version: 66.11
glider: 190
mission: 6
dive: 34
start: 9 25 112 9 43 22
data:
$ID,190
$MISSION,6
$DIVE,34
$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,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,-12072.052
$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,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,13
$R_STBD_OVSHOOT,26
$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
$GPS1,250912,093104,2434.948,-3801.999,32,0.8,32,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.2
$GPS2,250912,094241,2434.968,-3801.893,15,1.2,16,-14.0
$SPEED_LIMITS,0.106,0.183
$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,191.4,3648,-16.6,-6.111,-21.20
$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
$GC,21,-0.68,-69.3,0.0,0.0,0,55,0.00,0.00,-32.33,0.000,2,0.000,0.000,149,1790,2327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.70,-97.3,2.1,-1.6,3,120,12.90,1.90,-39.35,0.000,4,0.445,0.136,2656,726,3387,0,0,0,0,0,0,14.50,14.66,14.92
$GC,153,-0.61,-97.3,6.3,-8.4,12,159,0.15,1.83,0.00,0.000,6,0.287,0.067,2686,1788,3387,0,0,0,0,0,0,14.61,14.71,28.83
$GC,467,-0.59,-97.3,40.1,-11.2,43,472,0.00,1.83,0.00,0.000,4,0.000,0.086,2680,2851,3387,0,0,0,0,0,0,28.83,14.76,28.83
$GC,641,-0.59,-97.3,58.1,-9.9,60,646,0.00,1.83,0.00,0.000,6,0.000,0.086,2680,1780,3387,0,0,0,0,0,0,28.83,14.78,28.83
$GC,953,-0.59,-97.3,87.3,-9.6,91,958,0.00,1.83,0.00,0.000,4,0.000,0.086,2672,2850,3389,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1165,-0.59,-97.3,104.4,-8.0,112,1170,0.00,1.80,0.00,0.000,6,0.000,0.086,2676,1787,3389,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1477,-0.59,-97.3,129.5,-7.5,143,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1787,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,-0.59,-97.3,152.5,-7.4,173,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1786,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,-0.59,-97.3,173.1,-6.1,203,2082,0.00,1.85,0.00,0.000,4,0.000,0.110,2676,730,3389,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2163,-0.59,-97.3,178.6,-6.9,211,2171,0.00,1.80,0.00,0.000,6,0.000,0.066,2673,1798,3389,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2470,-0.61,-97.3,202.9,-7.8,242,2475,0.00,1.77,0.00,0.000,4,0.000,0.090,2673,2847,3388,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2566,-0.64,-97.3,209.0,-6.5,251,2573,0.00,1.83,0.00,0.000,6,0.000,0.090,2674,1787,3388,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2872,-0.66,-97.3,230.2,-7.1,282,2877,0.00,1.88,0.00,0.000,4,0.000,0.116,2674,725,3387,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2965,-0.66,-97.3,238.2,-8.7,291,2970,0.00,1.77,0.00,0.000,6,0.000,0.072,2674,1789,3387,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3287,-0.68,-97.3,264.5,-7.5,311,3293,0.00,1.88,0.00,0.000,4,0.000,0.118,2674,732,3385,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3324,-0.70,-97.3,267.0,-7.5,312,3329,0.00,1.77,0.00,0.000,6,0.000,0.073,2674,1792,3385,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3652,-0.72,-97.3,290.2,-7.0,323,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1792,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3951,-0.75,-97.3,313.9,-8.3,333,3957,0.00,1.77,0.00,0.000,4,0.000,0.092,2667,2846,3383,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4044,-0.77,-97.3,321.6,-8.3,336,4049,0.00,1.83,0.00,0.000,6,0.000,0.092,2667,1785,3382,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4377,-0.80,-97.3,349.3,-8.3,347,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1785,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4676,-0.82,-97.3,372.8,-7.6,357,4678,0.12,0.00,0.00,0.000,6,0.150,0.000,2616,1784,3379,0,0,0,0,0,0,15.00,28.83,28.83
$GC,4977,-0.79,-97.3,401.8,-10.0,367,4982,0.00,1.80,0.00,0.000,4,0.000,0.090,2612,2850,3378,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5009,-0.77,-97.3,405.1,-10.0,368,5015,0.00,1.83,0.00,0.000,6,0.000,0.091,2612,1789,3378,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5343,-0.74,-97.3,442.0,-11.2,379,5345,0.15,0.00,0.00,0.000,6,0.263,0.000,2649,1788,3377,0,0,0,0,0,0,14.88,28.83,28.83
$GC,5642,-0.74,-97.3,468.2,-8.1,389,5647,0.00,1.83,0.00,0.000,4,0.000,0.093,2645,2851,3375,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5734,-0.74,-97.3,474.9,-7.3,392,5740,0.00,1.80,0.00,0.000,6,0.000,0.093,2645,1790,3375,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6067,-0.74,-97.3,497.5,-6.2,403,6073,0.00,1.88,0.00,0.000,4,0.000,0.122,2645,726,3373,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6264,-0.74,-97.3,508.4,-5.8,409,6270,0.00,1.80,0.00,0.000,6,0.000,0.076,2645,1796,3372,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6582,-0.74,-97.3,524.8,-5.1,420,6588,0.00,1.80,0.00,0.000,4,0.000,0.097,2644,2848,3371,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6650,-0.74,-97.3,528.3,-5.4,422,6655,0.00,1.83,0.00,0.000,6,0.000,0.096,2644,1784,3371,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6977,-0.74,-97.3,550.5,-7.3,433,6983,0.00,1.83,0.00,0.000,4,0.000,0.096,2645,2851,3370,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7019,-0.74,-97.3,553.1,-7.5,434,7025,0.00,1.83,0.00,0.000,6,0.000,0.096,2640,1788,3370,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7342,-0.74,-97.3,579.4,-7.6,445,7347,0.00,1.90,0.00,0.000,4,0.000,0.125,2640,722,3369,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7464,-0.74,-97.3,589.3,-8.1,449,7469,0.00,1.83,0.00,0.000,6,0.000,0.078,2636,1789,3368,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7797,-0.74,-97.3,613.7,-7.2,460,7802,0.00,1.83,0.00,0.000,4,0.000,0.099,2631,2850,3367,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7898,-0.74,-97.3,620.3,-7.1,463,7903,0.00,1.83,0.00,0.000,6,0.000,0.098,2631,1789,3366,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8220,-0.74,-97.3,644.7,-7.4,474,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1788,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8520,-0.74,-97.3,668.6,-8.4,484,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1786,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8820,-0.74,-97.3,694.3,-8.6,494,8826,0.00,1.85,0.00,0.000,4,0.000,0.099,2631,2851,3363,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8862,-0.74,-97.3,696.9,-8.4,495,8868,0.00,1.85,0.00,0.000,6,0.000,0.099,2631,1789,3363,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9184,-0.74,-97.3,725.6,-9.0,506,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1789,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9485,-0.74,-97.3,753.4,-9.1,516,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1790,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9784,-0.74,-97.3,777.4,-7.4,526,9789,0.00,1.85,0.00,0.000,4,0.000,0.100,2631,2856,3359,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9877,-0.76,-97.3,783.5,-6.6,529,9883,0.00,1.90,0.00,0.000,6,0.000,0.099,2631,1764,3359,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10211,-0.76,-97.3,802.7,-5.3,540,10217,0.00,1.85,0.00,0.000,4,0.000,0.125,2631,729,3357,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10253,-0.76,-97.3,804.6,-5.3,541,10260,0.00,1.83,0.00,0.000,6,0.000,0.073,2631,1801,3357,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10577,-0.76,-97.3,824.5,-6.4,552,10582,0.00,1.92,0.00,0.000,4,0.000,0.116,2631,724,3356,0,0,0,0,0,0,28.83,14.90,28.83
$GC,10658,-0.76,-97.3,829.4,-7.3,554,10663,0.00,1.83,0.00,0.000,6,0.000,0.083,2631,1790,3356,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10970,-0.76,-97.3,856.6,-8.5,565,10975,0.00,1.83,0.00,0.000,4,0.000,0.096,2631,2854,3354,0,0,0,0,0,0,28.83,14.92,28.83
$GC,11027,-0.78,-97.3,859.2,-8.5,566,11033,0.00,1.83,0.00,0.000,6,0.000,0.090,2631,1788,3354,0,0,0,0,0,0,28.83,14.89,28.83
$GC,11333,-0.79,-97.3,888.3,-8.8,577,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1787,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11632,-0.81,-97.3,913.4,-8.2,587,11637,0.00,1.95,0.00,0.000,4,0.000,0.131,2631,722,3352,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11684,-0.81,-97.3,916.3,-8.4,588,11689,0.00,1.85,0.00,0.000,6,0.000,0.086,2631,1796,3352,0,0,0,0,0,0,28.83,14.90,28.83
$GC,11997,-0.83,-97.3,942.0,-7.3,599,12003,0.00,1.85,0.00,0.000,4,0.000,0.109,2631,2853,3351,0,0,0,0,0,0,28.83,14.90,28.83
$GC,12134,-0.85,-97.3,950.6,-7.0,603,12139,0.00,1.90,0.00,0.000,6,0.000,0.103,2631,1791,3351,0,0,0,0,0,0,28.83,14.88,28.83
$GC,12452,-0.87,-97.3,973.9,-7.1,614,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1791,3350,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12690,begin apogee
$GC,12695,-0.19,0.0,991.0,-7.1,622,12786,0.65,0.00,86.12,2.092,6,0.236,0.000,2819,1478,2986,0,0,0,0,0,0,14.77,28.83,13.59
$STATE,12788,end apogee,CONTROL_FINISHED_OK
$STATE,12789,begin climb
$GC,12790,0.70,97.3,993.3,0.0,625,12890,0.93,0.00,96.03,2.035,6,0.153,0.000,3107,1477,2591,0,0,0,0,0,0,14.24,28.83,13.47
$GC,13171,0.70,97.3,974.4,6.2,638,13177,0.00,2.00,0.00,0.000,4,0.000,0.142,3113,419,2576,0,0,0,0,0,0,28.83,14.61,28.83
$GC,13255,0.68,97.3,970.2,6.4,640,13261,0.00,1.88,0.00,0.000,6,0.000,0.081,3113,1489,2575,0,0,0,0,0,0,28.83,14.70,28.83
$GC,13569,0.65,97.3,949.4,6.1,651,13575,0.00,1.88,0.00,0.000,4,0.000,0.107,3113,2539,2573,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13801,0.63,97.3,935.9,6.5,658,13806,0.00,1.92,0.00,0.000,6,0.000,0.119,3121,1476,2572,0,0,0,0,0,0,28.83,14.80,28.83
$GC,14114,0.59,97.3,912.8,7.2,669,14119,0.12,1.88,0.00,0.000,4,0.334,0.099,3090,2540,2571,0,0,0,0,0,0,14.73,14.85,28.83
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$STATE,26631,end climb,SURFACE_DEPTH_REACHED
$STATE,26631,begin surface coast
$FINISH,0.9,1.012443
$STATE,26673,end surface coast,CONTROL_FINISHED_OK
$STATE,26673,begin surface
$SM_CCo,26692,75.60,0.123,0,0,1560,350.04
$SM_GC,1.85,8.57,0.52,75.60,0.086,0.078,0.123,144,1793,1560,-8.53,-0.88,350.04,0,0,0,0,0,0,14.84,14.85,14.77
$IRIDIUM_FIX,2425.21,-3758.52,250912,010124
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.49
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,7756960
$TM_FREEKB,7597280
$24V_AH,13.5,18.810
$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,24.275,160.675,258.550,75.600,0.000,0.000,0.000,396.475,0.000,0.000,17.388,4397.560,18533.947,605.810,3689.107,236.587,0.000,2571.616,0.000,3070.612,0.000,0.542,0.000
$DEVICE_MAMPS,445.230,141.525,2145.825,123.165,0.000,0.000,0.000,195.075,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26705.000,6697.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.878,13.332,0.000,0.000
$MEM,344884
$DATA_FILE_SIZE,46671,1320
$CAP_FILE_SIZE,288401,0
$CFSIZE,260034560,250429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048, 41.4,1
$GPS,250912,171034,2432.792,-3801.275,24,0.8,24,-14.0