,0,0,0,0,0,13.87,14.14,28.83
$GC,1405,-0.76,-155.7,118.7,-9.7,138,1413,0.00,2.05,0.00,0.000,4,0.000,0.135,2616,458,3330,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1558,-0.76,-155.7,134.4,-10.4,153,1566,0.00,1.83,0.00,0.000,6,0.000,0.080,2610,1473,3330,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1866,-0.76,-155.7,163.1,-8.6,184,1873,0.00,2.00,0.00,0.000,4,0.000,0.135,2610,456,3330,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1974,-0.76,-155.7,172.8,-8.8,195,1983,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1460,3330,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2286,-0.76,-155.7,194.8,-6.6,226,2293,0.00,1.98,0.00,0.000,4,0.000,0.134,2605,454,3330,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2386,-0.76,-155.7,201.9,-7.0,236,2393,0.00,1.75,0.00,0.000,6,0.000,0.079,2605,1435,3330,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2697,-0.76,-155.7,222.2,-6.6,267,2704,0.00,1.92,0.00,0.000,4,0.000,0.131,2605,450,3330,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2755,-0.76,-155.7,226.2,-6.8,273,2765,0.00,1.75,0.00,0.000,6,0.000,0.076,2605,1419,3330,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3065,-0.76,-155.7,246.6,-6.4,304,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1419,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.76,-155.7,270.8,-8.1,318,3395,0.00,1.88,0.00,0.000,4,0.000,0.129,2605,453,3330,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3494,-0.76,-155.7,278.7,-8.7,321,3503,0.00,1.75,0.00,0.000,6,0.000,0.076,2605,1413,3330,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3805,-0.76,-155.7,306.6,-8.1,332,3811,0.00,1.88,0.00,0.000,4,0.000,0.131,2605,458,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3915,-0.76,-155.7,314.0,-8.2,335,3923,0.00,1.67,0.00,0.000,6,0.000,0.077,2605,1394,3330,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4225,-0.76,-155.7,339.2,-7.5,346,4231,0.00,1.83,0.00,0.000,4,0.000,0.132,2602,462,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4316,-0.76,-155.7,346.5,-8.0,349,4321,0.00,1.60,0.00,0.000,6,0.000,0.079,2605,1358,3330,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4645,-0.76,-155.7,373.8,-8.4,360,4651,0.00,1.77,0.00,0.000,4,0.000,0.134,2605,458,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4754,-0.76,-155.7,381.5,-8.6,363,4757,0.00,1.60,0.00,0.000,6,0.000,0.077,2605,1347,3329,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5056,-0.76,-155.7,408.0,-8.4,373,5063,0.00,2.28,0.00,0.000,4,0.000,0.103,2605,2576,3327,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5124,-0.78,-155.7,412.8,-8.2,375,5131,0.00,2.40,0.00,0.000,6,0.000,0.115,2605,1332,3328,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5449,-0.80,-155.7,441.7,-9.2,386,5454,0.00,1.70,0.00,0.000,4,0.000,0.137,2605,458,3327,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5514,-0.80,-155.7,447.4,-9.3,388,5520,0.00,1.60,0.00,0.000,6,0.000,0.079,2605,1345,3327,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5836,-0.80,-155.7,478.2,-9.3,399,5841,0.00,2.30,0.00,0.000,4,0.000,0.104,2605,2580,3326,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5895,-0.83,-155.7,483.5,-9.1,401,5902,0.00,2.40,0.00,0.000,6,0.000,0.117,2605,1347,3326,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6229,-0.85,-155.7,510.6,-7.6,412,6234,0.00,1.75,0.00,0.000,4,0.000,0.137,2605,453,3325,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6386,-0.85,-155.7,521.7,-7.4,417,6391,0.00,1.60,0.00,0.000,6,0.000,0.081,2605,1339,3324,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6709,-0.87,-155.7,541.9,-5.9,428,6714,0.00,2.33,0.00,0.000,4,0.000,0.106,2605,2576,3323,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6786,-0.89,-155.7,545.3,-5.8,430,6793,0.00,2.38,0.00,0.000,6,0.000,0.119,2604,1344,3323,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7098,-0.92,-155.7,566.7,-7.0,441,7106,0.00,1.75,0.00,0.000,4,0.000,0.140,2604,457,3323,0,0,0,0,0,0,28.83,13.94,28.83
$GC,7277,-0.92,-155.7,581.2,-8.1,447,7282,0.00,1.58,0.00,0.000,6,0.000,0.083,2605,1325,3325,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7609,-0.94,-155.7,611.4,-9.7,458,7615,0.12,1.73,0.00,0.000,4,0.138,0.138,2547,458,3320,0,0,0,0,0,0,14.50,13.94,28.83
$GC,7747,-0.91,-155.7,624.3,-10.8,462,7755,0.12,1.55,0.00,0.000,6,0.271,0.083,2569,1305,3323,0,0,0,0,0,0,13.88,14.12,28.83
$GC,8059,-0.91,-155.7,656.5,-9.2,473,8065,0.00,1.70,0.00,0.000,4,0.000,0.142,2569,453,3319,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8166,-0.91,-155.7,664.3,-8.6,476,8174,0.00,1.52,0.00,0.000,6,0.000,0.083,2565,1294,3318,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8476,-0.91,-155.7,688.3,-7.0,487,8482,0.00,1.67,0.00,0.000,4,0.000,0.142,2566,457,3317,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8525,-0.91,-155.7,690.5,-7.0,488,8533,0.00,1.52,0.00,0.000,6,0.000,0.083,2563,1293,3317,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8838,-0.91,-155.7,712.7,-6.8,499,8843,0.00,2.42,0.00,0.000,4,0.000,0.106,2553,2576,3316,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8975,-0.91,-155.7,721.3,-7.1,503,8985,0.00,2.53,0.00,0.000,6,0.000,0.119,2552,1300,3316,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9287,-0.91,-155.7,749.1,-8.9,514,9293,0.00,1.70,0.00,0.000,4,0.000,0.142,2553,456,3315,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9386,-0.89,-155.7,757.8,-9.5,517,9393,0.12,1.55,0.00,0.000,6,0.284,0.083,2578,1299,3314,0,0,0,0,0,0,13.85,14.17,28.83
$GC,9711,-0.89,-155.7,787.1,-8.6,528,9716,0.00,1.70,0.00,0.000,4,0.000,0.145,2579,456,3313,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9775,-0.89,-155.7,792.3,-8.7,530,9778,0.00,1.52,0.00,0.000,6,0.000,0.085,2575,1283,3313,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10089,-0.89,-155.7,819.1,-8.1,541,10094,0.00,1.67,0.00,0.000,4,0.000,0.147,2576,458,3312,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10177,-0.89,-155.7,826.7,-8.3,544,10184,0.00,1.50,0.00,0.000,6,0.000,0.084,2570,1270,3311,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10510,-0.89,-155.7,852.9,-8.0,555,10516,0.00,2.50,0.00,0.000,4,0.000,0.109,2565,2579,3310,0,0,0,0,0,0,28.83,13.96,28.83
$GC,10577,-0.89,-155.7,857.6,-7.9,557,10584,0.00,2.62,0.00,0.000,6,0.000,0.122,2565,1260,3310,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10897,-0.89,-155.7,884.0,-8.0,568,10904,0.00,1.60,0.00,0.000,4,0.000,0.145,2565,463,3309,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11018,-0.89,-155.7,894.0,-8.3,572,11025,0.00,1.45,0.00,0.000,6,0.000,0.085,2560,1255,3308,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11350,-0.89,-155.7,919.8,-7.6,583,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1255,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11648,-0.89,-155.7,942.9,-7.9,593,11653,0.00,1.62,0.00,0.000,4,0.000,0.148,2560,461,3306,0,0,0,0,0,0,28.83,13.60,28.83
$GC,11797,-0.89,-155.7,955.5,-8.5,598,11803,0.00,1.45,0.00,0.000,6,0.000,0.086,2555,1244,3306,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,12124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12128,begin apogee
$GC,12136,-0.25,0.0,982.4,-8.3,609,12297,0.82,0.00,156.35,1.829,4,0.219,0.000,2778,1523,2693,0,0,0,0,0,0,13.64,28.83,12.99
$STATE,12301,end apogee,CONTROL_FINISHED_OK
$STATE,12301,begin climb
$GC,12304,0.90,155.7,989.0,0.0,614,12482,1.23,2.03,164.25,1.796,4,0.133,0.116,3159,2583,2054,0,0,0,0,0,0,14.10,14.09,13.07
$GC,12670,0.87,155.7,966.0,9.0,626,12678,0.00,2.12,0.00,0.000,6,0.000,0.138,3166,1520,2042,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12995,0.84,155.7,935.7,9.2,637,13002,0.00,2.15,0.00,0.000,4,0.000,0.168,3174,456,2040,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13183,0.80,155.7,918.3,9.6,643,13189,0.20,1.95,0.00,0.000,6,0.272,0.096,3128,1533,2039,0,0,0,0,0,0,13.96,14.30,28.83
$GC,13505,0.80,155.7,891.8,7.5,654,13510,0.00,1.95,0.00,0.000,4,0.000,0.111,3128,2581,2038,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13540,0.80,155.7,889.7,7.3,655,13547,0.00,2.03,0.00,0.000,6,0.000,0.127,3136,1560,2037,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,23980,end climb,SURFACE_DEPTH_REACHED
$STATE,23984,begin surface coast
$FINISH,1.7,1.012190
$STATE,24010,end surface coast,CONTROL_FINISHED_OK
$STATE,24010,begin surface
$SM_CCo,24034,45.25,0.126,0,0,1265,350.04
$SM_GC,2.66,8.80,1.95,45.25,0.068,0.080,0.126,144,1519,1265,-8.46,-0.71,350.04,0,0,0,0,0,0,14.28,14.16,14.27
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.86
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7577120
$24V_AH,13.0,213.688
$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,23.225,208.025,431.775,45.250,0.000,0.000,0.000,367.900,0.500,0.000,23.849,3530.398,16741.791,901.294,2785.853,781.865,0.000,2541.537,0.000,2344.809,0.000,0.542,0.000
$DEVICE_MAMPS,351.135,167.535,1829.115,126.225,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24053.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.163,0.000,0.000,0.000
$MEM,344940
$DATA_FILE_SIZE,43366,1190
$CAP_FILE_SIZE,254092,0
$CFSIZE,260034560,182800384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.109,326.6,1
$GPS,140213,154659,2442.494,-3813.482,42,0.8,42,-14.0