version: 66.11
glider: 190
mission: 6
dive: 54
start: 10 1 112 1 17 30
data:
$ID,190
$MISSION,6
$DIVE,54
$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,-12333.065
$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,15
$R_STBD_OVSHOOT,24
$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
$GPS1,011012,010622,2357.253,-3802.104,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.3
$GPS2,011012,011659,2357.299,-3802.097,17,0.8,18,-14.1
$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,192.5,2412,-26.5,-6.111,-30.00
$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
$GC,21,-1.04,-30.2,0.0,0.0,0,54,0.00,0.00,-31.67,0.000,2,0.000,0.000,148,1802,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-1.06,-67.2,2.1,-1.1,3,111,12.15,2.00,-34.50,0.000,4,0.440,0.136,2539,728,3263,0,0,0,0,0,0,14.47,14.64,14.88
$GC,328,-1.01,-67.2,41.2,-20.2,29,336,0.12,1.80,0.00,0.000,6,0.338,0.070,2557,1792,3265,0,0,0,0,0,0,14.55,14.70,28.83
$GC,634,-1.03,-67.2,89.7,-13.2,60,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1792,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-1.06,-67.2,123.8,-10.5,90,940,0.00,1.88,0.00,0.000,4,0.000,0.109,2557,729,3266,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1070,-1.06,-67.2,139.2,-12.0,103,1077,0.00,1.83,0.00,0.000,6,0.000,0.067,2549,1788,3267,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1377,-1.08,-67.2,171.0,-11.0,134,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1788,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1678,-1.12,-67.2,200.7,-9.0,164,1683,0.00,1.80,0.00,0.000,4,0.000,0.086,2542,2850,3267,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1911,-1.15,-67.2,222.6,-10.7,187,1917,0.00,1.83,0.00,0.000,6,0.000,0.085,2542,1787,3266,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2224,-1.18,-67.2,258.6,-12.5,214,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1787,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2524,-1.22,-67.2,295.3,-11.8,224,2530,0.12,1.83,0.00,0.000,4,0.157,0.085,2483,2853,3265,0,0,0,0,0,0,14.92,14.90,28.83
$GC,2642,-1.22,-67.2,307.3,-12.5,227,2649,0.00,1.83,0.00,0.000,6,0.000,0.090,2483,1790,3264,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2947,-1.20,-67.2,347.6,-12.0,238,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1791,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-1.19,-67.2,385.4,-13.2,248,3253,0.00,1.77,0.00,0.000,4,0.000,0.092,2475,2848,3261,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3280,-1.19,-67.2,389.5,-12.9,249,3285,0.12,1.83,0.00,0.000,6,0.312,0.092,2502,1789,3261,0,0,0,0,0,0,14.79,14.92,28.83
$GC,3613,-1.19,-67.2,431.3,-12.5,260,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1790,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,-1.19,-67.2,469.9,-13.5,270,3918,0.00,1.83,0.00,0.000,4,0.000,0.095,2495,2853,3258,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4006,-1.19,-67.2,483.6,-14.4,273,4011,0.00,1.85,0.00,0.000,6,0.000,0.095,2495,1787,3258,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4339,-1.19,-67.2,534.3,-14.9,284,4344,0.00,1.85,0.00,0.000,4,0.000,0.096,2487,2856,3255,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4474,-1.19,-67.2,550.6,-13.3,288,4480,0.00,1.88,0.00,0.000,6,0.000,0.095,2487,1790,3255,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4792,-1.19,-67.2,590.4,-11.4,299,4797,0.00,1.90,0.00,0.000,4,0.000,0.122,2487,729,3253,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4818,-1.19,-67.2,590.4,-11.4,299,4825,0.00,1.83,0.00,0.000,6,0.000,0.080,2477,1790,3253,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5125,-1.19,-67.2,626.4,-10.6,310,5130,0.00,1.83,0.00,0.000,4,0.000,0.097,2477,2846,3252,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5277,-1.19,-67.2,643.1,-11.1,315,5282,0.15,1.85,0.00,0.000,6,0.307,0.094,2505,1790,3251,0,0,0,0,0,0,14.77,14.91,28.83
$GC,5611,-1.21,-67.2,680.7,-11.6,326,5616,0.00,1.88,0.00,0.000,4,0.000,0.122,2508,729,3249,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5757,-1.21,-67.2,697.5,-13.5,330,5764,0.00,1.83,0.00,0.000,6,0.000,0.080,2500,1790,3247,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6064,-1.23,-67.2,736.8,-11.2,341,6069,0.00,1.83,0.00,0.000,4,0.000,0.099,2493,2853,3245,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6220,-1.25,-67.2,754.5,-11.8,346,6226,0.00,1.88,0.00,0.000,6,0.000,0.096,2496,1781,3245,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6549,-1.26,-67.2,794.6,-12.4,357,6554,0.00,1.88,0.00,0.000,4,0.000,0.100,2486,2851,3243,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6781,-1.28,-67.2,820.8,-12.0,364,6786,0.00,1.85,0.00,0.000,6,0.000,0.098,2486,1784,3242,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7093,-1.28,-67.2,863.0,-13.0,375,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1784,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7393,-1.28,-67.2,899.7,-11.6,385,7398,0.00,1.88,0.00,0.000,4,0.000,0.102,2480,2850,3238,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7469,-1.30,-67.2,906.5,-11.1,387,7475,0.00,1.88,0.00,0.000,6,0.000,0.098,2480,1784,3237,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7787,-1.30,-67.2,942.6,-11.3,398,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1784,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8087,-1.30,-67.2,976.3,-11.7,408,8092,0.00,1.88,0.00,0.000,4,0.000,0.104,2474,2847,3235,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8203,-1.30,-67.2,987.4,-12.1,411,8211,0.00,1.88,0.00,0.000,6,0.000,0.101,2475,1785,3234,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,8238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8238,begin apogee
$GC,8242,-0.19,0.0,994.6,-11.8,413,8309,1.30,0.00,58.95,2.009,6,0.290,0.000,2820,1472,2984,0,0,0,0,0,0,14.70,28.83,13.78
$STATE,8310,end apogee,CONTROL_FINISHED_OK
$STATE,8310,begin climb
$GC,8312,1.06,67.2,996.8,0.0,415,8382,1.27,0.00,66.18,1.958,6,0.150,0.000,3224,1472,2713,0,0,0,0,0,0,14.40,28.83,13.57
$GC,8659,1.06,67.2,979.6,6.1,427,8664,0.00,1.98,0.00,0.000,4,0.000,0.139,3232,423,2700,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8765,1.06,67.2,974.0,6.1,430,8771,0.00,1.85,0.00,0.000,6,0.000,0.081,3231,1480,2701,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9083,1.06,67.2,953.2,6.6,441,9088,0.00,1.88,0.00,0.000,4,0.000,0.109,3231,2540,2698,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9176,1.06,67.2,946.5,7.2,444,9181,0.00,1.98,0.00,0.000,6,0.000,0.126,3239,1479,2698,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9509,1.04,67.2,921.7,7.4,455,9514,0.00,1.88,0.00,0.000,4,0.000,0.105,3239,2537,2697,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9692,1.02,67.2,907.8,7.6,461,9697,0.00,1.95,0.00,0.000,6,0.000,0.121,3247,1476,2695,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10025,1.00,67.2,883.0,7.3,472,10031,0.12,1.95,0.00,0.000,4,0.347,0.138,3226,417,2694,0,0,0,0,0,0,14.68,14.80,28.83
$GC,10257,0.98,67.2,868.2,7.0,479,10262,0.00,1.85,0.00,0.000,6,0.000,0.082,3226,1481,2693,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10570,0.98,67.2,847.5,6.3,490,10575,0.00,2.00,0.00,0.000,4,0.000,0.144,3233,419,2693,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10802,0.94,67.2,833.8,6.9,497,10808,0.17,1.85,0.00,0.000,6,0.353,0.083,3197,1485,2692,0,0,0,0,0,0,14.67,14.87,28.83
$GC,11116,0.97,68.5,813.1,5.9,508,11121,0.00,2.00,0.00,0.000,4,0.000,0.136,3205,414,2692,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11312,0.97,68.5,801.6,6.3,514,11317,0.00,1.85,0.00,0.000,6,0.000,0.080,3205,1479,2692,0,0,0,0,0,0,28.83,14.87,28.83
$GC,11630,0.99,74.8,782.5,5.3,525,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1479,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11930,0.99,88.0,768.9,4.3,535,11949,0.00,0.00,17.38,1.812,6,0.000,0.000,3205,1480,2629,0,0,0,0,0,0,28.83,28.83,14.15
$GC,12231,1.02,90.0,752.0,5.8,545,12236,0.00,1.85,0.00,0.000,4,0.000,0.103,3205,2535,2620,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12463,1.03,90.0,737.7,7.0,552,12468,0.00,1.92,0.00,0.000,6,0.000,0.116,3212,1472,2619,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12775,1.03,90.0,712.9,7.6,563,12780,0.00,1.90,0.00,0.000,4,0.000,0.103,3213,2534,2619,0,0,0,0,0,0,28.83,14.82,28.83
$GC,13007,1.03,90.0,696.9,7.4,570,13012,0.00,1.95,0.00,0.000,6,0.000,0.117,3220,1472,2619,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13319,1.03,90.0,674.8,6.6,581,13324,0.00,1.98,0.00,0.000,4,0.000,0.141,3228,413,2619,0,0,0,0,0,0,28.83,14.79,28.83
$GC,13551,1.01,90.0,660.3,7.1,588,13556,0.00,1.85,0.00,0.000,6,0.000,0.079,3228,1482,2619,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13863,1.01,90.0,635.9,8.0,599,13869,0.00,2.00,0.00,0.000,4,0.000,0.138,3236,414,2618,0,0,0,0,0,0,28.83,14.79,28.83
$GC,13935,1.01,90.0,630.5,8.4,601,13940,0.00,1.83,0.00,0.000,6,0.000,0.080,3236,1482,2618,0,0,0,0,0,0,28.83,14.86,28.83
$GC,14258,1.01,90.0,604.0,7.9,612,14263,0.00,1.88,0.00,0.000,4,0.000,0.102,3236,2543,2620,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14489,1.01,90.0,588.5,7.1,619,14494,0.00,1.95,0.00,0.000,6,0.000,0.114,3244,1473,2619,0,0,0,0,0,0,28.83,14.82,28.83
$GC,14802,1.00,90.0,564.4,7.3,630,14804,0.15,0.00,0.00,0.000,6,0.363,0.000,3215,1472,2619,0,0,0,0,0,0,14.65,28.83,28.83
$GC,15102,1.00,90.0,543.3,7.2,640,15107,0.00,1.95,0.00,0.000,4,0.000,0.135,3223,418,2619,0,0,0,0,0,0,28.83,14.80,28.83
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$STATE,22987,end climb,SURFACE_DEPTH_REACHED
$STATE,22987,begin surface coast
$FINISH,0.9,1.024089
$STATE,23030,end surface coast,CONTROL_FINISHED_OK
$STATE,23030,begin surface
$SM_CCo,23051,94.97,0.127,0,0,1560,350.04
$SM_GC,1.95,9.02,2.40,94.97,0.090,0.070,0.127,141,1786,1560,-8.54,-0.79,350.04,0,0,0,0,0,0,14.80,14.80,14.71
$IRIDIUM_FIX,2349.77,-3740.30,300912,161614
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.62
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,7749280
$TM_FREEKB,7404800
$24V_AH,13.0,25.403
$10V_AH,13.9,0.000
$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,25.250,143.975,219.550,94.975,0.000,0.000,0.000,381.700,0.000,0.000,19.333,4336.002,14864.762,539.796,3775.043,255.824,0.000,2490.088,0.000,3170.194,0.000,0.542,0.000
$DEVICE_MAMPS,439.875,143.820,2008.890,126.990,0.000,0.000,0.000,192.015,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23071.000,6109.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.756,13.341,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,43338,1158
$CAP_FILE_SIZE,270558,0
$CFSIZE,260034560,247586816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.012,281.9,1
$GPS,011012,074434,2355.664,-3802.317,37,0.8,37,-14.1