version: 66.11
glider: 190
mission: 6
dive: 597
start: 3 12 113 15 41 49
data:
$ID,190
$MISSION,6
$DIVE,597
$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,-13734.853
$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,9
$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
$GPS1,120313,152735,2427.968,-3834.116,25,0.9,26,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-57.5
$GPS2,120313,154117,2427.995,-3834.048,17,1.0,17,-14.2
$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,70.2,55114,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-9.43,0.000,2,0.000,0.000,132,1517,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.5,0.0,1,155,10.95,2.03,-95.32,0.000,4,0.334,0.125,2606,2578,3451,0,0,0,0,0,0,13.97,14.06,14.62
$GC,331,-0.76,-184.9,18.3,-8.0,30,337,0.00,2.05,0.00,0.000,6,0.000,0.111,2606,1517,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,640,-0.76,-184.9,44.9,-8.8,61,648,0.00,2.10,0.00,0.000,4,0.000,0.135,2606,459,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,758,-0.72,-184.9,56.5,-9.8,73,767,0.08,1.92,0.00,0.000,6,0.218,0.080,2628,1496,3448,0,0,0,0,0,0,13.73,13.95,28.83
$GC,1068,-0.72,-184.9,82.6,-8.0,104,1076,0.00,2.05,0.00,0.000,4,0.000,0.103,2622,2570,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1119,-0.72,-184.9,86.4,-7.7,109,1127,0.00,2.05,0.00,0.000,6,0.000,0.112,2623,1501,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1430,-0.72,-184.9,108.7,-6.4,140,1436,0.00,2.08,0.00,0.000,4,0.000,0.133,2623,458,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1588,-0.72,-184.9,119.3,-6.6,156,1596,0.00,1.90,0.00,0.000,6,0.000,0.078,2618,1483,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1899,-0.72,-184.9,140.4,-7.0,187,1906,0.00,2.03,0.00,0.000,4,0.000,0.132,2618,459,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1958,-0.70,-184.9,144.8,-7.4,193,1968,0.00,1.88,0.00,0.000,6,0.000,0.079,2618,1472,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2268,-0.70,-184.9,168.2,-8.2,224,2276,0.00,2.05,0.00,0.000,4,0.000,0.131,2618,457,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2330,-0.70,-184.9,173.4,-8.8,230,2337,0.00,1.83,0.00,0.000,6,0.000,0.078,2618,1453,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2640,-0.70,-184.9,201.4,-9.8,261,2648,0.00,1.98,0.00,0.000,4,0.000,0.129,2618,455,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2718,-0.70,-184.9,208.8,-9.1,269,2729,0.00,1.80,0.00,0.000,6,0.000,0.077,2618,1424,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3029,-0.70,-184.9,235.8,-8.2,300,3036,0.00,2.20,0.00,0.000,4,0.000,0.103,2618,2577,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3068,-0.70,-184.9,238.8,-7.8,304,3076,0.00,2.25,0.00,0.000,6,0.000,0.110,2618,1427,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3398,-0.70,-184.9,262.9,-7.0,325,3405,0.00,1.95,0.00,0.000,4,0.000,0.131,2618,461,3448,0,0,0,0,0,0,28.83,13.75,28.83
$GC,3477,-0.70,-184.9,267.3,-7.2,327,3486,0.00,1.83,0.00,0.000,6,0.000,0.078,2618,1435,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3789,-0.70,-184.9,291.3,-7.5,338,3795,0.00,2.17,0.00,0.000,4,0.000,0.103,2618,2577,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3867,-0.70,-184.9,295.8,-7.6,340,3876,0.00,2.22,0.00,0.000,6,0.000,0.111,2618,1447,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4180,-0.70,-184.9,324.1,-9.2,351,4185,0.00,2.00,0.00,0.000,4,0.000,0.134,2618,454,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4329,-0.70,-184.9,339.1,-10.2,356,4334,0.00,1.83,0.00,0.000,6,0.000,0.080,2618,1431,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4659,-0.70,-184.9,372.1,-9.8,367,4665,0.00,2.15,0.00,0.000,4,0.000,0.103,2618,2576,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4778,-0.72,-184.9,382.9,-9.1,371,4784,0.00,2.22,0.00,0.000,6,0.000,0.112,2618,1448,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5110,-0.72,-184.9,411.6,-8.5,382,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1448,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5409,-0.72,-184.9,436.1,-8.1,392,5414,0.00,2.03,0.00,0.000,4,0.000,0.135,2618,446,3444,0,0,0,0,0,0,28.83,13.72,28.83
$GC,5517,-0.72,-184.9,443.8,-8.4,395,5526,0.00,1.90,0.00,0.000,6,0.000,0.080,2618,1456,3444,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5830,-0.72,-184.9,472.0,-8.7,406,5835,0.00,2.15,0.00,0.000,4,0.000,0.106,2618,2575,3443,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5897,-0.74,-184.9,477.4,-8.9,408,5904,0.00,2.20,0.00,0.000,6,0.000,0.113,2618,1455,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6220,-0.74,-184.9,505.9,-8.5,419,6225,0.00,2.17,0.00,0.000,4,0.000,0.106,2618,2578,3442,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6287,-0.74,-184.9,510.7,-8.3,421,6294,0.00,2.33,0.00,0.000,6,0.000,0.118,2618,1412,3442,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6612,-0.74,-184.9,534.2,-6.6,432,6617,0.00,2.25,0.00,0.000,4,0.000,0.109,2618,2577,3441,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6719,-0.76,-184.9,539.7,-6.1,435,6727,0.00,2.38,0.00,0.000,6,0.000,0.119,2618,1378,3441,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7029,-0.76,-184.9,559.3,-6.2,446,7034,0.00,1.88,0.00,0.000,4,0.000,0.140,2618,465,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7109,-0.76,-184.9,563.2,-6.4,448,7116,0.00,1.75,0.00,0.000,6,0.000,0.085,2618,1391,3440,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7421,-0.79,-184.9,586.7,-7.7,459,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1390,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,-0.81,-184.9,611.1,-8.3,469,7726,0.00,2.28,0.00,0.000,4,0.000,0.106,2618,2577,3438,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7787,-0.83,-184.9,616.1,-8.3,471,7795,0.00,2.38,0.00,0.000,6,0.000,0.113,2618,1381,3437,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8112,-0.85,-184.9,643.2,-8.2,482,8117,0.00,1.88,0.00,0.000,4,0.000,0.137,2618,466,3437,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8249,-0.85,-184.9,652.9,-8.1,486,8256,0.00,1.70,0.00,0.000,6,0.000,0.083,2618,1370,3436,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8561,-0.87,-184.9,677.8,-7.3,497,8567,0.00,1.88,0.00,0.000,4,0.000,0.141,2618,458,3435,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8718,-0.87,-184.9,689.3,-7.7,502,8725,0.00,1.75,0.00,0.000,6,0.000,0.083,2618,1389,3435,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9041,-0.90,-184.9,714.4,-7.6,513,9048,0.12,2.30,0.00,0.000,4,0.132,0.107,2555,2582,3433,0,0,0,0,0,0,14.28,13.92,28.83
$GC,9159,-0.90,-184.9,724.6,-8.5,517,9166,0.00,2.33,0.00,0.000,6,0.000,0.119,2556,1403,3433,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9489,-0.90,-184.9,756.9,-10.0,528,9494,0.00,1.90,0.00,0.000,4,0.000,0.140,2555,460,3431,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9619,-0.86,-184.9,769.8,-10.7,532,9625,0.10,1.77,0.00,0.000,6,0.220,0.086,2581,1396,3431,0,0,0,0,0,0,13.61,13.84,28.83
$GC,9941,-0.86,-184.9,800.1,-8.8,543,9946,0.00,2.30,0.00,0.000,4,0.000,0.112,2579,2576,3431,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9987,-0.86,-184.9,802.5,-8.8,544,9996,0.00,2.40,0.00,0.000,6,0.000,0.121,2579,1381,3430,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10300,-0.86,-184.9,829.9,-8.0,555,10305,0.00,1.88,0.00,0.000,4,0.000,0.144,2579,460,3429,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10337,-0.86,-184.9,832.2,-7.8,556,10344,0.00,1.75,0.00,0.000,6,0.000,0.088,2583,1370,3429,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10663,-0.86,-184.9,856.0,-7.1,567,10669,0.00,2.33,0.00,0.000,4,0.000,0.113,2579,2576,3428,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10737,-0.86,-184.9,860.1,-7.0,569,10746,0.00,2.45,0.00,0.000,6,0.000,0.118,2579,1346,3428,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11050,-0.86,-184.9,883.9,-7.4,580,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1346,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11348,-0.86,-184.9,906.5,-7.8,590,11355,0.00,2.42,0.00,0.000,4,0.000,0.110,2582,2571,3425,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11417,-0.86,-184.9,911.2,-7.9,592,11425,0.00,2.45,0.00,0.000,6,0.000,0.125,2579,1357,3425,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11740,-0.86,-184.9,940.1,-9.2,603,11745,0.00,1.88,0.00,0.000,4,0.000,0.149,2579,458,3424,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11848,-0.86,-184.9,949.0,-9.7,606,11856,0.00,1.70,0.00,0.000,6,0.000,0.088,2578,1338,3424,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,12155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12155,begin apogee
$GC,12168,-0.25,0.0,982.0,-10.1,617,12357,0.73,0.00,184.52,1.829,4,0.186,0.000,2783,1518,2693,0,0,0,0,0,0,13.81,28.83,13.05
$STATE,12362,end apogee,CONTROL_FINISHED_OK
$STATE,12362,begin climb
$GC,12365,0.78,184.9,995.0,0.0,623,12572,1.08,2.08,193.98,1.858,4,0.121,0.116,3117,2579,1937,0,0,0,0,0,0,13.84,13.82,13.03
$GC,12602,0.76,233.7,989.2,5.8,631,12662,0.00,2.12,52.05,1.810,6,0.000,0.127,3126,1523,1736,0,0,0,0,0,0,28.83,13.80,13.05
$GC,12961,0.76,233.7,960.4,8.7,643,12968,0.00,2.17,0.00,0.000,4,0.000,0.153,3134,458,1724,0,0,0,0,0,0,28.83,14.00,28.83
$GC,13030,0.76,233.7,954.9,9.0,645,13037,0.00,2.10,0.00,0.000,6,0.000,0.086,3134,1578,1723,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13353,0.76,233.7,922.5,10.0,656,13358,0.00,2.30,0.00,0.000,4,0.000,0.160,3143,453,1722,0,0,0,0,0,0,28.83,13.98,28.83
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$STATE,23624,end climb,SURFACE_DEPTH_REACHED
$STATE,23624,begin surface coast
$FINISH,1.6,1.025600
$STATE,23658,end surface coast,CONTROL_FINISHED_OK
$STATE,23658,begin surface
$SM_CCo,23684,26.50,0.126,0,0,1264,350.04
$SM_GC,2.63,8.85,0.73,26.50,0.067,0.119,0.126,142,1516,1264,-8.47,0.37,350.04,0,0,0,0,0,0,14.13,13.86,14.13
$IRIDIUM_FIX,2415.74,-3832.57,120313,080818
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.34
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.70
$XPDR_PINGS,4
$SC_FREEKB,7542144
$24V_AH,13.0,249.606
$10V_AH,12.1,0.000
$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,22.500,227.575,503.575,26.500,0.000,0.000,0.000,436.975,1.000,0.000,19.112,3366.567,16556.188,957.861,2768.915,866.958,0.000,2651.806,0.000,2281.049,0.000,0.542,0.000
$DEVICE_MAMPS,333.540,159.885,1858.185,126.225,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23710.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.967,0.000,0.000,0.000
$MEM,344884
$DATA_FILE_SIZE,43342,1172
$CAP_FILE_SIZE,251405,0
$CFSIZE,260034560,172380160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,235.1,1
$GPS,120313,221829,2428.005,-3834.470,41,0.8,42,-14.2