version: 66.11
glider: 190
mission: 6
dive: 29
start: 9 23 112 16 3 26
data:
$ID,190
$MISSION,6
$DIVE,29
$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,-12065.759
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,230912,155258,2448.040,-3801.241,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.2
$GPS2,230912,160259,2448.117,-3801.288,16,0.9,17,-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,207.4,96528,-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,14528,-0.65,-97.3,906.5,-5.9,715,14529,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1795,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14828,-0.65,-97.3,924.8,-6.3,725,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1795,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15128,-0.65,-97.3,943.0,-6.0,735,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1795,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15428,-0.65,-97.3,959.7,-5.3,745,15433,0.00,1.92,0.00,0.000,4,0.000,0.116,2674,729,3351,0,0,0,0,0,0,28.83,14.90,28.83
$GC,15540,-0.65,-97.3,964.8,-5.4,748,15546,0.00,1.83,0.00,0.000,6,0.000,0.078,2674,1790,3352,0,0,0,0,0,0,28.83,14.92,28.83
$GC,15853,-0.65,-97.3,980.4,-4.7,759,15854,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1790,3350,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16061,begin apogee
$GC,16065,-0.19,0.0,990.7,-5.1,766,16172,0.50,0.00,101.12,1.952,6,0.217,0.000,2821,1476,2986,0,0,0,0,0,0,14.81,28.83,13.54
$STATE,16174,end apogee,CONTROL_FINISHED_OK
$STATE,16174,begin climb
$GC,16175,0.58,97.3,992.2,0.0,769,16276,0.80,0.00,96.88,2.035,6,0.148,0.000,3072,1476,2592,0,0,0,0,0,0,14.20,28.83,13.44
$GC,16573,0.58,140.6,977.5,4.3,783,16621,0.00,0.00,41.78,2.037,6,0.000,0.000,3072,1476,2411,0,0,0,0,0,0,28.83,28.83,13.67
$GC,16933,0.59,151.9,958.5,5.6,795,16952,0.00,1.98,11.27,1.935,4,0.000,0.097,3072,2540,2362,0,0,0,0,0,0,28.83,14.57,13.93
$GC,17019,0.59,152.7,954.5,6.1,797,17027,0.00,1.95,0.00,0.000,6,0.000,0.109,3080,1476,2357,0,0,0,0,0,0,28.83,14.62,28.83
$GC,17324,0.59,152.7,930.0,7.7,808,17325,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1476,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17625,0.57,152.7,908.6,6.8,818,17626,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1476,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17925,0.56,155.2,889.9,6.0,828,17930,0.00,1.88,0.00,0.000,4,0.000,0.097,3080,2546,2354,0,0,0,0,0,0,28.83,14.83,28.83
$GC,18027,0.54,155.2,884.1,6.2,831,18032,0.00,1.92,0.00,0.000,6,0.000,0.110,3088,1479,2353,0,0,0,0,0,0,28.83,14.83,28.83
$GC,18350,0.52,157.6,864.2,6.0,842,18352,0.12,0.00,0.00,0.000,6,0.306,0.000,3060,1479,2353,0,0,0,0,0,0,14.76,28.83,28.83
$GC,18649,0.52,172.3,848.2,5.5,852,18671,0.00,0.00,19.90,1.978,6,0.000,0.000,3060,1479,2286,0,0,0,0,0,0,28.83,28.83,14.05
$GC,18949,0.52,172.3,829.5,6.4,862,18954,0.00,1.88,0.00,0.000,4,0.000,0.096,3060,2545,2273,0,0,0,0,0,0,28.83,14.78,28.83
$GC,19000,0.52,172.3,827.2,6.5,863,19005,0.00,1.92,0.00,0.000,6,0.000,0.109,3067,1479,2271,0,0,0,0,0,0,28.83,14.77,28.83
$GC,19312,0.52,172.3,805.3,6.7,874,19317,0.00,1.88,0.00,0.000,4,0.000,0.097,3067,2548,2272,0,0,0,0,0,0,28.83,14.83,28.83
$GC,19378,0.52,172.3,800.8,6.9,876,19384,0.00,1.92,0.00,0.000,6,0.000,0.109,3076,1480,2272,0,0,0,0,0,0,28.83,14.82,28.83
$GC,19706,0.52,172.3,778.1,6.9,887,19711,0.00,1.85,0.00,0.000,4,0.000,0.097,3075,2540,2272,0,0,0,0,0,0,28.83,14.85,28.83
$GC,19747,0.52,172.3,775.5,7.0,888,19752,0.00,1.92,0.00,0.000,6,0.000,0.109,3083,1472,2272,0,0,0,0,0,0,28.83,14.84,28.83
$GC,20070,0.52,172.3,749.1,8.5,899,20075,0.00,1.92,0.00,0.000,4,0.000,0.135,3091,422,2272,0,0,0,0,0,0,28.83,14.82,28.83
$GC,20116,0.52,172.3,746.1,8.7,900,20122,0.12,1.83,0.00,0.000,6,0.294,0.074,3063,1492,2272,0,0,0,0,0,0,14.77,14.88,28.83
$GC,20434,0.52,172.3,719.1,8.2,911,20439,0.00,1.83,0.00,0.000,4,0.000,0.099,3062,2537,2271,0,0,0,0,0,0,28.83,14.87,28.83
$GC,20550,0.52,172.3,711.1,8.7,914,20557,0.00,1.90,0.00,0.000,6,0.000,0.109,3070,1480,2271,0,0,0,0,0,0,28.83,14.85,28.83
$GC,20856,0.52,172.3,683.5,8.4,925,20858,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1480,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21156,0.52,172.3,658.1,8.2,935,21157,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1480,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21456,0.52,172.3,634.9,7.3,945,21462,0.00,1.83,0.00,0.000,4,0.000,0.094,3070,2534,2271,0,0,0,0,0,0,28.83,14.89,28.83
$GC,21502,0.52,172.3,632.5,7.1,946,21507,0.00,1.90,0.00,0.000,6,0.000,0.106,3078,1473,2271,0,0,0,0,0,0,28.83,14.88,28.83
$GC,21819,0.52,172.3,610.1,6.5,957,21820,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1473,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22120,0.52,172.3,590.2,6.8,967,22121,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1473,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22419,0.52,172.3,567.4,7.9,977,22424,0.00,1.85,0.00,0.000,4,0.000,0.092,3078,2544,2272,0,0,0,0,0,0,28.83,14.90,28.83
$GC,22481,0.52,172.3,562.0,8.3,979,22486,0.00,1.90,0.00,0.000,6,0.000,0.105,3086,1477,2272,0,0,0,0,0,0,28.83,14.88,28.83
$GC,22813,0.52,172.3,533.4,8.5,990,22815,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1477,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23114,0.52,172.3,509.8,7.5,1000,23119,0.00,1.83,0.00,0.000,4,0.000,0.091,3086,2536,2272,0,0,0,0,0,0,28.83,14.90,28.83
$GC,23185,0.51,172.3,505.1,7.5,1002,23191,0.15,1.90,0.00,0.000,6,0.289,0.103,3058,1457,2273,0,0,0,0,0,0,14.79,14.88,28.83
$GC,23510,0.53,181.5,484.9,5.7,1013,23520,0.00,1.92,2.95,0.907,4,0.000,0.090,3063,2538,2251,0,0,0,0,0,0,28.83,14.89,14.05
$GC,23593,0.56,195.2,481.3,5.5,1015,23621,0.00,1.88,21.62,1.636,6,0.000,0.102,3066,1479,2188,0,0,0,0,0,0,28.83,14.88,14.17
$GC,23933,0.59,245.7,464.5,4.0,1027,23984,0.00,0.00,48.75,1.557,6,0.000,0.000,3066,1479,1987,0,0,0,0,0,0,28.83,28.83,13.94
$GC,24264,0.64,286.5,450.9,4.4,1038,24308,0.00,2.00,38.33,1.515,4,0.000,0.123,3075,415,1816,0,0,0,0,0,0,28.83,14.38,13.92
$GC,24356,0.68,303.2,445.7,5.4,1041,24381,0.10,1.83,16.80,1.460,6,0.171,0.065,3110,1487,1747,0,0,0,0,0,0,14.51,14.52,13.89
$GC,24688,0.68,303.2,414.1,10.5,1052,24694,0.00,1.80,0.00,0.000,4,0.000,0.087,3110,2531,1737,0,0,0,0,0,0,28.83,14.67,28.83
$GC,24724,0.68,303.2,410.4,10.8,1053,24729,0.00,1.95,0.00,0.000,6,0.000,0.116,3117,1474,1736,0,0,0,0,0,0,28.83,14.66,28.83
$GC,25052,0.68,303.2,370.0,12.1,1064,25053,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1474,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25351,0.68,303.2,336.9,10.4,1074,25357,0.00,1.92,0.00,0.000,4,0.000,0.122,3125,411,1735,0,0,0,0,0,0,28.83,14.79,28.83
$GC,25433,0.66,303.2,330.0,10.7,1076,25439,0.00,1.77,0.00,0.000,6,0.000,0.063,3125,1480,1733,0,0,0,0,0,0,28.83,14.85,28.83
$GC,25747,0.64,303.2,294.5,10.5,1087,25753,0.00,1.83,0.00,0.000,4,0.000,0.090,3125,2538,1734,0,0,0,0,0,0,28.83,14.85,28.83
$GC,25789,0.63,303.2,291.0,10.4,1088,25796,0.15,1.92,0.00,0.000,6,0.260,0.112,3096,1472,1733,0,0,0,0,0,0,14.76,14.83,28.83
$GC,26113,0.63,303.2,264.5,7.6,1099,26114,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1472,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26413,0.64,303.2,240.4,8.1,1115,26418,0.00,1.83,0.00,0.000,4,0.000,0.092,3096,2532,1737,0,0,0,0,0,0,28.83,14.85,28.83
$GC,26450,0.66,303.2,237.6,8.8,1118,26456,0.00,1.90,0.00,0.000,6,0.000,0.113,3101,1480,1735,0,0,0,0,0,0,28.83,14.83,28.83
$GC,26755,0.66,303.2,207.7,10.5,1149,26761,0.00,1.95,0.00,0.000,4,0.000,0.135,3109,419,1736,0,0,0,0,0,0,28.83,14.79,28.83
$GC,26792,0.66,303.2,204.0,11.0,1152,26798,0.00,1.80,0.00,0.000,6,0.000,0.068,3109,1482,1735,0,0,0,0,0,0,28.83,14.83,28.83
$GC,27098,0.66,303.2,172.4,9.4,1183,27099,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1482,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27398,0.66,303.2,142.3,10.0,1213,27399,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1482,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27698,0.66,303.2,115.8,8.1,1243,27703,0.00,1.95,0.00,0.000,4,0.000,0.129,3110,422,1736,0,0,0,0,0,0,28.83,14.76,28.83
$GC,27754,0.66,303.2,111.4,8.4,1248,27761,0.00,1.80,0.00,0.000,6,0.000,0.063,3110,1491,1737,0,0,0,0,0,0,28.83,14.84,28.83
$GC,28060,0.68,303.2,78.9,11.4,1279,28066,0.00,1.98,0.00,0.000,4,0.000,0.130,3110,418,1737,0,0,0,0,0,0,28.83,14.78,28.83
$GC,28094,0.70,303.2,75.5,10.5,1282,28099,0.00,1.77,0.00,0.000,6,0.000,0.064,3110,1490,1737,0,0,0,0,0,0,28.83,14.83,28.83
$GC,28407,0.74,303.2,49.3,6.3,1313,28413,0.00,1.77,0.00,0.000,4,0.000,0.085,3110,2534,1738,0,0,0,0,0,0,28.83,14.82,28.83
$GC,28510,0.77,303.2,42.2,7.0,1323,28516,0.00,1.90,0.00,0.000,6,0.000,0.104,3114,1472,1738,0,0,0,0,0,0,28.83,14.79,28.83
$GC,28823,0.81,303.2,20.3,8.7,1354,28825,0.10,0.00,0.00,0.000,6,0.165,0.000,3157,1472,1742,0,0,0,0,0,0,14.83,28.83,28.83
$STATE,29012,end climb,SURFACE_DEPTH_REACHED
$STATE,29012,begin surface coast
$FINISH,0.8,0.998722
$STATE,29052,end surface coast,CONTROL_FINISHED_OK
$STATE,29052,begin surface
$SM_CCo,29070,19.67,0.130,0,0,1561,350.04
$SM_GC,1.37,8.57,0.55,19.67,0.082,0.073,0.130,143,1787,1561,-8.53,-1.07,350.04,0,0,0,0,0,0,14.83,14.86,14.79
$IRIDIUM_FIX,2441.81,-3801.03,230912,070702
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.26
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7758880
$TM_FREEKB,7651232
$24V_AH,13.4,16.912
$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,24.050,161.250,399.400,19.675,0.000,0.000,0.000,365.075,0.000,0.000,17.825,4370.665,20873.734,644.988,3567.381,219.418,0.000,2573.522,0.000,2981.843,0.000,0.542,0.000
$DEVICE_MAMPS,434.520,138.465,2037.195,130.050,0.000,0.000,0.000,190.485,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29095.000,6355.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.486,13.349,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,49915,1377
$CAP_FILE_SIZE,299082,0
$CFSIZE,260034560,251224064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.005,163.9,1
$GPS,240912,000935,2444.958,-3801.704,39,1.0,39,-14.0