version: 66.11
glider: 190
mission: 6
dive: 6
start: 9 17 112 2 9 55
data:
$ID,190
$MISSION,6
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,240
$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,150
$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,1
$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,-12036.059
$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,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,170912,015735,2437.213,-3802.509,31,0.8,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.7
$GPS2,170912,020929,2437.213,-3802.361,18,0.9,19,-14.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midN
$TGT_LATLONG,2512.000,-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,4.0,64429,-17.5,-10.000,-21.06
$D_GRID,600
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.80,-146.0,0.0,0.0,0,66,0.00,0.00,-44.22,0.000,2,0.000,0.000,143,1716,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.80,-146.0,2.0,-2.9,4,116,12.38,1.92,-28.42,0.000,4,0.435,0.132,2636,640,3837,0,0,0,0,0,0,14.57,14.71,14.96
$GC,343,-0.73,-146.0,46.8,-18.5,31,349,0.12,1.75,0.00,0.000,6,0.294,0.066,2659,1689,3838,0,0,0,0,0,0,14.69,14.78,28.83
$GC,656,-0.73,-146.0,90.9,-13.3,62,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1691,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-0.73,-146.0,127.7,-11.9,92,962,0.00,1.85,0.00,0.000,4,0.000,0.109,2659,635,3840,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1002,-0.73,-146.0,133.0,-12.8,96,1009,0.00,1.83,0.00,0.000,6,0.000,0.067,2658,1703,3840,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1309,-0.74,-146.0,166.6,-10.3,127,1314,0.00,1.80,0.00,0.000,4,0.000,0.086,2654,2769,3840,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1472,-0.78,-146.0,181.9,-9.4,143,1478,0.00,1.85,0.00,0.000,6,0.000,0.090,2653,1695,3840,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1786,-0.80,-146.0,213.6,-9.7,174,1791,0.00,1.83,0.00,0.000,4,0.000,0.090,2653,2762,3840,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1843,-0.84,-146.0,218.6,-8.9,179,1850,0.00,1.80,0.00,0.000,6,0.000,0.090,2653,1700,3840,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2148,-0.86,-146.0,249.7,-10.3,210,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1700,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.89,-146.0,281.2,-9.9,221,2461,0.12,0.00,0.00,0.000,6,0.148,0.000,2603,1700,3838,0,0,0,0,0,0,14.99,28.83,28.83
$GC,2758,-0.87,-146.0,317.5,-11.9,231,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1700,3836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.86,-146.0,355.4,-13.0,241,3063,0.00,1.80,0.00,0.000,4,0.000,0.091,2602,2762,3835,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3204,-0.86,-146.0,370.9,-12.6,245,3210,0.00,1.83,0.00,0.000,6,0.000,0.092,2602,1693,3834,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3510,-0.86,-146.0,413.6,-13.0,256,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1693,3833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3810,-0.86,-146.0,453.3,-13.1,266,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1693,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4110,-0.86,-146.0,493.2,-13.2,276,4115,0.00,1.83,0.00,0.000,4,0.000,0.094,2600,2759,3828,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4186,-0.86,-146.0,500.7,-12.7,278,4191,0.00,1.80,0.00,0.000,6,0.000,0.095,2600,1700,3829,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4503,-0.86,-146.0,540.6,-11.9,289,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1700,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4803,-0.86,-146.0,576.9,-12.4,299,4809,0.00,1.83,0.00,0.000,4,0.000,0.097,2599,2767,3825,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4844,-0.86,-146.0,580.8,-12.4,300,4850,0.00,1.85,0.00,0.000,6,0.000,0.096,2599,1699,3825,0,0,0,0,0,0,28.83,14.98,28.83
$STATE,5016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5016,begin apogee
$GC,5020,-0.18,0.0,603.3,-12.5,306,5157,0.77,0.00,129.52,1.697,6,0.214,0.000,2832,1498,3234,0,0,0,0,0,0,14.90,28.83,13.72
$STATE,5159,end apogee,CONTROL_FINISHED_OK
$STATE,5159,begin climb
$GC,5160,0.80,146.0,607.7,0.0,310,5303,0.98,2.08,130.98,1.628,4,0.116,0.132,3164,445,2635,0,0,0,0,0,0,14.32,14.19,13.67
$GC,5324,1.04,379.7,610.7,-0.8,316,5550,0.22,1.85,214.40,1.573,6,0.136,0.074,3237,1505,1685,0,0,0,0,0,0,14.39,14.40,13.69
$GC,5861,1.00,379.7,525.6,18.5,334,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1505,1671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6162,0.95,379.7,468.7,19.1,344,6168,0.12,1.80,0.00,0.000,4,0.314,0.093,3206,2553,1669,0,0,0,0,0,0,14.76,14.87,28.83
$GC,6195,0.92,379.7,462.5,18.9,345,6200,0.00,1.88,0.00,0.000,6,0.000,0.115,3213,1502,1668,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6528,0.89,379.7,401.4,18.8,356,6533,0.00,1.95,0.00,0.000,4,0.000,0.138,3222,434,1667,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6605,0.86,379.7,389.1,19.1,358,6611,0.17,1.80,0.00,0.000,6,0.296,0.076,3181,1506,1667,0,0,0,0,0,0,14.82,14.92,28.83
$GC,6923,0.86,379.7,335.9,15.1,369,6928,0.00,1.77,0.00,0.000,4,0.000,0.090,3185,2557,1665,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6964,0.86,379.7,331.0,15.0,370,6969,0.00,1.88,0.00,0.000,6,0.000,0.106,3188,1498,1665,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7286,0.86,379.7,280.4,15.3,381,7291,0.00,1.90,0.00,0.000,4,0.000,0.134,3195,435,1665,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7332,0.86,379.7,275.4,15.3,382,7337,0.00,1.77,0.00,0.000,6,0.000,0.074,3195,1499,1665,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7638,0.86,379.7,223.8,16.4,402,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1499,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7938,0.86,379.7,177.1,15.1,432,7943,0.00,1.77,0.00,0.000,4,0.000,0.085,3195,2558,1664,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7994,0.86,379.7,168.7,16.1,437,8001,0.00,1.88,0.00,0.000,6,0.000,0.109,3203,1493,1662,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8300,0.86,379.7,120.2,15.7,468,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1493,1663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8600,0.86,379.7,75.8,13.7,498,8605,0.00,1.88,0.00,0.000,4,0.000,0.123,3211,437,1664,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8636,0.86,379.7,71.0,14.8,501,8643,0.12,1.77,0.00,0.000,6,0.282,0.069,3182,1505,1664,0,0,0,0,0,0,14.81,14.91,28.83
$GC,8943,0.90,379.7,33.3,10.4,532,8949,0.00,1.92,0.00,0.000,4,0.000,0.127,3190,435,1665,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9079,0.90,379.7,17.0,11.7,545,9086,0.00,1.77,0.00,0.000,6,0.000,0.065,3189,1504,1664,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,9184,end climb,SURFACE_DEPTH_REACHED
$STATE,9184,begin surface coast
$FINISH,0.1,1.024665
$STATE,9206,end surface coast,CONTROL_FINISHED_OK
$STATE,9206,begin surface
$SM_CCo,9284,0.00,0.000,0,0,1662,386.84
$SM_GC,1.17,8.75,0.35,0.00,0.093,0.099,0.000,148,1702,1662,-8.56,-0.68,386.84,0,0,0,0,0,0,14.86,14.91,28.83
$IRIDIUM_FIX,2425.21,-3759.98,160912,222202
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.68
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.00
$XPDR_PINGS,1
$SC_FREEKB,7767712
$TM_FREEKB,7866880
$24V_AH,13.7,7.454
$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,23.775,55.950,474.900,0.000,0.000,0.000,0.000,442.050,0.250,0.000,20.213,1660.068,5871.542,490.358,1897.668,80.183,0.000,1652.637,0.000,1232.930,0.000,0.542,0.000
$DEVICE_MAMPS,434.520,137.700,1696.770,0.000,0.000,0.000,0.000,195.840,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9231.000,3976.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.093,13.091,0.000,0.000
$MEM,345176
$DATA_FILE_SIZE,20080,558
$CAP_FILE_SIZE,122651,0
$CFSIZE,260034560,255492096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.051, 90.1,1
$GPS,170912,044555,2438.830,-3802.260,39,1.1,39,-14.0