version: 66.11
glider: 190
mission: 6
dive: 62
start: 10 3 112 18 11 27
data:
$ID,190
$MISSION,6
$DIVE,62
$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,-12343.893
$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
$GPS1,031012,180004,2356.832,-3736.174,31,0.8,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-64.7
$GPS2,031012,181059,2356.892,-3736.208,14,0.9,15,-14.0
$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,119.6,27486,-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,13641,-0.65,-97.3,868.5,-6.0,705,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1796,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13940,-0.65,-97.3,884.8,-5.4,715,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1797,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14240,-0.65,-97.3,901.0,-5.5,725,14245,0.00,1.85,0.00,0.000,4,0.000,0.102,2662,2853,3347,0,0,0,0,0,0,28.83,14.84,28.83
$GC,14296,-0.65,-97.3,902.7,-5.5,726,14304,0.00,1.88,0.00,0.000,6,0.000,0.094,2662,1787,3347,0,0,0,0,0,0,28.83,14.81,28.83
$GC,14603,-0.65,-97.3,922.9,-6.6,737,14604,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1784,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14903,-0.65,-97.3,944.7,-7.5,747,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1787,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15203,-0.65,-97.3,967.9,-7.9,757,15208,0.00,1.90,0.00,0.000,4,0.000,0.115,2662,727,3344,0,0,0,0,0,0,28.83,14.78,28.83
$GC,15279,-0.65,-97.3,973.3,-8.1,759,15284,0.00,1.88,0.00,0.000,6,0.000,0.081,2662,1798,3344,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,15504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15505,begin apogee
$GC,15509,-0.19,0.0,992.1,-7.5,767,15600,0.52,0.00,84.57,2.002,6,0.210,0.000,2817,1476,2986,0,0,0,0,0,0,14.65,28.83,13.60
$STATE,15602,end apogee,CONTROL_FINISHED_OK
$STATE,15603,begin climb
$GC,15604,0.58,97.3,994.9,0.0,770,15704,0.80,0.00,95.88,1.942,6,0.143,0.000,3071,1476,2592,0,0,0,0,0,0,14.26,28.83,13.48
$GC,15987,0.56,117.5,980.6,5.2,783,16008,0.00,0.00,19.65,1.869,6,0.000,0.000,3071,1476,2509,0,0,0,0,0,0,28.83,28.83,13.85
$GC,16286,0.54,117.5,962.7,6.1,793,16291,0.00,1.92,0.00,0.000,4,0.000,0.102,3071,2552,2497,0,0,0,0,0,0,28.83,14.65,28.83
$GC,16349,0.51,117.5,958.5,6.5,795,16354,0.00,1.98,0.00,0.000,6,0.000,0.111,3079,1483,2496,0,0,0,0,0,0,28.83,14.66,28.83
$GC,16682,0.48,117.5,935.8,7.0,806,16684,0.15,0.00,0.00,0.000,6,0.294,0.000,3045,1479,2494,0,0,0,0,0,0,14.62,28.83,28.83
$GC,16982,0.48,126.9,918.2,5.7,816,16986,0.00,0.00,2.75,0.863,6,0.000,0.000,3045,1483,2471,0,0,0,0,0,0,28.83,28.83,13.90
$GC,17281,0.49,148.6,901.8,5.2,826,17317,0.00,1.95,28.60,1.888,4,0.000,0.101,3045,2532,2377,0,0,0,0,0,0,28.83,14.57,13.98
$GC,17368,0.51,171.1,898.5,5.2,828,17398,0.00,1.95,23.12,1.823,6,0.000,0.112,3052,1477,2286,0,0,0,0,0,0,28.83,14.61,13.85
$GC,17706,0.51,179.5,878.1,5.8,840,17715,0.00,1.95,2.35,0.554,4,0.000,0.101,3052,2533,2258,0,0,0,0,0,0,28.83,14.66,13.81
$GC,17762,0.52,184.9,876.0,5.9,841,17782,0.00,1.95,13.62,1.805,6,0.000,0.112,3060,1475,2232,0,0,0,0,0,0,28.83,14.66,13.97
$GC,18099,0.52,184.9,851.6,6.9,853,18104,0.00,1.92,0.00,0.000,4,0.000,0.101,3060,2541,2224,0,0,0,0,0,0,28.83,14.71,28.83
$GC,18135,0.52,184.9,849.2,7.1,854,18141,0.00,1.95,0.00,0.000,6,0.000,0.112,3068,1480,2223,0,0,0,0,0,0,28.83,14.70,28.83
$GC,18463,0.52,184.9,824.0,7.7,865,18464,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1480,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18764,0.52,184.9,801.1,7.5,875,18765,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1480,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19063,0.52,184.9,778.3,7.7,885,19064,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1480,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19364,0.52,184.9,756.4,7.2,895,19369,0.00,1.90,0.00,0.000,4,0.000,0.099,3067,2543,2223,0,0,0,0,0,0,28.83,14.82,28.83
$GC,19395,0.52,184.9,753.9,7.4,896,19401,0.00,1.92,0.00,0.000,6,0.000,0.109,3075,1480,2222,0,0,0,0,0,0,28.83,14.80,28.83
$GC,19728,0.52,184.9,728.0,8.0,907,19733,0.00,1.95,0.00,0.000,4,0.000,0.129,3084,422,2221,0,0,0,0,0,0,28.83,14.77,28.83
$GC,19769,0.52,184.9,725.1,8.2,908,19774,0.00,1.83,0.00,0.000,6,0.000,0.073,3084,1487,2222,0,0,0,0,0,0,28.83,14.85,28.83
$GC,20093,0.50,184.9,695.8,8.9,919,20098,0.12,1.83,0.00,0.000,4,0.291,0.096,3050,2534,2221,0,0,0,0,0,0,14.69,14.82,28.83
$GC,20169,0.50,184.9,690.5,8.6,921,20175,0.00,1.92,0.00,0.000,6,0.000,0.111,3058,1472,2221,0,0,0,0,0,0,28.83,14.81,28.83
$GC,20488,0.50,184.9,664.4,7.6,932,20489,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1472,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20788,0.50,184.9,641.8,7.4,942,20793,0.00,1.88,0.00,0.000,4,0.000,0.098,3058,2539,2221,0,0,0,0,0,0,28.83,14.83,28.83
$GC,20833,0.50,184.9,639.3,7.5,943,20839,0.00,1.92,0.00,0.000,6,0.000,0.109,3066,1478,2221,0,0,0,0,0,0,28.83,14.81,28.83
$GC,21152,0.50,184.9,613.0,8.1,954,21157,0.00,1.95,0.00,0.000,4,0.000,0.128,3074,416,2221,0,0,0,0,0,0,28.83,14.77,28.83
$GC,21188,0.50,184.9,610.2,8.1,955,21194,0.00,1.83,0.00,0.000,6,0.000,0.073,3074,1481,2221,0,0,0,0,0,0,28.83,14.85,28.83
$GC,21516,0.50,184.9,582.1,8.4,966,21521,0.00,1.83,0.00,0.000,4,0.000,0.098,3074,2534,2221,0,0,0,0,0,0,28.83,14.82,28.83
$GC,21572,0.50,184.9,579.4,8.3,967,21579,0.12,1.92,0.00,0.000,6,0.295,0.109,3054,1470,2221,0,0,0,0,0,0,14.68,14.81,28.83
$GC,21880,0.52,192.3,557.6,5.8,978,21890,0.00,1.98,1.92,0.185,4,0.000,0.126,3062,422,2205,0,0,0,0,0,0,28.83,14.77,14.73
$GC,21936,0.53,200.3,555.7,5.8,979,21957,0.00,1.83,15.32,1.551,6,0.000,0.072,3062,1488,2170,0,0,0,0,0,0,28.83,14.85,14.21
$GC,22275,0.55,240.2,538.5,4.4,991,22319,0.00,1.85,38.80,1.510,4,0.000,0.095,3063,2533,2005,0,0,0,0,0,0,28.83,14.53,14.02
$GC,22350,0.57,272.1,535.3,4.8,993,22390,0.00,1.95,31.88,1.454,6,0.000,0.109,3070,1476,1872,0,0,0,0,0,0,28.83,14.54,13.88
$GC,22697,0.59,272.1,508.9,8.3,1005,22698,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1476,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22998,0.62,272.1,480.9,9.9,1015,23003,0.00,1.88,0.00,0.000,4,0.000,0.093,3070,2534,1857,0,0,0,0,0,0,28.83,14.72,28.83
$GC,23034,0.65,272.1,477.4,10.0,1016,23040,0.00,1.92,0.00,0.000,6,0.000,0.106,3078,1475,1857,0,0,0,0,0,0,28.83,14.71,28.83
$GC,23364,0.67,272.1,443.0,10.0,1027,23369,0.00,1.90,0.00,0.000,4,0.000,0.125,3086,425,1857,0,0,0,0,0,0,28.83,14.70,28.83
$GC,23415,0.68,272.1,439.6,10.0,1028,23420,0.00,1.80,0.00,0.000,6,0.000,0.070,3087,1481,1857,0,0,0,0,0,0,28.83,14.80,28.83
$GC,23728,0.68,272.1,410.8,7.8,1039,23729,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1481,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24027,0.68,272.1,389.3,7.3,1049,24028,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1481,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24328,0.68,272.1,365.5,8.2,1059,24329,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1481,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24627,0.68,272.1,338.4,9.6,1069,24628,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1481,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24928,0.68,272.1,308.4,9.7,1079,24933,0.00,1.92,0.00,0.000,4,0.000,0.117,3094,422,1857,0,0,0,0,0,0,28.83,14.80,28.83
$GC,24974,0.68,272.1,304.9,9.9,1080,24979,0.00,1.80,0.00,0.000,6,0.000,0.063,3094,1492,1857,0,0,0,0,0,0,28.83,14.88,28.83
$GC,25292,0.68,272.1,274.7,8.6,1091,25297,0.00,1.80,0.00,0.000,4,0.000,0.088,3094,2534,1857,0,0,0,0,0,0,28.83,14.85,28.83
$GC,25348,0.68,272.1,271.8,8.5,1092,25355,0.00,1.92,0.00,0.000,6,0.000,0.116,3101,1480,1857,0,0,0,0,0,0,28.83,14.81,28.83
$GC,25654,0.68,272.1,245.0,8.2,1107,25659,0.00,1.95,0.00,0.000,4,0.000,0.130,3110,417,1858,0,0,0,0,0,0,28.83,14.78,28.83
$GC,25707,0.67,272.1,240.3,9.5,1112,25712,0.00,1.80,0.00,0.000,6,0.000,0.065,3110,1483,1858,0,0,0,0,0,0,28.83,14.82,28.83
$GC,26019,0.67,272.1,211.5,10.4,1143,26021,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1483,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26319,0.67,272.1,179.3,10.9,1173,26320,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1483,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26619,0.67,272.1,146.0,11.3,1203,26620,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1483,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26919,0.67,272.1,116.1,8.1,1233,26924,0.00,1.95,0.00,0.000,4,0.000,0.130,3115,421,1860,0,0,0,0,0,0,28.83,14.71,28.83
$GC,26955,0.67,272.1,113.4,8.3,1236,26963,0.00,1.77,0.00,0.000,6,0.000,0.058,3117,1484,1861,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27262,0.67,272.1,90.4,8.0,1267,27267,0.00,1.77,0.00,0.000,4,0.000,0.078,3118,2537,1861,0,0,0,0,0,0,28.83,14.78,28.83
$GC,27365,0.67,272.1,80.9,9.2,1277,27370,0.00,1.88,0.00,0.000,6,0.000,0.093,3125,1477,1861,0,0,0,0,0,0,28.83,14.76,28.83
$GC,27677,0.67,272.1,50.7,9.8,1308,27682,0.00,1.83,0.00,0.000,4,0.000,0.075,3124,2538,1862,0,0,0,0,0,0,28.83,14.76,28.83
$GC,27780,0.67,272.1,42.5,7.6,1318,27786,0.00,1.88,0.00,0.000,6,0.000,0.092,3132,1474,1863,0,0,0,0,0,0,28.83,14.75,28.83
$GC,28093,0.67,272.1,17.4,7.9,1349,28094,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1475,1864,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,28281,end climb,SURFACE_DEPTH_REACHED
$STATE,28281,begin surface coast
$FINISH,1.0,1.024370
$STATE,28313,end surface coast,CONTROL_FINISHED_OK
$STATE,28313,begin surface
$SM_CCo,28332,35.00,0.125,0,0,1562,350.04
$SM_GC,2.06,8.32,0.57,35.00,0.062,0.082,0.125,141,1799,1562,-8.53,-0.74,350.04,0,0,0,0,0,0,14.81,14.82,14.74
$IRIDIUM_FIX,2347.41,-3738.86,031012,090940
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.40
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7746336
$TM_FREEKB,7314752
$24V_AH,13.5,28.480
$10V_AH,13.7,0.000
$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,23.200,173.900,358.475,35.000,0.000,0.000,0.000,396.975,0.000,0.000,16.320,4242.666,20369.014,615.076,3515.296,262.565,0.000,2557.500,0.000,2897.594,0.000,0.541,0.000
$DEVICE_MAMPS,419.985,131.580,2002.005,125.460,0.000,0.000,0.000,191.250,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28350.000,6654.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.441,13.332,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,49957,1371
$CAP_FILE_SIZE,296916,0
$CFSIZE,260034560,246247424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065, 56.6,1
$GPS,041012,020534,2356.683,-3731.869,40,0.7,40,-14.0