version: 66.11
glider: 190
mission: 6
dive: 5
start: 9 16 112 22 45 55
data:
$ID,190
$MISSION,6
$DIVE,5
$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,-12034.8
$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,16
$R_STBD_OVSHOOT,22
$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
$GPS1,160912,223521,2434.982,-3802.941,35,1.6,50,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.3
$GPS2,160912,224529,2435.018,-3802.888,20,0.9,21,-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,8.9,68507,-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,20,-0.80,-146.0,0.0,0.0,0,76,0.00,0.00,-53.08,0.000,2,0.000,0.000,142,1719,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.80,-146.0,2.9,-5.3,5,112,12.43,1.98,-15.50,0.000,4,0.438,0.138,2632,639,3837,0,0,0,0,0,0,14.62,14.77,15.00
$GC,338,-0.73,-146.0,47.1,-16.5,30,345,0.15,1.77,0.00,0.000,6,0.297,0.064,2660,1709,3837,0,0,0,0,0,0,14.76,14.88,28.83
$GC,644,-0.73,-146.0,80.5,-10.8,61,649,0.00,1.77,0.00,0.000,4,0.000,0.087,2652,2758,3839,0,0,0,0,0,0,28.83,14.88,28.83
$GC,689,-0.73,-146.0,85.5,-11.7,65,696,0.00,1.85,0.00,0.000,6,0.000,0.091,2652,1704,3838,0,0,0,0,0,0,28.83,14.89,28.83
$GC,996,-0.73,-146.0,127.3,-12.8,96,1002,0.00,1.88,0.00,0.000,4,0.000,0.112,2652,634,3839,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1093,-0.73,-146.0,139.1,-11.6,105,1100,0.00,1.80,0.00,0.000,6,0.000,0.067,2649,1708,3839,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1398,-0.73,-146.0,171.3,-10.4,136,1403,0.00,1.75,0.00,0.000,4,0.000,0.088,2648,2759,3839,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1501,-0.76,-146.0,181.2,-9.8,146,1506,0.00,1.80,0.00,0.000,6,0.000,0.090,2648,1699,3839,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1813,-0.76,-146.0,220.1,-13.6,177,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1699,3839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2114,-0.77,-146.0,257.7,-12.2,203,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1699,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2413,-0.79,-146.0,294.3,-12.0,213,2418,0.00,1.80,0.00,0.000,4,0.000,0.090,2648,2758,3836,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2490,-0.82,-146.0,300.6,-11.0,215,2495,0.00,1.80,0.00,0.000,6,0.000,0.092,2648,1697,3836,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2808,-0.85,-146.0,330.8,-8.5,226,2813,0.00,1.80,0.00,0.000,4,0.000,0.093,2648,2762,3834,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2849,-0.88,-146.0,333.3,-8.4,227,2854,0.00,1.80,0.00,0.000,6,0.000,0.093,2648,1700,3834,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3172,-0.91,-146.0,364.1,-10.1,238,3178,0.12,1.80,0.00,0.000,4,0.146,0.093,2591,2763,3832,0,0,0,0,0,0,15.03,15.00,28.83
$GC,3219,-0.93,-146.0,368.1,-10.7,239,3224,0.00,1.83,0.00,0.000,6,0.000,0.095,2591,1693,3832,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3536,-0.91,-146.0,414.1,-13.9,250,3541,0.00,1.83,0.00,0.000,4,0.000,0.096,2591,2757,3831,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3618,-0.89,-146.0,422.0,-13.2,252,3623,0.00,1.80,0.00,0.000,6,0.000,0.096,2591,1700,3830,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3930,-0.86,-146.0,462.6,-12.3,263,3932,0.12,0.00,0.00,0.000,6,0.277,0.000,2621,1700,3829,0,0,0,0,0,0,14.89,28.83,28.83
$GC,4230,-0.86,-146.0,494.6,-11.0,273,4235,0.00,1.83,0.00,0.000,4,0.000,0.097,2618,2761,3827,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4295,-0.88,-146.0,501.4,-10.9,275,4300,0.00,1.83,0.00,0.000,6,0.000,0.096,2618,1694,3825,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4622,-0.88,-146.0,539.9,-11.3,286,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1694,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4922,-0.88,-146.0,571.9,-10.5,296,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1694,3823,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5194,-0.18,0.0,601.6,-11.3,305,5337,0.73,0.00,129.55,2.381,6,0.217,0.000,2835,1494,3245,0,0,0,0,1,0,14.90,28.83,13.43
$STATE,5339,end apogee,CONTROL_FINISHED_OK
$STATE,5339,begin climb
$GC,5340,0.80,146.0,606.8,0.0,309,5488,0.98,2.00,138.73,1.681,4,0.117,0.132,3165,439,2637,0,0,0,0,0,0,14.27,14.22,13.69
$GC,5715,0.84,220.4,600.1,6.6,322,5790,0.00,1.83,66.78,1.686,6,0.000,0.072,3165,1505,2335,0,0,0,0,0,0,28.83,14.76,13.81
$GC,6096,0.84,220.4,563.3,10.1,335,6101,0.00,1.95,0.00,0.000,4,0.000,0.135,3174,440,2323,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6328,0.81,220.4,540.1,11.1,342,6333,0.00,1.77,0.00,0.000,6,0.000,0.073,3173,1500,2322,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6640,0.79,220.4,502.9,11.3,353,6645,0.00,1.95,0.00,0.000,4,0.000,0.135,3179,438,2320,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6722,0.76,220.4,495.9,11.2,355,6728,0.12,1.77,0.00,0.000,6,0.315,0.075,3150,1501,2320,0,0,0,0,0,0,14.83,14.95,28.83
$GC,7035,0.79,248.8,464.1,8.7,366,7066,0.00,1.90,25.12,1.652,4,0.000,0.091,3150,2561,2219,0,0,0,0,0,0,28.83,14.75,14.20
$GC,7147,0.82,272.1,455.7,8.9,369,7178,0.00,1.90,22.60,1.567,6,0.000,0.114,3157,1499,2122,0,0,0,0,0,0,28.83,14.78,14.10
$GC,7490,0.82,272.1,418.7,10.8,381,7495,0.00,1.90,0.00,0.000,4,0.000,0.129,3165,439,2113,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7572,0.82,272.1,411.2,11.5,383,7577,0.00,1.77,0.00,0.000,6,0.000,0.071,3165,1502,2113,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7884,0.82,272.1,372.3,11.7,394,7889,0.00,1.80,0.00,0.000,4,0.000,0.092,3165,2563,2112,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8007,0.82,272.1,357.9,11.8,398,8012,0.00,1.88,0.00,0.000,6,0.000,0.105,3173,1491,2110,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8340,0.82,272.1,320.8,10.7,409,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1491,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,0.82,272.1,289.4,10.3,419,8644,0.00,1.83,0.00,0.000,4,0.000,0.089,3174,2556,2110,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8675,0.82,272.1,285.9,10.5,420,8681,0.00,1.85,0.00,0.000,6,0.000,0.103,3181,1494,2110,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9006,0.82,272.1,249.6,10.9,431,9011,0.00,1.90,0.00,0.000,4,0.000,0.129,3189,441,2110,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9069,0.79,272.1,241.9,12.3,437,9074,0.12,1.77,0.00,0.000,6,0.314,0.073,3161,1507,2110,0,0,0,0,0,0,14.85,14.97,28.83
$GC,9382,0.79,272.1,208.2,10.4,468,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1508,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9681,0.79,272.1,176.4,10.8,498,9686,0.00,1.77,0.00,0.000,4,0.000,0.086,3161,2562,2111,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9763,0.79,272.1,167.2,11.3,506,9768,0.00,1.88,0.00,0.000,6,0.000,0.109,3168,1500,2110,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10075,0.79,272.1,130.1,11.5,537,10080,0.00,1.83,0.00,0.000,4,0.000,0.091,3168,2562,2110,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10157,0.79,272.1,120.2,11.8,545,10162,0.00,1.90,0.00,0.000,6,0.000,0.106,3175,1494,2110,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10469,0.79,272.1,86.3,10.3,576,10475,0.00,1.90,0.00,0.000,4,0.000,0.122,3183,433,2111,0,0,0,0,0,0,28.83,14.86,28.83
$GC,10572,0.78,272.1,75.3,10.5,586,10578,0.12,1.77,0.00,0.000,6,0.286,0.067,3154,1505,2111,0,0,0,0,0,0,14.81,14.90,28.83
$GC,10886,0.87,315.4,49.3,8.0,617,10907,0.00,0.00,19.73,0.265,6,0.000,0.000,3154,1505,1953,0,0,0,0,0,0,28.83,28.83,14.71
$GC,11206,0.94,332.6,24.2,9.2,649,11229,0.12,1.98,11.93,0.193,4,0.149,0.121,3215,437,1885,0,0,0,0,0,0,14.86,14.81,14.79
$GC,11331,0.92,332.6,7.3,13.8,661,11342,0.00,1.75,2.20,0.170,6,0.000,0.067,3216,1499,1883,0,0,0,0,0,0,28.83,14.87,14.78
$STATE,11379,end climb,SURFACE_DEPTH_REACHED
$STATE,11380,begin surface coast
$FINISH,0.3,1.013258
$STATE,11402,end surface coast,CONTROL_FINISHED_OK
$STATE,11402,begin surface
$SM_CCo,11420,9.18,0.137,0,0,1811,350.04
$SM_GC,2.85,8.73,0.35,9.18,0.083,0.082,0.137,144,1716,1811,-8.56,-0.68,350.04,0,0,0,0,0,0,14.88,14.90,14.84
$IRIDIUM_FIX,2422.84,-3801.85,160912,212129
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.26
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.60
$XPDR_PINGS,3
$SC_FREEKB,7768096
$TM_FREEKB,7873120
$24V_AH,13.4,7.126
$10V_AH,13.8,0.000
$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,23.750,77.975,416.625,9.175,0.000,0.000,0.000,375.525,0.750,0.000,22.256,2150.549,7152.576,482.450,2166.880,98.127,0.000,1739.714,0.000,1586.810,0.000,0.543,0.000
$DEVICE_MAMPS,438.345,138.465,2381.445,136.935,0.000,0.000,0.000,188.190,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11419.000,4545.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.768,12.923,0.000,0.000
$MEM,345420
$DATA_FILE_SIZE,23448,668
$CAP_FILE_SIZE,150066,0
$CFSIZE,260034560,255602688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.115, 25.2,1
$GPS,170912,015735,2437.213,-3802.509,31,0.8,31,-14.0