version: 66.11
glider: 190
mission: 6
dive: 53
start: 9 30 112 16 58 51
data:
$ID,190
$MISSION,6
$DIVE,53
$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,-12331.806
$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,25
$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
$GPS1,300912,164704,2400.279,-3801.533,40,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.0
$GPS2,300912,165823,2400.292,-3801.587,17,0.9,18,-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,205.3,7979,-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,14332,-0.68,-97.3,910.3,-4.1,735,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1793,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14630,-0.68,-97.3,926.1,-5.8,745,14631,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1793,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14929,-0.68,-97.3,945.7,-6.9,755,14934,0.00,1.88,0.00,0.000,4,0.000,0.109,2674,2854,3348,0,0,0,0,0,0,28.83,14.82,28.83
$GC,14986,-0.70,-97.3,948.0,-7.1,756,14993,0.00,1.88,0.00,0.000,6,0.000,0.103,2674,1787,3348,0,0,0,0,0,0,28.83,14.82,28.83
$GC,15292,-0.72,-97.3,975.4,-8.1,767,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1787,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15470,begin apogee
$GC,15474,-0.19,0.0,990.0,-8.0,773,15566,0.50,0.00,85.57,2.041,6,0.214,0.000,2821,1477,2986,0,0,0,0,0,0,14.71,28.83,13.61
$STATE,15569,end apogee,CONTROL_FINISHED_OK
$STATE,15569,begin climb
$GC,15570,0.58,97.3,993.3,0.0,776,15670,0.80,0.00,96.35,1.984,6,0.151,0.000,3072,1477,2592,0,0,0,0,0,0,14.25,28.83,13.47
$GC,15952,0.55,97.3,975.1,7.1,789,15953,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1477,2579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16251,0.52,97.3,951.6,7.7,799,16257,0.00,1.90,0.00,0.000,4,0.000,0.108,3072,2536,2574,0,0,0,0,0,0,28.83,14.71,28.83
$GC,16483,0.48,97.3,936.4,6.9,806,16490,0.12,1.98,0.00,0.000,6,0.304,0.125,3056,1476,2573,0,0,0,0,0,0,14.63,14.73,28.83
$GC,16797,0.50,121.6,918.2,5.1,817,16827,0.00,1.92,22.20,1.948,4,0.000,0.109,3052,2537,2486,0,0,0,0,0,0,28.83,14.62,13.99
$GC,16964,0.51,142.4,910.2,5.2,822,16990,0.00,1.98,21.05,1.910,6,0.000,0.120,3059,1476,2409,0,0,0,0,0,0,28.83,14.65,13.88
$GC,17312,0.51,144.1,888.4,6.0,834,17313,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1476,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17612,0.51,144.1,869.3,6.5,844,17617,0.00,2.00,0.00,0.000,4,0.000,0.151,3067,419,2395,0,0,0,0,0,0,28.83,14.71,28.83
$GC,17719,0.51,144.1,862.9,6.8,847,17724,0.00,1.85,0.00,0.000,6,0.000,0.083,3067,1481,2394,0,0,0,0,0,0,28.83,14.79,28.83
$GC,18036,0.51,144.5,841.3,6.1,858,18037,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1481,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18336,0.52,163.1,824.3,5.3,868,18358,0.00,0.00,20.12,1.857,6,0.000,0.000,3067,1481,2323,0,0,0,0,0,0,28.83,28.83,14.06
$GC,18636,0.53,176.3,807.7,5.5,878,18655,0.00,1.90,13.73,1.793,4,0.000,0.103,3067,2545,2265,0,0,0,0,0,0,28.83,14.62,14.04
$GC,18743,0.53,179.9,802.1,6.0,881,18748,0.00,2.00,0.00,0.000,6,0.000,0.125,3074,1477,2262,0,0,0,0,0,0,28.83,14.65,28.83
$GC,19060,0.53,179.9,780.8,6.6,892,19061,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1478,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19360,0.53,179.9,758.0,8.0,902,19361,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1478,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19660,0.53,179.9,732.0,8.8,912,19665,0.00,1.88,0.00,0.000,4,0.000,0.104,3074,2537,2257,0,0,0,0,0,0,28.83,14.81,28.83
$GC,19777,0.53,179.9,723.7,9.0,915,19784,0.00,1.95,0.00,0.000,6,0.000,0.120,3081,1477,2257,0,0,0,0,0,0,28.83,14.79,28.83
$GC,20082,0.53,179.9,698.1,7.2,926,20088,0.00,2.00,0.00,0.000,4,0.000,0.148,3088,417,2257,0,0,0,0,0,0,28.83,14.78,28.83
$GC,20179,0.51,179.9,691.6,7.0,929,20185,0.12,1.83,0.00,0.000,6,0.288,0.081,3059,1483,2257,0,0,0,0,0,0,14.71,14.85,28.83
$GC,20507,0.53,212.3,674.7,4.7,940,20547,0.00,1.95,35.70,1.721,4,0.000,0.094,3058,2546,2118,0,0,0,0,0,0,28.83,14.58,14.00
$GC,20600,0.54,228.4,669.6,5.4,943,20624,0.00,1.98,16.15,1.629,6,0.000,0.109,3067,1475,2053,0,0,0,0,0,0,28.83,14.59,13.93
$GC,20932,0.56,228.4,648.3,6.4,954,20938,0.00,1.98,0.00,0.000,4,0.000,0.130,3075,414,2045,0,0,0,0,0,0,28.83,14.65,28.83
$GC,20980,0.58,228.4,646.2,6.4,955,20985,0.00,1.83,0.00,0.000,6,0.000,0.074,3076,1482,2044,0,0,0,0,0,0,28.83,14.71,28.83
$GC,21297,0.58,228.4,622.5,7.8,966,21298,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1482,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21597,0.58,228.4,597.4,8.6,976,21603,0.00,1.88,0.00,0.000,4,0.000,0.101,3075,2538,2043,0,0,0,0,0,0,28.83,14.79,28.83
$GC,21634,0.58,228.4,594.5,8.6,977,21639,0.00,1.95,0.00,0.000,6,0.000,0.119,3082,1479,2042,0,0,0,0,0,0,28.83,14.76,28.83
$GC,21961,0.58,228.4,569.7,6.8,988,21962,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1479,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22261,0.58,236.8,551.9,5.8,998,22265,0.00,0.00,2.35,0.509,6,0.000,0.000,3082,1479,2023,0,0,0,0,0,0,28.83,28.83,13.99
$GC,22560,0.58,236.8,531.1,7.6,1008,22567,0.00,2.00,1.80,0.184,4,0.000,0.128,3090,416,2024,0,0,0,0,0,0,28.83,14.81,14.78
$GC,22618,0.58,236.8,528.3,7.9,1009,22626,0.00,1.83,1.42,0.201,6,0.000,0.070,3091,1486,2023,0,0,0,0,0,0,28.83,14.87,14.78
$GC,22924,0.58,236.8,498.7,8.9,1020,22931,0.00,1.90,1.75,0.184,4,0.000,0.099,3090,2536,2022,0,0,0,0,0,0,28.83,14.84,14.78
$GC,22967,0.58,236.8,495.7,8.8,1021,22973,0.00,1.90,0.00,0.000,6,0.000,0.103,3098,1473,2031,0,0,0,0,0,0,28.83,14.84,28.83
$GC,23291,0.58,236.8,468.6,7.8,1032,23297,0.00,1.98,1.80,0.182,4,0.000,0.122,3106,416,2024,0,0,0,0,0,0,28.83,14.81,14.78
$GC,23329,0.57,236.8,466.0,7.6,1033,23336,0.12,1.80,1.33,0.202,6,0.282,0.068,3078,1493,2022,0,0,0,0,0,0,14.73,14.88,14.78
$GC,23658,0.57,239.2,445.1,6.0,1044,23668,0.00,1.83,3.78,1.025,4,0.000,0.090,3077,2521,2018,0,0,0,0,0,0,28.83,14.85,14.19
$GC,23700,0.57,242.6,443.2,6.0,1045,23720,0.00,1.90,11.12,1.454,6,0.000,0.119,3084,1484,1995,0,0,0,0,0,0,28.83,14.81,14.23
$GC,24020,0.57,242.6,422.1,6.8,1056,24021,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1484,1992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24321,0.57,242.6,397.6,8.7,1066,24322,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1484,1992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24620,0.57,242.6,370.2,9.3,1076,24622,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1483,1992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24920,0.57,242.6,342.0,9.2,1086,24926,0.00,1.92,0.00,0.000,4,0.000,0.122,3092,418,1994,0,0,0,0,0,0,28.83,14.82,28.83
$GC,24973,0.57,242.6,339.1,9.0,1087,24978,0.00,1.80,0.00,0.000,6,0.000,0.066,3092,1483,1992,0,0,0,0,0,0,28.83,14.88,28.83
$GC,25284,0.57,242.6,312.3,7.7,1098,25290,0.00,1.80,0.00,0.000,4,0.000,0.093,3092,2535,1992,0,0,0,0,0,0,28.83,14.87,28.83
$GC,25321,0.57,242.6,309.6,7.7,1099,25326,0.00,1.92,0.00,0.000,6,0.000,0.113,3099,1475,1992,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25648,0.57,242.6,283.1,8.3,1110,25654,0.00,1.92,0.00,0.000,4,0.000,0.127,3108,418,1995,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25681,0.57,242.6,280.1,8.6,1111,25687,0.12,1.80,0.00,0.000,6,0.254,0.063,3077,1489,1993,0,0,0,0,0,0,14.78,14.91,28.83
$GC,26018,0.59,242.6,249.1,9.8,1122,26024,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1489,1993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26325,0.60,242.6,219.7,8.7,1153,26326,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1489,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26624,0.62,242.6,198.2,6.8,1183,26630,0.00,1.80,0.00,0.000,4,0.000,0.079,3077,2528,1995,0,0,0,0,0,0,28.83,14.81,28.83
$GC,26707,0.64,242.6,192.2,7.4,1191,26713,0.00,1.88,0.00,0.000,6,0.000,0.096,3084,1475,1995,0,0,0,0,0,0,28.83,14.77,28.83
$GC,27019,0.64,242.6,163.4,10.2,1222,27020,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1474,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27320,0.66,242.6,134.2,9.2,1252,27326,0.00,1.95,0.00,0.000,4,0.000,0.130,3092,416,1996,0,0,0,0,0,0,28.83,14.75,28.83
$GC,27368,0.66,242.6,130.2,9.4,1256,27375,0.00,1.77,0.00,0.000,6,0.000,0.063,3092,1478,1996,0,0,0,0,0,0,28.83,14.80,28.83
$GC,27674,0.66,242.6,103.3,7.8,1287,27675,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1478,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27973,0.67,242.6,80.0,8.6,1317,27979,0.00,1.95,0.00,0.000,4,0.000,0.129,3093,422,1998,0,0,0,0,0,0,28.83,14.74,28.83
$GC,28056,0.67,242.6,72.6,9.0,1325,28061,0.00,1.77,0.00,0.000,6,0.000,0.064,3096,1486,2001,0,0,0,0,0,0,28.83,14.82,28.83
$GC,28369,0.70,247.4,50.0,5.9,1356,28381,0.00,1.85,2.28,0.173,4,0.000,0.086,3096,2533,1985,0,0,0,0,0,0,28.83,14.76,14.68
$GC,28477,0.73,247.4,43.2,6.5,1366,28486,0.00,1.90,2.08,0.171,6,0.000,0.106,3100,1480,1983,0,0,0,0,0,0,28.83,14.73,14.71
$GC,28785,0.76,252.7,26.8,5.9,1397,28798,0.10,1.95,5.18,0.185,4,0.162,0.126,3151,416,1960,0,0,0,0,0,0,14.82,14.73,14.68
$GC,28852,0.73,252.7,21.7,8.4,1403,28858,0.00,1.80,1.33,0.193,6,0.000,0.065,3151,1482,1958,0,0,0,0,0,0,28.83,14.78,14.70
$STATE,29073,end climb,SURFACE_DEPTH_REACHED
$STATE,29073,begin surface coast
$FINISH,0.9,1.024376
$STATE,29105,end surface coast,CONTROL_FINISHED_OK
$STATE,29105,begin surface
$SM_CCo,29124,48.03,0.125,0,0,1562,350.04
$SM_GC,2.00,8.57,0.55,48.03,0.083,0.079,0.125,148,1797,1562,-8.52,-0.59,350.04,0,0,0,0,0,0,14.80,14.83,14.76
$IRIDIUM_FIX,2354.48,-3803.47,300912,080813
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.79
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7749664
$TM_FREEKB,7414368
$24V_AH,13.5,25.124
$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,23.550,169.600,347.075,48.025,0.000,0.000,0.000,423.325,0.000,0.000,19.021,4539.157,20636.062,639.334,3755.450,264.326,0.000,2680.912,0.000,3103.378,0.000,0.542,0.000
$DEVICE_MAMPS,417.690,150.705,2041.020,124.695,0.000,0.000,0.000,185.895,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29141.000,7127.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.524,13.341,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,49957,1428
$CAP_FILE_SIZE,309129,0
$CFSIZE,260034560,247705600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.006, 39.2,1
$GPS,011012,010622,2357.253,-3802.104,39,0.8,39,-14.1