version: 66.11
glider: 190
mission: 6
dive: 87
start: 10 12 112 3 16 44
data:
$ID,190
$MISSION,6
$DIVE,87
$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,-12375.536
$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,14
$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
$GPS1,121012,030505,2507.509,-3720.179,39,0.8,39,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-64.6
$GPS2,121012,031617,2507.442,-3720.258,15,1.1,16,-13.7
$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,7.8,8452,-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,14527,-0.74,-97.3,935.7,-6.4,731,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1796,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14826,-0.74,-97.3,956.3,-6.9,741,14827,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1796,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15126,-0.74,-97.3,978.1,-7.2,751,15131,0.00,2.00,0.00,0.000,4,0.000,0.125,2647,731,3348,0,0,0,0,0,0,28.83,14.68,28.83
$GC,15207,-0.74,-97.3,983.1,-7.7,753,15212,0.00,1.88,0.00,0.000,6,0.000,0.090,2645,1790,3347,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,15278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15278,begin apogee
$GC,15283,-0.19,0.0,990.2,-7.8,756,15410,0.60,0.00,121.20,1.615,6,0.217,0.000,2819,1475,2988,0,0,0,0,0,0,14.57,28.83,13.64
$STATE,15412,end apogee,CONTROL_FINISHED_OK
$STATE,15412,begin climb
$GC,15413,0.58,97.3,993.9,0.0,760,15524,0.77,2.12,96.82,1.880,4,0.134,0.144,3077,431,2585,0,0,0,0,0,0,14.23,14.03,13.45
$GC,15561,0.57,193.3,992.9,2.0,765,15666,0.00,1.90,95.00,1.851,6,0.000,0.086,3076,1483,2193,0,0,0,0,0,0,28.83,14.30,13.45
$GC,15978,0.57,193.3,963.8,7.6,779,15984,0.00,1.90,0.00,0.000,4,0.000,0.106,3077,2536,2181,0,0,0,0,0,0,28.83,14.54,28.83
$GC,16020,0.57,193.3,961.2,7.8,780,16025,0.00,1.95,0.00,0.000,6,0.000,0.119,3084,1483,2180,0,0,0,0,0,0,28.83,14.55,28.83
$GC,16344,0.56,193.3,932.8,8.7,791,16349,0.00,2.00,0.00,0.000,4,0.000,0.142,3093,419,2179,0,0,0,0,0,0,28.83,14.59,28.83
$GC,16380,0.53,193.3,929.7,8.9,792,16386,0.12,1.88,0.00,0.000,6,0.285,0.086,3065,1490,2178,0,0,0,0,0,0,14.54,14.69,28.83
$GC,16709,0.53,193.3,901.1,8.5,803,16714,0.00,1.90,0.00,0.000,4,0.000,0.106,3064,2543,2177,0,0,0,0,0,0,28.83,14.70,28.83
$GC,16766,0.53,193.3,898.2,8.7,804,16773,0.00,1.95,0.00,0.000,6,0.000,0.120,3072,1480,2176,0,0,0,0,0,0,28.83,14.68,28.83
$GC,17072,0.53,193.3,868.2,9.1,815,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1480,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17373,0.53,193.3,844.5,7.6,825,17378,0.00,2.00,0.00,0.000,4,0.000,0.138,3080,418,2175,0,0,0,0,0,0,28.83,14.69,28.83
$GC,17604,0.50,193.3,828.5,7.4,832,17610,0.00,1.85,0.00,0.000,6,0.000,0.080,3080,1486,2175,0,0,0,0,0,0,28.83,14.76,28.83
$GC,17918,0.49,193.3,806.5,6.6,843,17924,0.12,2.03,0.00,0.000,4,0.282,0.135,3055,419,2174,0,0,0,0,0,0,14.57,14.66,28.83
$GC,18036,0.49,193.3,800.5,6.5,846,18042,0.00,1.85,0.00,0.000,6,0.000,0.081,3055,1486,2174,0,0,0,0,0,0,28.83,14.76,28.83
$GC,18341,0.49,202.8,781.4,5.7,857,18345,0.00,0.00,1.40,0.183,6,0.000,0.000,3055,1486,2161,0,0,0,0,0,0,28.83,28.83,14.70
$GC,18641,0.49,202.8,763.4,6.3,867,18646,0.00,1.85,0.00,0.000,4,0.000,0.100,3055,2536,2171,0,0,0,0,0,0,28.83,14.73,28.83
$GC,18734,0.49,202.8,756.7,7.2,870,18739,0.00,1.92,0.00,0.000,6,0.000,0.114,3063,1479,2171,0,0,0,0,0,0,28.83,14.70,28.83
$GC,19067,0.49,202.8,730.8,7.9,881,19069,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1479,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19366,0.49,202.8,706.6,8.1,891,19371,0.00,1.88,0.00,0.000,4,0.000,0.096,3063,2535,2171,0,0,0,0,0,0,28.83,14.73,28.83
$GC,19417,0.49,202.8,703.9,8.2,892,19422,0.00,1.92,0.00,0.000,6,0.000,0.111,3071,1475,2171,0,0,0,0,0,0,28.83,14.71,28.83
$GC,19730,0.49,202.8,677.0,7.9,903,19733,0.00,0.00,1.12,0.200,6,0.000,0.000,3071,1475,2161,0,0,0,0,0,0,28.83,28.83,14.69
$GC,20030,0.49,202.8,655.7,6.7,913,20031,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1475,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20330,0.49,202.8,636.3,6.5,923,20335,0.00,1.90,0.00,0.000,4,0.000,0.091,3070,2541,2170,0,0,0,0,0,0,28.83,14.73,28.83
$GC,20401,0.49,202.8,632.0,6.7,925,20406,0.00,1.92,0.00,0.000,6,0.000,0.107,3078,1477,2171,0,0,0,0,0,0,28.83,14.71,28.83
$GC,20725,0.49,202.8,608.8,7.2,936,20726,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1478,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21023,0.49,202.8,587.6,7.1,946,21028,0.00,1.95,0.00,0.000,4,0.000,0.129,3087,417,2171,0,0,0,0,0,0,28.83,14.64,28.83
$GC,21085,0.49,202.8,582.7,7.6,948,21092,0.15,1.83,1.17,0.189,6,0.275,0.074,3052,1485,2161,0,0,0,0,0,0,14.54,14.77,14.70
$GC,21419,0.52,202.8,560.9,6.5,959,21424,0.00,1.85,0.00,0.000,4,0.000,0.093,3051,2541,2171,0,0,0,0,0,0,28.83,14.73,28.83
$GC,21506,0.53,202.8,556.7,6.6,961,21514,0.00,1.92,0.00,0.000,6,0.000,0.109,3059,1482,2171,0,0,0,0,0,0,28.83,14.69,28.83
$GC,21812,0.54,220.9,537.4,5.3,972,21841,0.00,0.00,23.60,1.449,6,0.000,0.000,3059,1482,2083,0,0,0,0,0,0,28.83,28.83,14.13
$GC,22143,0.58,238.3,519.6,5.4,983,22166,0.00,1.88,17.40,1.400,4,0.000,0.090,3059,2540,2013,0,0,0,0,0,0,28.83,14.66,14.10
$GC,22204,0.60,247.8,515.8,5.7,985,22223,0.00,1.92,10.93,1.340,6,0.000,0.108,3067,1479,1972,0,0,0,0,0,0,28.83,14.63,14.06
$GC,22535,0.62,247.8,492.9,7.3,996,22540,0.00,1.98,0.00,0.000,4,0.000,0.128,3075,421,1965,0,0,0,0,0,0,28.83,14.59,28.83
$GC,22572,0.64,247.8,490.2,7.6,997,22577,0.00,1.83,0.00,0.000,6,0.000,0.076,3075,1480,1966,0,0,0,0,0,0,28.83,14.69,28.83
$GC,22900,0.64,247.8,463.0,7.9,1008,22906,0.00,1.85,0.00,0.000,4,0.000,0.093,3076,2540,1965,0,0,0,0,0,0,28.83,14.69,28.83
$GC,22948,0.64,247.8,460.2,7.9,1009,22953,0.00,1.92,0.00,0.000,6,0.000,0.110,3083,1478,1965,0,0,0,0,0,0,28.83,14.68,28.83
$GC,23265,0.64,247.8,433.0,8.3,1020,23266,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1478,1965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23565,0.64,247.8,407.3,8.7,1030,23566,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1478,1965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23865,0.64,247.8,379.1,9.6,1040,23870,0.00,1.95,0.00,0.000,4,0.000,0.125,3091,420,1965,0,0,0,0,0,0,28.83,14.68,28.83
$GC,23931,0.64,247.8,372.9,9.7,1042,23936,0.00,1.80,0.00,0.000,6,0.000,0.072,3091,1480,1965,0,0,0,0,0,0,28.83,14.78,28.83
$GC,24259,0.64,247.8,341.4,9.3,1053,24260,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1480,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24558,0.64,247.8,314.1,9.1,1063,24560,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1481,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24858,0.64,247.8,286.6,9.0,1073,24864,0.00,1.83,0.00,0.000,4,0.000,0.086,3091,2543,1966,0,0,0,0,0,0,28.83,14.77,28.83
$GC,24899,0.64,247.8,283.6,9.1,1074,24905,0.00,1.92,0.00,0.000,6,0.000,0.104,3099,1469,1966,0,0,0,0,0,0,28.83,14.74,28.83
$GC,25223,0.64,247.8,252.2,9.6,1085,25229,0.00,1.92,0.00,0.000,4,0.000,0.122,3107,421,1967,0,0,0,0,0,0,28.83,14.69,28.83
$GC,25289,0.64,247.8,245.7,9.7,1089,25295,0.00,1.80,0.00,0.000,6,0.000,0.070,3107,1482,1967,0,0,0,0,0,0,28.83,14.71,28.83
$GC,25603,0.62,247.8,218.2,8.7,1120,25609,0.00,1.83,0.00,0.000,4,0.000,0.090,3107,2533,1967,0,0,0,0,0,0,28.83,14.67,28.83
$GC,25666,0.62,247.8,212.5,9.1,1126,25672,0.00,1.90,0.00,0.000,6,0.000,0.106,3114,1477,1968,0,0,0,0,0,0,28.83,14.69,28.83
$GC,25980,0.60,247.8,184.5,8.7,1157,25986,0.00,1.92,0.00,0.000,4,0.000,0.123,3123,422,1968,0,0,0,0,0,0,28.83,14.64,28.83
$GC,26064,0.57,247.8,176.5,9.7,1165,26071,0.17,1.80,0.00,0.000,6,0.236,0.069,3077,1483,1968,0,0,0,0,0,0,14.57,14.68,28.83
$GC,26379,0.59,247.8,151.5,8.1,1196,26380,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1485,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26678,0.61,247.8,128.3,7.1,1226,26683,0.00,1.83,0.00,0.000,4,0.000,0.085,3077,2540,1968,0,0,0,0,0,0,28.83,14.64,28.83
$GC,26715,0.64,247.8,125.9,7.0,1229,26722,0.00,1.90,0.00,0.000,6,0.000,0.103,3085,1480,1968,0,0,0,0,0,0,28.83,14.66,28.83
$GC,27022,0.66,262.0,105.8,5.5,1260,27040,0.00,0.00,14.80,0.965,6,0.000,0.000,3085,1480,1917,0,0,0,0,0,0,28.83,28.83,14.29
$GC,27342,0.70,282.7,88.8,5.2,1292,27359,0.10,1.98,9.68,0.339,4,0.156,0.116,3135,416,1841,0,0,0,0,0,0,14.72,14.64,14.45
$GC,27412,0.67,282.7,83.9,8.2,1298,27420,0.00,1.83,2.25,0.191,6,0.000,0.063,3135,1489,1837,0,0,0,0,0,0,28.83,14.71,14.48
$GC,27717,0.67,282.7,58.7,7.5,1329,27725,0.00,1.88,2.55,0.172,4,0.000,0.085,3135,2534,1839,0,0,0,0,0,0,28.83,14.69,14.51
$GC,27836,0.67,282.7,47.9,10.8,1340,27844,0.15,1.90,2.45,0.170,6,0.247,0.104,3105,1478,1836,0,0,0,0,0,0,14.57,14.63,14.54
$GC,28145,0.69,282.7,22.6,6.9,1371,28152,0.00,0.00,2.58,0.168,6,0.000,0.000,3105,1477,1837,0,0,0,0,0,0,28.83,28.83,14.59
$STATE,28391,end climb,SURFACE_DEPTH_REACHED
$STATE,28391,begin surface coast
$FINISH,1.1,1.009067
$STATE,28422,end surface coast,CONTROL_FINISHED_OK
$STATE,28422,begin surface
$SM_CCo,28441,34.40,0.124,0,0,1561,350.04
$SM_GC,2.11,8.30,0.57,34.40,0.065,0.094,0.124,139,1782,1561,-8.52,-0.82,350.04,0,0,0,0,0,0,14.77,14.73,14.69
$IRIDIUM_FIX,2456.07,-3722.65,111012,191903
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.38
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7736736
$TM_FREEKB,7042432
$24V_AH,13.4,37.810
$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,22.850,163.925,402.950,34.400,0.000,0.000,0.000,412.625,0.000,0.000,17.319,4326.502,20231.742,652.734,3621.316,300.294,0.000,2652.723,0.000,2994.818,0.000,0.542,0.000
$DEVICE_MAMPS,368.730,143.820,1879.605,123.930,0.000,0.000,0.000,188.190,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28460.000,7015.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.598,13.314,0.000,0.000
$MEM,344984
$DATA_FILE_SIZE,50007,1399
$CAP_FILE_SIZE,298187,0
$CFSIZE,260034560,242298880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026, 81.6,1
$GPS,121012,111234,2510.627,-3720.187,34,0.9,34,-13.7