version: 66.11
glider: 190
mission: 6
dive: 432
start: 1 25 113 8 6 8
data:
$ID,190
$MISSION,6
$DIVE,432
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,9
$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,-13459.135
$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,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,20
$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,2990
$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,3
$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
$GPS1,250113,075435,2431.291,-3745.231,29,0.8,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-60.5
$GPS2,250113,080535,2431.366,-3745.255,14,1.2,15,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,190.9,20379,-16.4,-7.174,-28.86
$D_GRID,990
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.84,-155.7,0.0,0.0,0,37,0.00,0.00,-11.27,0.000,2,0.000,0.000,141,1512,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.5,0.0,1,137,11.48,2.10,-78.12,0.000,4,0.361,0.160,2614,463,3626,0,0,0,0,0,0,14.03,14.10,14.62
$GC,227,-0.84,-155.7,14.6,-10.9,20,236,0.00,1.95,0.00,0.000,6,0.000,0.085,2607,1516,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,538,-0.86,-155.7,41.0,-7.0,51,546,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2576,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,589,-0.90,-155.7,44.5,-7.1,56,596,0.00,2.03,0.00,0.000,6,0.000,0.118,2605,1520,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,899,-0.92,-155.7,69.6,-9.7,87,906,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,454,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1077,-0.92,-155.7,90.2,-10.2,105,1087,0.00,1.95,0.00,0.000,6,0.000,0.084,2605,1512,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1388,-0.95,-155.7,121.2,-10.0,136,1396,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,457,3628,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1489,-0.95,-155.7,131.6,-10.5,146,1496,0.00,1.85,0.00,0.000,6,0.000,0.082,2610,1488,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1798,-0.98,-155.7,159.7,-8.2,177,1807,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,458,3627,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1897,-0.98,-155.7,168.5,-9.2,187,1906,0.00,1.88,0.00,0.000,6,0.000,0.081,2605,1483,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2208,-1.02,-155.7,196.9,-9.1,218,2217,0.12,2.03,0.00,0.000,4,0.137,0.135,2551,460,3627,0,0,0,0,0,0,14.45,13.97,28.83
$GC,2321,-0.98,-155.7,209.5,-12.0,229,2329,0.00,1.83,0.00,0.000,6,0.000,0.084,2550,1471,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2629,-0.98,-155.7,242.6,-10.6,260,2636,0.00,2.05,0.00,0.000,4,0.000,0.109,2549,2574,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2780,-0.98,-155.7,257.2,-9.7,271,2785,0.00,2.08,0.00,0.000,6,0.000,0.115,2549,1477,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3111,-0.98,-155.7,286.9,-8.7,282,3116,0.00,1.95,0.00,0.000,4,0.000,0.136,2549,460,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3247,-0.95,-155.7,298.2,-9.4,286,3256,0.10,1.83,0.00,0.000,6,0.282,0.085,2576,1464,3627,0,0,0,0,0,0,14.07,14.35,28.83
$GC,3562,-0.98,-155.7,326.7,-8.9,297,3568,0.00,1.95,0.00,0.000,4,0.000,0.138,2576,458,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3608,-1.00,-155.7,329.6,-9.1,298,3616,0.00,1.80,0.00,0.000,6,0.000,0.085,2570,1454,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3920,-1.02,-155.7,364.1,-11.2,309,3927,0.00,1.95,0.00,0.000,4,0.000,0.139,2570,458,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3957,-1.02,-155.7,367.7,-11.5,310,3965,0.00,1.80,0.00,0.000,6,0.000,0.086,2565,1444,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4277,-1.02,-155.7,407.6,-11.8,321,4285,0.00,2.12,0.00,0.000,4,0.000,0.112,2565,2569,3625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4316,-1.02,-155.7,411.0,-11.7,322,4325,0.00,2.20,0.00,0.000,6,0.000,0.119,2566,1441,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4641,-1.04,-155.7,445.1,-9.7,333,4647,0.00,1.90,0.00,0.000,4,0.000,0.140,2565,462,3624,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4706,-1.04,-155.7,450.8,-9.5,335,4713,0.00,1.80,0.00,0.000,6,0.000,0.088,2562,1445,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5029,-1.04,-155.7,477.8,-7.9,346,5034,0.00,1.95,0.00,0.000,4,0.000,0.142,2562,460,3622,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5156,-1.04,-155.7,487.7,-8.2,350,5160,0.00,1.75,0.00,0.000,6,0.000,0.088,2556,1418,3622,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5469,-1.04,-155.7,513.8,-8.5,361,5475,0.00,1.90,0.00,0.000,4,0.000,0.141,2556,463,3621,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5517,-1.04,-155.7,516.6,-8.6,362,5521,0.00,1.75,0.00,0.000,6,0.000,0.089,2553,1415,3621,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5818,-1.04,-155.7,545.3,-9.0,372,5825,0.00,1.90,0.00,0.000,4,0.000,0.142,2552,461,3620,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5909,-1.04,-155.7,554.0,-9.5,375,5915,0.00,1.67,0.00,0.000,6,0.000,0.090,2553,1380,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6238,-1.04,-155.7,583.4,-8.9,386,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1379,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6540,-1.04,-155.7,612.3,-9.7,396,6545,0.00,1.85,0.00,0.000,4,0.000,0.146,2552,454,3618,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6658,-1.04,-155.7,625.1,-10.7,400,6665,0.00,1.73,0.00,0.000,6,0.000,0.092,2552,1378,3617,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6989,-1.04,-155.7,659.1,-10.3,411,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1378,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7289,-1.04,-155.7,689.9,-10.0,421,7295,0.00,1.85,0.00,0.000,4,0.000,0.146,2555,463,3614,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7378,-1.04,-155.7,699.3,-10.4,424,7385,0.00,1.67,0.00,0.000,6,0.000,0.092,2552,1366,3614,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7709,-1.04,-155.7,729.4,-8.8,435,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1367,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,-1.06,-155.7,754.9,-8.4,445,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1367,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8310,-1.08,-155.7,781.7,-9.3,455,8315,0.00,2.30,0.00,0.000,4,0.000,0.117,2552,2575,3610,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8369,-1.11,-155.7,787.2,-9.2,457,8375,0.00,2.35,0.00,0.000,6,0.000,0.117,2551,1368,3607,0,0,0,0,0,0,28.83,13.99,28.83
$GC,8702,-1.13,-155.7,818.9,-9.7,468,8707,0.00,1.77,0.00,0.000,4,0.000,0.138,2552,461,3607,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8747,-1.13,-155.7,822.1,-9.9,469,8751,0.00,1.65,0.00,0.000,6,0.000,0.083,2552,1364,3607,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9050,-1.15,-155.7,853.7,-9.9,479,9055,0.00,2.30,0.00,0.000,4,0.000,0.110,2552,2578,3606,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9140,-1.18,-155.7,862.3,-9.6,482,9146,0.12,2.35,0.00,0.000,6,0.149,0.127,2511,1371,3605,0,0,0,0,0,0,14.08,13.93,28.83
$GC,9471,-1.15,-155.7,899.0,-11.4,493,9476,0.00,2.35,0.00,0.000,4,0.000,0.122,2509,2574,3604,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9579,-1.12,-155.7,908.9,-11.0,496,9587,0.00,2.33,0.00,0.000,6,0.000,0.117,2510,1387,3604,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9892,-1.09,-155.7,945.9,-11.3,507,9897,0.00,2.30,0.00,0.000,4,0.000,0.113,2509,2578,3603,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10028,-1.09,-155.7,959.2,-11.1,511,10037,0.00,2.35,0.00,0.000,6,0.000,0.129,2509,1404,3602,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,10275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10275,begin apogee
$GC,10283,-0.23,0.0,990.2,-11.5,520,10457,1.12,0.00,161.77,2.479,4,0.233,0.000,2807,1515,2993,0,0,0,0,1,0,13.67,28.83,12.72
$STATE,10463,end apogee,CONTROL_FINISHED_OK
$STATE,10463,begin climb
$GC,10466,0.84,155.7,1004.2,0.0,526,10642,1.10,2.08,166.77,1.825,4,0.113,0.123,3160,2577,2356,0,0,0,0,0,0,14.09,14.06,13.09
$GC,10772,0.83,219.4,1005.2,5.2,536,10847,0.00,2.10,68.32,1.795,6,0.000,0.138,3168,1524,2090,0,0,0,0,0,0,28.83,14.24,13.17
$GC,11172,0.80,219.4,974.4,7.8,550,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1524,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,0.78,219.4,950.8,7.9,560,11478,0.00,2.00,0.00,0.000,4,0.000,0.128,3169,2577,2076,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11592,0.74,219.4,940.9,8.3,564,11599,0.15,2.05,0.00,0.000,6,0.288,0.132,3138,1531,2075,0,0,0,0,0,0,14.03,14.26,28.83
$GC,11925,0.75,233.5,917.7,6.7,575,11943,0.00,2.03,13.73,1.702,4,0.000,0.116,3138,2585,2033,0,0,0,0,0,0,28.83,14.52,13.38
$GC,12074,0.76,244.6,908.1,6.8,579,12092,0.00,2.00,13.50,1.695,6,0.000,0.136,3145,1545,1991,0,0,0,0,0,0,28.83,14.32,13.41
$GC,12412,0.77,258.1,884.3,6.7,591,12433,0.00,2.03,15.93,1.704,4,0.000,0.126,3145,2585,1931,0,0,0,0,0,0,28.83,14.46,13.44
$GC,12531,0.77,258.8,876.2,7.2,594,12539,0.00,2.03,0.00,0.000,6,0.000,0.130,3153,1563,1927,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12855,0.77,258.8,851.8,7.6,605,12860,0.00,1.90,0.00,0.000,4,0.000,0.117,3153,2578,1925,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12981,0.77,258.8,841.7,8.4,609,12989,0.00,1.98,0.00,0.000,6,0.000,0.130,3160,1581,1923,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13303,0.77,258.8,812.1,9.1,620,13309,0.00,1.90,0.00,0.000,4,0.000,0.113,3160,2571,1923,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13362,0.77,258.8,806.3,9.4,622,13369,0.00,1.92,0.00,0.000,6,0.000,0.126,3167,1595,1922,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13695,0.77,258.8,776.7,8.5,633,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1596,1923,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22110,end climb,SURFACE_DEPTH_REACHED
$STATE,22110,begin surface coast
$FINISH,1.5,1.025618
$STATE,22141,end surface coast,CONTROL_FINISHED_OK
$STATE,22141,begin surface
$SM_CCo,22164,14.73,0.130,0,0,1561,350.04
$SM_GC,2.76,8.95,0.28,14.73,0.075,0.157,0.130,140,1519,1561,-8.54,0.37,350.04,0,0,0,0,0,0,14.30,14.15,14.23
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.37
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.70
$XPDR_PINGS,5
$SC_FREEKB,7604896
$TM_FREEKB,1336878499
$24V_AH,12.7,184.000
$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,23.575,190.500,508.475,14.725,0.000,0.000,0.000,358.475,1.250,0.000,16.064,3132.844,15620.271,891.515,2500.919,681.552,0.000,2388.031,0.000,2072.105,0.000,0.541,0.000
$DEVICE_MAMPS,361.080,160.650,2479.365,130.050,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.704,21.865,0.000,0.000
$MEM,344940
$DATA_FILE_SIZE,39944,1082
$CAP_FILE_SIZE,232937,0
$CFSIZE,260034560,190894080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.104,357.8,1
$GPS,250113,141704,2430.931,-3744.989,29,0.9,29,-13.9