version: 66.11
glider: 190
mission: 6
dive: 177
start: 11 11 112 11 34 21
data:
$ID,190
$MISSION,6
$DIVE,177
$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,600
$T_MISSION,660
$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,-12950.882
$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,5
$R_STBD_OVSHOOT,11
$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
$GPS1,111112,113006,2418.677,-3728.250,14,1.4,14,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-58.7
$GPS2,111112,113353,2418.681,-3728.269,16,1.0,16,-13.9
$SPEED_LIMITS,0.095,0.176
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,59.0,99715,-11.8,-5.500,-17.38
$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,3028,-0.56,-97.3,179.9,-6.6,297,3033,0.00,1.73,0.00,0.000,6,0.000,0.156,2715,1650,3384,0,0,0,0,0,0,28.83,14.47,28.83
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$GC,3642,-0.56,-97.3,220.7,-6.1,358,3647,0.00,1.73,0.00,0.000,4,0.000,0.177,2715,769,3383,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3717,-0.56,-97.3,225.2,-6.1,365,3725,0.00,1.67,0.00,0.000,6,0.000,0.135,2714,1652,3382,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4025,-0.57,-97.3,239.6,-4.2,396,4030,0.00,1.70,0.00,0.000,4,0.000,0.155,2715,2532,3381,0,0,0,0,0,0,28.83,14.55,28.83
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$GC,4453,-0.62,-97.3,258.5,-4.6,426,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1650,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4754,-0.62,-97.3,272.7,-4.8,436,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1650,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5053,-0.64,-97.3,288.3,-5.3,446,5059,0.00,1.73,0.00,0.000,4,0.000,0.177,2715,767,3378,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5136,-0.64,-97.3,292.1,-5.8,448,5142,0.00,1.67,0.00,0.000,6,0.000,0.135,2714,1656,3378,0,0,0,0,0,0,28.83,14.62,28.83
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$GC,6811,-0.58,-97.3,386.6,-5.7,504,6816,0.00,1.80,0.00,0.000,4,0.000,0.177,2691,761,3371,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6877,-0.58,-97.3,390.6,-6.0,506,6883,0.00,1.70,0.00,0.000,6,0.000,0.138,2688,1644,3371,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7207,-0.58,-97.3,411.4,-6.8,517,7212,0.00,1.75,0.00,0.000,4,0.000,0.177,2689,768,3369,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7331,-0.56,-97.3,421.2,-7.8,521,7336,0.00,1.70,0.00,0.000,6,0.000,0.139,2688,1658,3369,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7665,-0.56,-97.3,447.3,-7.7,532,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1662,3368,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,13140,-0.62,-97.3,768.9,-5.9,712,13146,0.00,1.73,0.00,0.000,4,0.000,0.162,2686,767,3352,0,0,0,0,0,0,28.83,14.49,28.83
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$GC,13597,-0.62,-97.3,796.1,-5.7,727,13603,0.00,1.73,0.00,0.000,4,0.000,0.161,2686,766,3351,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13744,-0.62,-97.3,803.6,-6.0,731,13751,0.00,1.65,0.00,0.000,6,0.000,0.124,2687,1649,3351,0,0,0,0,0,0,28.83,14.54,28.83
$GC,14052,-0.62,-97.3,820.7,-4.9,742,14057,0.00,1.73,0.00,0.000,4,0.000,0.160,2687,764,3349,0,0,0,0,0,0,28.83,14.47,28.83
$GC,14100,-0.62,-97.3,822.5,-5.0,743,14105,0.00,1.65,0.00,0.000,6,0.000,0.124,2687,1651,3349,0,0,0,0,0,0,28.83,14.57,28.83
$GC,14419,-0.62,-97.3,835.8,-3.7,754,14424,0.00,1.73,0.00,0.000,4,0.000,0.161,2686,767,3349,0,0,0,0,0,0,28.83,14.47,28.83
$GC,14491,-0.62,-97.3,838.5,-3.9,756,14497,0.00,1.65,0.00,0.000,6,0.000,0.124,2687,1650,3348,0,0,0,0,0,0,28.83,14.53,28.83
$GC,14816,-0.62,-97.3,850.5,-3.6,767,14822,0.00,1.75,0.00,0.000,4,0.000,0.161,2687,765,3348,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14869,-0.62,-97.3,852.1,-3.8,768,14875,0.00,1.65,0.00,0.000,6,0.000,0.122,2687,1652,3347,0,0,0,0,0,0,28.83,14.56,28.83
$GC,15182,-0.62,-97.3,866.9,-4.9,779,15188,0.00,1.75,0.00,0.000,4,0.000,0.160,2686,765,3346,0,0,0,0,0,0,28.83,14.47,28.83
$GC,15261,-0.62,-97.3,870.4,-5.2,781,15266,0.00,1.65,0.00,0.000,6,0.000,0.122,2687,1651,3346,0,0,0,0,0,0,28.83,14.56,28.83
$GC,15579,-0.62,-97.3,889.3,-5.9,792,15585,0.00,1.75,0.00,0.000,4,0.000,0.160,2687,765,3345,0,0,0,0,0,0,28.83,14.47,28.83
$GC,15682,-0.62,-97.3,895.1,-6.2,795,15688,0.00,1.67,0.00,0.000,6,0.000,0.122,2687,1658,3345,0,0,0,0,0,0,28.83,14.54,28.83
$GC,16005,-0.62,-97.3,914.3,-5.6,806,16011,0.00,1.75,0.00,0.000,4,0.000,0.157,2686,760,3344,0,0,0,0,0,0,28.83,14.46,28.83
$GC,16068,-0.62,-97.3,918.2,-6.0,808,16074,0.00,1.67,0.00,0.000,6,0.000,0.124,2687,1655,3344,0,0,0,0,0,0,28.83,14.54,28.83
$GC,16402,-0.62,-97.3,937.9,-5.9,819,16407,0.00,1.75,0.00,0.000,4,0.000,0.158,2687,767,3344,0,0,0,0,0,0,28.83,14.45,28.83
$GC,16484,-0.62,-97.3,942.1,-6.2,821,16489,0.00,1.65,0.00,0.000,6,0.000,0.122,2687,1650,3343,0,0,0,0,0,0,28.83,14.53,28.83
$GC,16797,-0.62,-97.3,962.2,-6.1,832,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1651,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17097,-0.62,-97.3,980.4,-6.0,842,17103,0.00,1.73,0.00,0.000,4,0.000,0.161,2686,767,3342,0,0,0,0,0,0,28.83,14.45,28.83
$GC,17215,-0.62,-97.3,986.4,-6.4,845,17222,0.00,1.67,0.00,0.000,6,0.000,0.123,2687,1655,3341,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,17249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17250,begin apogee
$GC,17255,-0.19,0.0,990.1,-6.2,847,17381,0.45,0.00,117.20,1.604,6,0.201,0.000,2819,1481,2985,0,0,0,0,0,0,14.47,28.83,13.58
$STATE,17383,end apogee,CONTROL_FINISHED_OK
$STATE,17383,begin climb
$GC,17385,0.51,97.3,994.2,0.0,851,17494,0.73,1.83,97.53,1.844,4,0.132,0.174,3058,598,2585,0,0,0,0,0,0,14.19,13.98,13.36
$GC,17562,0.51,199.6,994.1,1.6,857,17671,0.00,1.70,101.82,1.834,6,0.000,0.122,3058,1484,2173,0,0,0,0,0,0,28.83,14.21,13.36
$GC,17979,0.48,199.6,968.2,6.5,871,17984,0.00,1.67,0.00,0.000,4,0.000,0.140,3055,2365,2155,0,0,0,0,0,0,28.83,14.42,28.83
$GC,18212,0.45,199.6,954.1,6.6,878,18218,0.00,1.75,0.00,0.000,6,0.000,0.157,3065,1482,2154,0,0,0,0,0,0,28.83,14.43,28.83
$GC,18527,0.42,199.6,933.3,6.3,889,18533,0.12,1.70,0.00,0.000,4,0.289,0.141,3033,2367,2152,0,0,0,0,0,0,14.39,14.50,28.83
$GC,18754,0.42,199.6,921.1,5.6,896,18759,0.00,1.75,0.00,0.000,6,0.000,0.153,3038,1480,2151,0,0,0,0,0,0,28.83,14.49,28.83
$GC,19072,0.42,199.6,901.7,6.0,907,19077,0.00,1.70,0.00,0.000,4,0.000,0.141,3038,2369,2151,0,0,0,0,0,0,28.83,14.50,28.83
$GC,19228,0.42,199.6,892.0,6.3,912,19233,0.00,1.75,0.00,0.000,6,0.000,0.154,3045,1480,2150,0,0,0,0,0,0,28.83,14.47,28.83
$GC,19558,0.42,199.6,870.5,6.7,923,19563,0.00,1.70,0.00,0.000,4,0.000,0.141,3045,2370,2150,0,0,0,0,0,0,28.83,14.50,28.83
$GC,19754,0.42,199.6,856.8,7.4,929,19760,0.00,1.77,0.00,0.000,6,0.000,0.153,3052,1473,2148,0,0,0,0,0,0,28.83,14.46,28.83
$GC,20074,0.42,199.6,831.3,7.9,940,20079,0.00,1.70,0.00,0.000,4,0.000,0.140,3051,2364,2149,0,0,0,0,0,0,28.83,14.49,28.83
$GC,20306,0.41,199.6,813.9,8.1,947,20312,0.15,1.73,0.00,0.000,6,0.274,0.152,3024,1479,2148,0,0,0,0,0,0,14.36,14.45,28.83
$GC,20621,0.42,199.6,792.5,6.1,958,20626,0.00,1.70,0.00,0.000,4,0.000,0.138,3022,2370,2148,0,0,0,0,0,0,28.83,14.47,28.83
$GC,20788,0.42,199.6,783.5,5.7,963,20794,0.00,1.75,0.00,0.000,6,0.000,0.150,3030,1479,2148,0,0,0,0,0,0,28.83,14.46,28.83
$GC,21108,0.43,215.3,766.2,4.9,974,21127,0.00,1.73,13.23,1.642,4,0.000,0.136,3029,2363,2105,0,0,0,0,0,0,28.83,14.66,13.97
$GC,21264,0.46,223.2,758.3,5.2,979,21271,0.00,1.75,2.30,0.480,6,0.000,0.149,3035,1476,2078,0,0,0,0,0,0,28.83,14.45,13.62
$GC,21595,0.46,225.6,740.2,5.4,990,21606,0.00,1.73,2.97,0.883,4,0.000,0.135,3035,2366,2070,0,0,0,0,0,0,28.83,14.66,13.74
$GC,21833,0.46,225.6,727.8,5.9,997,21840,0.00,1.75,2.15,0.354,6,0.000,0.147,3042,1475,2069,0,0,0,0,0,0,28.83,14.45,13.62
$GC,22140,0.46,225.6,707.7,6.3,1008,22146,0.00,1.75,2.08,0.280,4,0.000,0.132,3042,2370,2069,0,0,0,0,0,0,28.83,14.62,13.52
$GC,22373,0.46,225.6,693.1,6.8,1015,22385,0.00,1.75,2.08,0.279,6,0.000,0.148,3048,1479,2069,0,0,0,0,0,0,28.83,14.47,13.53
$GC,22686,0.46,225.6,670.7,6.7,1026,22692,0.00,1.75,1.92,0.177,4,0.000,0.132,3048,2370,2069,0,0,0,0,0,0,28.83,14.55,14.51
$GC,22900,0.46,225.6,656.6,6.5,1033,22906,0.00,1.75,1.88,0.178,6,0.000,0.145,3055,1475,2070,0,0,0,0,0,0,28.83,14.48,14.53
$GC,23234,0.46,225.6,636.5,5.9,1044,23240,0.00,1.75,1.92,0.174,4,0.000,0.130,3055,2368,2068,0,0,0,0,0,0,28.83,14.54,14.51
$GC,23406,0.46,225.6,627.0,6.2,1049,23412,0.00,1.75,1.60,0.186,6,0.000,0.145,3062,1475,2069,0,0,0,0,0,0,28.83,14.47,14.52
$GC,23721,0.46,225.6,606.2,6.4,1060,23727,0.00,1.75,1.90,0.174,4,0.000,0.129,3061,2368,2069,0,0,0,0,0,0,28.83,14.53,14.50
$GC,23919,0.46,225.6,594.1,6.6,1066,23926,0.08,1.75,1.75,0.142,6,0.243,0.143,3045,1486,2068,0,0,0,0,0,0,14.34,14.45,14.51
$GC,24238,0.46,225.6,573.8,6.2,1077,24262,0.00,12.88,1.98,0.174,4,0.000,0.005,3056,40,2074,0,0,85,1,0,0,28.83,14.71,14.50
$STATE,24268,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,24279,381.05,2.192,1,0,500,610.80
$SM_GC,1.87,8.23,2.78,0.00,0.067,0.129,0.000,142,1479,517,-8.53,-0.45,606.63,0,0,1,0,0,0,14.71,14.54,28.83
$IRIDIUM_FIX,2408.65,-3727.19,111112,111134
$TT8_MAMPS,0.02996,0.02996
$HUMID,59.41
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,18.50
$XPDR_PINGS,6
$SC_FREEKB,7702336
$TM_FREEKB,6068864
$24V_AH,13.0,72.912
$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,21.825,181.425,354.300,381.050,0.000,0.000,0.000,0.000,1.500,0.000,17.681,4299.214,19880.342,972.856,3284.528,347.266,0.000,2697.974,0.000,3168.639,0.000,0.540,0.000
$DEVICE_MAMPS,347.310,197.370,1844.415,2192.490,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17369.000,4260.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.005,13.380,0.000,0.000
$MEM,345024
$DATA_FILE_SIZE,40023,1078
$CAP_FILE_SIZE,291370,8
$CFSIZE,260034560,227663872
$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,111112,193404,2419.549,-3727.175,42,0.9,42,-13.9