version: 66.11
glider: 190
mission: 6
dive: 51
start: 9 30 112 0 22 46
data:
$ID,190
$MISSION,6
$DIVE,51
$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,1
$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,-12329.287
$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,15
$R_STBD_OVSHOOT,27
$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
$GPS1,300912,001205,2406.198,-3801.551,25,0.9,25,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-67.7
$GPS2,300912,002218,2406.238,-3801.593,16,1.1,16,-14.1
$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,201.6,18973,-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,13946,-0.72,-97.3,892.8,-5.6,699,13951,0.00,1.88,0.00,0.000,6,0.000,0.104,2675,1790,3350,0,0,0,0,0,0,28.83,14.84,28.83
$GC,14269,-0.74,-97.3,910.7,-5.2,710,14275,0.00,1.92,0.00,0.000,4,0.000,0.131,2675,729,3350,0,0,0,0,0,0,28.83,14.82,28.83
$GC,14316,-0.76,-97.3,912.6,-5.2,711,14322,0.00,1.88,0.00,0.000,6,0.000,0.089,2675,1795,3350,0,0,0,0,0,0,28.83,14.86,28.83
$GC,14636,-0.78,-97.3,929.1,-4.7,722,14638,0.12,0.00,0.00,0.000,6,0.171,0.000,2633,1795,3349,0,0,0,0,0,0,14.86,28.83,28.83
$GC,14935,-0.75,-97.3,946.6,-5.8,732,14936,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1795,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15235,-0.73,-97.3,964.3,-6.0,742,15236,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1795,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15534,-0.71,-97.3,982.6,-6.3,752,15536,0.12,0.00,0.00,0.000,6,0.275,0.000,2661,1795,3346,0,0,0,0,0,0,14.71,28.83,28.83
$STATE,15682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15682,begin apogee
$GC,15687,-0.19,0.0,990.7,-5.3,757,15779,0.52,0.00,85.30,2.026,6,0.214,0.000,2817,1478,2985,0,0,0,0,0,0,14.72,28.83,13.61
$STATE,15781,end apogee,CONTROL_FINISHED_OK
$STATE,15781,begin climb
$GC,15782,0.58,97.3,992.4,0.0,760,15882,0.80,0.00,95.62,1.971,6,0.153,0.000,3067,1477,2592,0,0,0,0,0,0,14.25,28.83,13.48
$GC,16165,0.57,128.5,977.5,4.8,773,16199,0.00,2.03,29.52,1.935,4,0.000,0.106,3067,2537,2461,0,0,0,0,0,0,28.83,14.38,13.79
$GC,16258,0.56,150.1,972.6,5.2,776,16288,0.00,2.00,21.92,1.890,6,0.000,0.121,3073,1476,2373,0,0,0,0,0,0,28.83,14.48,13.74
$GC,16586,0.56,150.1,952.1,6.3,787,16588,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1476,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16887,0.56,150.1,932.5,6.7,797,16892,0.00,1.92,0.00,0.000,4,0.000,0.109,3073,2538,2361,0,0,0,0,0,0,28.83,14.73,28.83
$GC,16943,0.56,150.1,930.3,6.7,798,16951,0.00,1.95,0.00,0.000,6,0.000,0.112,3080,1476,2361,0,0,0,0,0,0,28.83,14.73,28.83
$GC,17250,0.54,150.1,904.2,8.4,809,17252,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1472,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17550,0.52,150.1,878.2,8.6,819,17552,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1472,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17850,0.49,150.1,854.5,7.5,829,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1472,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18151,0.48,153.4,835.4,6.0,839,18153,0.15,0.00,0.00,0.000,6,0.295,0.000,3045,1472,2358,0,0,0,0,0,0,14.72,28.83,28.83
$GC,18449,0.49,171.0,820.1,5.4,849,18471,0.00,0.00,19.65,1.873,6,0.000,0.000,3045,1471,2291,0,0,0,0,0,0,28.83,28.83,14.10
$GC,18751,0.50,171.0,801.8,6.4,859,18756,0.00,1.90,0.00,0.000,4,0.000,0.098,3045,2539,2277,0,0,0,0,0,0,28.83,14.76,28.83
$GC,18868,0.52,171.0,795.5,6.7,862,18875,0.00,1.98,0.00,0.000,6,0.000,0.125,3052,1475,2277,0,0,0,0,0,0,28.83,14.74,28.83
$GC,19173,0.52,171.0,774.4,6.2,873,19178,0.00,1.90,0.00,0.000,4,0.000,0.106,3053,2542,2277,0,0,0,0,0,0,28.83,14.80,28.83
$GC,19224,0.52,171.0,772.3,6.3,874,19229,0.00,1.98,0.00,0.000,6,0.000,0.125,3060,1476,2276,0,0,0,0,0,0,28.83,14.78,28.83
$GC,19537,0.52,173.8,752.7,6.0,885,19539,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1476,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19836,0.52,173.8,732.6,6.9,895,19837,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1476,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20137,0.52,173.8,711.5,6.8,905,20138,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1476,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20437,0.54,199.0,694.8,5.0,915,20469,0.00,2.03,27.60,1.761,4,0.000,0.132,3067,419,2173,0,0,0,0,0,0,28.83,14.62,14.07
$GC,20515,0.56,227.6,691.6,4.9,917,20551,0.00,1.85,28.92,1.711,6,0.000,0.075,3067,1484,2056,0,0,0,0,0,0,28.83,14.69,13.90
$GC,20864,0.58,234.0,671.8,5.8,929,20870,0.00,1.88,1.35,0.190,4,0.000,0.100,3067,2534,2032,0,0,0,0,0,0,28.83,14.67,14.64
$GC,20937,0.60,234.0,667.5,6.5,931,20942,0.00,1.98,0.00,0.000,6,0.000,0.122,3074,1470,2038,0,0,0,0,0,0,28.83,14.66,28.83
$GC,21261,0.60,234.0,639.2,8.9,942,21266,0.00,2.00,0.00,0.000,4,0.000,0.148,3081,415,2041,0,0,0,0,0,0,28.83,14.71,28.83
$GC,21302,0.60,234.0,636.1,9.0,943,21308,0.00,1.85,0.00,0.000,6,0.000,0.080,3081,1478,2041,0,0,0,0,0,0,28.83,14.78,28.83
$GC,21626,0.60,234.0,606.8,8.3,954,21627,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1479,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21925,0.60,234.0,585.1,7.1,964,21930,0.00,1.85,0.00,0.000,4,0.000,0.103,3081,2538,2041,0,0,0,0,0,0,28.83,14.81,28.83
$GC,21976,0.60,234.0,582.9,7.0,965,21981,0.00,1.95,0.00,0.000,6,0.000,0.120,3089,1482,2041,0,0,0,0,0,0,28.83,14.79,28.83
$GC,22288,0.60,234.0,558.1,7.9,976,22293,0.00,2.00,0.00,0.000,4,0.000,0.145,3096,413,2041,0,0,0,0,0,0,28.83,14.78,28.83
$GC,22364,0.60,234.0,552.6,8.4,978,22370,0.00,1.85,0.00,0.000,6,0.000,0.079,3096,1483,2041,0,0,0,0,0,0,28.83,14.84,28.83
$GC,22681,0.60,234.0,524.2,8.4,989,22683,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1483,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22982,0.60,234.0,497.5,9.3,999,22983,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1483,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23282,0.60,234.0,472.7,7.8,1009,23283,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1483,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23582,0.60,234.0,449.2,8.3,1019,23588,0.00,1.83,0.00,0.000,4,0.000,0.097,3096,2537,2042,0,0,0,0,0,0,28.83,14.86,28.83
$GC,23615,0.60,234.0,446.2,8.6,1020,23620,0.00,1.92,0.00,0.000,6,0.000,0.114,3104,1475,2042,0,0,0,0,0,0,28.83,14.83,28.83
$GC,23948,0.58,234.0,414.1,9.9,1031,23949,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1476,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24248,0.56,234.0,384.5,9.7,1041,24250,0.12,0.00,0.00,0.000,6,0.287,0.000,3075,1475,2043,0,0,0,0,0,0,14.76,28.83,28.83
$GC,24547,0.57,249.0,365.6,5.5,1051,24577,0.00,1.92,20.10,1.372,4,0.000,0.086,3074,2543,1965,0,0,0,0,0,0,28.83,14.78,14.26
$GC,24642,0.59,257.4,360.1,5.8,1054,24651,0.00,1.92,2.95,0.753,6,0.000,0.103,3082,1471,1940,0,0,0,0,0,0,28.83,14.73,14.09
$GC,24974,0.59,257.4,337.2,7.8,1065,24980,0.00,1.98,1.77,0.175,4,0.000,0.127,3091,421,1939,0,0,0,0,0,0,28.83,14.76,14.76
$GC,25017,0.59,257.4,334.2,8.1,1066,25022,0.00,1.83,0.00,0.000,6,0.000,0.067,3089,1493,1948,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25339,0.59,257.4,304.0,9.4,1077,25343,0.00,0.00,1.73,0.175,6,0.000,0.000,3089,1493,1939,0,0,0,0,0,0,28.83,28.83,14.79
$GC,25639,0.59,257.4,273.5,10.4,1087,25643,0.00,0.00,1.83,0.172,6,0.000,0.000,3089,1493,1939,0,0,0,0,0,0,28.83,28.83,14.81
$GC,25940,0.59,257.4,245.0,9.2,1099,25946,0.00,2.05,1.75,0.176,4,0.000,0.135,3096,422,1940,0,0,0,0,0,0,28.83,14.76,14.78
$GC,25993,0.59,257.4,239.8,9.6,1104,25999,0.00,1.77,1.45,0.189,6,0.000,0.071,3096,1479,1939,0,0,0,0,0,0,28.83,14.83,14.76
$GC,26307,0.59,257.4,211.3,9.2,1135,26313,0.00,1.90,1.85,0.173,4,0.000,0.092,3096,2538,1940,0,0,0,0,0,0,28.83,14.79,14.76
$GC,26404,0.59,257.4,202.1,9.6,1144,26412,0.00,1.92,1.80,0.177,6,0.000,0.110,3103,1481,1939,0,0,0,0,0,0,28.83,14.81,14.76
$GC,26712,0.59,257.4,168.0,10.9,1175,26719,0.00,2.03,1.92,0.170,4,0.000,0.135,3114,415,1940,0,0,0,0,0,0,28.83,14.73,14.73
$GC,26840,0.58,257.4,153.9,11.3,1187,26849,0.12,1.80,1.98,0.171,6,0.255,0.070,3079,1485,1939,0,0,0,0,0,0,14.71,14.81,14.73
$GC,27148,0.60,257.4,125.6,8.2,1218,27154,0.00,1.88,1.95,0.170,4,0.000,0.088,3079,2534,1940,0,0,0,0,0,0,28.83,14.78,14.71
$GC,27213,0.62,257.4,120.4,7.8,1224,27219,0.00,1.92,1.23,0.203,6,0.000,0.106,3087,1469,1939,0,0,0,0,0,0,28.83,14.74,14.73
$GC,27528,0.65,257.4,97.1,7.7,1255,27536,0.00,0.00,2.20,0.171,6,0.000,0.000,3086,1469,1943,0,0,0,0,0,0,28.83,28.83,14.69
$GC,27836,0.68,257.4,72.8,8.5,1286,27846,0.00,0.00,2.22,0.168,6,0.000,0.000,3086,1469,1947,0,0,0,0,0,0,28.83,28.83,14.74
$GC,28147,0.71,260.4,48.6,6.0,1317,28157,0.10,0.00,3.78,0.203,6,0.161,0.000,3129,1469,1932,0,0,0,0,0,0,14.81,28.83,14.64
$GC,28457,0.72,275.9,32.3,5.4,1348,28474,0.00,1.83,10.77,0.207,4,0.000,0.080,3129,2537,1866,0,0,0,0,0,0,28.83,14.76,14.68
$GC,28584,0.72,275.9,23.5,7.5,1360,28592,0.00,1.90,1.62,0.171,6,0.000,0.101,3137,1475,1865,0,0,0,0,0,0,28.83,14.76,14.73
$STATE,28829,end climb,SURFACE_DEPTH_REACHED
$STATE,28829,begin surface coast
$FINISH,1.0,1.008501
$STATE,28861,end surface coast,CONTROL_FINISHED_OK
$STATE,28861,begin surface
$SM_CCo,28879,36.92,0.125,0,0,1560,350.04
$SM_GC,2.11,8.52,0.57,36.92,0.081,0.079,0.125,147,1797,1560,-8.53,-0.65,350.04,0,0,0,0,0,0,14.80,14.83,14.76
$IRIDIUM_FIX,2403.92,-3801.20,290912,161605
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.30
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7750432
$TM_FREEKB,7436736
$24V_AH,13.5,24.340
$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,23.075,159.450,372.800,36.925,0.000,0.000,0.000,365.000,0.000,0.000,17.349,4335.116,20783.143,610.994,3530.250,255.377,0.000,2534.242,0.000,2945.500,0.000,0.542,0.000
$DEVICE_MAMPS,397.800,148.410,2026.485,125.460,0.000,0.000,0.000,194.310,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28895.000,6650.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.425,13.359,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,49943,1388
$CAP_FILE_SIZE,301042,0
$CFSIZE,260034560,248041472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.004,133.9,1
$GPS,300912,082604,2403.052,-3801.906,41,0.9,41,-14.1