version: 66.11
glider: 190
mission: 6
dive: 33
start: 9 25 112 1 34 39
data:
$ID,190
$MISSION,6
$DIVE,33
$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,-12070.793
$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,11
$R_STBD_OVSHOOT,29
$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
$GPS1,250912,012322,2437.212,-3800.844,41,0.9,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.8
$GPS2,250912,013412,2437.259,-3800.826,15,0.7,17,-14.0
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,C
$TGT_LATLONG,2433.000,-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,213.7,8131,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,13931,-0.67,-97.3,892.8,-7.9,709,13936,0.00,1.85,0.00,0.000,4,0.000,0.110,2662,2854,3353,0,0,0,0,0,0,28.83,14.90,28.83
$GC,14013,-0.67,-97.3,897.9,-8.1,711,14018,0.00,1.88,0.00,0.000,6,0.000,0.102,2662,1789,3353,0,0,0,0,0,0,28.83,14.89,28.83
$GC,14325,-0.67,-97.3,923.9,-7.9,722,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1785,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14625,-0.67,-97.3,946.8,-7.4,732,14630,0.00,1.92,0.00,0.000,4,0.000,0.129,2661,724,3351,0,0,0,0,0,0,28.83,14.87,28.83
$GC,14671,-0.67,-97.3,949.5,-7.6,733,14676,0.00,1.88,0.00,0.000,6,0.000,0.088,2662,1798,3352,0,0,0,0,0,0,28.83,14.90,28.83
$GC,14989,-0.67,-97.3,971.8,-6.3,744,14995,0.00,1.95,0.00,0.000,4,0.000,0.132,2661,730,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,15046,-0.67,-97.3,973.9,-6.3,745,15053,0.00,1.85,0.00,0.000,6,0.000,0.090,2662,1789,3350,0,0,0,0,0,0,28.83,14.89,28.83
$STATE,15320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15320,begin apogee
$GC,15325,-0.19,0.0,990.6,-5.2,755,15417,0.55,0.00,87.45,2.084,6,0.232,0.000,2820,1472,2986,0,0,0,0,0,0,14.77,28.83,13.58
$STATE,15420,end apogee,CONTROL_FINISHED_OK
$STATE,15420,begin climb
$GC,15421,0.58,97.3,991.5,0.0,758,15521,0.80,0.00,96.22,2.024,6,0.158,0.000,3068,1472,2592,0,0,0,0,0,0,14.23,28.83,13.45
$GC,15802,0.56,97.3,971.1,6.4,771,15803,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1472,2576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16103,0.55,108.7,953.6,5.6,781,16113,0.00,1.95,4.38,1.548,4,0.000,0.147,3071,422,2550,0,0,0,0,0,0,28.83,14.70,14.00
$GC,16174,0.52,115.6,949.9,5.8,783,16195,0.00,1.88,14.88,2.033,6,0.000,0.083,3071,1480,2512,0,0,0,0,0,0,28.83,14.74,13.97
$GC,16496,0.52,143.0,932.2,4.9,794,16526,0.00,0.00,27.27,2.036,6,0.000,0.000,3071,1480,2405,0,0,0,0,0,0,28.83,28.83,13.88
$GC,16825,0.55,182.8,916.7,4.4,805,16873,0.00,2.00,39.62,2.017,4,0.000,0.106,3071,2537,2236,0,0,0,0,0,0,28.83,14.37,13.76
$GC,16949,0.57,216.3,911.0,4.7,809,16990,0.00,1.98,34.47,1.967,6,0.000,0.116,3079,1478,2103,0,0,0,0,0,0,28.83,14.50,13.65
$GC,17306,0.57,216.3,888.0,7.2,821,17307,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1478,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17608,0.57,216.3,860.8,9.7,831,17613,0.00,1.88,0.00,0.000,4,0.000,0.098,3079,2541,2088,0,0,0,0,0,0,28.83,14.76,28.83
$GC,17659,0.57,216.3,857.4,9.8,832,17664,0.00,1.95,0.00,0.000,6,0.000,0.112,3087,1472,2087,0,0,0,0,0,0,28.83,14.76,28.83
$GC,17971,0.57,216.3,824.2,9.7,843,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1472,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18271,0.57,216.3,796.5,8.9,853,18276,0.00,1.95,0.00,0.000,4,0.000,0.135,3095,415,2086,0,0,0,0,0,0,28.83,14.80,28.83
$GC,18317,0.57,216.3,793.5,8.8,854,18322,0.00,1.83,0.00,0.000,6,0.000,0.076,3095,1484,2086,0,0,0,0,0,0,28.83,14.86,28.83
$GC,18635,0.57,216.3,764.3,8.8,865,18640,0.00,1.83,0.00,0.000,4,0.000,0.099,3095,2538,2085,0,0,0,0,0,0,28.83,14.86,28.83
$GC,18735,0.57,216.3,755.9,9.0,868,18741,0.00,1.92,0.00,0.000,6,0.000,0.111,3103,1472,2084,0,0,0,0,0,0,28.83,14.84,28.83
$GC,19059,0.55,216.3,728.4,8.0,879,19061,0.15,0.00,0.00,0.000,6,0.294,0.000,3067,1472,2085,0,0,0,0,0,0,14.78,28.83,28.83
$GC,19358,0.55,216.3,709.3,6.2,889,19363,0.00,1.85,0.00,0.000,4,0.000,0.097,3067,2534,2084,0,0,0,0,0,0,28.83,14.88,28.83
$GC,19399,0.55,216.3,707.2,6.2,890,19404,0.00,1.92,0.00,0.000,6,0.000,0.109,3075,1480,2084,0,0,0,0,0,0,28.83,14.85,28.83
$GC,19722,0.55,216.3,685.4,6.7,901,19723,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1480,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20021,0.55,216.3,662.5,8.1,911,20026,0.00,1.83,0.00,0.000,4,0.000,0.096,3075,2534,2083,0,0,0,0,0,0,28.83,14.89,28.83
$GC,20067,0.55,216.3,659.9,8.1,912,20073,0.00,1.90,0.00,0.000,6,0.000,0.108,3083,1476,2083,0,0,0,0,0,0,28.83,14.88,28.83
$GC,20386,0.55,216.3,633.0,8.0,923,20387,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1476,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20685,0.55,216.3,608.7,8.2,933,20686,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1476,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20985,0.55,216.3,583.2,8.6,943,20990,0.00,1.85,0.00,0.000,4,0.000,0.093,3083,2536,2084,0,0,0,0,0,0,28.83,14.90,28.83
$GC,21061,0.55,216.3,577.8,8.7,945,21067,0.00,1.90,0.00,0.000,6,0.000,0.106,3091,1473,2084,0,0,0,0,0,0,28.83,14.88,28.83
$GC,21380,0.55,216.3,548.6,8.7,956,21381,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1473,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21679,0.55,216.3,523.5,8.0,966,21680,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1473,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21980,0.55,216.3,499.6,7.9,976,21985,0.00,1.83,0.00,0.000,4,0.000,0.089,3091,2536,2085,0,0,0,0,0,0,28.83,14.90,28.83
$GC,22015,0.55,216.3,496.9,8.1,977,22022,0.12,1.88,0.00,0.000,6,0.295,0.103,3070,1479,2085,0,0,0,0,0,0,14.79,14.89,28.83
$GC,22344,0.56,216.3,472.6,7.2,988,22346,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1479,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22645,0.58,217.8,453.5,6.1,998,22646,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1479,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22945,0.61,224.0,436.0,5.8,1008,22948,0.00,0.00,1.35,0.190,6,0.000,0.000,3070,1479,2073,0,0,0,0,0,0,28.83,28.83,14.88
$GC,23245,0.63,224.0,415.4,7.4,1018,23251,0.00,1.83,1.23,0.196,4,0.000,0.083,3069,2548,2074,0,0,0,0,0,0,28.83,14.91,14.86
$GC,23338,0.63,224.0,407.6,8.1,1021,23343,0.00,1.90,0.00,0.000,6,0.000,0.099,3077,1473,2085,0,0,0,0,0,0,28.83,14.89,28.83
$GC,23672,0.64,224.0,378.0,8.9,1032,23673,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1473,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23971,0.64,224.0,354.2,7.5,1042,23977,0.00,1.88,1.33,0.190,4,0.000,0.114,3086,423,2074,0,0,0,0,0,0,28.83,14.88,14.85
$GC,24034,0.64,224.0,349.3,7.4,1044,24039,0.00,1.77,0.00,0.000,6,0.000,0.061,3086,1491,2083,0,0,0,0,0,0,28.83,14.93,28.83
$GC,24367,0.64,224.0,324.1,8.0,1055,24373,0.00,1.75,1.17,0.197,4,0.000,0.081,3086,2530,2075,0,0,0,0,0,0,28.83,14.91,14.85
$GC,24460,0.64,224.0,316.1,8.4,1058,24465,0.00,1.88,0.00,0.000,6,0.000,0.111,3093,1484,2081,0,0,0,0,0,0,28.83,14.86,28.83
$GC,24793,0.64,224.0,287.8,8.2,1069,24796,0.00,0.00,1.38,0.193,6,0.000,0.000,3093,1483,2074,0,0,0,0,0,0,28.83,28.83,14.86
$GC,25092,0.64,224.0,265.1,7.5,1079,25099,0.00,1.83,1.42,0.187,4,0.000,0.088,3093,2531,2074,0,0,0,0,0,0,28.83,14.90,14.85
$GC,25145,0.64,224.0,262.4,7.7,1080,25150,0.00,1.90,0.00,0.000,6,0.000,0.110,3100,1475,2085,0,0,0,0,0,0,28.83,14.87,28.83
$GC,25457,0.64,224.0,232.6,9.1,1103,25460,0.00,0.00,1.52,0.184,6,0.000,0.000,3101,1474,2074,0,0,0,0,0,0,28.83,28.83,14.83
$GC,25758,0.64,224.0,208.0,7.5,1133,25764,0.00,1.83,1.65,0.182,4,0.000,0.085,3101,2532,2074,0,0,0,0,0,0,28.83,14.85,14.80
$GC,25781,0.64,224.0,206.2,7.7,1135,25787,0.00,1.90,0.00,0.000,6,0.000,0.108,3109,1476,2081,0,0,0,0,0,0,28.83,14.82,28.83
$GC,26095,0.64,224.0,182.0,7.5,1166,26103,0.00,0.00,1.65,0.180,6,0.000,0.000,3109,1476,2076,0,0,0,0,0,0,28.83,28.83,14.77
$GC,26404,0.64,224.0,159.6,7.5,1197,26411,0.00,2.00,1.70,0.177,4,0.000,0.131,3111,415,2075,0,0,0,0,0,0,28.83,14.75,14.77
$GC,26539,0.62,224.0,147.8,9.1,1210,26545,0.00,1.80,1.75,0.177,6,0.000,0.064,3112,1484,2074,0,0,0,0,0,0,28.83,14.83,14.73
$GC,26852,0.62,224.0,117.7,9.3,1241,26858,0.00,0.00,1.65,0.177,6,0.000,0.000,3112,1485,2075,0,0,0,0,0,0,28.83,28.83,14.76
$GC,27165,0.62,224.0,87.8,9.2,1272,27171,0.00,1.85,1.65,0.176,4,0.000,0.080,3111,2538,2077,0,0,0,0,0,0,28.83,14.82,14.75
$GC,27218,0.62,224.0,82.7,9.1,1277,27225,0.00,1.90,1.25,0.199,6,0.000,0.105,3119,1477,2075,0,0,0,0,0,0,28.83,14.76,14.76
$GC,27533,0.62,224.0,56.4,6.9,1308,27540,0.00,1.90,2.03,0.171,4,0.000,0.085,3120,2540,2076,0,0,0,0,0,0,28.83,14.81,14.73
$GC,27611,0.62,224.0,50.9,7.2,1315,27620,0.08,1.92,1.70,0.179,6,0.227,0.106,3093,1484,2075,0,0,0,0,0,0,14.72,14.77,14.74
$GC,27918,0.67,252.4,34.4,4.9,1346,27941,0.00,1.88,15.88,0.216,4,0.000,0.085,3093,2534,1960,0,0,0,0,0,0,28.83,14.79,14.69
$GC,28037,0.71,252.4,27.5,6.2,1357,28044,0.00,1.90,1.67,0.174,6,0.000,0.106,3096,1476,1960,0,0,0,0,0,0,28.83,14.76,14.73
$GC,28344,0.76,260.0,9.5,5.8,1388,28357,0.12,1.83,5.80,0.151,4,0.142,0.080,3154,2544,1926,0,0,0,0,0,0,14.80,14.79,14.76
$STATE,28428,end climb,SURFACE_DEPTH_REACHED
$STATE,28428,begin surface coast
$FINISH,1.0,1.024535
$STATE,28449,end surface coast,CONTROL_FINISHED_OK
$STATE,28449,begin surface
$SM_CCo,28470,41.97,0.125,0,0,1562,350.04
$SM_GC,2.25,8.57,1.38,41.97,0.083,0.109,0.125,149,1792,1562,-8.53,0.65,350.04,0,0,0,0,0,0,14.79,14.78,14.76
$IRIDIUM_FIX,2429.95,-3801.44,240912,161627
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.81
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.20
$XPDR_PINGS,10
$SC_FREEKB,7757344
$TM_FREEKB,7607776
$24V_AH,13.5,18.471
$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,24.075,171.525,352.075,41.975,0.000,0.000,0.000,404.175,2.500,0.000,17.696,4442.712,20173.445,612.590,3662.406,254.628,0.000,2609.610,0.000,3032.407,0.000,0.543,0.000
$DEVICE_MAMPS,439.875,146.880,2083.860,124.695,0.000,0.000,0.000,190.485,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28483.000,7009.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.841,13.336,0.000,0.000
$MEM,345076
$DATA_FILE_SIZE,50010,1398
$CAP_FILE_SIZE,304637,0
$CFSIZE,260034560,250564608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.047,344.1,1
$GPS,250912,093104,2434.948,-3801.999,32,0.8,32,-14.0