version: 66.11
glider: 190
mission: 6
dive: 564
start: 3 3 113 8 51 38
data:
$ID,190
$MISSION,6
$DIVE,564
$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,190
$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,-13645.312
$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,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,12
$R_STBD_OVSHOOT,14
$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,0.00018
$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
$GPS1,030313,083934,2429.624,-3819.375,39,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-63.7
$GPS2,030313,085105,2429.617,-3819.447,14,1.2,14,-14.1
$SPEED_LIMITS,0.123,0.141
$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,98.0,30487,-13.4,-7.101,-26.77
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.15,-184.9,0.0,0.0,0,34,0.00,0.00,-10.27,0.000,2,0.000,0.000,138,1517,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.4,0.0,1,145,10.12,2.10,-90.12,0.000,4,0.316,0.153,2509,461,3448,0,0,0,0,0,0,13.98,14.05,14.62
$GC,380,-1.03,-184.9,32.0,-14.5,35,387,0.17,1.92,0.00,0.000,6,0.268,0.075,2548,1532,3447,0,0,0,0,0,0,13.73,14.10,28.83
$GC,689,-0.96,-184.9,62.9,-10.3,66,696,0.00,2.10,0.00,0.000,4,0.000,0.124,2548,460,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,747,-0.88,-184.9,69.3,-10.8,72,755,0.17,1.92,0.00,0.000,6,0.223,0.075,2596,1515,3448,0,0,0,0,0,0,13.65,14.02,28.83
$GC,1057,-0.85,-184.9,95.3,-8.8,103,1064,0.00,2.10,0.00,0.000,4,0.000,0.129,2591,463,3448,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1138,-0.81,-184.9,103.0,-9.9,111,1145,0.12,1.88,0.00,0.000,6,0.250,0.073,2620,1509,3448,0,0,0,0,0,0,13.85,14.12,28.83
$GC,1452,-0.81,-184.9,132.1,-9.8,142,1458,0.00,2.08,0.00,0.000,4,0.000,0.127,2620,457,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1528,-0.81,-184.9,140.1,-9.9,150,1535,0.00,1.88,0.00,0.000,6,0.000,0.075,2618,1489,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1839,-0.81,-184.9,166.8,-7.7,181,1847,0.00,2.03,0.00,0.000,4,0.000,0.127,2618,460,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1928,-0.81,-184.9,174.0,-8.0,190,1935,0.00,1.83,0.00,0.000,6,0.000,0.073,2618,1467,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2238,-0.81,-184.9,195.0,-6.5,221,2246,0.00,1.98,0.00,0.000,4,0.000,0.126,2618,448,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2383,-0.81,-184.9,204.3,-6.7,235,2390,0.00,1.80,0.00,0.000,6,0.000,0.074,2618,1445,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2691,-0.81,-184.9,225.6,-7.7,266,2699,0.00,1.95,0.00,0.000,4,0.000,0.125,2618,455,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2769,-0.81,-184.9,232.1,-8.3,274,2777,0.00,1.73,0.00,0.000,6,0.000,0.074,2618,1414,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3099,-0.81,-184.9,261.4,-9.2,299,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1410,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.81,-184.9,289.1,-9.1,309,3406,0.00,2.20,0.00,0.000,4,0.000,0.099,2618,2575,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3479,-0.81,-184.9,294.3,-8.8,311,3487,0.00,2.28,0.00,0.000,6,0.000,0.108,2618,1405,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3789,-0.81,-184.9,321.8,-8.0,322,3795,0.00,1.88,0.00,0.000,4,0.000,0.128,2618,457,3447,0,0,0,0,0,0,28.83,13.73,28.83
$GC,3940,-0.81,-184.9,333.6,-7.8,327,3945,0.00,1.70,0.00,0.000,6,0.000,0.076,2617,1405,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4272,-0.81,-184.9,356.5,-6.8,338,4277,0.00,2.17,0.00,0.000,4,0.000,0.101,2618,2574,3447,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4338,-0.81,-184.9,360.7,-6.9,340,4345,0.00,2.28,0.00,0.000,6,0.000,0.109,2618,1402,3447,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4660,-0.81,-184.9,386.1,-8.1,351,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1399,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-0.81,-184.9,410.9,-8.4,361,4966,0.00,2.25,0.00,0.000,4,0.000,0.100,2618,2573,3445,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4999,-0.81,-184.9,413.3,-8.3,362,5006,0.00,2.30,0.00,0.000,6,0.000,0.112,2618,1401,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5319,-0.81,-184.9,439.3,-7.7,373,5326,0.00,1.88,0.00,0.000,4,0.000,0.134,2618,467,3444,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5450,-0.81,-184.9,448.5,-7.7,377,5455,0.00,1.70,0.00,0.000,6,0.000,0.079,2618,1393,3443,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5770,-0.81,-184.9,472.9,-7.4,388,5775,0.00,1.88,0.00,0.000,4,0.000,0.134,2618,466,3443,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5919,-0.81,-184.9,484.6,-8.0,393,5928,0.00,1.75,0.00,0.000,6,0.000,0.080,2618,1419,3443,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6251,-0.81,-184.9,513.9,-9.4,404,6256,0.00,2.20,0.00,0.000,4,0.000,0.104,2618,2576,3441,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6358,-0.83,-184.9,522.6,-9.7,407,6367,0.00,2.22,0.00,0.000,6,0.000,0.111,2618,1443,3441,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6671,-0.86,-184.9,557.0,-10.7,418,6676,0.00,1.95,0.00,0.000,4,0.000,0.135,2618,458,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6708,-0.86,-184.9,560.3,-10.7,419,6715,0.00,1.83,0.00,0.000,6,0.000,0.081,2618,1440,3440,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7034,-0.88,-184.9,594.3,-9.9,430,7039,0.00,1.95,0.00,0.000,4,0.000,0.136,2618,461,3439,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7078,-0.88,-184.9,597.3,-9.8,431,7087,0.00,1.77,0.00,0.000,6,0.000,0.081,2618,1420,3437,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7389,-0.88,-184.9,624.4,-7.5,442,7396,0.00,2.22,0.00,0.000,4,0.000,0.107,2618,2569,3438,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7520,-0.90,-184.9,631.9,-6.3,446,7526,0.00,2.20,0.00,0.000,6,0.000,0.116,2618,1445,3437,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7843,-0.93,-184.9,650.4,-5.3,457,7848,0.00,2.00,0.00,0.000,4,0.000,0.139,2618,457,3436,0,0,0,0,0,0,28.83,13.68,28.83
$GC,7880,-0.93,-184.9,652.2,-5.4,458,7886,0.08,1.85,0.00,0.000,6,0.099,0.084,2578,1453,3436,0,0,0,0,0,0,13.90,13.91,28.83
$GC,8202,-0.93,-184.9,675.1,-7.4,469,8208,0.00,2.17,0.00,0.000,4,0.000,0.112,2573,2575,3435,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8278,-0.93,-184.9,679.6,-7.5,471,8287,0.00,2.22,0.00,0.000,6,0.000,0.116,2573,1458,3435,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8590,-0.93,-184.9,707.4,-8.8,482,8596,0.00,2.03,0.00,0.000,4,0.000,0.140,2574,458,3434,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8650,-0.93,-184.9,713.2,-9.3,484,8655,0.00,1.85,0.00,0.000,6,0.000,0.084,2563,1448,3434,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8980,-0.93,-184.9,745.1,-9.6,495,8986,0.00,2.03,0.00,0.000,4,0.000,0.140,2568,456,3433,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9058,-0.93,-184.9,751.2,-9.9,497,9066,0.00,1.85,0.00,0.000,6,0.000,0.086,2564,1438,3432,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9371,-0.93,-184.9,783.5,-9.7,508,9376,0.00,2.00,0.00,0.000,4,0.000,0.144,2564,462,3432,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9429,-0.91,-184.9,789.4,-9.7,510,9436,0.10,1.80,0.00,0.000,6,0.221,0.088,2586,1417,3433,0,0,0,0,0,0,13.57,13.83,28.83
$GC,9762,-0.91,-184.9,817.6,-8.2,521,9768,0.00,2.28,0.00,0.000,4,0.000,0.118,2579,2575,3430,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9820,-0.91,-184.9,822.4,-7.9,523,9826,0.00,2.25,0.00,0.000,6,0.000,0.121,2579,1436,3430,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10149,-0.91,-184.9,848.8,-7.7,534,10155,0.00,1.98,0.00,0.000,4,0.000,0.138,2579,467,3429,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10228,-0.91,-184.9,853.6,-7.8,536,10236,0.00,1.83,0.00,0.000,6,0.000,0.086,2575,1432,3428,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10540,-0.91,-184.9,879.2,-7.8,547,10546,0.00,2.20,0.00,0.000,4,0.000,0.109,2568,2578,3427,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10608,-0.91,-184.9,884.0,-7.9,549,10615,0.00,2.28,0.00,0.000,6,0.000,0.119,2568,1442,3427,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10931,-0.91,-184.9,911.8,-8.6,560,10936,0.00,1.98,0.00,0.000,4,0.000,0.137,2568,462,3426,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11008,-0.91,-184.9,917.3,-9.0,562,11017,0.00,1.85,0.00,0.000,6,0.000,0.090,2565,1433,3425,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11320,-0.91,-184.9,949.2,-9.8,573,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1433,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11619,-0.91,-184.9,977.9,-9.4,583,11626,0.00,2.25,0.00,0.000,4,0.000,0.111,2560,2574,3423,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,11646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11646,begin apogee
$GC,11656,-0.42,0.0,980.7,-9.4,584,11847,0.65,0.00,184.30,1.828,4,0.200,0.000,2740,1522,2690,0,0,0,0,0,0,13.72,28.83,12.97
$STATE,11853,end apogee,CONTROL_FINISHED_OK
$STATE,11853,begin climb
$GC,11856,1.15,184.9,990.6,0.0,590,12064,1.70,2.12,195.07,1.829,4,0.161,0.140,3244,458,1938,0,0,0,0,0,0,13.95,13.94,12.96
$GC,12183,1.03,184.9,966.5,11.0,601,12189,0.00,1.95,0.00,0.000,6,0.000,0.092,3245,1508,1924,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12516,0.93,184.9,928.8,11.5,612,12522,0.22,2.12,0.00,0.000,4,0.301,0.156,3198,455,1921,0,0,0,0,0,0,13.77,14.01,28.83
$GC,12623,0.84,184.9,919.0,11.1,615,12631,0.12,2.03,0.00,0.000,6,0.262,0.093,3164,1538,1920,0,0,0,0,0,0,13.81,14.12,28.83
$GC,12937,0.79,184.9,887.7,9.1,626,12942,0.00,1.98,0.00,0.000,4,0.000,0.112,3164,2578,1918,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13055,0.74,184.9,876.8,9.1,630,13061,0.20,2.08,0.00,0.000,6,0.266,0.142,3126,1542,1917,0,0,0,0,0,0,13.76,13.93,28.83
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$STATE,23912,end climb,SURFACE_DEPTH_REACHED
$STATE,23912,begin surface coast
$FINISH,1.7,1.023275
$STATE,23936,end surface coast,CONTROL_FINISHED_OK
$STATE,23936,begin surface
$SM_CCo,23961,38.22,0.125,0,0,1265,350.04
$SM_GC,2.43,8.85,2.12,38.22,0.065,0.130,0.125,137,1521,1265,-8.52,0.51,350.04,0,0,0,0,0,0,14.25,13.90,14.23
$IRIDIUM_FIX,2420.48,-3818.88,030313,010109
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.86
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,21.30
$XPDR_PINGS,4
$SC_FREEKB,7554688
$24V_AH,13.0,235.829
$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,23.300,223.675,470.575,38.225,0.000,0.000,0.000,382.025,1.000,0.000,18.031,3487.948,16631.072,919.562,2797.973,839.166,0.000,2582.513,0.000,2360.493,0.000,0.541,0.000
$DEVICE_MAMPS,315.945,156.060,1829.115,124.695,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23995.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.876,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,46598,1196
$CAP_FILE_SIZE,252814,0
$CFSIZE,260034560,176091136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,275.0,1
$GPS,030313,153304,2430.232,-3820.093,40,0.9,41,-14.1