version: 66.11
glider: 190
mission: 6
dive: 581
start: 3 8 113 3 45 28
data:
$ID,190
$MISSION,6
$DIVE,581
$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,-13705.59
$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,10
$R_STBD_OVSHOOT,17
$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
$GPS1,080313,033305,2433.123,-3825.939,27,1.0,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-66.6
$GPS2,080313,034454,2433.004,-3826.024,13,1.5,13,-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,67.7,40508,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.78,-184.9,0.0,0.0,0,33,0.00,0.00,-9.80,0.000,2,0.000,0.000,139,1513,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.6,0.0,1,146,10.85,2.12,-90.65,0.000,4,0.332,0.156,2613,454,3448,0,0,0,0,0,0,14.10,14.03,14.64
$GC,271,-0.74,-184.9,14.1,-8.4,24,277,0.00,1.95,0.00,0.000,6,0.000,0.078,2609,1528,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,580,-0.74,-184.9,43.1,-9.7,55,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1528,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.74,-184.9,71.8,-9.1,86,898,0.00,2.15,0.00,0.000,4,0.000,0.131,2609,461,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,951,-0.70,-184.9,77.8,-9.8,92,958,0.12,1.92,0.00,0.000,6,0.244,0.079,2637,1525,3448,0,0,0,0,0,0,13.86,14.07,28.83
$GC,1261,-0.70,-184.9,107.6,-9.9,123,1267,0.00,2.12,0.00,0.000,4,0.000,0.132,2637,459,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1309,-0.70,-184.9,112.8,-10.3,128,1317,0.00,1.90,0.00,0.000,6,0.000,0.077,2633,1497,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1621,-0.70,-184.9,142.7,-9.7,159,1628,0.00,2.03,0.00,0.000,4,0.000,0.099,2632,2580,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1709,-0.73,-184.9,151.5,-9.7,168,1717,0.00,2.08,0.00,0.000,6,0.000,0.110,2632,1521,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2020,-0.73,-184.9,180.2,-8.4,199,2027,0.00,2.12,0.00,0.000,4,0.000,0.135,2632,464,3448,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2080,-0.73,-184.9,185.5,-8.6,205,2087,0.00,1.92,0.00,0.000,6,0.000,0.079,2632,1525,3448,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2391,-0.73,-184.9,211.4,-7.1,236,2398,0.00,1.95,0.00,0.000,4,0.000,0.100,2632,2580,3448,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2440,-0.75,-184.9,214.6,-6.2,241,2447,0.00,2.08,0.00,0.000,6,0.000,0.109,2632,1516,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2750,-0.75,-184.9,230.2,-5.6,272,2757,0.00,2.10,0.00,0.000,4,0.000,0.131,2632,464,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2820,-0.75,-184.9,234.4,-6.2,279,2827,0.00,1.92,0.00,0.000,6,0.000,0.078,2632,1515,3448,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3129,-0.75,-184.9,254.6,-6.9,306,3136,0.00,2.00,0.00,0.000,4,0.000,0.102,2631,2575,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3200,-0.77,-184.9,258.8,-6.9,308,3206,0.00,2.03,0.00,0.000,6,0.000,0.107,2631,1519,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3522,-0.79,-184.9,283.0,-7.3,319,3528,0.00,2.12,0.00,0.000,4,0.000,0.133,2631,453,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3558,-0.79,-184.9,285.2,-7.4,320,3565,0.00,2.00,0.00,0.000,6,0.000,0.079,2632,1533,3448,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3884,-0.82,-184.9,312.5,-8.9,331,3889,0.00,1.98,0.00,0.000,4,0.000,0.103,2632,2575,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3958,-0.84,-184.9,317.9,-9.0,333,3967,0.00,2.05,0.00,0.000,6,0.000,0.109,2632,1529,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4271,-0.86,-184.9,348.8,-9.7,344,4277,0.12,2.12,0.00,0.000,4,0.129,0.130,2568,456,3446,0,0,0,0,0,0,14.41,13.79,28.83
$GC,4368,-0.84,-184.9,358.8,-10.9,347,4378,0.12,1.98,0.00,0.000,6,0.255,0.080,2594,1523,3446,0,0,0,0,0,0,13.75,14.01,28.83
$GC,4693,-0.84,-184.9,394.5,-10.6,358,4700,0.00,2.15,0.00,0.000,4,0.000,0.132,2594,454,3446,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4739,-0.84,-184.9,397.8,-10.7,359,4747,0.00,1.95,0.00,0.000,6,0.000,0.080,2592,1509,3445,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5049,-0.84,-184.9,429.3,-9.0,370,5056,0.00,2.12,0.00,0.000,4,0.000,0.131,2591,456,3445,0,0,0,0,0,0,28.83,13.68,28.83
$GC,5100,-0.84,-184.9,431.9,-8.8,371,5107,0.00,1.95,0.00,0.000,6,0.000,0.080,2592,1506,3444,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5410,-0.84,-184.9,455.4,-6.4,382,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1506,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5711,-0.84,-184.9,475.0,-6.9,392,5716,0.00,2.10,0.00,0.000,4,0.000,0.130,2592,460,3443,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5758,-0.84,-184.9,477.4,-7.2,393,5767,0.00,1.92,0.00,0.000,6,0.000,0.080,2592,1494,3443,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6069,-0.84,-184.9,504.4,-8.7,404,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1493,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-0.84,-184.9,532.5,-9.6,414,6376,0.00,2.10,0.00,0.000,4,0.000,0.133,2592,454,3441,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6499,-0.82,-184.9,544.5,-10.0,418,6506,0.00,1.92,0.00,0.000,6,0.000,0.083,2593,1486,3440,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6822,-0.82,-184.9,577.1,-9.7,429,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1486,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7119,-0.82,-184.9,604.9,-9.0,439,7125,0.00,2.10,0.00,0.000,4,0.000,0.134,2592,457,3438,0,0,0,0,0,0,28.83,13.65,28.83
$GC,7158,-0.82,-184.9,607.5,-8.9,440,7165,0.00,1.95,0.00,0.000,6,0.000,0.081,2592,1498,3438,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7481,-0.82,-184.9,633.1,-7.3,451,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1498,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,-0.82,-184.9,654.6,-7.5,461,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1497,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,-0.82,-184.9,679.7,-8.6,471,8086,0.00,2.10,0.00,0.000,4,0.000,0.135,2592,460,3436,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8158,-0.82,-184.9,685.3,-9.1,473,8167,0.00,1.92,0.00,0.000,6,0.000,0.082,2592,1486,3435,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8469,-0.82,-184.9,716.0,-9.3,484,8475,0.00,2.10,0.00,0.000,4,0.000,0.135,2591,461,3434,0,0,0,0,0,0,28.83,13.68,28.83
$GC,8530,-0.82,-184.9,721.5,-9.3,486,8537,0.00,1.88,0.00,0.000,6,0.000,0.083,2592,1471,3434,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8862,-0.82,-184.9,751.0,-8.8,497,8868,0.00,2.08,0.00,0.000,4,0.000,0.138,2592,458,3432,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8909,-0.82,-184.9,753.8,-8.8,498,8917,0.00,1.90,0.00,0.000,6,0.000,0.087,2591,1461,3432,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9219,-0.82,-184.9,781.7,-8.3,509,9225,0.00,2.17,0.00,0.000,4,0.000,0.109,2592,2579,3431,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9288,-0.82,-184.9,786.3,-7.9,511,9296,0.00,2.20,0.00,0.000,6,0.000,0.110,2591,1467,3431,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9611,-0.82,-184.9,811.9,-7.8,522,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1467,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9909,-0.82,-184.9,836.6,-8.4,532,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1467,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10210,-0.82,-184.9,862.4,-8.6,542,10216,0.00,2.17,0.00,0.000,4,0.000,0.109,2592,2578,3428,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10248,-0.82,-184.9,864.8,-8.5,543,10256,0.00,2.22,0.00,0.000,6,0.000,0.118,2591,1474,3427,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10569,-0.82,-184.9,893.1,-8.6,554,10576,0.00,2.08,0.00,0.000,4,0.000,0.142,2592,466,3426,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10639,-0.82,-184.9,898.2,-8.5,556,10645,0.00,1.90,0.00,0.000,6,0.000,0.088,2591,1464,3425,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10959,-0.82,-184.9,925.6,-8.2,567,10965,0.00,2.10,0.00,0.000,4,0.000,0.142,2591,458,3425,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11020,-0.82,-184.9,930.7,-8.2,569,11026,0.00,1.88,0.00,0.000,6,0.000,0.091,2591,1459,3424,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11354,-0.82,-184.9,957.2,-7.9,580,11359,0.00,2.17,0.00,0.000,4,0.000,0.109,2590,2582,3423,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11428,-0.82,-184.9,961.8,-7.7,582,11437,0.00,2.25,0.00,0.000,6,0.000,0.116,2590,1460,3423,0,0,0,0,0,0,28.83,13.84,28.83
$STATE,11645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11645,begin apogee
$GC,11656,-0.25,0.0,980.2,-7.6,590,11846,0.68,0.00,184.20,1.811,4,0.178,0.000,2785,1519,2689,0,0,0,0,0,0,13.75,28.83,13.05
$STATE,11851,end apogee,CONTROL_FINISHED_OK
$STATE,11851,begin climb
$GC,11854,0.78,184.9,988.9,0.0,596,12061,1.08,2.03,191.57,1.798,4,0.120,0.108,3122,2579,1934,0,0,0,0,0,0,13.95,13.95,13.07
$GC,12071,0.73,197.4,979.8,6.8,604,12090,0.00,2.10,14.55,1.642,6,0.000,0.125,3130,1525,1888,0,0,0,0,0,0,28.83,13.93,13.07
$GC,12395,0.71,197.4,953.7,7.9,614,12401,0.12,2.17,0.00,0.000,4,0.291,0.155,3107,453,1871,0,0,0,0,0,0,13.99,14.03,28.83
$GC,12549,0.71,197.4,942.9,7.2,619,12557,0.00,2.10,0.00,0.000,6,0.000,0.095,3107,1559,1869,0,0,0,0,0,0,28.83,14.18,28.83
$GC,12875,0.75,253.4,923.4,5.6,630,12937,0.00,0.00,58.47,1.748,6,0.000,0.000,3107,1559,1657,0,0,0,0,0,0,28.83,28.83,13.22
$GC,13261,0.77,297.7,900.2,5.9,643,13319,0.00,2.30,48.00,1.727,4,0.000,0.159,3110,452,1471,0,0,0,0,0,0,28.83,14.14,13.22
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$STATE,22178,end climb,SURFACE_DEPTH_REACHED
$STATE,22178,begin surface coast
$FINISH,1.7,0.999649
$STATE,22209,end surface coast,CONTROL_FINISHED_OK
$STATE,22209,begin surface
$SM_CCo,22234,9.07,0.132,0,0,1267,350.04
$SM_GC,2.92,9.05,0.75,9.07,0.081,0.132,0.132,141,1516,1267,-8.48,0.31,350.04,0,0,0,0,0,0,14.13,13.83,14.07
$IRIDIUM_FIX,2422.84,-3828.86,070313,212104
$TT8_MAMPS,0.023968,0.023968
$HUMID,62.04
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.80
$XPDR_PINGS,3
$SC_FREEKB,7548160
$24V_AH,13.0,242.854
$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,22.825,209.100,531.025,9.075,0.000,0.000,0.000,397.625,0.750,0.000,17.874,3089.613,15631.245,927.849,2499.917,790.834,0.000,2471.309,0.000,2050.795,0.000,0.541,0.000
$DEVICE_MAMPS,332.010,159.120,1810.755,132.345,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.947,0.000,0.000,0.000
$MEM,344936
$DATA_FILE_SIZE,43263,1104
$CAP_FILE_SIZE,231671,0
$CFSIZE,260034560,174202880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,228.6,1
$GPS,080313,095734,2432.980,-3826.658,37,0.9,37,-14.1