version: 66.11
glider: 190
mission: 6
dive: 83
start: 10 10 112 19 27 5
data:
$ID,190
$MISSION,6
$DIVE,83
$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,-12370.506
$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,13
$R_STBD_OVSHOOT,17
$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
$GPS1,101012,191604,2455.938,-3721.052,25,1.0,25,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.8
$GPS2,101012,192636,2455.878,-3721.040,17,1.1,18,-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,20.1,29908,-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,13202,-0.70,-97.3,867.8,-6.7,686,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1791,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13504,-0.70,-97.3,889.8,-7.5,696,13509,0.00,1.92,0.00,0.000,4,0.000,0.119,2661,732,3353,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13615,-0.70,-97.3,897.6,-8.1,699,13620,0.00,1.85,0.00,0.000,6,0.000,0.084,2661,1792,3353,0,0,0,0,0,0,28.83,14.77,28.83
$GC,13927,-0.70,-97.3,924.9,-8.3,710,13928,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1792,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14227,-0.70,-97.3,949.3,-7.9,720,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1792,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14527,-0.70,-97.3,970.2,-6.7,730,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1792,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14828,-0.70,-97.3,989.2,-6.2,740,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1792,3350,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14855,begin apogee
$GC,14860,-0.19,0.0,990.9,-6.0,741,14952,0.55,0.00,87.22,1.910,6,0.207,0.000,2824,1475,2985,0,0,0,0,0,0,14.64,28.83,13.59
$STATE,14955,end apogee,CONTROL_FINISHED_OK
$STATE,14955,begin climb
$GC,14957,0.58,97.3,992.3,0.0,744,15057,0.77,0.00,95.93,1.880,6,0.135,0.000,3072,1475,2595,0,0,0,0,0,0,14.26,28.83,13.47
$GC,15369,0.54,97.3,971.7,6.3,758,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1475,2578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15670,0.51,103.0,953.4,5.9,768,15671,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1475,2576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15969,0.49,141.6,939.0,4.5,778,16014,0.00,0.00,42.55,1.854,6,0.000,0.000,3072,1475,2412,0,0,0,0,0,0,28.83,28.83,13.83
$GC,16301,0.49,163.5,922.1,5.2,789,16330,0.00,1.92,21.27,1.790,4,0.000,0.094,3073,2537,2316,0,0,0,0,0,0,28.83,14.51,13.88
$GC,16383,0.48,184.9,918.9,5.2,791,16412,0.15,1.95,22.73,1.778,6,0.293,0.113,3047,1483,2233,0,0,0,0,0,0,14.45,14.53,13.79
$GC,16725,0.51,199.3,899.5,5.5,803,16742,0.00,0.00,15.15,1.743,6,0.000,0.000,3046,1483,2177,0,0,0,0,0,0,28.83,28.83,13.92
$GC,17026,0.54,212.6,882.4,5.5,813,17043,0.00,0.00,14.65,1.733,6,0.000,0.000,3046,1483,2122,0,0,0,0,0,0,28.83,28.83,13.94
$GC,17325,0.57,229.5,865.8,5.4,823,17345,0.00,0.00,18.02,1.751,6,0.000,0.000,3046,1483,2053,0,0,0,0,0,0,28.83,28.83,13.94
$GC,17626,0.62,255.3,850.7,5.0,833,17660,0.12,1.92,27.02,1.756,4,0.151,0.098,3098,2541,1942,0,0,0,0,0,0,14.70,14.48,13.88
$GC,17728,0.62,255.3,843.6,7.1,836,17733,0.00,2.00,0.00,0.000,6,0.000,0.116,3105,1476,1934,0,0,0,0,0,0,28.83,14.52,28.83
$GC,18052,0.60,255.3,813.4,9.6,847,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1476,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18351,0.58,255.3,782.7,10.4,857,18356,0.00,1.90,0.00,0.000,4,0.000,0.103,3106,2538,1931,0,0,0,0,0,0,28.83,14.73,28.83
$GC,18414,0.56,255.3,775.6,10.7,859,18420,0.17,1.92,0.00,0.000,6,0.282,0.116,3072,1479,1930,0,0,0,0,0,0,14.63,14.72,28.83
$GC,18748,0.56,255.3,745.2,9.1,870,18753,0.00,1.98,0.00,0.000,4,0.000,0.138,3080,415,1930,0,0,0,0,0,0,28.83,14.71,28.83
$GC,18814,0.56,255.3,739.0,9.5,872,18820,0.00,1.90,0.00,0.000,6,0.000,0.081,3080,1486,1930,0,0,0,0,0,0,28.83,14.78,28.83
$GC,19143,0.56,255.3,706.9,9.7,883,19149,0.00,1.85,0.00,0.000,4,0.000,0.099,3080,2541,1933,0,0,0,0,0,0,28.83,14.79,28.83
$GC,19230,0.56,255.3,700.7,9.7,885,19237,0.00,1.95,0.00,0.000,6,0.000,0.115,3087,1479,1929,0,0,0,0,0,0,28.83,14.76,28.83
$GC,19536,0.56,255.3,669.8,8.9,896,19537,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1479,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19837,0.56,255.3,645.4,7.9,906,19838,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1479,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20136,0.56,255.3,624.9,6.6,916,20141,0.00,1.88,0.00,0.000,4,0.000,0.094,3087,2544,1929,0,0,0,0,0,0,28.83,14.77,28.83
$GC,20182,0.56,255.3,622.6,6.5,917,20187,0.00,1.92,0.00,0.000,6,0.000,0.110,3095,1478,1929,0,0,0,0,0,0,28.83,14.78,28.83
$GC,20500,0.56,255.3,598.2,7.8,928,20501,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1477,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20800,0.56,255.3,573.2,8.4,938,20805,0.00,1.92,0.00,0.000,4,0.000,0.129,3104,421,1929,0,0,0,0,0,0,28.83,14.76,28.83
$GC,20841,0.56,255.3,570.2,8.6,939,20847,0.12,1.80,0.00,0.000,6,0.280,0.073,3075,1483,1929,0,0,0,0,0,0,14.68,14.84,28.83
$GC,21165,0.56,255.3,543.7,8.3,950,21167,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1486,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21465,0.56,255.3,516.6,9.1,960,21466,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1487,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21765,0.56,255.3,489.5,8.9,970,21770,0.00,1.83,0.00,0.000,4,0.000,0.089,3075,2541,1930,0,0,0,0,0,0,28.83,14.82,28.83
$GC,21806,0.56,255.3,486.4,8.9,971,21811,0.00,1.90,0.00,0.000,6,0.000,0.106,3082,1478,1930,0,0,0,0,0,0,28.83,14.79,28.83
$GC,22130,0.56,255.3,457.7,8.9,982,22131,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1477,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22428,0.56,255.3,431.2,8.7,992,22433,0.00,1.95,0.00,0.000,4,0.000,0.126,3091,418,1931,0,0,0,0,0,0,28.83,14.76,28.83
$GC,22474,0.56,255.3,428.4,8.7,993,22480,0.00,1.80,0.00,0.000,6,0.000,0.071,3090,1482,1931,0,0,0,0,0,0,28.83,14.84,28.83
$GC,22793,0.56,255.3,398.1,9.3,1004,22798,0.00,1.83,0.00,0.000,4,0.000,0.090,3090,2535,1931,0,0,0,0,0,0,28.83,14.81,28.83
$GC,22849,0.56,255.3,394.9,9.4,1005,22857,0.00,1.90,0.00,0.000,6,0.000,0.106,3099,1475,1931,0,0,0,0,0,0,28.83,14.78,28.83
$GC,23156,0.56,255.3,363.6,9.5,1016,23157,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1474,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23456,0.56,255.3,335.6,9.3,1026,23457,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1475,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23756,0.56,255.3,307.0,9.4,1036,23761,0.00,1.92,0.00,0.000,4,0.000,0.120,3106,419,1932,0,0,0,0,0,0,28.83,14.72,28.83
$GC,23797,0.56,255.3,303.8,9.5,1037,23803,0.15,1.80,0.00,0.000,6,0.255,0.066,3069,1483,1932,0,0,0,0,0,0,14.68,14.81,28.83
$GC,24122,0.58,255.3,277.1,7.8,1048,24123,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1483,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24421,0.61,255.3,252.8,8.1,1058,24426,0.00,1.80,0.00,0.000,4,0.000,0.084,3069,2535,1933,0,0,0,0,0,0,28.83,14.81,28.83
$GC,24477,0.64,255.3,250.2,8.1,1059,24488,0.00,1.90,0.00,0.000,6,0.000,0.102,3077,1479,1933,0,0,0,0,0,0,28.83,14.78,28.83
$GC,24787,0.66,255.3,224.4,7.0,1090,24792,0.00,1.95,0.00,0.000,4,0.000,0.122,3085,412,1934,0,0,0,0,0,0,28.83,14.70,28.83
$GC,24859,0.66,255.3,219.0,7.4,1097,24864,0.00,1.80,0.00,0.000,6,0.000,0.068,3085,1481,1934,0,0,0,0,0,0,28.83,14.79,28.83
$GC,25172,0.66,255.3,196.2,7.8,1128,25177,0.00,1.83,0.00,0.000,4,0.000,0.089,3085,2537,1934,0,0,0,0,0,0,28.83,14.73,28.83
$GC,25227,0.66,255.3,191.8,8.5,1133,25234,0.00,1.92,0.00,0.000,6,0.000,0.105,3093,1479,1935,0,0,0,0,0,0,28.83,14.71,28.83
$GC,25534,0.66,255.3,165.2,8.3,1164,25540,0.00,1.95,0.00,0.000,4,0.000,0.122,3100,414,1936,0,0,0,0,0,0,28.83,14.66,28.83
$GC,25578,0.66,255.3,161.6,8.2,1168,25583,0.00,1.85,0.00,0.000,6,0.000,0.070,3100,1477,1936,0,0,0,0,0,0,28.83,14.73,28.83
$GC,25891,0.66,255.3,137.2,7.5,1199,25896,0.00,1.83,0.00,0.000,4,0.000,0.090,3100,2534,1937,0,0,0,0,0,0,28.83,14.68,28.83
$GC,25947,0.66,255.3,132.6,8.6,1204,25955,0.00,1.92,0.00,0.000,6,0.000,0.106,3108,1476,1936,0,0,0,0,0,0,28.83,14.69,28.83
$GC,26253,0.66,255.3,103.1,9.5,1235,26259,0.00,1.92,0.00,0.000,4,0.000,0.122,3116,417,1936,0,0,0,0,0,0,28.83,14.66,28.83
$GC,26330,0.64,255.3,95.7,10.1,1242,26336,0.00,1.80,0.00,0.000,6,0.000,0.067,3115,1488,1938,0,0,0,0,0,0,28.83,14.75,28.83
$GC,26636,0.64,255.3,67.6,8.2,1273,26642,0.00,1.83,0.00,0.000,4,0.000,0.086,3115,2531,1938,0,0,0,0,0,0,28.83,14.71,28.83
$GC,26854,0.64,255.3,51.4,8.1,1294,26861,0.00,1.88,0.00,0.000,6,0.000,0.101,3123,1479,1938,0,0,0,0,0,0,28.83,14.69,28.83
$GC,27160,0.64,255.3,27.1,9.5,1325,27161,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1478,1939,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,27459,end climb,SURFACE_DEPTH_REACHED
$STATE,27459,begin surface coast
$FINISH,1.1,1.024493
$STATE,27490,end surface coast,CONTROL_FINISHED_OK
$STATE,27491,begin surface
$SM_CCo,27510,44.45,0.125,0,0,1560,350.04
$SM_GC,1.86,8.45,0.57,44.45,0.073,0.088,0.125,142,1787,1560,-8.54,-0.74,350.04,0,0,0,0,0,0,14.74,14.76,14.69
$IRIDIUM_FIX,2446.56,-3721.66,101012,111103
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.77
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7738272
$TM_FREEKB,7086240
$24V_AH,13.5,36.264
$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,23.525,174.100,344.550,44.450,0.000,0.000,0.000,376.850,0.000,0.000,18.936,4271.993,19417.367,643.579,3522.527,319.779,0.000,2562.854,0.000,2929.020,0.000,0.542,0.000
$DEVICE_MAMPS,400.860,138.465,1910.205,124.695,0.000,0.000,0.000,188.955,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27522.000,6887.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.577,13.334,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,49908,1358
$CAP_FILE_SIZE,291990,0
$CFSIZE,260034560,242925568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017, 64.2,1
$GPS,111012,030734,2459.173,-3720.593,33,0.8,33,-13.7