version: 66.11
glider: 190
mission: 6
dive: 611
start: 3 16 113 15 18 29
data:
$ID,190
$MISSION,6
$DIVE,611
$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,-13753.229
$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,11
$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
$GPS1,160313,150734,2427.432,-3840.165,30,0.9,30,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-65.2
$GPS2,160313,151759,2427.401,-3840.185,15,1.3,15,-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,97.3,65468,-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,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-10.65,0.000,2,0.000,0.000,143,1514,1513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.6,0.0,1,147,10.73,2.15,-90.75,0.000,4,0.327,0.155,2613,453,3448,0,0,0,0,0,0,14.07,13.99,14.58
$GC,280,-0.74,-184.9,15.1,-9.4,25,289,0.00,1.98,0.00,0.000,6,0.000,0.076,2609,1523,3449,0,0,0,0,0,0,28.83,13.97,28.83
$GC,590,-0.74,-184.9,43.1,-9.2,56,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-0.74,-184.9,71.3,-9.6,86,898,0.00,2.12,0.00,0.000,4,0.000,0.129,2609,454,3448,0,0,0,0,0,0,28.83,13.98,28.83
$GC,941,-0.71,-184.9,76.4,-10.1,91,949,0.10,1.98,0.00,0.000,6,0.201,0.076,2635,1524,3448,0,0,0,0,0,0,13.75,13.95,28.83
$GC,1251,-0.71,-184.9,104.9,-8.8,122,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1524,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.71,-184.9,127.7,-6.6,153,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1525,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1872,-0.71,-184.9,144.9,-5.4,184,1879,0.00,2.12,0.00,0.000,4,0.000,0.125,2636,458,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1942,-0.71,-184.9,149.2,-6.3,191,1949,0.00,1.92,0.00,0.000,6,0.000,0.071,2632,1518,3449,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2252,-0.71,-184.9,172.6,-8.9,222,2259,0.00,2.00,0.00,0.000,4,0.000,0.098,2630,2581,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2374,-0.74,-184.9,183.3,-9.0,234,2380,0.00,2.05,0.00,0.000,6,0.000,0.106,2632,1520,3449,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2681,-0.76,-184.9,211.2,-8.0,265,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.78,-184.9,235.1,-7.2,296,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3312,-0.81,-184.9,259.3,-7.6,320,3317,0.00,2.10,0.00,0.000,4,0.000,0.127,2632,458,3449,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3449,-0.81,-184.9,268.7,-7.9,324,3458,0.00,2.00,0.00,0.000,6,0.000,0.071,2632,1540,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3765,-0.83,-184.9,295.3,-8.1,335,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1539,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4061,-0.86,-184.9,319.4,-8.0,345,4067,0.12,1.98,0.00,0.000,4,0.129,0.099,2569,2569,3448,0,0,0,0,0,0,14.38,13.76,28.83
$GC,4120,-0.86,-184.9,324.4,-8.2,347,4127,0.00,2.03,0.00,0.000,6,0.000,0.104,2570,1535,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4452,-0.86,-184.9,354.0,-9.0,358,4457,0.00,2.00,0.00,0.000,4,0.000,0.098,2565,2581,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4600,-0.86,-184.9,367.1,-8.8,363,4607,0.00,2.10,0.00,0.000,6,0.000,0.106,2565,1514,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4932,-0.86,-184.9,398.3,-9.8,374,4938,0.00,2.10,0.00,0.000,4,0.000,0.127,2565,453,3446,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5021,-0.83,-184.9,407.6,-10.3,377,5027,0.12,1.98,0.00,0.000,6,0.205,0.074,2594,1514,3446,0,0,0,0,0,0,13.63,13.85,28.83
$GC,5355,-0.83,-184.9,438.8,-9.2,388,5360,0.00,2.00,0.00,0.000,4,0.000,0.100,2592,2578,3445,0,0,0,0,0,0,28.83,13.86,28.83
$GC,5429,-0.83,-184.9,444.0,-8.8,390,5438,0.00,2.10,0.00,0.000,6,0.000,0.106,2592,1517,3445,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5742,-0.83,-184.9,470.7,-7.9,401,5747,0.00,2.12,0.00,0.000,4,0.000,0.129,2592,458,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5839,-0.83,-184.9,478.0,-7.9,404,5848,0.00,1.95,0.00,0.000,6,0.000,0.076,2592,1504,3444,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6160,-0.83,-184.9,503.2,-7.9,415,6167,0.00,2.08,0.00,0.000,4,0.000,0.101,2588,2574,3443,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6211,-0.83,-184.9,505.4,-7.8,416,6218,0.00,2.12,0.00,0.000,6,0.000,0.108,2587,1496,3443,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6520,-0.83,-184.9,531.7,-8.2,427,6529,0.00,2.10,0.00,0.000,4,0.000,0.132,2587,467,3442,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6570,-0.83,-184.9,534.3,-8.3,428,6578,0.00,1.92,0.00,0.000,6,0.000,0.076,2582,1502,3441,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6882,-0.83,-184.9,563.0,-9.0,439,6888,0.00,2.08,0.00,0.000,4,0.000,0.104,2578,2581,3440,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6940,-0.83,-184.9,568.4,-9.1,441,6947,0.00,2.12,0.00,0.000,6,0.000,0.108,2578,1504,3440,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7272,-0.83,-184.9,602.2,-10.7,452,7277,0.00,2.08,0.00,0.000,4,0.000,0.132,2578,460,3438,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7360,-0.83,-184.9,612.8,-11.5,455,7368,0.00,1.92,0.00,0.000,6,0.000,0.080,2572,1489,3439,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7691,-0.83,-184.9,651.3,-11.7,466,7693,0.12,0.00,0.00,0.000,6,0.235,0.000,2603,1489,3438,0,0,0,0,0,0,14.00,28.83,28.83
$GC,7992,-0.83,-184.9,681.9,-9.8,476,7997,0.00,2.10,0.00,0.000,4,0.000,0.106,2604,2577,3437,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8051,-0.83,-184.9,687.3,-9.2,478,8057,0.00,2.15,0.00,0.000,6,0.000,0.113,2604,1483,3437,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8382,-0.83,-184.9,715.1,-7.9,489,8387,0.00,2.08,0.00,0.000,4,0.000,0.136,2604,458,3436,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8450,-0.83,-184.9,719.7,-7.6,491,8457,0.00,1.92,0.00,0.000,6,0.000,0.080,2604,1482,3435,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8776,-0.83,-184.9,741.2,-6.3,502,8781,0.00,2.12,0.00,0.000,4,0.000,0.106,2604,2584,3434,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8910,-0.83,-184.9,748.6,-6.2,506,8918,0.00,2.15,0.00,0.000,6,0.000,0.114,2604,1507,3434,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9224,-0.85,-184.9,771.4,-7.4,517,9229,0.00,2.12,0.00,0.000,4,0.000,0.139,2604,458,3433,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9312,-0.85,-184.9,778.6,-7.9,520,9317,0.00,1.95,0.00,0.000,6,0.000,0.082,2604,1504,3432,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9640,-0.85,-184.9,806.4,-8.9,531,9647,0.00,2.10,0.00,0.000,4,0.000,0.107,2604,2576,3431,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9732,-0.87,-184.9,814.5,-8.9,534,9738,0.00,2.12,0.00,0.000,6,0.000,0.116,2604,1493,3431,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10064,-0.89,-184.9,846.9,-9.8,545,10069,0.00,2.10,0.00,0.000,4,0.000,0.142,2604,461,3431,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10182,-0.89,-184.9,858.6,-9.7,549,10187,0.00,1.95,0.00,0.000,6,0.000,0.085,2604,1485,3430,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10514,-0.91,-184.9,887.6,-8.5,560,10519,0.00,2.12,0.00,0.000,4,0.000,0.116,2604,2576,3429,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10581,-0.94,-184.9,892.3,-8.2,562,10588,0.08,2.20,0.00,0.000,6,0.096,0.125,2564,1491,3431,0,0,0,0,0,0,14.04,13.94,28.83
$GC,10905,-0.94,-184.9,918.7,-7.8,573,10910,0.00,2.05,0.00,0.000,4,0.000,0.136,2564,460,3427,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11010,-0.91,-184.9,925.9,-8.0,576,11018,0.00,1.92,0.00,0.000,6,0.000,0.084,2556,1478,3426,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11325,-0.91,-184.9,950.2,-7.1,587,11331,0.00,2.12,0.00,0.000,4,0.000,0.109,2558,2578,3426,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11370,-0.91,-184.9,952.3,-7.1,588,11378,0.00,2.20,0.00,0.000,6,0.000,0.118,2553,1480,3425,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11682,-0.91,-184.9,975.7,-7.3,599,11688,0.00,2.08,0.00,0.000,4,0.000,0.137,2553,458,3424,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,11737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11737,begin apogee
$GC,11747,-0.25,0.0,980.8,-7.9,601,12002,0.82,0.00,236.43,1.713,4,0.201,0.000,2781,1521,2696,0,0,0,0,1,0,13.83,28.83,12.70
$STATE,12003,end apogee,CONTROL_FINISHED_OK
$STATE,12004,begin climb
$GC,12007,0.78,184.9,992.9,0.0,609,12216,1.12,2.20,197.57,1.793,4,0.138,0.144,3120,458,1941,0,0,0,0,0,0,13.82,13.74,13.09
$GC,12356,0.75,184.9,978.5,7.3,620,12365,0.00,2.00,0.00,0.000,6,0.000,0.090,3119,1515,1926,0,0,0,0,0,0,28.83,13.93,28.83
$GC,12665,0.75,184.9,954.7,7.4,631,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1515,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12967,0.75,184.9,931.5,7.9,641,12972,0.00,2.05,0.00,0.000,4,0.000,0.112,3120,2580,1922,0,0,0,0,0,0,28.83,14.00,28.83
$GC,13145,0.75,184.9,916.4,8.5,647,13151,0.00,2.10,0.00,0.000,6,0.000,0.129,3127,1544,1920,0,0,0,0,0,0,28.83,13.86,28.83
$GC,13480,0.72,184.9,889.2,8.3,658,13486,0.00,2.03,0.00,0.000,4,0.000,0.120,3127,2584,1920,0,0,0,0,0,0,28.83,13.95,28.83
$GC,13689,0.70,184.9,871.6,8.2,665,13695,0.15,2.05,0.00,0.000,6,0.274,0.137,3102,1569,1919,0,0,0,0,0,0,13.80,13.92,28.83
$GC,14020,0.71,198.9,848.0,6.7,676,14044,0.00,2.33,13.40,1.656,4,0.000,0.168,3110,459,1874,0,0,0,0,0,0,28.83,14.07,13.43
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$STATE,23164,end climb,SURFACE_DEPTH_REACHED
$STATE,23165,begin surface coast
$FINISH,1.7,1.023980
$STATE,23195,end surface coast,CONTROL_FINISHED_OK
$STATE,23195,begin surface
$SM_CCo,23224,12.45,0.135,0,0,1265,350.04
$SM_GC,2.61,8.90,0.75,12.45,0.066,0.137,0.135,143,1519,1265,-8.46,0.37,350.04,0,0,0,0,0,0,14.13,13.79,14.07
$IRIDIUM_FIX,2415.74,-3837.74,160313,080847
$TT8_MAMPS,0.023968,0.023968
$HUMID,63.15
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,2
$SC_FREEKB,7536896
$24V_AH,12.7,255.542
$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,22.750,215.800,579.900,12.450,0.000,0.000,0.000,331.900,0.500,0.000,16.216,3312.460,16091.555,965.985,2640.797,832.469,0.000,2547.284,0.000,2276.257,0.000,0.541,0.000
$DEVICE_MAMPS,326.655,168.300,1793.160,134.640,0.000,0.000,0.000,161.415,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.920,0.000,0.000,0.000
$MEM,344900
$DATA_FILE_SIZE,43324,1152
$CAP_FILE_SIZE,240722,0
$CFSIZE,260034560,170799104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.119,263.4,1
$GPS,160313,214705,2427.511,-3840.640,32,0.9,33,-14.2