version: 66.11
glider: 190
mission: 6
dive: 25
start: 9 22 112 7 1 28
data:
$ID,190
$MISSION,6
$DIVE,25
$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,-12060.627
$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,11
$R_STBD_OVSHOOT,22
$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
$GPS1,220912,065035,2456.736,-3802.161,28,0.9,28,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-63.5
$GPS2,220912,070100,2456.810,-3802.174,17,1.1,18,-13.9
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-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,194.7,112620,-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
$STATE,19,begin dive
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$GC,14372,-0.66,-97.3,903.4,-7.5,728,14377,0.00,1.90,0.00,0.000,4,0.000,0.129,2661,726,3352,0,0,0,0,0,0,28.83,14.91,28.83
$GC,14458,-0.66,-97.3,908.3,-7.5,730,14464,0.00,1.88,0.00,0.000,6,0.000,0.087,2661,1791,3351,0,0,0,0,0,0,28.83,14.92,28.83
$GC,14764,-0.66,-97.3,928.2,-5.4,741,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1790,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15064,-0.66,-97.3,941.7,-4.2,751,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1791,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15364,-0.66,-97.3,954.4,-4.4,761,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1790,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15664,-0.66,-97.3,969.8,-5.6,771,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1790,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15964,-0.66,-97.3,988.5,-6.5,781,15969,0.00,1.85,0.00,0.000,4,0.000,0.108,2661,2857,3347,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,15994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15995,begin apogee
$GC,16001,-0.19,0.0,990.8,-6.8,782,16127,0.52,0.00,120.80,1.821,6,0.204,0.000,2820,1480,2989,0,0,0,0,0,0,14.83,28.83,13.61
$STATE,16128,end apogee,CONTROL_FINISHED_OK
$STATE,16129,begin climb
$GC,16130,0.58,97.3,994.3,0.0,786,16239,0.80,2.15,97.15,2.053,4,0.143,0.149,3077,421,2585,0,0,0,0,0,0,14.19,14.02,13.41
$GC,16346,0.57,159.3,989.8,3.5,793,16416,0.00,1.88,61.08,2.065,6,0.000,0.081,3078,1486,2333,0,0,0,0,0,0,28.83,14.46,13.46
$GC,16722,0.58,171.4,969.2,5.6,806,16733,0.00,1.88,4.15,1.465,4,0.000,0.103,3078,2538,2293,0,0,0,0,0,0,28.83,14.62,13.88
$GC,16878,0.56,171.4,959.7,6.2,811,16885,0.00,1.95,1.73,0.191,6,0.000,0.123,3082,1480,2290,0,0,0,0,0,0,28.83,14.66,14.66
$GC,17207,0.56,171.4,938.2,6.8,822,17210,0.00,0.00,1.55,0.198,6,0.000,0.000,3083,1480,2289,0,0,0,0,0,0,28.83,28.83,14.75
$GC,17507,0.55,171.4,917.4,7.0,832,17510,0.00,0.00,1.15,0.210,6,0.000,0.000,3083,1480,2291,0,0,0,0,0,0,28.83,28.83,14.82
$GC,17808,0.53,171.4,895.4,7.4,842,17814,0.00,1.88,1.33,0.204,4,0.000,0.102,3079,2537,2288,0,0,0,0,0,0,28.83,14.85,14.85
$GC,17855,0.52,171.4,892.6,7.5,843,17861,0.12,1.92,0.00,0.000,6,0.299,0.124,3060,1476,2293,0,0,0,0,0,0,14.76,14.82,28.83
$GC,18173,0.52,171.4,869.9,6.9,854,18176,0.00,0.00,1.17,0.215,6,0.000,0.000,3060,1476,2289,0,0,0,0,0,0,28.83,28.83,14.84
$GC,18473,0.52,171.4,849.0,6.7,864,18479,0.00,1.90,1.23,0.211,4,0.000,0.103,3060,2542,2288,0,0,0,0,0,0,28.83,14.88,14.85
$GC,18525,0.52,171.4,846.6,6.7,865,18530,0.00,1.92,0.00,0.000,6,0.000,0.121,3067,1475,2294,0,0,0,0,0,0,28.83,14.86,28.83
$GC,18837,0.52,171.4,825.0,6.4,876,18840,0.00,0.00,1.05,0.223,6,0.000,0.000,3067,1474,2289,0,0,0,0,0,0,28.83,28.83,14.85
$GC,19138,0.52,178.1,807.2,5.8,886,19154,0.00,0.00,14.12,1.967,6,0.000,0.000,3067,1474,2263,0,0,0,0,0,0,28.83,28.83,14.15
$GC,19437,0.52,178.1,787.8,6.8,896,19438,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1474,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19737,0.52,178.1,767.3,7.1,906,19738,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1474,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20037,0.52,178.1,746.7,6.6,916,20042,0.00,1.88,0.00,0.000,4,0.000,0.102,3067,2544,2249,0,0,0,0,0,0,28.83,14.88,28.83
$GC,20102,0.52,178.1,742.6,6.5,918,20109,0.00,1.98,0.00,0.000,6,0.000,0.120,3072,1480,2249,0,0,0,0,0,0,28.83,14.84,28.83
$GC,20431,0.52,184.1,722.5,5.9,929,20437,0.00,1.85,1.00,0.220,4,0.000,0.100,3073,2536,2237,0,0,0,0,0,0,28.83,14.88,14.85
$GC,20508,0.53,190.0,718.6,5.9,931,20527,0.00,1.90,12.35,1.883,6,0.000,0.119,3080,1479,2213,0,0,0,0,0,0,28.83,14.85,14.11
$GC,20825,0.53,190.0,695.9,7.3,942,20826,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1479,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21124,0.53,190.0,671.2,8.6,952,21126,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1479,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21424,0.53,190.0,646.7,7.8,962,21425,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1479,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21725,0.53,195.5,627.1,5.9,972,21728,0.00,0.00,1.23,0.207,6,0.000,0.000,3080,1479,2191,0,0,0,0,0,0,28.83,28.83,14.85
$GC,22024,0.54,210.9,610.9,5.5,982,22048,0.00,0.00,21.98,1.836,6,0.000,0.000,3080,1479,2130,0,0,0,0,0,0,28.83,28.83,14.12
$GC,22326,0.54,210.9,591.5,7.2,992,22327,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1479,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22625,0.54,210.9,567.7,7.7,1002,22626,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1479,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22925,0.54,210.9,547.9,6.2,1012,22931,0.00,1.85,0.00,0.000,4,0.000,0.096,3080,2540,2116,0,0,0,0,0,0,28.83,14.84,28.83
$GC,22961,0.54,210.9,545.8,6.1,1013,22967,0.00,1.92,0.00,0.000,6,0.000,0.114,3092,1477,2115,0,0,0,0,0,0,28.83,14.83,28.83
$GC,23290,0.54,210.9,522.3,7.6,1024,23291,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1478,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23589,0.54,210.9,494.8,9.6,1034,23591,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1477,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23889,0.54,210.9,465.0,9.8,1044,23894,0.00,1.85,0.00,0.000,4,0.000,0.095,3087,2546,2116,0,0,0,0,0,0,28.83,14.90,28.83
$GC,23936,0.54,210.9,461.9,9.7,1045,23942,0.12,1.92,0.00,0.000,6,0.275,0.112,3065,1479,2116,0,0,0,0,0,0,14.81,14.88,28.83
$GC,24256,0.56,212.5,438.3,6.0,1056,24257,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1479,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24555,0.60,228.0,421.9,5.4,1066,24574,0.00,0.00,17.60,1.540,6,0.000,0.000,3066,1479,2058,0,0,0,0,0,0,28.83,28.83,14.23
$GC,24855,0.62,228.0,402.7,7.0,1076,24860,0.00,1.85,0.00,0.000,4,0.000,0.093,3065,2543,2046,0,0,0,0,0,0,28.83,14.82,28.83
$GC,24918,0.65,228.0,397.6,7.7,1078,24923,0.00,1.90,0.00,0.000,6,0.000,0.112,3071,1479,2046,0,0,0,0,0,0,28.83,14.81,28.83
$GC,25251,0.68,228.0,370.1,8.2,1089,25257,0.12,1.85,0.00,0.000,4,0.148,0.091,3124,2547,2045,0,0,0,0,0,0,14.88,14.86,28.83
$GC,25303,0.69,228.0,366.7,8.5,1090,25308,0.00,1.90,0.00,0.000,6,0.000,0.111,3132,1479,2046,0,0,0,0,0,0,28.83,14.84,28.83
$GC,25616,0.66,228.0,333.4,9.6,1101,25618,0.12,0.00,0.00,0.000,6,0.272,0.000,3103,1479,2046,0,0,0,0,0,0,14.81,28.83,28.83
$GC,25916,0.66,228.0,306.7,9.1,1111,25917,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1479,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26215,0.66,228.0,277.1,10.2,1121,26216,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1479,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26519,0.66,228.0,248.1,9.3,1131,26525,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1479,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26825,0.66,228.0,221.8,8.1,1162,26826,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1479,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27125,0.66,228.0,194.6,10.0,1192,27126,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1479,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27425,0.66,228.0,164.7,9.0,1222,27431,0.00,1.85,0.00,0.000,4,0.000,0.087,3102,2544,2049,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27557,0.66,228.0,154.0,7.4,1235,27562,0.00,1.88,0.00,0.000,6,0.000,0.106,3109,1480,2049,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27869,0.66,228.0,132.7,6.3,1266,27875,0.00,1.95,0.00,0.000,4,0.000,0.132,3110,415,2050,0,0,0,0,0,0,28.83,14.79,28.83
$GC,28005,0.66,228.0,123.6,7.1,1279,28012,0.00,1.80,0.00,0.000,6,0.000,0.064,3110,1486,2050,0,0,0,0,0,0,28.83,14.83,28.83
$GC,28311,0.66,228.0,98.1,8.6,1310,28317,0.00,1.95,0.00,0.000,4,0.000,0.129,3115,416,2050,0,0,0,0,0,0,28.83,14.78,28.83
$GC,28367,0.66,228.0,93.7,8.3,1315,28374,0.00,1.80,0.00,0.000,6,0.000,0.064,3115,1475,2051,0,0,0,0,0,0,28.83,14.83,28.83
$GC,28674,0.66,228.0,69.3,7.1,1346,28679,0.00,1.80,0.00,0.000,4,0.000,0.086,3114,2537,2051,0,0,0,0,0,0,28.83,14.82,28.83
$GC,28756,0.66,228.0,63.9,6.4,1354,28762,0.00,1.90,0.00,0.000,6,0.000,0.104,3121,1476,2052,0,0,0,0,0,0,28.83,14.80,28.83
$GC,29068,0.66,228.0,42.0,7.4,1385,29070,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1472,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29368,0.66,228.0,19.4,7.2,1415,29369,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1472,2054,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,29607,end climb,SURFACE_DEPTH_REACHED
$STATE,29607,begin surface coast
$FINISH,0.7,1.010700
$STATE,29659,end surface coast,CONTROL_FINISHED_OK
$STATE,29659,begin surface
$SM_CCo,29676,55.50,0.126,0,0,1562,350.04
$SM_GC,1.39,8.48,0.55,55.50,0.083,0.067,0.126,143,1799,1562,-8.53,-0.96,350.04,0,0,0,0,0,0,14.85,14.88,14.79
$IRIDIUM_FIX,2448.93,-3758.75,210912,222245
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.63
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7760416
$TM_FREEKB,7694304
$24V_AH,13.4,15.307
$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,24.250,142.250,360.650,55.500,0.000,0.000,0.000,382.850,0.000,0.000,19.517,4417.069,21514.029,616.525,3583.878,208.945,0.000,2547.859,0.000,2973.134,0.000,0.542,0.000
$DEVICE_MAMPS,442.935,149.175,2064.735,126.225,0.000,0.000,0.000,194.310,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29697.000,7043.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.652,13.319,0.000,0.000
$MEM,344980
$DATA_FILE_SIZE,50026,1444
$CAP_FILE_SIZE,300651,0
$CFSIZE,260034560,251867136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.078, 43.2,1
$GPS,220912,151804,2454.640,-3801.073,25,0.8,25,-13.9