version: 66.11
glider: 190
mission: 6
dive: 133
start: 10 27 112 14 54 10
data:
$ID,190
$MISSION,6
$DIVE,133
$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,-12434.575
$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,25
$C_ROLL_DIVE,1650
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,19
$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
$GPS1,271012,144204,2418.562,-3842.531,35,0.8,35,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-66.6
$GPS2,271012,145341,2418.615,-3842.513,18,0.9,18,-14.3
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-3844.000
$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,204.4,41960,-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
$STATE,20,begin dive
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$GC,3602,-0.67,-97.3,242.9,-5.9,354,3608,0.00,1.62,0.00,0.000,6,0.000,0.109,2701,1645,3386,0,0,0,0,0,0,28.83,14.68,28.83
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$GC,4208,-0.70,-97.3,275.8,-5.4,383,4214,0.12,1.62,0.00,0.000,4,0.139,0.133,2641,755,3384,0,0,0,0,0,0,14.83,14.71,28.83
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$GC,4666,-0.65,-97.3,308.0,-6.5,398,4672,0.00,1.55,0.00,0.000,4,0.000,0.106,2673,2537,3382,0,0,0,0,0,0,28.83,14.75,28.83
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$GC,5062,-0.65,-97.3,332.8,-6.1,411,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1648,3381,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,7384,-0.70,-97.3,490.3,-5.4,488,7389,0.00,1.58,0.00,0.000,6,0.000,0.096,2691,1652,3372,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7719,-0.72,-97.3,509.1,-5.8,499,7721,0.10,0.00,0.00,0.000,6,0.168,0.000,2648,1651,3370,0,0,0,0,0,0,14.84,28.83,28.83
$GC,8017,-0.70,-97.3,532.2,-7.8,509,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1652,3369,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14180,-0.64,-97.3,935.4,-5.2,713,14185,0.00,1.67,0.00,0.000,4,0.000,0.128,2662,755,3351,0,0,0,0,0,0,28.83,14.61,28.83
$GC,14232,-0.64,-97.3,937.2,-5.2,714,14238,0.00,1.58,0.00,0.000,6,0.000,0.090,2661,1651,3351,0,0,0,0,0,0,28.83,14.69,28.83
$GC,14547,-0.64,-97.3,954.0,-5.2,725,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1651,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14845,-0.64,-97.3,971.1,-6.1,735,14850,0.00,1.60,0.00,0.000,4,0.000,0.113,2662,2530,3349,0,0,0,0,0,0,28.83,14.63,28.83
$GC,14974,-0.66,-97.3,977.5,-5.2,739,14979,0.00,1.62,0.00,0.000,6,0.000,0.109,2661,1646,3349,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,15179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15180,begin apogee
$GC,15185,-0.19,0.0,990.2,-6.0,746,15276,0.55,0.00,87.28,1.867,6,0.203,0.000,2823,1479,2987,0,0,0,0,0,0,14.54,28.83,13.54
$STATE,15279,end apogee,CONTROL_FINISHED_OK
$STATE,15279,begin climb
$GC,15281,0.58,97.3,991.7,0.0,749,15382,0.77,0.00,96.88,1.853,6,0.129,0.000,3073,1479,2592,0,0,0,0,0,0,14.24,28.83,13.42
$GC,15662,0.53,99.0,974.5,6.0,762,15668,0.00,1.65,0.00,0.000,4,0.000,0.109,3073,2365,2576,0,0,0,0,0,0,28.83,14.47,28.83
$GC,15781,0.48,105.0,968.8,5.9,765,15789,0.12,1.67,1.77,0.177,6,0.302,0.122,3053,1481,2560,0,0,0,0,0,0,14.28,14.45,14.46
$GC,16087,0.47,127.3,951.3,5.2,776,16121,0.00,1.70,27.83,1.831,4,0.000,0.109,3050,2369,2466,0,0,0,0,0,0,28.83,14.50,13.85
$GC,16350,0.46,140.0,937.4,5.6,784,16370,0.00,1.67,13.40,1.739,6,0.000,0.124,3060,1473,2411,0,0,0,0,0,0,28.83,14.52,13.88
$GC,16693,0.45,161.0,917.6,5.2,796,16722,0.00,0.00,21.30,1.788,6,0.000,0.000,3060,1473,2326,0,0,0,0,0,0,28.83,28.83,13.91
$GC,17022,0.46,179.1,899.9,5.3,807,17043,0.00,0.00,18.98,1.767,6,0.000,0.000,3060,1473,2258,0,0,0,0,0,0,28.83,28.83,13.90
$GC,17323,0.47,184.7,882.6,5.9,817,17329,0.00,1.60,1.25,0.198,4,0.000,0.103,3060,2364,2235,0,0,0,0,0,0,28.83,14.60,14.54
$GC,17397,0.47,184.7,878.4,6.1,819,17402,0.00,1.65,0.00,0.000,6,0.000,0.122,3066,1481,2242,0,0,0,0,0,0,28.83,14.59,28.83
$GC,17722,0.47,184.7,857.2,6.5,830,17723,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1481,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18020,0.47,184.9,838.3,6.1,840,18025,0.00,1.58,0.00,0.000,4,0.000,0.104,3066,2361,2242,0,0,0,0,0,0,28.83,14.66,28.83
$GC,18112,0.47,184.9,832.6,6.2,843,18118,0.12,1.65,0.00,0.000,6,0.294,0.122,3045,1478,2242,0,0,0,0,0,0,14.50,14.64,28.83
$GC,18446,0.48,212.0,815.3,5.0,854,18486,0.00,1.60,32.78,1.729,4,0.000,0.106,3044,2361,2118,0,0,0,0,0,0,28.83,14.54,13.93
$GC,18582,0.50,239.9,809.3,4.9,858,18617,0.00,1.67,28.23,1.698,6,0.000,0.122,3051,1475,2007,0,0,0,0,0,0,28.83,14.50,13.78
$GC,18930,0.53,245.7,789.3,5.9,870,18935,0.00,1.60,0.00,0.000,4,0.000,0.105,3051,2360,1996,0,0,0,0,0,0,28.83,14.56,28.83
$GC,18978,0.55,249.5,787.2,5.9,871,18988,0.00,1.67,3.25,0.986,6,0.000,0.122,3057,1471,1972,0,0,0,0,0,0,28.83,14.55,13.83
$GC,19297,0.57,249.5,763.7,7.7,882,19301,0.00,0.00,1.77,0.187,6,0.000,0.000,3058,1471,1970,0,0,0,0,0,0,28.83,28.83,14.57
$GC,19596,0.59,249.5,740.5,7.6,892,19602,0.00,1.67,1.62,0.192,4,0.000,0.105,3057,2360,1970,0,0,0,0,0,0,28.83,14.66,14.58
$GC,19710,0.61,249.5,733.4,7.7,895,19716,0.00,1.65,0.00,0.000,6,0.000,0.121,3064,1477,1981,0,0,0,0,0,0,28.83,14.59,28.83
$GC,20023,0.61,249.5,708.9,7.4,906,20029,0.00,1.67,1.62,0.194,4,0.000,0.105,3068,2367,1970,0,0,0,0,0,0,28.83,14.66,14.60
$GC,20111,0.61,249.5,704.0,7.6,908,20117,0.00,1.65,0.00,0.000,6,0.000,0.120,3070,1480,1982,0,0,0,0,0,0,28.83,14.64,28.83
$GC,20418,0.61,249.5,676.9,8.4,919,20424,0.00,1.65,1.50,0.194,4,0.000,0.103,3070,2361,1970,0,0,0,0,0,0,28.83,14.68,14.60
$GC,20535,0.61,249.5,668.8,8.5,922,20542,0.00,1.65,0.00,0.000,6,0.000,0.119,3077,1479,1981,0,0,0,0,0,0,28.83,14.64,28.83
$GC,20842,0.61,249.5,641.9,8.0,933,20845,0.00,0.00,1.48,0.191,6,0.000,0.000,3076,1479,1971,0,0,0,0,0,0,28.83,28.83,14.61
$GC,21142,0.61,249.5,618.3,7.9,943,21148,0.00,1.60,1.40,0.196,4,0.000,0.096,3077,2368,1971,0,0,0,0,0,0,28.83,14.69,14.59
$GC,21256,0.61,249.5,610.5,8.3,946,21261,0.00,1.65,0.00,0.000,6,0.000,0.116,3083,1478,1981,0,0,0,0,0,0,28.83,14.65,28.83
$GC,21568,0.61,249.5,581.9,8.5,957,21574,0.00,1.65,1.48,0.192,4,0.000,0.100,3083,2364,1971,0,0,0,0,0,0,28.83,14.71,14.59
$GC,21672,0.61,249.5,573.3,9.0,960,21677,0.00,1.65,0.00,0.000,6,0.000,0.117,3090,1475,1981,0,0,0,0,0,0,28.83,14.65,28.83
$GC,21995,0.61,249.5,543.2,9.0,971,22001,0.00,1.60,1.33,0.195,4,0.000,0.096,3090,2367,1972,0,0,0,0,0,0,28.83,14.69,14.60
$GC,22048,0.61,249.5,540.1,9.1,972,22053,0.00,1.65,0.00,0.000,6,0.000,0.117,3096,1476,1977,0,0,0,0,0,0,28.83,14.66,28.83
$GC,22362,0.59,249.5,511.3,8.3,983,22365,0.00,0.00,1.50,0.187,6,0.000,0.000,3096,1476,1971,0,0,0,0,0,0,28.83,28.83,14.62
$GC,22662,0.57,249.5,489.3,6.7,993,22668,0.00,1.65,1.48,0.194,4,0.000,0.101,3096,2361,1972,0,0,0,0,0,0,28.83,14.69,14.59
$GC,22789,0.55,249.5,480.8,6.8,997,22796,0.12,1.62,1.50,0.187,6,0.284,0.115,3074,1480,1971,0,0,0,0,0,0,14.50,14.64,14.61
$GC,23118,0.55,249.5,460.2,6.5,1008,23122,0.00,0.00,1.55,0.191,6,0.000,0.000,3074,1481,1971,0,0,0,0,0,0,28.83,28.83,14.62
$GC,23418,0.55,249.5,439.1,7.1,1018,23424,0.00,1.65,1.50,0.187,4,0.000,0.099,3074,2368,1972,0,0,0,0,0,0,28.83,14.69,14.62
$GC,23491,0.55,249.5,434.4,7.3,1020,23497,0.00,1.67,1.15,0.185,6,0.000,0.114,3085,1480,1972,0,0,0,0,0,0,28.83,14.62,14.63
$GC,23816,0.55,249.5,408.1,8.2,1031,23822,0.00,1.62,1.65,0.183,4,0.000,0.094,3080,2363,1971,0,0,0,0,0,0,28.83,14.69,14.60
$GC,23893,0.55,249.5,402.5,8.4,1033,23899,0.00,1.65,0.00,0.000,6,0.000,0.112,3087,1481,1980,0,0,0,0,0,0,28.83,14.62,28.83
$GC,24212,0.55,249.5,376.2,7.3,1044,24215,0.00,0.00,1.70,0.184,6,0.000,0.000,3087,1481,1971,0,0,0,0,0,0,28.83,28.83,14.60
$GC,24512,0.55,249.5,353.7,8.2,1054,24518,0.00,1.62,1.67,0.183,4,0.000,0.093,3087,2363,1973,0,0,0,0,0,0,28.83,14.71,14.62
$GC,24644,0.55,249.5,342.3,9.1,1058,24650,0.00,1.65,1.73,0.164,6,0.000,0.113,3093,1482,1971,0,0,0,0,0,0,28.83,14.62,14.61
$GC,24969,0.55,249.5,309.9,9.6,1069,24975,0.00,1.62,1.88,0.173,4,0.000,0.093,3093,2363,1972,0,0,0,0,0,0,28.83,14.70,14.59
$GC,25057,0.55,249.5,303.9,9.4,1071,25065,0.12,1.62,1.62,0.179,6,0.255,0.112,3069,1479,1971,0,0,0,0,0,0,14.54,14.65,14.62
$GC,25365,0.57,249.5,277.6,7.5,1082,25371,0.00,1.62,1.95,0.174,4,0.000,0.093,3069,2363,1972,0,0,0,0,0,0,28.83,14.69,14.57
$GC,25440,0.58,249.5,272.9,7.2,1084,25446,0.00,1.62,1.73,0.184,6,0.000,0.114,3076,1480,1971,0,0,0,0,0,0,28.83,14.64,14.54
$GC,25768,0.58,249.5,249.3,6.9,1095,25774,0.00,1.62,2.03,0.210,4,0.000,0.094,3076,2363,1972,0,0,0,0,0,0,28.83,14.71,13.57
$GC,25833,0.58,249.5,244.7,6.7,1101,25839,0.00,1.65,1.75,0.186,6,0.000,0.123,3082,1480,1971,0,0,0,0,0,0,28.83,14.63,14.57
$GC,26149,0.58,250.0,224.1,6.1,1132,26160,0.00,1.62,2.35,0.423,4,0.000,0.104,3082,2362,1973,0,0,0,0,0,0,28.83,14.69,13.91
$GC,26202,0.58,250.0,220.4,6.3,1137,26208,0.00,1.65,1.80,0.188,6,0.000,0.126,3088,1482,1968,0,0,0,0,0,0,28.83,14.59,14.55
$GC,26517,0.58,250.0,199.7,7.5,1168,26539,0.00,12.88,1.98,0.171,4,0.000,0.005,3099,43,1980,0,0,85,1,0,0,28.83,14.73,14.54
$STATE,26544,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,26556,334.95,1.811,1,0,500,610.80
$SM_GC,1.90,8.20,2.58,0.00,0.055,0.083,0.000,144,1478,513,-8.52,-0.74,607.36,0,0,1,0,0,0,14.73,14.71,28.83
$IRIDIUM_FIX,2411.01,-3841.43,271012,060632
$TT8_MAMPS,0.044191,0.044191
$HUMID,50.74
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,21.70
$XPDR_PINGS,3
$SC_FREEKB,7719200
$TM_FREEKB,6533536
$24V_AH,13.4,55.541
$10V_AH,13.6,0.000
$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,22.800,155.025,377.625,334.950,0.000,0.000,0.000,409.025,0.750,0.000,19.450,4051.209,20676.611,952.191,3404.710,377.032,0.000,2869.378,0.000,2789.897,0.000,0.541,0.000
$DEVICE_MAMPS,385.560,138.465,1867.365,1810.755,0.000,0.000,0.000,188.190,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15335.000,3762.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.989,13.273,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43251,1170
$CAP_FILE_SIZE,288085,8
$CFSIZE,260034560,234917888
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,86,1,1,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,ROLL_DEAD
$GPS,271012,225504,2416.206,-3842.409,30,1.0,30,-14.3