version: 66.11
glider: 190
mission: 6
dive: 536
start: 2 23 113 8 54 40
data:
$ID,190
$MISSION,6
$DIVE,536
$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,-13590.419
$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,22
$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,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
$GPS1,230213,084235,2422.054,-3814.438,33,0.8,33,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-64.5
$GPS2,230213,085406,2421.984,-3814.351,16,0.8,16,-14.1
$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,250.2,5020,-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,-155.7,0.0,0.0,0,33,0.00,0.00,-10.27,0.000,2,0.000,0.000,144,1508,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,10.82,2.08,-86.28,0.000,4,0.337,0.164,2581,473,3329,0,0,0,0,0,0,14.13,14.02,14.65
$GC,256,-0.84,-155.7,13.5,-9.2,23,263,0.00,1.90,0.00,0.000,6,0.000,0.083,2575,1520,3330,0,0,0,0,0,0,28.83,14.08,28.83
$GC,566,-0.81,-155.7,40.6,-9.3,54,573,0.12,1.98,0.00,0.000,4,0.259,0.105,2604,2575,3329,0,0,0,0,0,0,14.07,13.99,28.83
$GC,626,-0.81,-155.7,46.1,-9.2,60,633,0.00,2.00,0.00,0.000,6,0.000,0.114,2605,1535,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,936,-0.81,-155.7,75.6,-9.2,91,943,0.00,2.12,0.00,0.000,4,0.000,0.138,2604,459,3332,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1154,-0.81,-155.7,96.9,-9.4,113,1164,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1495,3330,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1465,-0.81,-155.7,122.5,-7.8,144,1473,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,458,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1634,-0.81,-155.7,136.3,-8.3,161,1643,0.00,1.90,0.00,0.000,6,0.000,0.081,2604,1483,3330,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1945,-0.81,-155.7,160.3,-7.8,192,1953,0.00,2.03,0.00,0.000,4,0.000,0.135,2604,465,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2098,-0.81,-155.7,173.2,-8.7,207,2105,0.00,1.80,0.00,0.000,6,0.000,0.083,2604,1457,3330,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2406,-0.81,-155.7,200.6,-8.6,238,2413,0.00,1.95,0.00,0.000,4,0.000,0.133,2604,458,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2645,-0.81,-155.7,219.9,-7.3,262,2653,0.00,1.77,0.00,0.000,6,0.000,0.080,2604,1434,3330,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2956,-0.81,-155.7,238.7,-5.9,293,2964,0.00,1.95,0.00,0.000,4,0.000,0.133,2605,458,3330,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3109,-0.81,-155.7,249.2,-7.5,308,3115,0.00,1.73,0.00,0.000,6,0.000,0.080,2605,1413,3330,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3425,-0.81,-155.7,272.5,-7.3,320,3432,0.00,1.90,0.00,0.000,4,0.000,0.135,2604,455,3330,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3595,-0.81,-155.7,284.2,-7.9,325,3604,0.00,1.70,0.00,0.000,6,0.000,0.081,2605,1380,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3905,-0.81,-155.7,308.8,-7.4,336,3911,0.00,1.83,0.00,0.000,4,0.000,0.136,2604,461,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4065,-0.81,-155.7,320.1,-7.6,341,4071,0.00,1.62,0.00,0.000,6,0.000,0.082,2605,1354,3329,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4385,-0.81,-155.7,344.3,-7.4,352,4391,0.00,1.77,0.00,0.000,4,0.000,0.137,2604,464,3329,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4445,-0.81,-155.7,349.2,-7.9,354,4451,0.00,1.60,0.00,0.000,6,0.000,0.083,2605,1342,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4778,-0.83,-155.7,373.9,-7.3,365,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1343,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.83,-155.7,395.4,-7.0,375,5083,0.00,2.33,0.00,0.000,4,0.000,0.106,2604,2571,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5126,-0.83,-155.7,397.5,-7.0,376,5133,0.00,2.40,0.00,0.000,6,0.000,0.121,2604,1334,3328,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5435,-0.83,-155.7,424.0,-8.2,387,5442,0.00,1.73,0.00,0.000,4,0.000,0.142,2604,462,3327,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5635,-0.83,-155.7,440.2,-9.1,393,5643,0.00,1.55,0.00,0.000,6,0.000,0.086,2604,1310,3326,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5945,-0.83,-155.7,469.7,-8.6,404,5951,0.00,1.70,0.00,0.000,4,0.000,0.142,2604,462,3325,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6036,-0.83,-155.7,477.5,-8.5,407,6042,0.00,1.52,0.00,0.000,6,0.000,0.088,2604,1288,3325,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6368,-0.85,-155.7,504.8,-8.2,418,6373,0.00,1.67,0.00,0.000,4,0.000,0.144,2604,452,3324,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6516,-0.85,-155.7,518.0,-8.8,423,6522,0.00,1.50,0.00,0.000,6,0.000,0.087,2604,1264,3323,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6848,-0.87,-155.7,544.7,-8.0,434,6854,0.00,2.47,0.00,0.000,4,0.000,0.107,2604,2586,3323,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6966,-0.90,-155.7,554.0,-7.8,438,6971,0.00,2.58,0.00,0.000,6,0.000,0.119,2604,1265,3322,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7299,-0.92,-155.7,579.1,-7.6,449,7305,0.00,2.53,0.00,0.000,4,0.000,0.108,2604,2578,3321,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7374,-0.95,-155.7,583.6,-7.5,451,7383,0.10,2.55,0.00,0.000,6,0.090,0.124,2555,1290,3321,0,0,0,0,0,0,13.97,13.86,28.83
$GC,7690,-0.95,-155.7,610.8,-8.6,462,7695,0.00,1.62,0.00,0.000,4,0.000,0.130,2555,458,3320,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7845,-0.92,-155.7,624.8,-9.3,467,7851,0.00,1.50,0.00,0.000,6,0.000,0.080,2553,1275,3319,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8167,-0.92,-155.7,653.9,-8.7,478,8172,0.00,1.65,0.00,0.000,4,0.000,0.144,2553,454,3319,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8255,-0.89,-155.7,661.9,-8.9,481,8261,0.00,1.48,0.00,0.000,6,0.000,0.088,2553,1256,3319,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8586,-0.89,-155.7,689.0,-8.0,492,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1256,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8886,-0.89,-155.7,713.7,-8.5,502,8891,0.00,1.62,0.00,0.000,4,0.000,0.144,2552,459,3316,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9016,-0.87,-155.7,724.6,-9.2,506,9022,0.10,1.45,0.00,0.000,6,0.231,0.088,2581,1240,3315,0,0,0,0,0,0,13.64,14.00,28.83
$GC,9338,-0.87,-155.7,754.2,-9.2,517,9343,0.00,2.58,0.00,0.000,4,0.000,0.109,2572,2581,3315,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9425,-0.87,-155.7,762.2,-9.0,520,9432,0.00,2.65,0.00,0.000,6,0.000,0.125,2573,1233,3314,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9756,-0.87,-155.7,791.1,-8.4,531,9762,0.00,1.52,0.00,0.000,4,0.000,0.132,2573,447,3313,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9875,-0.87,-155.7,801.4,-8.6,535,9883,0.00,1.50,0.00,0.000,6,0.000,0.081,2567,1255,3312,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10207,-0.87,-155.7,827.9,-7.8,546,10212,0.00,1.58,0.00,0.000,4,0.000,0.141,2567,460,3311,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10314,-0.87,-155.7,835.1,-8.0,549,10317,0.00,1.45,0.00,0.000,6,0.000,0.085,2565,1236,3311,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10616,-0.87,-155.7,858.4,-7.2,559,10622,0.00,2.58,0.00,0.000,4,0.000,0.111,2557,2578,3310,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10685,-0.87,-155.7,862.5,-7.1,561,10692,0.08,2.70,0.00,0.000,6,0.209,0.129,2577,1236,3309,0,0,0,0,0,0,13.68,13.75,28.83
$GC,11010,-0.87,-155.7,885.1,-6.8,572,11015,0.00,1.58,0.00,0.000,4,0.000,0.150,2581,459,3309,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11155,-0.87,-155.7,895.0,-6.7,577,11163,0.00,1.40,0.00,0.000,6,0.000,0.090,2579,1213,3308,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11490,-0.87,-155.7,918.1,-7.2,588,11495,0.00,2.65,0.00,0.000,4,0.000,0.113,2568,2578,3307,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11605,-0.87,-155.7,927.1,-7.5,592,11612,0.00,2.75,0.00,0.000,6,0.000,0.132,2569,1224,3307,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11938,-0.87,-155.7,953.7,-8.4,603,11944,0.00,2.67,0.00,0.000,4,0.000,0.116,2565,2583,3305,0,0,0,0,0,0,28.83,13.82,28.83
$GC,12006,-0.87,-155.7,958.5,-8.3,605,12012,0.00,2.70,0.00,0.000,6,0.000,0.133,2565,1242,3305,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,12261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12261,begin apogee
$GC,12270,-0.25,0.0,981.7,-8.6,614,12432,0.80,0.00,156.10,1.816,4,0.212,0.000,2783,1520,2690,0,0,0,0,0,0,13.70,28.83,12.95
$STATE,12438,end apogee,CONTROL_FINISHED_OK
$STATE,12438,begin climb
$GC,12442,0.90,155.7,989.5,0.0,619,12617,1.20,2.05,164.77,1.824,4,0.133,0.121,3158,2585,2058,0,0,0,0,0,0,14.08,14.07,12.97
$GC,12657,0.87,198.8,982.8,5.8,626,12709,0.00,2.12,46.92,1.737,6,0.000,0.142,3166,1526,1882,0,0,0,0,0,0,28.83,14.07,13.08
$GC,13028,0.87,198.8,950.4,8.8,639,13035,0.00,2.05,0.00,0.000,4,0.000,0.123,3165,2574,1864,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13149,0.87,198.8,938.8,9.6,643,13156,0.00,2.10,0.00,0.000,6,0.000,0.148,3173,1535,1863,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13482,0.87,198.8,906.2,9.8,654,13487,0.00,2.00,0.00,0.000,4,0.000,0.125,3173,2581,1861,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13588,0.87,198.8,897.3,10.0,657,13597,0.08,2.10,0.00,0.000,6,0.249,0.143,3158,1545,1860,0,0,0,0,0,0,13.88,13.96,28.83
$GC,13901,0.87,198.8,868.2,8.3,668,13906,0.00,1.98,0.00,0.000,4,0.000,0.121,3157,2579,1859,0,0,0,0,0,0,28.83,14.13,28.83
$GC,14138,0.87,198.8,848.9,8.1,676,14144,0.00,2.03,0.00,0.000,6,0.000,0.137,3165,1576,1858,0,0,0,0,0,0,28.83,13.90,28.83
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$STATE,22985,end climb,SURFACE_DEPTH_REACHED
$STATE,22985,begin surface coast
$FINISH,1.5,1.011546
$STATE,23016,end surface coast,CONTROL_FINISHED_OK
$STATE,23016,begin surface
$SM_CCo,23041,37.60,0.125,0,0,1265,350.04
$SM_GC,2.34,8.90,0.75,37.60,0.071,0.149,0.125,145,1515,1265,-8.46,0.20,350.04,0,0,0,0,0,0,14.15,13.87,14.19
$IRIDIUM_FIX,2413.38,-3812.62,230213,010159
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.08
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7565312
$24V_AH,13.0,225.154
$10V_AH,12.5,0.000
$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,22.600,181.225,448.025,37.600,0.000,0.000,0.000,386.025,0.500,0.000,17.814,3405.398,15935.620,874.361,2740.890,801.499,0.000,2492.919,0.000,2316.322,0.000,0.541,0.000
$DEVICE_MAMPS,337.365,222.615,1823.760,125.460,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23072.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.900,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43312,1144
$CAP_FILE_SIZE,238877,0
$CFSIZE,260034560,179281920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,148.9,1
$GPS,230213,152034,2420.180,-3814.449,27,0.8,27,-14.1