version: 66.11
glider: 190
mission: 6
dive: 96
start: 10 15 112 1 48 51
data:
$ID,190
$MISSION,6
$DIVE,96
$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,-12387.057
$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,24
$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
$GPS1,151012,013758,2512.399,-3743.491,40,0.8,40,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-63.9
$GPS2,151012,014823,2512.421,-3743.450,17,0.9,17,-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,278.8,101469,-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,13647,-0.68,-97.3,911.9,-6.0,701,13652,0.00,1.98,0.00,0.000,4,0.000,0.126,2662,728,3354,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13754,-0.68,-97.3,918.2,-6.5,704,13759,0.00,1.90,0.00,0.000,6,0.000,0.090,2662,1792,3353,0,0,0,0,0,0,28.83,14.73,28.83
$GC,14073,-0.68,-97.3,938.0,-5.8,715,14078,0.00,1.98,0.00,0.000,4,0.000,0.128,2662,729,3352,0,0,0,0,0,0,28.83,14.68,28.83
$GC,14175,-0.68,-97.3,944.2,-6.3,718,14180,0.00,1.90,0.00,0.000,6,0.000,0.091,2662,1792,3352,0,0,0,0,0,0,28.83,14.71,28.83
$GC,14498,-0.68,-97.3,964.6,-6.3,729,14503,0.00,2.03,0.00,0.000,4,0.000,0.132,2662,723,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,14585,-0.68,-97.3,969.1,-6.7,731,14593,0.00,1.92,0.00,0.000,6,0.000,0.093,2662,1796,3350,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,14889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14889,begin apogee
$GC,14894,-0.19,0.0,991.7,-7.0,742,14986,0.55,0.00,88.00,1.904,6,0.207,0.000,2823,1476,2989,0,0,0,0,0,0,14.59,28.83,13.56
$STATE,14989,end apogee,CONTROL_FINISHED_OK
$STATE,14989,begin climb
$GC,14990,0.58,97.3,994.2,0.0,745,15095,0.77,2.05,96.53,1.886,4,0.135,0.108,3071,2537,2586,0,0,0,0,0,0,14.24,14.08,13.45
$GC,15148,0.57,187.9,992.3,2.2,750,15247,0.00,2.05,89.28,1.851,6,0.000,0.122,3080,1475,2216,0,0,0,0,0,0,28.83,14.30,13.45
$GC,15554,0.55,187.9,963.6,7.6,764,15560,0.00,2.00,0.00,0.000,4,0.000,0.145,3088,425,2205,0,0,0,0,0,0,28.83,14.48,28.83
$GC,15588,0.53,187.9,960.8,7.7,765,15594,0.00,1.90,0.00,0.000,6,0.000,0.086,3088,1485,2204,0,0,0,0,0,0,28.83,14.58,28.83
$GC,15922,0.51,187.9,934.3,7.9,776,15927,0.12,2.08,0.00,0.000,4,0.291,0.152,3063,422,2202,0,0,0,0,0,0,14.51,14.57,28.83
$GC,15989,0.49,187.9,929.6,7.7,778,15994,0.00,1.90,0.00,0.000,6,0.000,0.092,3063,1483,2202,0,0,0,0,0,0,28.83,14.68,28.83
$GC,16318,0.49,187.9,905.8,7.3,789,16323,0.00,2.05,0.00,0.000,4,0.000,0.153,3071,418,2200,0,0,0,0,0,0,28.83,14.62,28.83
$GC,16369,0.49,187.9,903.1,7.4,790,16375,0.00,1.90,0.00,0.000,6,0.000,0.092,3072,1480,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,16682,0.49,187.9,877.6,7.7,801,16688,0.00,1.92,0.00,0.000,4,0.000,0.111,3071,2540,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,16754,0.49,187.9,873.0,7.5,803,16759,0.00,1.98,0.00,0.000,6,0.000,0.121,3080,1482,2199,0,0,0,0,0,0,28.83,14.69,28.83
$GC,17078,0.47,187.9,848.4,7.5,814,17080,0.15,0.00,0.00,0.000,6,0.288,0.000,3044,1482,2199,0,0,0,0,0,0,14.56,28.83,28.83
$GC,17377,0.49,187.9,829.7,6.2,824,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1482,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17677,0.51,195.0,811.7,5.8,834,17682,0.00,1.90,0.00,0.000,4,0.000,0.098,3044,2540,2198,0,0,0,0,0,0,28.83,14.73,28.83
$GC,17755,0.53,200.7,808.0,5.9,836,17765,0.00,1.95,3.53,1.101,6,0.000,0.113,3051,1479,2174,0,0,0,0,0,0,28.83,14.70,14.02
$GC,18074,0.55,226.1,790.6,5.0,847,18109,0.00,0.00,33.58,1.738,6,0.000,0.000,3051,1479,2067,0,0,0,0,0,0,28.83,28.83,13.97
$GC,18404,0.58,239.6,773.0,5.5,858,18423,0.00,1.92,13.80,1.636,4,0.000,0.093,3051,2541,2007,0,0,0,0,0,0,28.83,14.61,14.00
$GC,18465,0.60,245.3,769.2,5.9,860,18471,0.00,1.98,1.55,0.181,6,0.000,0.111,3059,1478,1988,0,0,0,0,0,0,28.83,14.59,14.59
$GC,18799,0.62,245.3,744.5,8.2,871,18800,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1477,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19099,0.64,245.3,715.0,10.3,881,19103,0.12,0.00,0.85,0.214,6,0.147,0.000,3105,1478,1988,0,0,0,0,0,0,14.75,28.83,14.66
$GC,19400,0.62,245.3,677.3,12.3,891,19406,0.00,1.98,0.00,0.000,4,0.000,0.129,3113,416,1995,0,0,0,0,0,0,28.83,14.66,28.83
$GC,19447,0.59,245.3,673.0,12.4,892,19454,0.12,1.88,0.00,0.000,6,0.283,0.080,3085,1487,1995,0,0,0,0,0,0,14.59,14.76,28.83
$GC,19768,0.59,245.3,639.8,9.3,903,19773,0.00,2.00,0.00,0.000,4,0.000,0.132,3092,420,1995,0,0,0,0,0,0,28.83,14.66,28.83
$GC,19834,0.59,245.3,633.7,9.3,905,19839,0.00,1.85,0.00,0.000,6,0.000,0.082,3093,1478,1995,0,0,0,0,0,0,28.83,14.76,28.83
$GC,20162,0.59,245.3,606.4,7.8,916,20168,0.00,2.00,0.00,0.000,4,0.000,0.130,3101,415,1995,0,0,0,0,0,0,28.83,14.68,28.83
$GC,20214,0.58,245.3,603.6,7.8,917,20220,0.00,1.88,0.00,0.000,6,0.000,0.083,3101,1482,1993,0,0,0,0,0,0,28.83,14.77,28.83
$GC,20528,0.55,245.3,577.6,7.7,928,20533,0.12,1.85,0.00,0.000,4,0.282,0.093,3067,2535,1995,0,0,0,0,0,0,14.57,14.74,28.83
$GC,20570,0.55,245.3,575.2,7.6,929,20575,0.00,1.95,0.00,0.000,6,0.000,0.112,3075,1474,1995,0,0,0,0,0,0,28.83,14.72,28.83
$GC,20893,0.55,245.3,551.9,7.4,940,20895,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1475,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21192,0.55,245.3,528.1,8.2,950,21198,0.00,1.95,0.00,0.000,4,0.000,0.126,3083,421,1995,0,0,0,0,0,0,28.83,14.69,28.83
$GC,21239,0.55,245.3,525.4,8.3,951,21245,0.00,1.85,0.00,0.000,6,0.000,0.078,3083,1483,1995,0,0,0,0,0,0,28.83,14.78,28.83
$GC,21558,0.55,245.3,497.2,8.5,962,21559,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1483,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21857,0.55,245.3,471.2,9.0,972,21858,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1483,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22157,0.55,245.3,440.4,10.5,982,22158,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1483,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22457,0.55,245.3,408.0,10.6,992,22458,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1483,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22757,0.55,245.3,381.9,7.9,1002,22762,0.00,1.92,0.00,0.000,4,0.000,0.116,3088,421,1997,0,0,0,0,0,0,28.83,14.70,28.83
$GC,22844,0.55,245.3,377.2,7.5,1004,22851,0.00,1.85,0.00,0.000,6,0.000,0.070,3091,1483,1998,0,0,0,0,0,0,28.83,14.76,28.83
$GC,23150,0.56,248.7,356.5,6.0,1015,23160,0.00,1.85,3.03,0.741,4,0.000,0.089,3091,2525,1976,0,0,0,0,0,0,28.83,14.82,14.11
$GC,23182,0.56,248.7,354.3,6.2,1016,23187,0.00,1.90,0.00,0.000,6,0.000,0.110,3099,1482,1982,0,0,0,0,0,0,28.83,14.76,28.83
$GC,23516,0.56,248.7,326.2,9.7,1027,23526,0.00,1.98,2.40,0.468,4,0.000,0.125,3107,425,1975,0,0,0,0,0,0,28.83,14.77,14.03
$GC,23593,0.54,248.7,319.2,10.5,1029,23600,0.10,1.83,1.33,0.196,6,0.228,0.070,3067,1473,1974,0,0,0,0,0,0,14.62,14.77,14.67
$GC,23913,0.56,248.7,287.6,9.0,1040,23923,0.00,1.92,2.05,0.243,4,0.000,0.090,3067,2543,1977,0,0,0,0,0,0,28.83,14.79,13.68
$GC,23995,0.58,248.7,282.3,8.4,1042,24007,0.00,1.95,1.88,0.174,6,0.000,0.114,3075,1479,1976,0,0,0,0,0,0,28.83,14.72,14.64
$GC,24306,0.58,248.7,256.0,8.2,1053,24310,0.00,0.00,1.90,0.175,6,0.000,0.000,3074,1479,1975,0,0,0,0,0,0,28.83,28.83,14.68
$GC,24605,0.60,248.7,227.6,9.0,1077,24614,0.00,0.00,2.20,0.348,6,0.000,0.000,3075,1479,1976,0,0,0,0,0,0,28.83,28.83,14.00
$GC,24917,0.63,288.0,208.7,4.4,1108,24965,0.00,0.00,43.47,1.097,6,0.000,0.000,3075,1476,1808,0,0,0,0,0,0,28.83,28.83,14.16
$GC,25266,0.66,288.0,189.6,8.1,1143,25271,0.00,1.95,0.00,0.000,4,0.000,0.120,3083,419,1799,0,0,0,0,0,0,28.83,14.57,28.83
$GC,25330,0.68,288.0,183.7,9.7,1149,25335,0.00,1.83,0.00,0.000,6,0.000,0.063,3083,1483,1799,0,0,0,0,0,0,28.83,14.60,28.83
$GC,25644,0.70,288.0,157.7,7.0,1180,25646,0.10,0.00,0.00,0.000,6,0.163,0.000,3125,1483,1799,0,0,0,0,0,0,14.70,28.83,28.83
$GC,25944,0.68,288.0,130.0,9.8,1210,25945,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1483,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26244,0.67,288.0,97.2,9.8,1240,26249,0.00,1.83,0.00,0.000,4,0.000,0.084,3125,2532,1800,0,0,0,0,0,0,28.83,14.65,28.83
$GC,26297,0.65,288.0,92.2,8.9,1245,26303,0.12,1.90,0.00,0.000,6,0.255,0.099,3103,1479,1801,0,0,0,0,0,0,14.56,14.65,28.83
$GC,26611,0.67,288.0,72.7,6.2,1276,26612,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1479,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26911,0.70,293.4,50.5,5.9,1306,26916,0.00,1.90,0.00,0.000,4,0.000,0.115,3109,419,1800,0,0,0,0,0,0,28.83,14.64,28.83
$GC,27116,0.73,313.1,37.2,5.3,1326,27132,0.00,1.80,11.40,0.215,6,0.000,0.061,3109,1480,1715,0,0,0,0,0,0,28.83,14.68,14.57
$GC,27440,0.77,313.1,12.2,7.0,1358,27449,0.00,0.00,2.40,0.160,6,0.000,0.000,3109,1480,1712,0,0,0,0,0,0,28.83,28.83,14.56
$STATE,27568,end climb,SURFACE_DEPTH_REACHED
$STATE,27569,begin surface coast
$FINISH,1.1,1.024756
$STATE,27598,end surface coast,CONTROL_FINISHED_OK
$STATE,27599,begin surface
$SM_CCo,27617,19.35,0.127,0,0,1562,350.04
$SM_GC,1.96,8.40,0.55,19.35,0.072,0.088,0.127,144,1787,1562,-8.53,-0.82,350.04,0,0,0,0,0,0,14.73,14.73,14.67
$IRIDIUM_FIX,2503.20,-4236.77,141012,171730
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.77
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7733280
$TM_FREEKB,6946144
$24V_AH,13.5,41.194
$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,22.600,188.875,399.150,19.350,0.000,0.000,0.000,362.775,0.000,0.000,17.651,4501.705,19008.609,675.836,3729.077,329.920,0.000,2695.704,0.000,3144.035,0.000,0.542,0.000
$DEVICE_MAMPS,364.905,153.000,1904.085,126.990,0.000,0.000,0.000,191.250,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27630.000,7081.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.617,13.330,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,49885,1374
$CAP_FILE_SIZE,306229,0
$CFSIZE,260034560,240869376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,201.9,1
$GPS,151012,093035,2511.506,-3747.119,26,0.9,26,-13.8