version: 66.11
glider: 190
mission: 6
dive: 94
start: 10 14 112 9 49 52
data:
$ID,190
$MISSION,6
$DIVE,94
$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,-12384.446
$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,25
$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
$GPS1,141012,093804,2511.836,-3736.960,38,0.8,38,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.5
$GPS2,141012,094924,2511.825,-3736.915,15,1.3,16,-13.8
$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,294.9,112418,-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,14339,-0.69,-97.3,925.1,-5.6,725,14344,0.00,1.98,0.00,0.000,4,0.000,0.124,2661,730,3350,0,0,0,0,0,0,28.83,14.69,28.83
$GC,14416,-0.69,-97.3,929.1,-6.0,727,14421,0.00,1.90,0.00,0.000,6,0.000,0.086,2653,1800,3350,0,0,0,0,0,0,28.83,14.73,28.83
$GC,14734,-0.69,-97.3,948.2,-5.8,738,14735,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1798,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15033,-0.69,-97.3,967.6,-6.7,748,15039,0.00,1.98,0.00,0.000,4,0.000,0.125,2653,730,3348,0,0,0,0,0,0,28.83,14.68,28.83
$GC,15115,-0.69,-97.3,972.4,-7.2,750,15121,0.00,1.90,0.00,0.000,6,0.000,0.089,2648,1780,3348,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,15336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15336,begin apogee
$GC,15341,-0.19,0.0,990.9,-7.4,758,15434,0.57,0.00,86.72,1.904,6,0.213,0.000,2817,1479,2987,0,0,0,0,0,0,14.58,28.83,13.55
$STATE,15437,end apogee,CONTROL_FINISHED_OK
$STATE,15437,begin climb
$GC,15438,0.58,97.3,993.6,0.0,761,15540,0.80,0.00,97.38,1.892,6,0.138,0.000,3072,1479,2592,0,0,0,0,0,0,14.24,28.83,13.44
$GC,15819,0.55,120.3,980.1,5.1,774,15849,0.00,0.00,22.25,1.834,6,0.000,0.000,3073,1479,2492,0,0,0,0,0,0,28.83,28.83,13.78
$GC,16149,0.52,120.3,958.7,6.8,785,16150,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1479,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16449,0.49,120.3,937.8,6.9,795,16455,0.00,1.92,0.00,0.000,4,0.000,0.101,3073,2540,2486,0,0,0,0,0,0,28.83,14.68,28.83
$GC,16506,0.46,120.3,935.4,6.9,796,16514,0.17,1.98,0.00,0.000,6,0.303,0.114,3040,1475,2484,0,0,0,0,0,0,14.50,14.66,28.83
$GC,16813,0.47,131.2,915.6,5.6,807,16827,0.00,1.98,9.93,1.730,4,0.000,0.099,3040,2541,2452,0,0,0,0,0,0,28.83,14.73,14.05
$GC,16885,0.47,136.9,911.8,5.9,809,16895,0.00,1.98,1.92,0.184,6,0.000,0.116,3048,1475,2431,0,0,0,0,0,0,28.83,14.68,14.62
$GC,17209,0.47,144.7,892.4,5.8,820,17226,0.00,0.00,15.10,1.797,6,0.000,0.000,3048,1475,2399,0,0,0,0,0,0,28.83,28.83,14.02
$GC,17508,0.48,147.8,874.6,6.0,830,17509,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1475,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17807,0.49,168.7,858.1,5.2,840,17837,0.00,0.00,23.95,1.799,6,0.000,0.000,3048,1475,2296,0,0,0,0,0,0,28.83,28.83,13.97
$GC,18138,0.52,215.9,843.5,4.1,851,18188,0.00,0.00,48.72,1.789,6,0.000,0.000,3048,1475,2108,0,0,0,0,0,0,28.83,28.83,13.75
$GC,18469,0.55,237.8,827.7,5.2,862,18498,0.00,1.95,21.65,1.717,4,0.000,0.094,3049,2539,2012,0,0,0,0,0,0,28.83,14.47,13.84
$GC,18525,0.59,258.3,826.0,5.2,863,18554,0.00,2.00,22.38,1.688,6,0.000,0.112,3055,1474,1930,0,0,0,0,0,0,28.83,14.47,13.75
$GC,18863,0.62,258.3,800.2,7.8,875,18869,0.10,2.00,0.00,0.000,4,0.164,0.130,3101,416,1919,0,0,0,0,0,0,14.64,14.54,28.83
$GC,18906,0.64,258.3,797.0,8.2,876,18911,0.00,1.90,0.00,0.000,6,0.000,0.082,3101,1486,1919,0,0,0,0,0,0,28.83,14.64,28.83
$GC,19230,0.62,258.3,762.1,10.7,887,19231,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1486,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19529,0.59,258.3,731.5,10.1,897,19531,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1486,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19828,0.58,258.3,701.9,9.8,907,19834,0.00,2.00,0.00,0.000,4,0.000,0.129,3109,419,1916,0,0,0,0,0,0,28.83,14.69,28.83
$GC,19881,0.55,258.3,698.5,10.0,908,19887,0.15,1.85,0.00,0.000,6,0.276,0.080,3073,1488,1916,0,0,0,0,0,0,14.62,14.77,28.83
$GC,20196,0.55,258.3,669.8,8.1,919,20201,0.00,1.88,0.00,0.000,4,0.000,0.100,3073,2538,1915,0,0,0,0,0,0,28.83,14.75,28.83
$GC,20238,0.55,258.3,667.2,8.0,920,20243,0.00,1.95,0.00,0.000,6,0.000,0.115,3081,1480,1914,0,0,0,0,0,0,28.83,14.73,28.83
$GC,20561,0.55,258.3,640.3,8.1,931,20566,0.00,1.98,0.00,0.000,4,0.000,0.132,3089,421,1914,0,0,0,0,0,0,28.83,14.69,28.83
$GC,20643,0.55,258.3,634.8,8.4,933,20648,0.00,1.85,0.00,0.000,6,0.000,0.083,3089,1480,1915,0,0,0,0,0,0,28.83,14.78,28.83
$GC,20955,0.55,258.3,605.7,8.7,944,20960,0.00,1.88,0.00,0.000,4,0.000,0.098,3089,2537,1914,0,0,0,0,0,0,28.83,14.76,28.83
$GC,21001,0.55,258.3,602.7,8.8,945,21007,0.00,1.95,0.00,0.000,6,0.000,0.112,3097,1475,1914,0,0,0,0,0,0,28.83,14.73,28.83
$GC,21321,0.54,258.3,572.7,8.8,956,21327,0.12,1.92,0.00,0.000,4,0.295,0.125,3072,422,1915,0,0,0,0,0,0,14.61,14.70,28.83
$GC,21373,0.54,258.3,569.7,8.7,957,21378,0.00,1.85,0.00,0.000,6,0.000,0.080,3072,1482,1914,0,0,0,0,0,0,28.83,14.79,28.83
$GC,21687,0.55,258.3,545.0,7.5,968,21692,0.00,1.98,0.00,0.000,4,0.000,0.128,3076,422,1915,0,0,0,0,0,0,28.83,14.70,28.83
$GC,21743,0.55,258.3,542.2,7.8,969,21749,0.00,1.83,0.00,0.000,6,0.000,0.080,3080,1481,1915,0,0,0,0,0,0,28.83,14.78,28.83
$GC,22050,0.55,258.3,513.7,9.1,980,22051,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1481,1915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22349,0.55,258.3,485.2,9.7,990,22354,0.00,1.98,0.00,0.000,4,0.000,0.126,3091,422,1915,0,0,0,0,0,0,28.83,14.70,28.83
$GC,22415,0.55,258.3,479.0,9.9,992,22421,0.00,1.88,0.00,0.000,6,0.000,0.079,3088,1484,1915,0,0,0,0,0,0,28.83,14.78,28.83
$GC,22745,0.55,258.3,447.1,9.5,1003,22746,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1484,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23044,0.55,258.3,416.7,10.4,1013,23049,0.00,1.85,0.00,0.000,4,0.000,0.092,3088,2544,1915,0,0,0,0,0,0,28.83,14.78,28.83
$GC,23091,0.55,258.3,413.2,10.6,1014,23096,0.00,1.95,0.00,0.000,6,0.000,0.113,3095,1479,1916,0,0,0,0,0,0,28.83,14.74,28.83
$GC,23408,0.55,258.3,378.9,9.9,1025,23413,0.00,1.95,0.00,0.000,4,0.000,0.125,3104,421,1916,0,0,0,0,0,0,28.83,14.69,28.83
$GC,23501,0.53,258.3,369.4,10.1,1028,23507,0.15,1.83,0.00,0.000,6,0.253,0.074,3066,1489,1917,0,0,0,0,0,0,14.64,14.80,28.83
$GC,23835,0.56,258.3,344.5,7.2,1039,23836,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1489,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24135,0.58,258.3,322.8,7.2,1049,24136,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1489,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24435,0.61,258.3,299.8,7.9,1059,24440,0.00,1.83,0.00,0.000,4,0.000,0.088,3066,2535,1917,0,0,0,0,0,0,28.83,14.78,28.83
$GC,24482,0.64,258.3,296.9,8.1,1060,24487,0.00,1.95,0.00,0.000,6,0.000,0.112,3074,1471,1917,0,0,0,0,0,0,28.83,14.75,28.83
$GC,24801,0.66,258.3,266.1,9.9,1071,24806,0.00,1.95,0.00,0.000,4,0.000,0.125,3081,413,1918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,24857,0.68,258.3,262.6,10.2,1072,24864,0.00,1.83,0.00,0.000,6,0.000,0.068,3082,1481,1919,0,0,0,0,0,0,28.83,14.80,28.83
$GC,25163,0.68,258.3,228.0,10.5,1097,25168,0.00,1.83,0.00,0.000,4,0.000,0.089,3081,2534,1919,0,0,0,0,0,0,28.83,14.73,28.83
$GC,25189,0.68,258.3,225.7,10.1,1099,25197,0.00,1.95,0.00,0.000,6,0.000,0.115,3089,1477,1919,0,0,0,0,0,0,28.83,14.70,28.83
$GC,25495,0.68,258.3,194.4,9.6,1130,25497,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1477,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25796,0.68,258.3,168.3,7.6,1160,25801,0.00,1.90,0.00,0.000,4,0.000,0.094,3089,2537,1920,0,0,0,0,0,0,28.83,14.70,28.83
$GC,25832,0.68,258.3,165.8,7.4,1163,25840,0.00,1.95,0.00,0.000,6,0.000,0.114,3095,1480,1920,0,0,0,0,0,0,28.83,14.66,28.83
$GC,26138,0.68,258.3,144.3,6.7,1194,26140,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1480,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26439,0.68,258.3,124.7,6.7,1224,26445,0.00,1.98,0.00,0.000,4,0.000,0.132,3100,419,1921,0,0,0,0,0,0,28.83,14.59,28.83
$GC,26537,0.68,258.3,117.0,8.4,1233,26544,0.00,1.85,0.00,0.000,6,0.000,0.070,3097,1489,1918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,26842,0.68,258.3,87.9,9.5,1264,26847,0.00,2.00,0.00,0.000,4,0.000,0.133,3107,419,1922,0,0,0,0,0,0,28.83,14.62,28.83
$GC,26875,0.68,258.3,84.5,10.1,1267,26880,0.00,1.85,0.00,0.000,6,0.000,0.072,3107,1486,1923,0,0,0,0,0,0,28.83,14.69,28.83
$GC,27189,0.69,274.9,59.7,5.4,1298,27200,0.00,1.90,7.05,0.256,4,0.000,0.090,3107,2538,1870,0,0,0,0,0,0,28.83,14.69,14.50
$GC,27269,0.70,295.4,55.4,5.2,1305,27287,0.00,1.95,13.65,0.270,6,0.000,0.112,3109,1480,1787,0,0,0,0,0,0,28.83,14.62,14.50
$GC,27585,0.73,295.4,33.5,7.9,1337,27594,0.00,0.00,2.10,0.165,6,0.000,0.000,3109,1480,1788,0,0,0,0,0,0,28.83,28.83,14.57
$GC,27894,0.76,295.4,9.6,6.9,1368,27901,0.00,2.03,2.15,0.163,4,0.000,0.125,3117,413,1785,0,0,0,0,0,0,28.83,14.62,14.59
$GC,27973,0.78,295.4,3.6,8.2,1375,27981,0.00,1.83,1.48,0.172,6,0.000,0.070,3117,1486,1783,0,0,0,0,0,0,28.83,14.71,14.64
$STATE,27987,end climb,SURFACE_DEPTH_REACHED
$STATE,27987,begin surface coast
$FINISH,1.0,1.014053
$STATE,28018,end surface coast,CONTROL_FINISHED_OK
$STATE,28018,begin surface
$SM_CCo,28037,26.88,0.127,0,0,1562,350.04
$SM_GC,2.34,8.38,0.55,26.88,0.067,0.086,0.127,146,1795,1562,-8.53,-0.62,350.04,0,0,0,0,0,0,14.71,14.73,14.67
$IRIDIUM_FIX,2503.20,-3736.00,141012,010116
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.74
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7734048
$TM_FREEKB,6967392
$24V_AH,13.4,40.413
$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,22.525,177.225,376.425,26.875,0.000,0.000,0.000,405.650,0.000,0.000,16.754,4365.491,19746.652,670.957,3605.698,337.097,0.000,2637.484,0.000,2979.769,0.000,0.541,0.000
$DEVICE_MAMPS,374.850,136.170,1904.085,126.990,0.000,0.000,0.000,189.720,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28054.000,6941.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.598,13.311,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,49889,1380
$CAP_FILE_SIZE,299561,0
$CFSIZE,260034560,241197056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015,187.9,1
$GPS,141012,173859,2512.142,-3740.295,41,0.8,41,-13.8