version: 66.11
glider: 190
mission: 6
dive: 14
start: 9 18 112 23 17 27
data:
$ID,190
$MISSION,6
$DIVE,14
$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,500
$T_MISSION,550
$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,120
$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,-12046.124
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,24
$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
$GPS1,180912,230134,2505.649,-3802.187,33,1.0,33,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-69.1
$GPS2,180912,231659,2505.701,-3802.144,18,1.1,18,-13.9
$SPEED_LIMITS,0.114,0.203
$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,4.9,11669,-13.1,-6.600,-17.98
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.65,-116.8,0.0,0.0,0,54,0.00,0.00,-32.60,0.000,2,0.000,0.000,146,1807,2633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.65,-116.8,2.4,-5.7,3,111,13.35,1.98,-34.30,0.000,4,0.459,0.134,2673,738,3718,0,0,0,0,0,0,14.52,14.66,14.88
$GC,247,-0.58,-116.8,21.5,-13.8,21,255,0.12,1.80,0.00,0.000,6,0.284,0.067,2696,1798,3724,0,0,0,0,0,0,14.66,14.74,28.83
$GC,553,-0.55,-116.8,59.0,-9.7,52,558,0.00,1.80,0.00,0.000,4,0.000,0.087,2689,2859,3725,0,0,0,0,0,0,28.83,14.78,28.83
$GC,599,-0.53,-116.8,62.9,-9.4,56,607,0.10,1.80,0.00,0.000,6,0.243,0.085,2714,1798,3725,0,0,0,0,0,0,14.74,14.78,28.83
$GC,905,-0.53,-116.8,85.5,-7.0,87,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1798,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1205,-0.53,-116.8,110.6,-8.1,117,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1798,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.53,-116.8,136.2,-8.9,147,1510,0.00,1.88,0.00,0.000,4,0.000,0.109,2714,732,3726,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1607,-0.53,-116.8,146.4,-10.0,157,1612,0.00,1.77,0.00,0.000,6,0.000,0.067,2714,1801,3726,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1919,-0.54,-116.8,169.5,-6.6,188,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1801,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.56,-116.8,191.2,-7.6,218,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1801,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2519,-0.58,-116.8,214.9,-7.8,248,2525,0.00,1.90,0.00,0.000,4,0.000,0.109,2714,745,3724,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2582,-0.59,-116.8,220.1,-8.1,254,2587,0.00,1.77,0.00,0.000,6,0.000,0.069,2714,1802,3724,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2895,-0.61,-116.8,240.6,-5.9,285,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1802,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.63,-116.8,261.1,-7.4,305,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1803,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3495,-0.65,-116.8,281.6,-6.5,315,3501,0.12,1.88,0.00,0.000,4,0.145,0.109,2655,735,3719,0,0,0,0,0,0,14.98,14.94,28.83
$GC,3540,-0.66,-116.8,284.5,-6.8,316,3545,0.00,1.77,0.00,0.000,6,0.000,0.070,2653,1800,3720,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3862,-0.64,-116.8,315.3,-9.0,327,3864,0.12,0.00,0.00,0.000,6,0.274,0.000,2684,1800,3719,0,0,0,0,0,0,14.91,28.83,28.83
$GC,4162,-0.64,-116.8,336.2,-6.8,337,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1804,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.64,-116.8,357.0,-7.2,347,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1800,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.64,-116.8,378.8,-7.3,357,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1800,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,-0.64,-116.8,400.8,-7.5,367,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1800,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-0.64,-116.8,425.7,-8.4,377,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1800,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5662,-0.64,-116.8,452.2,-9.1,387,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1800,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5962,-0.64,-116.8,478.6,-8.3,397,5967,0.00,1.88,0.00,0.000,4,0.000,0.116,2685,735,3709,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6008,-0.64,-116.8,481.4,-8.2,398,6013,0.00,1.80,0.00,0.000,6,0.000,0.074,2681,1799,3709,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6325,-0.64,-116.8,507.1,-7.6,409,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1799,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,-0.64,-116.8,528.3,-6.5,419,6631,0.00,1.88,0.00,0.000,4,0.000,0.119,2681,741,3706,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6688,-0.64,-116.8,532.5,-6.6,421,6693,0.00,1.77,0.00,0.000,6,0.000,0.078,2681,1797,3705,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7021,-0.64,-116.8,552.2,-6.2,432,7026,0.00,1.80,0.00,0.000,4,0.000,0.099,2679,2865,3703,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7073,-0.65,-116.8,554.1,-6.2,433,7078,0.00,1.83,0.00,0.000,6,0.000,0.094,2681,1793,3703,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7386,-0.67,-116.8,578.5,-8.0,444,7391,0.00,1.85,0.00,0.000,4,0.000,0.123,2682,741,3700,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7447,-0.67,-116.8,584.0,-8.5,446,7452,0.00,1.80,0.00,0.000,6,0.000,0.081,2680,1805,3701,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7780,-0.68,-116.8,611.1,-7.8,457,7785,0.00,1.90,0.00,0.000,4,0.000,0.122,2681,738,3699,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7851,-0.68,-116.8,616.0,-7.7,459,7857,0.00,1.83,0.00,0.000,6,0.000,0.082,2680,1790,3699,0,0,0,0,0,0,28.83,14.98,28.83
$GC,8175,-0.69,-116.8,638.6,-6.2,470,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1790,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,-0.70,-116.8,659.6,-7.6,480,8479,0.00,1.85,0.00,0.000,4,0.000,0.102,2680,2867,3696,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8516,-0.72,-116.8,662.2,-7.7,481,8521,0.00,1.85,0.00,0.000,6,0.000,0.097,2680,1798,3696,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8839,-0.74,-116.8,690.4,-8.7,492,8844,0.00,1.90,0.00,0.000,4,0.000,0.125,2680,738,3694,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8931,-0.74,-116.8,698.9,-9.1,495,8937,0.00,1.85,0.00,0.000,6,0.000,0.083,2677,1799,3694,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9265,-0.75,-116.8,726.3,-8.0,506,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1800,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9564,-0.77,-116.8,748.4,-6.9,516,9566,0.12,0.00,0.00,0.000,6,0.156,0.000,2631,1801,3691,0,0,0,0,0,0,15.00,28.83,28.83
$GC,9864,-0.75,-116.8,773.3,-8.4,526,9869,0.00,1.80,0.00,0.000,4,0.000,0.104,2631,2860,3690,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9927,-0.73,-116.8,778.4,-8.3,528,9932,0.00,1.85,0.00,0.000,6,0.000,0.098,2631,1793,3690,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10260,-0.72,-116.8,808.3,-9.4,539,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1793,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10559,-0.70,-116.8,837.0,-9.3,549,10561,0.12,0.00,0.00,0.000,6,0.265,0.000,2661,1793,3688,0,0,0,0,0,0,14.90,28.83,28.83
$GC,10859,-0.70,-116.8,859.8,-7.5,559,10865,0.00,1.88,0.00,0.000,4,0.000,0.127,2662,739,3686,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10905,-0.70,-116.8,862.5,-7.6,560,10910,0.00,1.83,0.00,0.000,6,0.000,0.086,2662,1804,3686,0,0,0,0,0,0,28.83,14.97,28.83
$GC,11222,-0.70,-116.8,888.7,-8.0,571,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1805,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11522,-0.70,-116.8,911.4,-7.5,581,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1805,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11822,-0.70,-116.8,932.5,-7.0,591,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1805,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12123,-0.70,-116.8,952.3,-6.5,601,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1805,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12422,-0.70,-116.8,974.4,-7.7,611,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1805,3682,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12631,begin apogee
$GC,12635,-0.19,0.0,990.2,-7.4,618,12747,0.52,0.00,106.07,2.123,6,0.216,0.000,2818,1496,3235,0,0,0,0,0,0,14.88,28.83,13.49
$STATE,12749,end apogee,CONTROL_FINISHED_OK
$STATE,12749,begin climb
$GC,12750,0.65,116.8,993.0,0.0,621,12874,0.88,2.10,112.97,2.079,4,0.146,0.148,3096,444,2756,0,0,0,0,0,0,14.17,14.00,13.40
$GC,13101,0.71,214.4,993.2,2.9,633,13208,0.00,1.88,95.30,2.080,6,0.000,0.080,3096,1511,2355,0,0,0,0,0,0,28.83,14.60,13.43
$GC,13507,0.69,214.4,966.5,7.3,647,13512,0.00,2.05,0.00,0.000,4,0.000,0.148,3096,440,2344,0,0,0,0,0,0,28.83,14.60,28.83
$GC,13674,0.66,214.4,954.4,8.1,652,13679,0.00,1.85,0.00,0.000,6,0.000,0.083,3096,1500,2343,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13993,0.64,214.4,930.0,7.2,663,13998,0.00,1.85,0.00,0.000,4,0.000,0.106,3096,2556,2341,0,0,0,0,0,0,28.83,14.78,28.83
$GC,14089,0.61,214.4,923.2,7.3,666,14095,0.00,1.95,0.00,0.000,6,0.000,0.128,3097,1501,2340,0,0,0,0,0,0,28.83,14.79,28.83
$GC,14418,0.59,214.4,899.2,7.4,677,14419,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1501,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14718,0.56,214.4,877.6,7.2,687,14723,0.00,1.95,0.00,0.000,4,0.000,0.153,3096,441,2338,0,0,0,0,0,0,28.83,14.83,28.83
$GC,14759,0.54,214.4,875.3,7.1,688,14765,0.12,1.83,0.00,0.000,6,0.297,0.084,3069,1511,2338,0,0,0,0,0,0,14.79,14.89,28.83
$GC,15082,0.56,234.3,855.6,5.8,699,15102,0.00,0.00,17.80,2.016,6,0.000,0.000,3069,1511,2283,0,0,0,0,0,0,28.83,28.83,14.06
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$STATE,26662,end climb,SURFACE_DEPTH_REACHED
$STATE,26662,begin surface coast
$FINISH,0.5,1.012214
$STATE,26694,end surface coast,CONTROL_FINISHED_OK
$STATE,26694,begin surface
$SM_CCo,26773,0.00,0.000,0,0,1674,384.14
$SM_GC,1.43,8.65,1.40,0.00,0.086,0.103,0.000,146,1791,1674,-8.53,0.28,384.14,0,0,0,0,0,0,14.82,14.81,28.83
$IRIDIUM_FIX,2453.69,-3800.22,180912,151509
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.83
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,2
$SC_FREEKB,7764640
$TM_FREEKB,7800640
$24V_AH,13.4,10.785
$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,24.625,123.725,473.375,0.000,0.000,0.000,0.000,578.575,0.500,0.000,20.198,3947.282,19334.350,613.915,3605.464,185.811,0.000,2627.690,0.000,2706.801,0.000,0.543,0.000
$DEVICE_MAMPS,459.000,153.000,2122.875,0.000,0.000,0.000,0.000,202.725,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26740.000,6545.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.163,13.169,0.000,0.000
$MEM,345100
$DATA_FILE_SIZE,46627,1306
$CAP_FILE_SIZE,275955,0
$CFSIZE,260034560,253902848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.147, 18.8,1
$GPS,190912,064458,2510.952,-3802.104,41,0.9,41,-13.9