version: 66.11
glider: 190
mission: 6
dive: 28
start: 9 23 112 8 1 22
data:
$ID,190
$MISSION,6
$DIVE,28
$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,540
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,100
$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,0.0099999998
$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,8
$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,-12064.403
$T_RSLEEP,2
$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,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$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,12
$MINV_10V,12
$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,49
$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
$GPS1,230912,075004,2450.051,-3802.006,26,0.9,26,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-62.5
$GPS2,230912,080054,2450.054,-3802.059,18,1.2,19,-14.0
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-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,195.4,100108,-13.5,-6.111,-18.49
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
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$GC,14409,-0.67,-97.3,903.3,-5.4,725,14414,0.00,1.85,0.00,0.000,6,0.000,0.086,2668,1795,3351,0,0,0,0,0,0,28.83,14.92,28.83
$GC,14728,-0.67,-97.3,922.1,-5.8,736,14733,0.00,1.92,0.00,0.000,4,0.000,0.130,2667,732,3351,0,0,0,0,0,0,28.83,14.89,28.83
$GC,14779,-0.67,-97.3,924.3,-6.0,737,14784,0.00,1.83,0.00,0.000,6,0.000,0.087,2667,1793,3350,0,0,0,0,0,0,28.83,14.92,28.83
$GC,15092,-0.67,-97.3,946.2,-6.6,748,15093,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1793,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15391,-0.67,-97.3,966.8,-6.9,758,15396,0.00,1.92,0.00,0.000,4,0.000,0.129,2667,732,3349,0,0,0,0,0,0,28.83,14.88,28.83
$GC,15464,-0.67,-97.3,971.4,-7.1,760,15470,0.00,1.83,0.00,0.000,6,0.000,0.088,2667,1791,3349,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,15726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15726,begin apogee
$GC,15730,-0.19,0.0,990.4,-6.7,769,15826,0.52,0.00,90.00,2.069,6,0.227,0.000,2820,1471,2984,0,0,0,0,0,0,14.80,28.83,13.57
$STATE,15829,end apogee,CONTROL_FINISHED_OK
$STATE,15829,begin climb
$GC,15830,0.58,97.3,992.6,0.0,772,15940,0.80,2.12,95.50,2.056,4,0.157,0.141,3075,423,2584,0,0,0,0,0,0,14.24,14.04,13.44
$GC,15976,0.57,153.4,988.7,3.7,777,16037,0.00,1.90,55.58,2.023,6,0.000,0.082,3076,1488,2365,0,0,0,0,0,0,28.83,14.32,13.47
$GC,16364,0.57,153.4,956.9,8.9,790,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1488,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16665,0.57,153.4,930.3,8.8,800,16670,0.00,1.85,0.00,0.000,4,0.000,0.103,3075,2546,2344,0,0,0,0,0,0,28.83,14.76,28.83
$GC,16701,0.57,153.4,927.2,8.8,801,16707,0.00,1.92,0.00,0.000,6,0.000,0.111,3084,1472,2343,0,0,0,0,0,0,28.83,14.75,28.83
$GC,17030,0.55,153.4,900.8,7.7,812,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1473,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17330,0.53,153.4,880.0,6.5,822,17331,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1473,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17630,0.52,166.7,862.8,5.5,832,17648,0.00,1.92,11.32,1.960,4,0.000,0.099,3084,2538,2303,0,0,0,0,0,0,28.83,14.77,14.09
$GC,17695,0.52,180.4,859.3,5.5,834,17715,0.15,1.90,15.05,1.961,6,0.303,0.110,3057,1477,2253,0,0,0,0,0,0,14.69,14.77,13.99
$GC,18022,0.53,200.9,842.4,5.2,845,18054,0.00,1.98,20.98,1.974,4,0.000,0.098,3057,2539,2163,0,0,0,0,0,0,28.83,14.57,13.93
$GC,18080,0.55,216.9,840.7,5.4,846,18105,0.00,1.92,17.67,1.910,6,0.000,0.109,3065,1479,2100,0,0,0,0,0,0,28.83,14.58,13.82
$GC,18417,0.57,216.9,816.5,6.9,858,18419,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1479,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18718,0.59,216.9,795.0,7.5,868,18719,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1479,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19018,0.61,216.9,770.6,8.5,878,19023,0.00,1.88,0.00,0.000,4,0.000,0.096,3065,2540,2089,0,0,0,0,0,0,28.83,14.83,28.83
$GC,19054,0.62,216.9,767.7,8.7,879,19059,0.00,1.90,0.00,0.000,6,0.000,0.108,3073,1471,2088,0,0,0,0,0,0,28.83,14.81,28.83
$GC,19382,0.62,216.9,737.5,8.9,890,19383,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1471,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19681,0.62,216.9,712.8,8.1,900,19682,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1470,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19982,0.63,224.2,693.8,5.8,910,19988,0.00,1.85,1.35,0.202,4,0.000,0.090,3073,2540,2073,0,0,0,0,0,0,28.83,14.88,14.84
$GC,20025,0.63,229.8,691.6,5.9,911,20047,0.00,1.90,11.68,1.823,6,0.000,0.106,3080,1478,2047,0,0,0,0,0,0,28.83,14.87,14.14
$GC,20346,0.63,229.8,671.8,6.2,922,20347,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1477,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20646,0.63,229.8,652.9,6.6,932,20651,0.00,1.88,0.00,0.000,4,0.000,0.093,3080,2543,2043,0,0,0,0,0,0,28.83,14.83,28.83
$GC,20687,0.63,229.8,650.7,6.7,933,20693,0.00,1.88,0.00,0.000,6,0.000,0.106,3088,1479,2042,0,0,0,0,0,0,28.83,14.85,28.83
$GC,21010,0.63,229.8,624.7,8.5,944,21011,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1479,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21310,0.63,229.8,597.6,9.2,954,21311,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1479,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21609,0.63,229.8,570.2,8.9,964,21614,0.00,1.83,0.00,0.000,4,0.000,0.090,3088,2540,2043,0,0,0,0,0,0,28.83,14.90,28.83
$GC,21651,0.63,229.8,567.4,8.8,965,21656,0.00,1.88,0.00,0.000,6,0.000,0.102,3096,1473,2042,0,0,0,0,0,0,28.83,14.88,28.83
$GC,21974,0.63,229.8,538.7,8.7,976,21975,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1473,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22273,0.63,229.8,513.6,8.3,986,22278,0.00,1.90,0.00,0.000,4,0.000,0.124,3104,422,2043,0,0,0,0,0,0,28.83,14.88,28.83
$GC,22314,0.63,229.8,510.7,8.4,987,22319,0.00,1.77,0.00,0.000,6,0.000,0.067,3104,1493,2043,0,0,0,0,0,0,28.83,14.93,28.83
$GC,22637,0.61,229.8,480.4,9.2,998,22638,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1490,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22936,0.60,229.8,452.0,9.4,1008,22941,0.00,1.75,0.00,0.000,4,0.000,0.087,3105,2530,2044,0,0,0,0,0,0,28.83,14.91,28.83
$GC,22999,0.58,229.8,445.7,9.8,1010,23004,0.12,1.83,0.00,0.000,6,0.302,0.100,3084,1479,2044,0,0,0,0,0,0,14.81,14.90,28.83
$GC,23331,0.58,229.8,413.5,9.7,1021,23336,0.00,1.90,0.00,0.000,4,0.000,0.125,3092,424,2044,0,0,0,0,0,0,28.83,14.88,28.83
$GC,23387,0.58,229.8,410.3,9.7,1022,23394,0.00,1.75,0.00,0.000,6,0.000,0.067,3092,1482,2045,0,0,0,0,0,0,28.83,14.93,28.83
$GC,23694,0.58,229.8,381.4,7.9,1033,23695,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1482,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23993,0.58,229.8,361.2,6.6,1043,23998,0.00,1.77,0.00,0.000,4,0.000,0.086,3092,2531,2045,0,0,0,0,0,0,28.83,14.91,28.83
$GC,24065,0.58,229.8,356.8,6.9,1045,24070,0.00,1.90,0.00,0.000,6,0.000,0.115,3096,1472,2045,0,0,0,0,0,0,28.83,14.88,28.83
$GC,24388,0.58,229.8,330.8,8.5,1056,24389,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1472,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24688,0.58,229.8,306.3,7.9,1066,24693,0.00,1.90,0.00,0.000,4,0.000,0.124,3104,417,2047,0,0,0,0,0,0,28.83,14.88,28.83
$GC,24784,0.58,229.8,298.3,8.4,1069,24790,0.00,1.75,0.00,0.000,6,0.000,0.066,3105,1476,2047,0,0,0,0,0,0,28.83,14.93,28.83
$GC,25112,0.58,229.8,269.7,8.8,1080,25113,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1476,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25413,0.58,229.8,241.2,10.0,1094,25414,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1476,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25712,0.58,229.8,211.9,9.6,1124,25713,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1477,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26012,0.58,229.8,180.9,10.7,1154,26017,0.00,1.80,0.00,0.000,4,0.000,0.088,3104,2534,2049,0,0,0,0,0,0,28.83,14.85,28.83
$GC,26118,0.58,229.8,169.4,11.4,1164,26126,0.08,1.92,0.00,0.000,6,0.241,0.109,3071,1481,2050,0,0,0,0,0,0,14.75,14.81,28.83
$GC,26427,0.63,250.9,145.2,5.2,1195,26458,0.00,2.00,22.25,1.242,4,0.000,0.133,3079,419,1960,0,0,0,0,0,0,28.83,14.66,14.24
$GC,26525,0.67,259.8,140.1,5.7,1204,26534,0.00,1.80,3.47,0.842,6,0.000,0.066,3079,1480,1932,0,0,0,0,0,0,28.83,14.71,14.14
$GC,26832,0.72,285.3,123.8,5.0,1235,26865,0.12,0.00,30.30,1.185,6,0.148,0.000,3127,1481,1825,0,0,0,0,0,0,14.77,28.83,14.16
$GC,27162,0.72,285.3,98.5,8.6,1268,27163,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1480,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27462,0.72,285.3,64.6,11.2,1298,27467,0.00,1.85,0.00,0.000,4,0.000,0.084,3127,2539,1813,0,0,0,0,0,0,28.83,14.76,28.83
$GC,27488,0.72,285.3,62.0,11.4,1300,27495,0.00,1.88,0.00,0.000,6,0.000,0.105,3135,1478,1812,0,0,0,0,0,0,28.83,14.72,28.83
$GC,27794,0.72,285.3,31.8,8.2,1331,27800,0.00,1.95,0.00,0.000,4,0.000,0.128,3143,406,1812,0,0,0,0,0,0,28.83,14.75,28.83
$GC,27847,0.72,285.3,27.5,8.5,1336,27853,0.00,1.80,0.00,0.000,6,0.000,0.063,3143,1482,1813,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,28138,end climb,SURFACE_DEPTH_REACHED
$STATE,28139,begin surface coast
$FINISH,0.7,1.023527
$STATE,28172,end surface coast,CONTROL_FINISHED_OK
$STATE,28172,begin surface
$SM_CCo,28190,27.95,0.129,0,0,1562,350.04
$SM_GC,1.73,8.60,0.52,27.95,0.086,0.083,0.129,140,1784,1562,-8.55,-0.93,350.04,0,0,0,0,0,0,14.81,14.83,14.78
$IRIDIUM_FIX,2444.18,-3812.50,220912,232305
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.48
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,7759264
$TM_FREEKB,7661184
$24V_AH,13.4,16.504
$10V_AH,13.7,0.000
$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,24.550,156.700,375.150,27.950,0.000,0.000,0.000,407.550,0.000,0.000,20.002,4279.125,20167.311,596.273,3565.373,244.349,0.000,2560.118,0.000,2934.345,0.000,0.541,0.000
$DEVICE_MAMPS,445.995,140.760,2068.560,128.520,0.000,0.000,0.000,186.660,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28207.000,6678.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.591,13.316,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,49901,1368
$CAP_FILE_SIZE,294765,0
$CFSIZE,260034560,251392000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.083, 29.7,1
$GPS,230912,155258,2448.040,-3801.241,38,0.9,38,-14.0