version: 66.11
glider: 190
mission: 6
dive: 80
start: 10 9 112 18 58 44
data:
$ID,190
$MISSION,6
$DIVE,80
$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,-12366.642
$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,16
$R_STBD_OVSHOOT,28
$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
$GPS1,091012,184435,2445.585,-3720.648,26,1.0,26,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-67.3
$GPS2,091012,185817,2445.562,-3720.750,18,0.9,19,-13.8
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-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,15.3,48979,-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,14167,-0.70,-97.3,906.3,-7.3,728,14173,0.00,1.88,0.00,0.000,4,0.000,0.103,2662,2854,3350,0,0,0,0,0,0,28.83,14.74,28.83
$GC,14244,-0.70,-97.3,910.8,-7.2,730,14250,0.00,1.88,0.00,0.000,6,0.000,0.095,2662,1784,3350,0,0,0,0,0,0,28.83,14.75,28.83
$GC,14562,-0.70,-97.3,934.4,-7.1,741,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1784,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14862,-0.70,-97.3,955.7,-7.1,751,14867,0.00,1.90,0.00,0.000,4,0.000,0.105,2662,2847,3348,0,0,0,0,0,0,28.83,14.73,28.83
$GC,14918,-0.70,-97.3,958.1,-7.2,752,14925,0.00,1.85,0.00,0.000,6,0.000,0.096,2662,1793,3347,0,0,0,0,0,0,28.83,14.77,28.83
$GC,15225,-0.70,-97.3,981.2,-6.8,763,15226,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1791,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15373,begin apogee
$GC,15377,-0.19,0.0,991.0,-6.4,768,15469,0.52,0.00,87.25,1.916,6,0.209,0.000,2817,1478,2987,0,0,0,0,0,0,14.61,28.83,13.57
$STATE,15472,end apogee,CONTROL_FINISHED_OK
$STATE,15472,begin climb
$GC,15474,0.58,97.3,993.2,0.0,771,15579,0.80,2.10,96.60,1.892,4,0.141,0.142,3080,425,2587,0,0,0,0,0,0,14.26,14.05,13.46
$GC,15627,0.54,152.5,989.2,3.8,776,15687,0.00,1.90,54.50,1.863,6,0.000,0.080,3079,1489,2365,0,0,0,0,0,0,28.83,14.33,13.51
$GC,16010,0.52,152.5,958.3,8.5,789,16015,0.00,1.88,0.00,0.000,4,0.000,0.102,3079,2538,2348,0,0,0,0,0,0,28.83,14.57,28.83
$GC,16073,0.49,152.5,953.1,8.3,791,16078,0.15,1.95,0.00,0.000,6,0.302,0.116,3053,1480,2348,0,0,0,0,0,0,14.45,14.57,28.83
$GC,16405,0.49,152.5,930.2,6.5,802,16410,0.00,1.90,0.00,0.000,4,0.000,0.103,3052,2540,2346,0,0,0,0,0,0,28.83,14.69,28.83
$GC,16468,0.49,152.5,926.3,6.3,804,16473,0.00,1.95,0.00,0.000,6,0.000,0.115,3061,1475,2346,0,0,0,0,0,0,28.83,14.66,28.83
$GC,16801,0.51,175.8,908.3,5.1,815,16824,0.00,0.00,21.12,1.805,6,0.000,0.000,3061,1475,2274,0,0,0,0,0,0,28.83,28.83,14.02
$GC,17103,0.52,190.1,891.9,5.5,825,17125,0.00,1.98,15.65,1.774,4,0.000,0.099,3061,2540,2208,0,0,0,0,0,0,28.83,14.61,13.98
$GC,17187,0.52,198.5,888.3,5.8,827,17195,0.00,1.95,2.80,0.835,6,0.000,0.113,3069,1479,2179,0,0,0,0,0,0,28.83,14.61,13.81
$GC,17494,0.52,198.5,866.7,6.9,838,17504,0.00,2.05,1.88,0.187,4,0.000,0.140,3077,422,2180,0,0,0,0,0,0,28.83,14.65,14.64
$GC,17570,0.52,198.5,861.7,7.4,840,17577,0.00,1.88,1.30,0.186,6,0.000,0.079,3077,1480,2178,0,0,0,0,0,0,28.83,14.71,14.63
$GC,17891,0.52,198.5,833.3,8.9,851,17895,0.00,0.00,1.70,0.194,6,0.000,0.000,3077,1481,2178,0,0,0,0,0,0,28.83,28.83,14.68
$GC,18189,0.52,198.5,806.9,8.6,861,18195,0.00,1.92,1.55,0.191,4,0.000,0.097,3077,2539,2179,0,0,0,0,0,0,28.83,14.76,14.70
$GC,18266,0.52,198.5,801.5,8.4,863,18272,0.00,1.95,0.00,0.000,6,0.000,0.112,3085,1475,2188,0,0,0,0,0,0,28.83,14.73,28.83
$GC,18586,0.51,198.5,774.4,8.0,874,18590,0.12,0.00,1.48,0.189,6,0.295,0.000,3057,1472,2179,0,0,0,0,0,0,14.64,28.83,14.72
$GC,18885,0.51,198.5,753.9,6.8,884,18889,0.00,0.00,1.50,0.191,6,0.000,0.000,3057,1474,2179,0,0,0,0,0,0,28.83,28.83,14.73
$GC,19183,0.51,198.5,733.2,7.0,894,19187,0.00,0.00,1.38,0.199,6,0.000,0.000,3057,1475,2179,0,0,0,0,0,0,28.83,28.83,14.71
$GC,19484,0.51,198.5,711.0,7.6,904,19490,0.00,1.88,1.25,0.194,4,0.000,0.090,3058,2542,2180,0,0,0,0,0,0,28.83,14.79,14.72
$GC,19537,0.51,198.5,708.2,7.7,905,19542,0.00,1.92,0.00,0.000,6,0.000,0.107,3064,1474,2187,0,0,0,0,0,0,28.83,14.76,28.83
$GC,19849,0.51,198.5,683.0,7.3,916,19852,0.00,0.00,1.42,0.191,6,0.000,0.000,3064,1473,2179,0,0,0,0,0,0,28.83,28.83,14.73
$GC,20150,0.51,207.1,664.8,5.7,926,20168,0.00,0.00,15.95,1.583,6,0.000,0.000,3064,1474,2144,0,0,0,0,0,0,28.83,28.83,14.17
$GC,20449,0.52,223.4,648.8,5.4,936,20468,0.00,0.00,17.15,1.554,6,0.000,0.000,3064,1474,2078,0,0,0,0,0,0,28.83,28.83,14.09
$GC,20751,0.54,223.4,629.1,7.1,946,20752,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1474,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21049,0.55,223.4,605.1,8.4,956,21051,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1474,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21350,0.57,223.4,578.3,9.0,966,21352,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1474,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21649,0.59,223.4,552.0,8.7,976,21655,0.00,1.95,0.00,0.000,4,0.000,0.125,3073,415,2066,0,0,0,0,0,0,28.83,14.73,28.83
$GC,21706,0.59,223.4,549.3,8.6,977,21712,0.00,1.83,0.00,0.000,6,0.000,0.067,3073,1488,2066,0,0,0,0,0,0,28.83,14.83,28.83
$GC,22012,0.59,223.4,519.8,9.0,988,22014,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1488,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22312,0.59,223.4,493.8,8.7,998,22317,0.00,1.80,0.00,0.000,4,0.000,0.085,3073,2540,2066,0,0,0,0,0,0,28.83,14.81,28.83
$GC,22383,0.59,223.4,488.2,8.9,1000,22389,0.00,1.90,0.00,0.000,6,0.000,0.103,3081,1477,2066,0,0,0,0,0,0,28.83,14.76,28.83
$GC,22707,0.59,223.4,458.6,8.8,1011,22712,0.00,1.98,0.00,0.000,4,0.000,0.128,3089,400,2066,0,0,0,0,0,0,28.83,14.73,28.83
$GC,22770,0.59,223.4,452.5,9.3,1013,22775,0.00,1.83,0.00,0.000,6,0.000,0.069,3089,1485,2067,0,0,0,0,0,0,28.83,14.83,28.83
$GC,23103,0.59,223.4,422.5,8.9,1024,23104,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1485,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23403,0.59,223.4,397.5,8.2,1034,23408,0.00,1.98,0.00,0.000,4,0.000,0.123,3097,415,2067,0,0,0,0,0,0,28.83,14.74,28.83
$GC,23468,0.59,223.4,391.7,8.8,1036,23474,0.00,1.83,0.00,0.000,6,0.000,0.067,3097,1476,2067,0,0,0,0,0,0,28.83,14.82,28.83
$GC,23797,0.59,223.4,361.8,9.0,1047,23798,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1476,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24096,0.59,223.4,336.4,8.4,1057,24097,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1476,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24396,0.59,223.4,311.8,8.0,1067,24401,0.00,1.80,0.00,0.000,4,0.000,0.083,3097,2533,2068,0,0,0,0,0,0,28.83,14.81,28.83
$GC,24448,0.59,223.4,309.2,8.0,1068,24453,0.00,1.88,0.00,0.000,6,0.000,0.099,3105,1476,2068,0,0,0,0,0,0,28.83,14.78,28.83
$GC,24761,0.57,223.4,282.6,8.2,1079,24767,0.12,1.92,0.00,0.000,4,0.268,0.121,3078,420,2069,0,0,0,0,0,0,14.66,14.73,28.83
$GC,24824,0.57,223.4,277.5,8.0,1081,24829,0.00,1.77,0.00,0.000,6,0.000,0.066,3078,1484,2070,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25157,0.57,223.4,250.9,8.1,1092,25158,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1483,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25456,0.57,223.4,226.8,8.2,1120,25458,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1483,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25757,0.57,223.4,205.3,6.3,1150,25758,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1483,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26057,0.57,223.4,186.5,6.9,1180,26062,0.00,1.83,0.00,0.000,4,0.000,0.078,3077,2530,2071,0,0,0,0,0,0,28.83,14.72,28.83
$GC,26120,0.57,223.4,181.4,8.3,1186,26125,0.00,1.88,0.00,0.000,6,0.000,0.096,3085,1475,2071,0,0,0,0,0,0,28.83,14.67,28.83
$GC,26432,0.57,223.4,151.5,9.5,1217,26437,0.00,1.92,0.00,0.000,4,0.000,0.119,3093,422,2072,0,0,0,0,0,0,28.83,14.67,28.83
$GC,26474,0.57,223.4,147.4,9.8,1221,26479,0.00,1.77,0.00,0.000,6,0.000,0.062,3093,1482,2073,0,0,0,0,0,0,28.83,14.76,28.83
$GC,26787,0.57,223.4,122.7,7.2,1252,26792,0.00,1.95,0.00,0.000,4,0.000,0.120,3101,416,2073,0,0,0,0,0,0,28.83,14.66,28.83
$GC,26920,0.57,223.4,112.7,7.6,1265,26925,0.00,1.77,0.00,0.000,6,0.000,0.063,3101,1480,2074,0,0,0,0,0,0,28.83,14.75,28.83
$GC,27233,0.57,223.4,91.4,6.5,1296,27238,0.00,1.83,0.00,0.000,4,0.000,0.081,3101,2543,2072,0,0,0,0,0,0,28.83,14.70,28.83
$GC,27376,0.57,223.4,81.2,7.0,1310,27382,0.12,1.88,0.00,0.000,6,0.252,0.098,3078,1482,2074,0,0,0,0,0,0,14.60,14.69,28.83
$GC,27691,0.60,223.4,61.7,7.0,1341,27696,0.00,1.95,0.00,0.000,4,0.000,0.121,3085,417,2076,0,0,0,0,0,0,28.83,14.64,28.83
$GC,27747,0.63,223.4,58.1,6.6,1346,27755,0.00,1.80,0.00,0.000,6,0.000,0.064,3086,1481,2076,0,0,0,0,0,0,28.83,14.75,28.83
$GC,28055,0.68,254.6,42.0,4.8,1377,28077,0.00,1.88,16.20,0.233,4,0.000,0.081,3086,2535,1955,0,0,0,0,0,0,28.83,14.70,14.53
$GC,28170,0.72,270.6,36.3,5.4,1388,28186,0.00,1.90,10.30,0.216,6,0.000,0.103,3093,1473,1886,0,0,0,0,0,0,28.83,14.67,14.57
$GC,28494,0.77,270.6,17.2,6.4,1420,28507,0.12,1.90,2.00,0.151,4,0.133,0.080,3153,2541,1888,0,0,0,0,0,0,14.76,14.69,14.64
$GC,28552,0.75,270.6,13.2,7.5,1425,28558,0.00,1.90,1.38,0.177,6,0.000,0.102,3158,1478,1885,0,0,0,0,0,0,28.83,14.66,14.66
$STATE,28674,end climb,SURFACE_DEPTH_REACHED
$STATE,28674,begin surface coast
$FINISH,1.2,1.015184
$STATE,28705,end surface coast,CONTROL_FINISHED_OK
$STATE,28705,begin surface
$SM_CCo,28724,39.80,0.122,0,0,1563,350.04
$SM_GC,2.02,8.57,0.57,39.80,0.076,0.089,0.122,137,1787,1563,-8.54,-0.79,350.04,0,0,0,0,0,0,14.77,14.76,14.69
$IRIDIUM_FIX,2437.06,-3722.10,091012,181857
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.83
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,7739424
$TM_FREEKB,7118624
$24V_AH,13.5,35.115
$10V_AH,13.4,0.000
$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,23.425,166.475,354.350,39.800,0.000,0.000,0.000,491.275,0.250,0.000,20.402,4423.772,20476.137,626.408,3725.347,314.933,0.000,2697.833,0.000,3013.237,0.000,0.542,0.000
$DEVICE_MAMPS,390.150,141.525,1915.560,122.400,0.000,0.000,0.000,185.895,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28741.000,7517.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.801,13.342,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,49972,1440
$CAP_FILE_SIZE,304759,0
$CFSIZE,260034560,243396608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043, 22.7,1
$GPS,101012,025928,2449.406,-3720.378,39,0.8,39,-13.8