version: 66.11
glider: 190
mission: 6
dive: 38
start: 9 26 112 12 0 51
data:
$ID,190
$MISSION,6
$DIVE,38
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,360
$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,120
$T_MISSION,150
$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,-12077.598
$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,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,17
$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
$GPS1,260912,115135,2433.606,-3802.441,35,1.2,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.8
$GPS2,260912,120023,2433.640,-3802.323,16,1.4,17,-14.0
$SPEED_LIMITS,0.173,0.215
$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,184.1,1304,-21.7,-10.000,-24.92
$D_GRID,360
$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
$GC,21,-0.89,-97.3,0.0,0.0,0,55,0.00,0.00,-32.08,0.000,2,0.000,0.000,139,1789,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.89,-97.3,2.3,-3.5,3,121,12.50,1.92,-40.92,0.000,4,0.441,0.134,2593,733,3387,0,0,0,0,0,0,14.48,14.67,14.91
$GC,347,-0.83,-97.3,38.7,-17.6,31,355,0.15,1.80,0.00,0.000,6,0.298,0.065,2619,1796,3388,0,0,0,0,0,0,14.62,14.76,28.83
$GC,653,-0.85,-97.3,79.9,-11.5,62,659,0.00,1.90,0.00,0.000,4,0.000,0.107,2621,730,3389,0,0,0,0,0,0,28.83,14.79,28.83
$GC,720,-0.85,-97.3,88.1,-12.9,68,727,0.00,1.80,0.00,0.000,6,0.000,0.065,2618,1793,3389,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1026,-0.87,-97.3,122.2,-10.3,99,1031,0.00,1.88,0.00,0.000,4,0.000,0.109,2618,729,3388,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1119,-0.87,-97.3,133.1,-12.1,108,1124,0.00,1.80,0.00,0.000,6,0.000,0.067,2618,1795,3390,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1432,-0.90,-97.3,166.6,-10.9,139,1437,0.00,1.77,0.00,0.000,4,0.000,0.087,2617,2847,3390,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1509,-0.94,-97.3,174.0,-9.6,146,1516,0.00,1.83,0.00,0.000,6,0.000,0.089,2618,1788,3390,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1815,-0.98,-97.3,204.3,-9.4,177,1820,0.12,1.80,0.00,0.000,4,0.151,0.084,2557,2853,3390,0,0,0,0,0,0,14.88,14.84,28.83
$GC,2002,-0.98,-97.3,225.2,-11.4,195,2009,0.00,1.83,0.00,0.000,6,0.000,0.087,2559,1790,3390,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2308,-0.98,-97.3,260.6,-11.5,220,2314,0.00,1.88,0.00,0.000,4,0.000,0.113,2558,724,3390,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2341,-0.97,-97.3,264.6,-11.8,221,2346,0.00,1.77,0.00,0.000,6,0.000,0.070,2552,1789,3390,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2674,-0.95,-97.3,306.2,-13.0,232,2679,0.12,1.77,0.00,0.000,4,0.306,0.084,2577,2853,3389,0,0,0,0,0,0,14.80,14.91,28.83
$GC,2755,-0.95,-97.3,314.0,-12.6,234,2760,0.00,1.80,0.00,0.000,6,0.000,0.090,2577,1790,3388,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3067,-0.95,-97.3,354.5,-12.1,245,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1790,3387,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3126,begin apogee
$GC,3130,-0.19,0.0,361.8,-12.3,247,3218,0.82,0.00,83.57,1.358,6,0.232,0.000,2817,1479,2988,0,0,0,0,0,0,14.81,28.83,14.02
$STATE,3220,end apogee,CONTROL_FINISHED_OK
$STATE,3220,begin climb
$GC,3222,0.89,97.3,365.7,0.0,250,3310,1.10,0.00,84.00,1.280,6,0.129,0.000,3174,1479,2594,0,0,0,0,0,0,14.48,28.83,13.88
$GC,3607,0.90,103.5,337.2,9.6,263,3614,0.00,2.00,1.58,0.174,4,0.000,0.128,3182,415,2567,0,0,0,0,0,0,28.83,14.72,14.72
$GC,3740,0.90,105.8,325.1,9.8,267,3750,0.00,1.83,2.67,0.710,6,0.000,0.065,3182,1483,2559,0,0,0,0,0,0,28.83,14.82,14.08
$GC,4063,0.93,152.8,300.0,6.8,278,4117,0.00,1.88,47.00,1.520,4,0.000,0.088,3182,2529,2360,0,0,0,0,0,0,28.83,14.59,14.11
$GC,4208,0.95,183.6,290.6,7.9,282,4244,0.00,1.90,27.80,1.304,6,0.000,0.106,3190,1480,2235,0,0,0,0,0,0,28.83,14.65,14.08
$GC,4544,0.97,183.6,251.7,11.8,294,4549,0.00,1.92,0.00,0.000,4,0.000,0.130,3198,415,2229,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4644,0.97,183.6,239.1,13.7,301,4650,0.00,1.80,0.00,0.000,6,0.000,0.067,3198,1479,2228,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4949,0.97,183.6,194.9,15.1,332,4955,0.00,1.83,0.00,0.000,4,0.000,0.088,3198,2542,2226,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5005,0.97,183.6,187.2,14.6,337,5012,0.00,1.90,0.00,0.000,6,0.000,0.106,3206,1481,2225,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5312,0.97,183.6,145.4,12.4,368,5317,0.00,1.90,0.00,0.000,4,0.000,0.119,3214,415,2225,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5338,0.97,183.6,142.6,12.5,370,5344,0.00,1.77,0.00,0.000,6,0.000,0.062,3214,1481,2225,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5644,0.97,184.6,104.9,9.9,401,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1481,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,0.97,184.6,74.3,10.0,431,5950,0.00,1.83,0.00,0.000,4,0.000,0.084,3218,2536,2223,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5981,0.98,187.6,71.0,9.8,434,5988,0.00,1.90,0.00,0.000,6,0.000,0.106,3222,1475,2222,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6288,0.98,201.2,42.9,9.1,465,6299,0.00,1.90,6.62,0.224,4,0.000,0.082,3222,2547,2170,0,0,0,0,0,0,28.83,14.87,14.74
$GC,6525,0.98,201.2,20.0,10.3,488,6533,0.00,1.88,1.88,0.171,6,0.000,0.103,3229,1479,2170,0,0,0,0,0,0,28.83,14.83,14.79
$STATE,6681,end climb,SURFACE_DEPTH_REACHED
$STATE,6681,begin surface coast
$FINISH,0.8,1.024283
$STATE,6702,end surface coast,CONTROL_FINISHED_OK
$STATE,6702,begin surface
$SM_CCo,6721,71.15,0.125,0,0,1560,350.04
$SM_GC,1.48,8.75,0.55,71.15,0.082,0.081,0.125,141,1789,1560,-8.54,-0.93,350.04,0,0,0,0,0,0,14.88,14.90,14.82
$IRIDIUM_FIX,2425.21,-3801.85,260912,060645
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.07
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7755424
$TM_FREEKB,7563040
$24V_AH,13.9,19.804
$10V_AH,14.1,0.000
$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,23.575,52.900,255.125,71.150,0.000,0.000,0.000,313.875,0.000,0.000,18.208,1545.093,3701.958,426.881,1541.435,100.145,0.000,1331.798,0.000,1088.722,0.000,0.543,0.000
$DEVICE_MAMPS,441.405,133.875,1520.055,125.460,0.000,0.000,0.000,189.720,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6720.000,4374.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.290,13.338,0.000,0.000
$MEM,344976
$DATA_FILE_SIZE,16751,506
$CAP_FILE_SIZE,105773,0
$CFSIZE,260034560,250073088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080, 91.2,1
$GPS,260912,135459,2432.935,-3801.743,15,1.2,15,-14.0