version: 66.11
glider: 190
mission: 6
dive: 90
start: 10 13 112 1 8 52
data:
$ID,190
$MISSION,6
$DIVE,90
$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,-12379.407
$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,16
$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
$GPS1,131012,005728,2512.431,-3723.040,39,0.8,39,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-59.6
$GPS2,131012,010824,2512.344,-3723.062,16,1.4,17,-13.7
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,292.2,135633,-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,5314,-0.61,-97.3,349.5,-7.8,412,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1788,3375,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14325,-0.73,-97.3,917.1,-6.6,710,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1791,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14626,-0.75,-97.3,935.8,-6.1,720,14631,0.00,1.98,0.00,0.000,4,0.000,0.125,2674,725,3346,0,0,0,0,0,0,28.83,14.70,28.83
$GC,14689,-0.75,-97.3,939.7,-5.9,722,14694,0.00,1.90,0.00,0.000,6,0.000,0.090,2674,1789,3346,0,0,0,0,0,0,28.83,14.73,28.83
$GC,15024,-0.77,-97.3,955.4,-4.2,733,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1790,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15322,-0.79,-97.3,967.6,-4.2,743,15324,0.12,0.00,0.00,0.000,6,0.167,0.000,2632,1790,3345,0,0,0,0,0,0,14.76,28.83,28.83
$GC,15622,-0.77,-97.3,986.3,-6.6,753,15627,0.00,1.90,0.00,0.000,4,0.000,0.103,2631,2856,3344,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,15684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15684,begin apogee
$GC,15691,-0.19,0.0,990.6,-6.7,755,15815,0.65,0.00,118.53,1.625,6,0.224,0.000,2819,1473,2991,0,0,0,0,0,0,14.56,28.83,13.62
$STATE,15817,end apogee,CONTROL_FINISHED_OK
$STATE,15817,begin climb
$GC,15819,0.58,97.3,994.0,0.0,759,15928,0.80,2.15,97.35,1.879,4,0.139,0.157,3081,422,2585,0,0,0,0,0,0,14.21,14.02,13.46
$GC,15945,0.58,220.5,994.3,0.9,763,16076,0.00,1.98,121.97,1.863,6,0.000,0.090,3081,1486,2085,0,0,0,0,0,0,28.83,14.22,13.43
$GC,16384,0.58,220.5,966.2,7.0,778,16389,0.00,1.95,0.00,0.000,4,0.000,0.116,3081,2542,2068,0,0,0,0,0,0,28.83,14.53,28.83
$GC,16455,0.58,220.5,961.6,7.2,780,16461,0.00,2.03,0.00,0.000,6,0.000,0.133,3087,1483,2066,0,0,0,0,0,0,28.83,14.53,28.83
$GC,16779,0.58,220.5,933.8,8.9,791,16785,0.00,2.08,0.00,0.000,4,0.000,0.159,3094,417,2065,0,0,0,0,0,0,28.83,14.58,28.83
$GC,16831,0.57,220.5,930.4,9.2,792,16836,0.00,1.90,0.00,0.000,6,0.000,0.090,3095,1492,2065,0,0,0,0,0,0,28.83,14.68,28.83
$GC,17145,0.55,220.5,898.9,9.4,803,17146,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1492,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17445,0.53,220.5,872.7,8.3,813,17447,0.12,0.00,0.00,0.000,6,0.293,0.000,3067,1498,2062,0,0,0,0,0,0,14.58,28.83,28.83
$GC,17743,0.53,220.5,851.5,7.2,823,17745,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1495,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18044,0.53,220.5,829.3,7.7,833,18045,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1495,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18344,0.53,220.5,804.0,8.7,843,18345,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1495,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18644,0.53,220.5,778.3,8.3,853,18649,0.00,2.08,0.00,0.000,4,0.000,0.154,3070,419,2061,0,0,0,0,0,0,28.83,14.63,28.83
$GC,18686,0.53,220.5,775.6,8.4,854,18691,0.00,1.88,0.00,0.000,6,0.000,0.086,3075,1479,2061,0,0,0,0,0,0,28.83,14.76,28.83
$GC,19009,0.53,220.5,747.8,8.2,865,19014,0.00,1.92,0.00,0.000,4,0.000,0.110,3070,2546,2060,0,0,0,0,0,0,28.83,14.72,28.83
$GC,19111,0.53,220.5,739.7,8.4,868,19116,0.00,2.03,0.00,0.000,6,0.000,0.130,3078,1473,2059,0,0,0,0,0,0,28.83,14.67,28.83
$GC,19435,0.53,220.5,712.4,8.2,879,19436,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1473,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19733,0.53,220.5,688.8,7.6,889,19734,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1473,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20034,0.53,220.5,668.2,6.7,899,20035,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1473,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20334,0.53,220.5,645.4,8.1,909,20339,0.00,2.03,0.00,0.000,4,0.000,0.148,3086,416,2060,0,0,0,0,0,0,28.83,14.58,28.83
$GC,20375,0.53,220.5,642.4,8.4,910,20380,0.00,1.88,0.00,0.000,6,0.000,0.081,3086,1482,2060,0,0,0,0,0,0,28.83,14.76,28.83
$GC,20699,0.53,220.5,611.5,9.3,921,20700,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1482,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20998,0.53,220.5,583.8,9.2,931,20999,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1486,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21298,0.53,220.5,557.7,8.4,941,21303,0.00,2.05,0.00,0.000,4,0.000,0.146,3093,418,2061,0,0,0,0,0,0,28.83,14.63,28.83
$GC,21354,0.53,220.5,554.7,8.5,942,21363,0.12,1.88,0.00,0.000,6,0.290,0.082,3065,1483,2061,0,0,0,0,0,0,14.49,14.67,28.83
$GC,21662,0.53,220.5,530.7,6.9,953,21667,0.00,1.88,0.00,0.000,4,0.000,0.095,3065,2541,2061,0,0,0,0,0,0,28.83,14.73,28.83
$GC,21724,0.53,220.5,526.4,6.7,955,21729,0.00,1.95,0.00,0.000,6,0.000,0.112,3073,1478,2061,0,0,0,0,0,0,28.83,14.69,28.83
$GC,22057,0.53,229.6,506.4,5.7,966,22059,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1478,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22357,0.53,229.6,488.6,6.3,976,22358,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1478,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22656,0.53,229.6,465.5,8.4,986,22661,0.00,1.90,0.00,0.000,4,0.000,0.092,3073,2544,2061,0,0,0,0,0,0,28.83,14.75,28.83
$GC,22713,0.53,229.6,462.5,8.7,987,22719,0.00,1.95,0.00,0.000,6,0.000,0.109,3081,1479,2061,0,0,0,0,0,0,28.83,14.69,28.83
$GC,23019,0.53,229.6,430.4,10.1,998,23020,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1479,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23319,0.53,229.6,403.7,8.2,1008,23324,0.00,2.00,0.00,0.000,4,0.000,0.138,3088,419,2062,0,0,0,0,0,0,28.83,14.64,28.83
$GC,23371,0.53,229.6,400.9,8.1,1009,23376,0.00,1.85,0.00,0.000,6,0.000,0.074,3089,1485,2062,0,0,0,0,0,0,28.83,14.76,28.83
$GC,23684,0.53,229.6,375.5,7.5,1020,23685,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1485,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23983,0.53,229.6,350.4,8.8,1030,23989,0.00,2.03,1.30,0.184,4,0.000,0.135,3096,416,2052,0,0,0,0,0,0,28.83,14.66,14.66
$GC,24040,0.53,229.6,347.1,9.1,1031,24048,0.12,1.85,0.00,0.000,6,0.267,0.073,3067,1485,2061,0,0,0,0,0,0,14.57,14.76,28.83
$GC,24348,0.53,229.6,319.0,8.3,1042,24349,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1485,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24647,0.55,229.6,296.4,7.1,1052,24652,0.00,1.88,0.00,0.000,4,0.000,0.095,3066,2546,2062,0,0,0,0,0,0,28.83,14.74,28.83
$GC,24748,0.55,229.6,290.5,6.5,1055,24754,0.00,1.98,0.00,0.000,6,0.000,0.119,3074,1480,2062,0,0,0,0,0,0,28.83,14.68,28.83
$GC,25072,0.55,229.6,267.9,7.3,1066,25075,0.00,0.00,1.30,0.181,6,0.000,0.000,3074,1481,2052,0,0,0,0,0,0,28.83,28.83,14.69
$GC,25370,0.55,229.6,244.1,8.0,1080,25374,0.00,0.00,1.42,0.176,6,0.000,0.000,3074,1481,2051,0,0,0,0,0,0,28.83,28.83,14.68
$GC,25672,0.55,229.6,220.9,7.6,1110,25675,0.00,0.00,1.38,0.177,6,0.000,0.000,3074,1480,2053,0,0,0,0,0,0,28.83,28.83,14.66
$GC,25973,0.57,229.6,198.4,6.7,1140,25979,0.00,1.95,1.48,0.170,4,0.000,0.125,3082,419,2052,0,0,0,0,0,0,28.83,14.59,14.62
$GC,26030,0.57,229.6,194.5,7.1,1145,26038,0.00,1.83,1.17,0.188,6,0.000,0.066,3084,1483,2050,0,0,0,0,0,0,28.83,14.72,14.65
$GC,26338,0.57,229.6,172.7,7.2,1176,26347,0.00,0.00,1.48,0.177,6,0.000,0.000,3082,1483,2053,0,0,0,0,0,0,28.83,28.83,14.63
$GC,26647,0.57,229.6,149.3,7.4,1207,26650,0.00,0.00,1.52,0.174,6,0.000,0.000,3082,1483,2052,0,0,0,0,0,0,28.83,28.83,14.60
$GC,26947,0.57,229.6,127.1,7.5,1237,26951,0.00,0.00,1.45,0.177,6,0.000,0.000,3082,1483,2053,0,0,0,0,0,0,28.83,28.83,14.62
$GC,27248,0.57,229.6,102.1,8.7,1267,27255,0.00,2.00,1.50,0.168,4,0.000,0.132,3086,420,2054,0,0,0,0,0,0,28.83,14.54,14.62
$GC,27362,0.57,229.6,91.4,9.2,1278,27368,0.00,1.83,1.67,0.171,6,0.000,0.067,3086,1483,2053,0,0,0,0,0,0,28.83,14.70,14.59
$GC,27678,0.59,237.2,69.9,5.8,1309,27686,0.00,0.00,6.25,0.262,6,0.000,0.000,3086,1483,2022,0,0,0,0,0,0,28.83,28.83,14.44
$GC,27988,0.62,246.3,50.4,5.7,1340,28001,0.00,1.80,7.82,0.239,4,0.000,0.082,3086,2534,1987,0,0,0,0,0,0,28.83,14.66,14.47
$GC,28033,0.65,246.3,47.4,7.1,1344,28040,0.00,1.92,1.75,0.184,6,0.000,0.106,3094,1480,1985,0,0,0,0,0,0,28.83,14.63,14.57
$GC,28339,0.68,246.3,26.0,8.1,1375,28349,0.00,0.00,2.45,0.167,6,0.000,0.000,3090,1480,1987,0,0,0,0,0,0,28.83,28.83,14.50
$GC,28648,0.71,246.3,4.7,6.3,1406,28657,0.00,0.00,2.30,0.160,6,0.000,0.000,3094,1479,1984,0,0,0,0,0,0,28.83,28.83,14.65
$STATE,28676,end climb,SURFACE_DEPTH_REACHED
$STATE,28676,begin surface coast
$FINISH,1.1,1.011479
$STATE,28717,end surface coast,CONTROL_FINISHED_OK
$STATE,28718,begin surface
$SM_CCo,28738,50.78,0.124,0,0,1560,350.04
$SM_GC,1.69,8.38,0.57,50.78,0.073,0.093,0.124,140,1786,1560,-8.54,-0.82,350.04,0,0,0,0,0,0,14.74,14.73,14.66
$IRIDIUM_FIX,2503.20,-3718.87,121012,171746
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.08
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7735584
$TM_FREEKB,7012160
$24V_AH,13.4,38.859
$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,22.625,151.375,374.100,50.775,0.000,0.000,0.000,395.950,0.000,0.000,17.643,4299.137,20657.617,618.428,3524.528,330.524,0.000,2549.376,0.000,2917.034,0.000,0.541,0.000
$DEVICE_MAMPS,383.265,159.120,1878.840,123.930,0.000,0.000,0.000,187.425,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28755.000,7069.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.670,13.330,0.000,0.000
$MEM,344980
$DATA_FILE_SIZE,49923,1413
$CAP_FILE_SIZE,294658,0
$CFSIZE,260034560,241852416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,191.4,1
$GPS,131012,090958,2512.183,-3726.694,36,0.7,36,-13.7