version: 66.11
glider: 190
mission: 6
dive: 99
start: 10 16 112 2 5 58
data:
$ID,190
$MISSION,6
$DIVE,99
$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,-12390.929
$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,14
$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
$GPS1,161012,015434,2512.304,-3753.563,34,1.2,34,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-62.9
$GPS2,161012,020530,2512.306,-3753.597,15,1.2,15,-13.9
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-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,277.4,84465,-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,14062,-0.75,-97.3,913.1,-7.9,713,14068,0.12,2.00,0.00,0.000,4,0.288,0.135,2652,732,3351,0,0,0,0,0,0,14.54,14.68,28.83
$GC,14150,-0.72,-97.3,918.1,-7.8,715,14158,0.00,1.92,0.00,0.000,6,0.000,0.103,2648,1787,3350,0,0,0,0,0,0,28.83,14.69,28.83
$GC,14456,-0.72,-97.3,941.0,-6.9,726,14461,0.00,2.05,0.00,0.000,4,0.000,0.148,2649,730,3350,0,0,0,0,0,0,28.83,14.64,28.83
$GC,14548,-0.72,-97.3,948.2,-7.6,729,14554,0.00,1.98,0.00,0.000,6,0.000,0.110,2648,1805,3349,0,0,0,0,0,0,28.83,14.67,28.83
$GC,14883,-0.72,-97.3,970.7,-6.6,740,14884,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1805,3349,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15179,begin apogee
$GC,15185,-0.19,0.0,990.2,-6.5,750,15276,0.57,0.00,87.20,1.895,6,0.216,0.000,2817,1475,2987,0,0,0,0,0,0,14.57,28.83,13.56
$STATE,15279,end apogee,CONTROL_FINISHED_OK
$STATE,15279,begin climb
$GC,15281,0.58,97.3,992.4,0.0,753,15381,0.80,0.00,96.82,1.880,6,0.138,0.000,3072,1475,2593,0,0,0,0,0,0,14.24,28.83,13.44
$GC,15661,0.56,139.2,980.0,4.3,766,15704,0.00,0.00,41.00,1.848,6,0.000,0.000,3072,1475,2421,0,0,0,0,0,0,28.83,28.83,13.67
$GC,15993,0.55,156.9,963.2,5.4,777,16016,0.00,1.98,17.38,1.798,4,0.000,0.109,3072,2547,2344,0,0,0,0,0,0,28.83,14.50,13.84
$GC,16113,0.53,157.7,955.7,6.1,781,16119,0.00,2.03,0.00,0.000,6,0.000,0.124,3080,1479,2338,0,0,0,0,0,0,28.83,14.52,28.83
$GC,16447,0.50,157.7,932.7,7.4,792,16448,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1479,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16747,0.47,157.7,908.9,8.0,802,16753,0.12,2.03,0.00,0.000,4,0.301,0.145,3056,418,2335,0,0,0,0,0,0,14.55,14.64,28.83
$GC,16825,0.45,157.7,903.9,7.8,804,16831,0.00,1.90,0.00,0.000,6,0.000,0.087,3056,1489,2335,0,0,0,0,0,0,28.83,14.73,28.83
$GC,17144,0.45,157.7,878.1,7.7,815,17149,0.00,1.90,0.00,0.000,4,0.000,0.109,3054,2537,2334,0,0,0,0,0,0,28.83,14.71,28.83
$GC,17207,0.45,157.7,873.0,7.8,817,17212,0.00,1.98,0.00,0.000,6,0.000,0.124,3063,1480,2333,0,0,0,0,0,0,28.83,14.69,28.83
$GC,17541,0.45,157.7,848.8,6.9,828,17546,0.00,1.92,0.00,0.000,4,0.000,0.110,3063,2536,2333,0,0,0,0,0,0,28.83,14.71,28.83
$GC,17603,0.45,157.7,844.3,7.0,830,17609,0.15,1.98,0.00,0.000,6,0.295,0.123,3037,1479,2333,0,0,0,0,0,0,14.56,14.70,28.83
$GC,17938,0.47,157.9,824.0,6.1,841,17939,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1479,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18237,0.49,163.9,806.1,5.9,851,18240,0.00,0.00,1.35,0.187,6,0.000,0.000,3038,1479,2320,0,0,0,0,0,0,28.83,28.83,14.69
$GC,18539,0.50,165.4,788.2,6.0,861,18545,0.00,2.08,1.80,0.185,4,0.000,0.145,3045,419,2315,0,0,0,0,0,0,28.83,14.65,14.64
$GC,18586,0.50,165.4,785.9,6.1,862,18592,0.00,1.88,1.08,0.226,6,0.000,0.085,3045,1483,2314,0,0,0,0,0,0,28.83,14.76,14.64
$GC,18906,0.51,175.5,766.4,5.7,873,18929,0.00,1.88,17.25,1.687,4,0.000,0.105,3045,2536,2268,0,0,0,0,0,0,28.83,14.71,14.09
$GC,19020,0.52,184.5,761.1,5.7,876,19036,0.00,1.98,10.23,1.590,6,0.000,0.119,3053,1477,2234,0,0,0,0,0,0,28.83,14.65,14.04
$GC,19358,0.53,210.1,741.6,5.0,888,19389,0.00,0.00,27.17,1.663,6,0.000,0.000,3052,1477,2129,0,0,0,0,0,0,28.83,28.83,13.95
$GC,19688,0.54,224.2,723.6,5.5,899,19705,0.00,0.00,14.27,1.587,6,0.000,0.000,3053,1477,2075,0,0,0,0,0,0,28.83,28.83,13.98
$GC,19989,0.56,224.2,703.7,7.0,909,19995,0.00,2.00,0.00,0.000,4,0.000,0.138,3061,422,2065,0,0,0,0,0,0,28.83,14.59,28.83
$GC,20046,0.58,224.2,700.9,7.3,910,20053,0.00,1.88,0.00,0.000,6,0.000,0.080,3061,1486,2064,0,0,0,0,0,0,28.83,14.69,28.83
$GC,20354,0.60,224.2,670.9,9.7,921,20359,0.00,1.90,0.00,0.000,4,0.000,0.103,3061,2542,2063,0,0,0,0,0,0,28.83,14.69,28.83
$GC,20411,0.61,224.2,667.4,9.9,922,20417,0.00,1.98,0.00,0.000,6,0.000,0.118,3069,1479,2062,0,0,0,0,0,0,28.83,14.67,28.83
$GC,20716,0.61,224.2,635.3,9.2,933,20717,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1479,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21016,0.61,224.2,610.4,7.8,943,21017,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1479,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21316,0.61,229.1,590.8,5.9,953,21317,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1479,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21617,0.62,246.8,574.6,5.4,963,21646,0.00,0.00,23.17,1.489,6,0.000,0.000,3069,1479,1975,0,0,0,0,0,0,28.83,28.83,14.12
$GC,21947,0.62,246.8,552.8,7.4,974,21952,0.00,1.88,0.00,0.000,4,0.000,0.094,3069,2536,1969,0,0,0,0,0,0,28.83,14.69,28.83
$GC,21983,0.62,246.8,550.1,7.7,975,21989,0.00,1.95,0.00,0.000,6,0.000,0.109,3077,1476,1968,0,0,0,0,0,0,28.83,14.67,28.83
$GC,22312,0.62,246.8,519.6,9.5,986,22317,0.00,1.98,0.00,0.000,4,0.000,0.134,3085,422,1968,0,0,0,0,0,0,28.83,14.66,28.83
$GC,22378,0.62,246.8,513.2,9.6,988,22384,0.00,1.85,0.00,0.000,6,0.000,0.076,3085,1480,1968,0,0,0,0,0,0,28.83,14.74,28.83
$GC,22707,0.62,246.8,482.9,8.8,999,22708,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1480,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23006,0.62,246.8,457.6,8.4,1009,23007,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1480,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23306,0.62,246.8,434.0,7.9,1019,23307,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1481,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23607,0.62,246.8,408.0,8.9,1029,23612,0.00,1.98,0.00,0.000,4,0.000,0.129,3093,422,1968,0,0,0,0,0,0,28.83,14.69,28.83
$GC,23689,0.62,246.8,402.1,9.2,1031,23694,0.00,1.83,0.00,0.000,6,0.000,0.073,3093,1482,1968,0,0,0,0,0,0,28.83,14.79,28.83
$GC,24001,0.62,246.8,370.4,9.5,1042,24006,0.00,1.88,0.00,0.000,4,0.000,0.095,3093,2540,1969,0,0,0,0,0,0,28.83,14.76,28.83
$GC,24043,0.62,246.8,367.2,9.5,1043,24048,0.00,1.95,0.00,0.000,6,0.000,0.112,3101,1479,1969,0,0,0,0,0,0,28.83,14.72,28.83
$GC,24366,0.62,246.8,334.0,10.1,1054,24372,0.00,1.98,0.00,0.000,4,0.000,0.132,3109,418,1970,0,0,0,0,0,0,28.83,14.69,28.83
$GC,24432,0.60,246.8,327.0,10.7,1056,24438,0.00,1.85,0.00,0.000,6,0.000,0.076,3109,1484,1970,0,0,0,0,0,0,28.83,14.78,28.83
$GC,24762,0.58,246.8,291.5,10.4,1067,24763,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1484,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25061,0.56,246.8,266.1,7.6,1077,25067,0.12,1.88,0.00,0.000,4,0.264,0.094,3074,2541,1970,0,0,0,0,0,0,14.63,14.75,28.83
$GC,25104,0.56,246.8,264.0,7.1,1078,25109,0.00,1.98,0.00,0.000,6,0.000,0.122,3082,1479,1970,0,0,0,0,0,0,28.83,14.71,28.83
$GC,25416,0.56,246.8,242.1,7.9,1094,25417,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1479,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25716,0.56,246.8,215.5,8.7,1124,25721,0.00,1.98,0.00,0.000,4,0.000,0.129,3090,421,1972,0,0,0,0,0,0,28.83,14.64,28.83
$GC,25818,0.56,246.8,205.9,9.5,1134,25823,0.00,1.85,0.00,0.000,6,0.000,0.079,3090,1479,1973,0,0,0,0,0,0,28.83,14.72,28.83
$GC,26131,0.56,246.8,182.8,6.6,1165,26136,0.00,1.88,0.00,0.000,4,0.000,0.096,3090,2534,1973,0,0,0,0,0,0,28.83,14.64,28.83
$GC,26217,0.56,246.8,176.8,7.4,1173,26224,0.00,1.95,0.00,0.000,6,0.000,0.116,3098,1482,1974,0,0,0,0,0,0,28.83,14.65,28.83
$GC,26523,0.56,246.8,151.9,8.1,1204,26528,0.00,1.98,0.00,0.000,4,0.000,0.131,3106,413,1974,0,0,0,0,0,0,28.83,14.59,28.83
$GC,26571,0.56,246.8,148.3,8.5,1208,26578,0.15,1.88,0.00,0.000,6,0.237,0.076,3064,1489,1972,0,0,0,0,0,0,14.53,14.66,28.83
$GC,26877,0.59,246.8,125.7,8.3,1239,26878,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1489,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27176,0.62,246.8,102.7,7.3,1269,27177,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1489,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27476,0.67,246.8,80.1,7.3,1299,27482,0.12,1.85,0.00,0.000,4,0.142,0.090,3127,2534,1976,0,0,0,0,0,0,14.73,14.68,28.83
$GC,27649,0.67,246.8,65.0,8.2,1316,27655,0.00,1.92,0.00,0.000,6,0.000,0.107,3134,1479,1976,0,0,0,0,0,0,28.83,14.61,28.83
$GC,27964,0.65,246.8,43.2,7.3,1347,27971,0.12,1.95,0.00,0.000,4,0.252,0.118,3107,417,1977,0,0,0,0,0,0,14.56,14.60,28.83
$GC,28062,0.65,246.8,36.8,6.5,1356,28068,0.00,1.83,0.00,0.000,6,0.000,0.072,3107,1481,1978,0,0,0,0,0,0,28.83,14.69,28.83
$GC,28368,0.65,246.8,19.2,7.4,1387,28369,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1477,1979,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,28586,end climb,SURFACE_DEPTH_REACHED
$STATE,28586,begin surface coast
$FINISH,1.2,1.024771
$STATE,28627,end surface coast,CONTROL_FINISHED_OK
$STATE,28628,begin surface
$SM_CCo,28646,48.38,0.124,0,0,1560,350.04
$SM_GC,2.03,8.40,0.55,48.38,0.074,0.093,0.124,145,1785,1560,-8.53,-0.85,350.04,0,0,0,0,0,0,14.71,14.73,14.68
$IRIDIUM_FIX,2500.82,-3747.91,151012,181859
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.55
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7732128
$TM_FREEKB,6912000
$24V_AH,13.4,42.353
$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,22.750,174.250,338.725,48.375,0.000,0.000,0.000,390.275,0.000,0.000,16.467,4498.718,20166.168,657.259,3681.077,331.850,0.000,2636.779,0.000,3068.224,0.000,0.542,0.000
$DEVICE_MAMPS,381.735,148.410,1894.905,123.930,0.000,0.000,0.000,192.015,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28662.000,7134.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.687,13.347,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,49961,1413
$CAP_FILE_SIZE,303024,0
$CFSIZE,260034560,240390144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,190.5,1
$GPS,161012,100534,2511.615,-3756.985,40,0.8,40,-13.9