version: 66.11
glider: 190
mission: 6
dive: 538
start: 2 23 113 22 29 28
data:
$ID,190
$MISSION,6
$DIVE,538
$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,-13592.936
$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,13
$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
$GPS1,230213,221653,2420.696,-3814.615,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-62.3
$GPS2,230213,222855,2420.685,-3814.508,19,0.9,19,-14.1
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,C_NE
$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,34.7,32434,-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,-10.55,0.000,2,0.000,0.000,143,1527,1507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,10.93,2.03,-88.10,0.000,4,0.343,0.127,2568,2586,3328,0,0,0,0,0,0,14.05,14.19,14.62
$GC,166,-0.95,-155.7,2.5,-1.9,14,173,0.00,2.05,0.00,0.000,6,0.000,0.106,2568,1514,3328,0,0,0,0,0,0,28.83,14.04,28.83
$GC,475,-0.90,-155.7,29.5,-8.5,45,484,0.00,2.10,0.00,0.000,4,0.000,0.137,2568,464,3328,0,0,0,0,0,0,28.83,13.85,28.83
$GC,675,-0.85,-155.7,47.8,-9.9,65,684,0.10,1.95,0.00,0.000,6,0.235,0.082,2589,1520,3328,0,0,0,0,0,0,13.76,14.02,28.83
$GC,986,-0.85,-155.7,77.1,-9.8,96,993,0.00,2.12,0.00,0.000,4,0.000,0.138,2589,456,3328,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1095,-0.81,-155.7,89.0,-11.0,107,1103,0.00,1.92,0.00,0.000,6,0.000,0.082,2582,1500,3328,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1406,-0.81,-155.7,117.8,-8.4,138,1413,0.00,2.05,0.00,0.000,4,0.000,0.136,2582,460,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1506,-0.78,-155.7,125.7,-7.8,148,1514,0.15,1.88,0.00,0.000,6,0.256,0.083,2613,1489,3328,0,0,0,0,0,0,13.83,14.12,28.83
$GC,1820,-0.78,-155.7,142.7,-5.1,179,1826,0.00,2.05,0.00,0.000,4,0.000,0.138,2610,459,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1969,-0.78,-155.7,152.1,-6.8,194,1976,0.00,1.85,0.00,0.000,6,0.000,0.082,2608,1474,3328,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2275,-0.78,-155.7,175.0,-8.7,225,2285,0.00,2.03,0.00,0.000,4,0.000,0.136,2608,464,3329,0,0,0,0,0,0,28.83,13.80,28.83
$GC,2336,-0.78,-155.7,180.5,-9.4,231,2344,0.00,1.80,0.00,0.000,6,0.000,0.084,2605,1442,3329,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2647,-0.78,-155.7,209.6,-9.0,262,2654,0.00,1.95,0.00,0.000,4,0.000,0.136,2605,458,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2766,-0.78,-155.7,220.7,-9.3,274,2773,0.00,1.77,0.00,0.000,6,0.000,0.083,2605,1426,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3075,-0.78,-155.7,246.4,-7.7,305,3084,0.00,1.92,0.00,0.000,4,0.000,0.137,2605,467,3329,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3156,-0.78,-155.7,251.2,-8.3,311,3164,0.00,1.73,0.00,0.000,6,0.000,0.084,2605,1405,3329,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3466,-0.78,-155.7,273.4,-6.4,322,3472,0.00,1.90,0.00,0.000,4,0.000,0.138,2605,460,3329,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3545,-0.78,-155.7,277.3,-6.5,324,3553,0.00,1.73,0.00,0.000,6,0.000,0.084,2605,1394,3328,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3857,-0.78,-155.7,300.4,-7.3,335,3862,0.00,2.20,0.00,0.000,4,0.000,0.107,2605,2582,3328,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3995,-0.78,-155.7,310.4,-8.3,339,4004,0.00,2.30,0.00,0.000,6,0.000,0.117,2605,1408,3330,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4307,-0.78,-155.7,341.5,-9.7,350,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1408,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4606,-0.78,-155.7,371.8,-10.0,360,4612,0.00,2.20,0.00,0.000,4,0.000,0.100,2605,2569,3327,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4675,-0.80,-155.7,377.6,-9.8,362,4683,0.00,2.25,0.00,0.000,6,0.000,0.112,2604,1413,3327,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5000,-0.82,-155.7,405.7,-7.8,373,5006,0.00,1.88,0.00,0.000,4,0.000,0.138,2604,457,3326,0,0,0,0,0,0,28.83,13.86,28.83
$GC,5064,-0.82,-155.7,410.3,-7.7,375,5071,0.00,1.77,0.00,0.000,6,0.000,0.084,2604,1418,3326,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5390,-0.82,-155.7,430.2,-5.4,386,5395,0.00,2.17,0.00,0.000,4,0.000,0.108,2605,2579,3325,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5455,-0.82,-155.7,433.2,-5.2,388,5462,0.00,2.28,0.00,0.000,6,0.000,0.116,2605,1424,3325,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5780,-0.82,-155.7,453.6,-6.7,399,5785,0.00,2.20,0.00,0.000,4,0.000,0.107,2604,2577,3324,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5836,-0.84,-155.7,458.0,-7.2,401,5843,0.00,2.22,0.00,0.000,6,0.000,0.116,2605,1440,3324,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6169,-0.86,-155.7,486.5,-9.2,412,6175,0.00,1.95,0.00,0.000,4,0.000,0.142,2605,461,3323,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6296,-0.86,-155.7,498.2,-9.7,416,6302,0.00,1.80,0.00,0.000,6,0.000,0.089,2604,1430,3323,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6619,-0.88,-155.7,528.9,-8.9,427,6624,0.00,1.98,0.00,0.000,4,0.000,0.142,2604,459,3322,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6707,-0.88,-155.7,536.8,-8.8,430,6712,0.00,1.80,0.00,0.000,6,0.000,0.090,2604,1419,3321,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7039,-0.90,-155.7,560.8,-6.8,441,7046,0.00,2.20,0.00,0.000,4,0.000,0.108,2604,2576,3320,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7147,-0.93,-155.7,566.5,-6.4,444,7155,0.08,2.22,0.00,0.000,6,0.098,0.116,2553,1446,3320,0,0,0,0,0,0,13.97,13.81,28.83
$GC,7459,-0.93,-155.7,590.3,-7.5,455,7464,0.00,1.95,0.00,0.000,4,0.000,0.136,2553,461,3319,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7608,-0.89,-155.7,602.6,-8.3,460,7614,0.12,1.77,0.00,0.000,6,0.279,0.086,2578,1423,3319,0,0,0,0,0,0,13.74,13.97,28.83
$GC,7939,-0.89,-155.7,627.9,-7.8,471,7944,0.00,1.92,0.00,0.000,4,0.000,0.142,2579,461,3318,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7985,-0.89,-155.7,630.4,-7.9,472,7993,0.00,1.77,0.00,0.000,6,0.000,0.086,2572,1414,3317,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8297,-0.89,-155.7,657.1,-8.4,483,8302,0.00,2.22,0.00,0.000,4,0.000,0.111,2565,2577,3317,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8345,-0.89,-155.7,659.5,-8.2,484,8353,0.00,2.33,0.00,0.000,6,0.000,0.119,2565,1407,3316,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8657,-0.89,-155.7,686.8,-8.1,495,8662,0.00,1.90,0.00,0.000,4,0.000,0.140,2566,458,3315,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8785,-0.89,-155.7,697.0,-8.5,499,8792,0.00,1.75,0.00,0.000,6,0.000,0.086,2559,1395,3315,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9107,-0.89,-155.7,724.4,-8.5,510,9112,0.00,2.28,0.00,0.000,4,0.000,0.112,2553,2580,3313,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9155,-0.89,-155.7,726.9,-8.5,511,9164,0.00,2.38,0.00,0.000,6,0.000,0.122,2553,1388,3313,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9466,-0.89,-155.7,755.6,-8.9,522,9468,0.12,0.00,0.00,0.000,6,0.249,0.000,2581,1389,3313,0,0,0,0,0,0,14.09,28.83,28.83
$GC,9768,-0.89,-155.7,780.1,-8.1,532,9773,0.00,2.33,0.00,0.000,4,0.000,0.112,2578,2575,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9815,-0.89,-155.7,782.6,-8.1,533,9823,0.00,2.38,0.00,0.000,6,0.000,0.122,2573,1393,3311,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10127,-0.89,-155.7,807.3,-7.4,544,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1392,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10427,-0.89,-155.7,829.2,-7.2,554,10433,0.00,1.92,0.00,0.000,4,0.000,0.146,2573,459,3309,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10555,-0.89,-155.7,838.8,-8.0,558,10563,0.00,1.77,0.00,0.000,6,0.000,0.090,2568,1397,3308,0,0,0,0,0,0,28.83,13.96,28.83
$GC,10877,-0.89,-155.7,865.6,-8.4,569,10883,0.00,1.92,0.00,0.000,4,0.000,0.145,2568,460,3307,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10985,-0.89,-155.7,873.7,-8.9,572,10993,0.00,1.75,0.00,0.000,6,0.000,0.089,2565,1383,3307,0,0,0,0,0,0,28.83,13.96,28.83
$GC,11297,-0.89,-155.7,903.3,-8.8,583,11302,0.00,2.33,0.00,0.000,4,0.000,0.114,2557,2575,3305,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11386,-0.89,-155.7,911.1,-8.6,586,11392,0.00,2.40,0.00,0.000,6,0.000,0.126,2558,1387,3306,0,0,0,0,0,0,28.83,13.72,28.83
$GC,11717,-0.89,-155.7,938.4,-8.0,597,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1387,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12016,-0.89,-155.7,960.4,-7.2,607,12022,0.00,2.38,0.00,0.000,4,0.000,0.116,2553,2576,3303,0,0,0,0,0,0,28.83,13.69,28.83
$GC,12095,-0.89,-155.7,964.7,-7.2,609,12104,0.12,2.38,0.00,0.000,6,0.239,0.117,2580,1390,3303,0,0,0,0,0,0,13.66,13.78,28.83
$STATE,12312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12312,begin apogee
$GC,12322,-0.25,0.0,981.8,-7.1,617,12483,0.73,0.00,155.55,1.822,4,0.196,0.000,2782,1521,2691,0,0,0,0,0,0,13.70,28.83,12.93
$STATE,12488,end apogee,CONTROL_FINISHED_OK
$STATE,12488,begin climb
$GC,12491,0.90,155.7,987.7,0.0,622,12669,1.20,2.00,166.48,1.833,4,0.127,0.114,3160,2575,2058,0,0,0,0,0,0,14.08,14.07,12.93
$GC,12688,0.88,244.6,983.2,4.3,628,12788,0.00,2.10,94.07,1.748,6,0.000,0.134,3168,1524,1698,0,0,0,0,0,0,28.83,14.06,13.04
$GC,13089,0.88,244.6,945.1,8.6,642,13095,0.00,2.05,0.00,0.000,4,0.000,0.120,3168,2572,1682,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13248,0.88,244.6,932.4,8.4,647,13255,0.00,2.03,0.00,0.000,6,0.000,0.121,3176,1541,1681,0,0,0,0,0,0,28.83,14.16,28.83
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$STATE,23575,end climb,SURFACE_DEPTH_REACHED
$STATE,23575,begin surface coast
$FINISH,1.6,1.025809
$STATE,23607,end surface coast,CONTROL_FINISHED_OK
$STATE,23607,begin surface
$SM_CCo,23630,53.55,0.125,0,0,1266,350.04
$SM_GC,2.24,8.90,0.73,53.55,0.071,0.139,0.125,144,1518,1266,-8.47,0.37,350.04,0,0,0,0,0,0,14.10,13.86,14.13
$IRIDIUM_FIX,2411.01,-3812.62,230213,151529
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.56
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,7564544
$24V_AH,12.9,225.893
$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,23.200,213.250,416.100,53.550,0.000,0.000,0.000,412.325,0.000,0.000,19.852,3435.956,16497.541,914.112,2750.694,793.315,0.000,2568.719,0.000,2295.595,0.000,0.540,0.000
$DEVICE_MAMPS,342.720,158.355,1832.940,124.695,0.000,0.000,0.000,166.005,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23665.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.987,0.000,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,43382,1180
$CAP_FILE_SIZE,248842,0
$CFSIZE,260034560,179048448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,177.5,1
$GPS,240213,050535,2420.962,-3814.369,36,0.8,36,-14.1