version: 66.11
glider: 190
mission: 6
dive: 56
start: 10 1 112 16 3 1
data:
$ID,190
$MISSION,6
$DIVE,56
$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,-12335.676
$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,21
$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
$GPS1,011012,155134,2356.423,-3758.848,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-65.0
$GPS2,011012,160233,2356.463,-3758.884,19,1.1,20,-14.1
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-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,118.6,65827,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,13245,-0.69,-97.3,876.7,-7.1,689,13246,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1790,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13543,-0.69,-97.3,899.0,-7.8,699,13548,0.00,1.98,0.00,0.000,4,0.000,0.133,2661,726,3351,0,0,0,0,0,0,28.83,14.79,28.83
$GC,13619,-0.69,-97.3,904.0,-8.1,701,13625,0.00,1.88,0.00,0.000,6,0.000,0.090,2662,1793,3351,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13938,-0.69,-97.3,930.1,-7.6,712,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1793,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14237,-0.69,-97.3,950.9,-6.6,722,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1794,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14537,-0.69,-97.3,968.5,-5.7,732,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1790,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14838,-0.69,-97.3,984.6,-5.2,742,14839,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1794,3348,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14956,begin apogee
$GC,14960,-0.19,0.0,991.1,-5.4,746,15051,0.55,0.00,85.68,2.007,6,0.223,0.000,2821,1478,2986,0,0,0,0,0,0,14.67,28.83,13.61
$STATE,15054,end apogee,CONTROL_FINISHED_OK
$STATE,15054,begin climb
$GC,15055,0.58,97.3,991.9,0.0,749,15161,0.80,2.12,96.15,1.955,4,0.153,0.136,3084,421,2586,0,0,0,0,0,0,14.25,14.07,13.48
$GC,15213,0.54,132.2,986.3,4.6,754,15254,0.00,1.90,34.42,1.899,6,0.000,0.076,3079,1486,2447,0,0,0,0,0,0,28.83,14.37,13.58
$GC,15561,0.51,132.2,960.1,7.2,766,15567,0.00,1.85,0.00,0.000,4,0.000,0.097,3079,2536,2432,0,0,0,0,0,0,28.83,14.63,28.83
$GC,15633,0.48,132.2,955.4,7.2,768,15639,0.17,1.95,0.00,0.000,6,0.308,0.110,3047,1473,2432,0,0,0,0,0,0,14.52,14.64,28.83
$GC,15957,0.49,148.4,936.4,5.4,779,15974,0.00,0.00,15.20,1.873,6,0.000,0.000,3047,1473,2384,0,0,0,0,0,0,28.83,28.83,14.00
$GC,16257,0.50,167.5,920.4,5.3,789,16281,0.00,2.00,19.73,1.876,4,0.000,0.105,3047,2538,2300,0,0,0,0,0,0,28.83,14.59,13.95
$GC,16368,0.51,184.3,915.5,5.4,792,16394,0.00,1.95,17.80,1.851,6,0.000,0.113,3054,1481,2232,0,0,0,0,0,0,28.83,14.62,13.88
$GC,16711,0.51,190.8,894.1,5.8,804,16714,0.00,0.00,1.58,0.187,6,0.000,0.000,3055,1481,2210,0,0,0,0,0,0,28.83,28.83,14.66
$GC,17011,0.52,194.1,876.0,6.0,814,17016,0.00,0.00,2.97,0.973,6,0.000,0.000,3055,1480,2197,0,0,0,0,0,0,28.83,28.83,13.91
$GC,17310,0.52,194.1,857.3,6.5,824,17314,0.00,0.00,2.15,0.374,6,0.000,0.000,3055,1480,2197,0,0,0,0,0,0,28.83,28.83,13.83
$GC,17611,0.52,194.1,837.3,7.0,834,17618,0.00,1.95,1.92,0.189,4,0.000,0.098,3053,2544,2197,0,0,0,0,0,0,28.83,14.81,14.75
$GC,17684,0.52,194.1,832.5,7.1,836,17690,0.00,1.92,1.27,0.213,6,0.000,0.112,3063,1480,2196,0,0,0,0,0,0,28.83,14.80,14.76
$GC,18008,0.52,194.1,807.5,7.7,847,18015,0.00,1.95,1.77,0.190,4,0.000,0.099,3063,2544,2197,0,0,0,0,0,0,28.83,14.83,14.77
$GC,18091,0.52,194.1,802.3,7.9,849,18097,0.00,1.95,0.00,0.000,6,0.000,0.112,3070,1469,2207,0,0,0,0,0,0,28.83,14.82,28.83
$GC,18404,0.52,194.1,776.1,7.8,860,18411,0.00,1.95,1.75,0.187,4,0.000,0.100,3070,2535,2198,0,0,0,0,0,0,28.83,14.83,14.78
$GC,18452,0.52,194.1,773.4,7.7,861,18458,0.00,1.92,0.00,0.000,6,0.000,0.112,3078,1476,2204,0,0,0,0,0,0,28.83,14.82,28.83
$GC,18770,0.52,194.1,748.3,7.2,872,18776,0.00,1.95,1.75,0.189,4,0.000,0.100,3078,2540,2197,0,0,0,0,0,0,28.83,14.83,14.78
$GC,18828,0.52,194.1,746.0,7.1,873,18835,0.00,1.92,0.00,0.000,6,0.000,0.112,3086,1481,2206,0,0,0,0,0,0,28.83,14.82,28.83
$GC,19134,0.50,194.1,724.0,6.3,884,19138,0.15,0.00,1.62,0.187,6,0.288,0.000,3050,1481,2197,0,0,0,0,0,0,14.72,28.83,14.78
$GC,19435,0.54,230.4,709.4,4.6,894,19483,0.00,1.92,42.80,1.738,4,0.000,0.095,3050,2542,2043,0,0,0,0,0,0,28.83,14.52,13.97
$GC,19520,0.58,265.4,706.5,4.6,896,19564,0.00,1.98,35.17,1.667,6,0.000,0.110,3058,1476,1901,0,0,0,0,0,0,28.83,14.54,13.79
$GC,19886,0.62,275.3,685.1,5.7,909,19891,0.00,0.00,2.80,0.795,6,0.000,0.000,3058,1476,1866,0,0,0,0,0,0,28.83,28.83,13.92
$GC,20186,0.65,275.3,666.0,6.6,919,20194,0.12,1.95,1.67,0.167,4,0.146,0.098,3109,2535,1866,0,0,0,0,0,0,14.75,14.73,14.69
$GC,20251,0.65,275.3,659.8,8.2,921,20257,0.00,1.92,0.00,0.000,6,0.000,0.112,3117,1481,1873,0,0,0,0,0,0,28.83,14.71,28.83
$GC,20585,0.63,275.3,622.7,11.5,932,20592,0.00,2.00,1.55,0.184,4,0.000,0.127,3125,425,1866,0,0,0,0,0,0,28.83,14.73,14.73
$GC,20634,0.60,275.3,618.4,11.7,933,20640,0.17,1.83,0.00,0.000,6,0.278,0.072,3084,1486,1873,0,0,0,0,0,0,14.66,14.80,28.83
$GC,20953,0.60,275.3,580.6,11.9,944,20959,0.00,1.85,1.40,0.187,4,0.000,0.095,3083,2533,1866,0,0,0,0,0,0,28.83,14.77,14.75
$GC,20990,0.60,275.3,576.5,12.1,945,20995,0.00,1.92,0.00,0.000,6,0.000,0.112,3091,1474,1872,0,0,0,0,0,0,28.83,14.78,28.83
$GC,21318,0.60,275.3,539.3,10.5,956,21321,0.00,0.00,1.40,0.188,6,0.000,0.000,3091,1474,1866,0,0,0,0,0,0,28.83,28.83,14.78
$GC,21617,0.60,275.3,513.1,8.4,966,21623,0.00,1.92,1.45,0.185,4,0.000,0.093,3091,2534,1868,0,0,0,0,0,0,28.83,14.83,14.78
$GC,21674,0.60,275.3,510.1,8.4,967,21681,0.00,1.90,0.00,0.000,6,0.000,0.108,3099,1480,1872,0,0,0,0,0,0,28.83,14.78,28.83
$GC,21980,0.60,275.3,480.8,8.9,978,21987,0.00,1.92,1.42,0.183,4,0.000,0.119,3107,423,1866,0,0,0,0,0,0,28.83,14.79,14.78
$GC,22009,0.60,275.3,480.8,8.9,978,22015,0.00,1.80,0.00,0.000,6,0.000,0.070,3107,1480,1873,0,0,0,0,0,0,28.83,14.86,28.83
$GC,22315,0.58,275.3,449.4,9.2,989,22322,0.00,2.00,1.48,0.183,4,0.000,0.123,3115,419,1866,0,0,0,0,0,0,28.83,14.79,14.80
$GC,22350,0.56,275.3,445.9,9.3,990,22356,0.17,1.80,0.00,0.000,6,0.270,0.070,3072,1480,1874,0,0,0,0,0,0,14.73,14.87,28.83
$GC,22683,0.59,275.3,420.1,7.9,1001,22689,0.00,1.90,1.48,0.182,4,0.000,0.093,3072,2535,1865,0,0,0,0,0,0,28.83,14.83,14.80
$GC,22725,0.61,275.3,417.2,8.2,1002,22730,0.00,1.90,0.00,0.000,6,0.000,0.108,3079,1480,1872,0,0,0,0,0,0,28.83,14.82,28.83
$GC,23049,0.63,275.3,385.7,9.8,1013,23052,0.00,0.00,1.58,0.182,6,0.000,0.000,3079,1480,1865,0,0,0,0,0,0,28.83,28.83,14.80
$GC,23348,0.65,275.3,357.6,9.1,1023,23351,0.00,0.00,1.62,0.178,6,0.000,0.000,3079,1480,1865,0,0,0,0,0,0,28.83,28.83,14.81
$GC,23648,0.66,275.3,333.2,7.8,1033,23655,0.00,1.90,1.62,0.178,4,0.000,0.090,3080,2534,1865,0,0,0,0,0,0,28.83,14.86,14.81
$GC,23701,0.68,275.3,330.4,7.9,1034,23707,0.00,1.92,0.00,0.000,6,0.000,0.114,3087,1477,1875,0,0,0,0,0,0,28.83,14.81,28.83
$GC,24014,0.68,275.3,303.6,8.2,1045,24017,0.00,0.00,1.77,0.177,6,0.000,0.000,3087,1477,1864,0,0,0,0,0,0,28.83,28.83,14.81
$GC,24313,0.68,275.3,278.4,8.3,1055,24317,0.00,0.00,1.85,0.174,6,0.000,0.000,3087,1477,1864,0,0,0,0,0,0,28.83,28.83,14.80
$GC,24613,0.68,275.3,250.2,9.9,1065,24620,0.00,1.98,1.85,0.174,4,0.000,0.122,3096,418,1866,0,0,0,0,0,0,28.83,14.82,14.81
$GC,24670,0.68,275.3,244.1,10.6,1068,24677,0.00,1.80,1.38,0.192,6,0.000,0.065,3095,1482,1865,0,0,0,0,0,0,28.83,14.86,14.79
$GC,24985,0.68,275.3,212.7,9.0,1099,24995,0.00,0.00,1.95,0.171,6,0.000,0.000,3095,1482,1869,0,0,0,0,0,0,28.83,28.83,14.76
$GC,25294,0.68,275.3,185.6,9.2,1130,25300,0.00,1.90,1.92,0.170,4,0.000,0.091,3095,2541,1866,0,0,0,0,0,0,28.83,14.80,14.73
$GC,25357,0.68,275.3,179.8,9.2,1136,25363,0.00,1.95,1.27,0.198,6,0.000,0.115,3101,1475,1865,0,0,0,0,0,0,28.83,14.76,14.71
$GC,25671,0.68,275.3,149.5,10.4,1167,25679,0.00,0.00,2.12,0.293,6,0.000,0.000,3099,1475,1868,0,0,0,0,0,0,28.83,28.83,14.00
$GC,25980,0.68,275.3,118.8,8.6,1198,25986,0.00,2.00,2.08,0.256,4,0.000,0.129,3109,415,1866,0,0,0,0,0,0,28.83,14.74,13.83
$GC,26065,0.68,275.3,111.4,9.1,1206,26071,0.00,1.80,1.38,0.190,6,0.000,0.066,3115,1479,1862,0,0,0,0,0,0,28.83,14.78,14.71
$GC,26378,0.68,275.3,83.3,8.4,1237,26389,0.00,2.00,2.12,0.167,4,0.000,0.132,3110,430,1870,0,0,0,0,0,0,28.83,14.71,14.69
$GC,26441,0.68,275.3,78.5,7.7,1243,26447,0.00,1.80,1.88,0.174,6,0.000,0.068,3110,1484,1866,0,0,0,0,0,0,28.83,14.79,14.70
$GC,26756,0.72,312.6,60.8,4.5,1274,26787,0.00,1.85,22.75,0.293,4,0.000,0.086,3110,2533,1717,0,0,0,0,0,0,28.83,14.72,14.57
$GC,26884,0.75,333.5,54.0,5.2,1286,26902,0.00,1.92,13.52,0.265,6,0.000,0.112,3114,1478,1629,0,0,0,0,0,0,28.83,14.69,14.57
$GC,27200,0.79,333.5,33.9,7.0,1318,27207,0.00,1.92,2.00,0.161,4,0.000,0.090,3114,2541,1631,0,0,0,0,0,0,28.83,14.73,14.69
$GC,27270,0.83,333.5,29.7,6.2,1324,27278,0.10,1.92,1.62,0.171,6,0.161,0.111,3166,1480,1630,0,0,0,0,0,0,14.73,14.69,14.67
$STATE,27544,end climb,SURFACE_DEPTH_REACHED
$STATE,27544,begin surface coast
$FINISH,1.1,1.024378
$STATE,27575,end surface coast,CONTROL_FINISHED_OK
$STATE,27575,begin surface
$SM_CCo,27593,9.60,0.130,0,0,1560,350.04
$SM_GC,2.79,8.40,0.57,9.60,0.060,0.082,0.130,142,1796,1560,-8.53,-0.57,350.04,0,0,0,0,0,0,14.80,14.81,14.75
$IRIDIUM_FIX,2347.41,-3803.87,011012,070721
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.74
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7748512
$TM_FREEKB,7382528
$24V_AH,13.5,26.191
$10V_AH,13.5,0.000
$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,24.125,189.975,444.700,9.600,0.000,0.000,0.000,398.600,0.000,0.000,21.006,4352.159,19322.514,674.337,3634.809,263.469,0.000,2674.910,0.000,3005.117,0.000,0.542,0.000
$DEVICE_MAMPS,433.755,137.700,2007.360,130.050,0.000,0.000,0.000,192.015,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27610.000,6829.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.574,13.347,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,49939,1355
$CAP_FILE_SIZE,307406,0
$CFSIZE,260034560,247222272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.009,319.3,1
$GPS,011012,234428,2355.831,-3755.563,43,0.8,43,-14.1