version: 66.11
glider: 190
mission: 6
dive: 104
start: 10 17 112 19 42 34
data:
$ID,190
$MISSION,6
$DIVE,104
$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,-12397.312
$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,11
$R_STBD_OVSHOOT,19
$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
$GPS1,171012,193106,2511.510,-3811.263,40,1.0,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-59.3
$GPS2,171012,194206,2511.462,-3811.285,18,0.8,18,-14.0
$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,286.6,54831,-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,13563,-0.65,-97.3,922.2,-7.3,685,13568,0.00,1.98,0.00,0.000,4,0.000,0.130,2661,732,3351,0,0,0,0,0,0,28.83,14.68,28.83
$GC,13645,-0.65,-97.3,927.0,-7.4,687,13650,0.00,1.90,0.00,0.000,6,0.000,0.090,2661,1793,3351,0,0,0,0,0,0,28.83,14.72,28.83
$GC,13957,-0.65,-97.3,948.4,-6.2,698,13962,0.00,2.00,0.00,0.000,4,0.000,0.129,2661,730,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,14059,-0.65,-97.3,954.4,-6.4,701,14064,0.00,1.90,0.00,0.000,6,0.000,0.091,2661,1791,3350,0,0,0,0,0,0,28.83,14.71,28.83
$GC,14383,-0.65,-97.3,974.5,-6.0,712,14388,0.00,2.00,0.00,0.000,4,0.000,0.129,2661,730,3350,0,0,0,0,0,0,28.83,14.64,28.83
$GC,14465,-0.65,-97.3,978.9,-6.4,714,14470,0.00,1.90,0.00,0.000,6,0.000,0.092,2661,1791,3349,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,14626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14626,begin apogee
$GC,14630,-0.19,0.0,990.4,-6.3,720,14758,0.55,0.00,119.80,1.606,6,0.210,0.000,2823,1478,2985,0,0,0,0,0,0,14.59,28.83,13.64
$STATE,14760,end apogee,CONTROL_FINISHED_OK
$STATE,14760,begin climb
$GC,14761,0.58,97.3,993.2,0.0,724,14871,0.77,2.15,97.05,1.840,4,0.133,0.148,3079,427,2585,0,0,0,0,0,0,14.23,14.04,13.45
$GC,14894,0.58,197.8,992.5,1.8,728,15000,0.00,1.95,99.62,1.838,6,0.000,0.085,3079,1489,2180,0,0,0,0,0,0,28.83,14.26,13.43
$GC,15328,0.58,197.8,955.3,9.2,743,15334,0.00,1.92,0.00,0.000,4,0.000,0.108,3079,2539,2163,0,0,0,0,0,0,28.83,14.54,28.83
$GC,15361,0.58,197.8,951.9,9.4,744,15366,0.00,2.00,0.00,0.000,6,0.000,0.122,3087,1479,2164,0,0,0,0,0,0,28.83,14.53,28.83
$GC,15694,0.56,197.8,919.5,9.6,755,15699,0.00,2.00,0.00,0.000,4,0.000,0.146,3095,424,2161,0,0,0,0,0,0,28.83,14.57,28.83
$GC,15776,0.54,197.8,913.3,9.5,757,15782,0.12,1.88,0.00,0.000,6,0.287,0.084,3067,1483,2161,0,0,0,0,0,0,14.51,14.68,28.83
$GC,16090,0.54,197.8,887.2,7.4,768,16096,0.00,1.90,0.00,0.000,4,0.000,0.106,3067,2534,2159,0,0,0,0,0,0,28.83,14.68,28.83
$GC,16172,0.54,197.8,882.4,7.4,770,16177,0.00,1.98,0.00,0.000,6,0.000,0.119,3075,1476,2158,0,0,0,0,0,0,28.83,14.65,28.83
$GC,16484,0.54,197.8,858.4,7.4,781,16485,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1476,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16785,0.54,197.8,835.7,7.7,791,16790,0.00,2.00,0.00,0.000,4,0.000,0.144,3083,424,2156,0,0,0,0,0,0,28.83,14.62,28.83
$GC,16827,0.54,197.8,832.9,7.9,792,16832,0.00,1.88,0.00,0.000,6,0.000,0.083,3083,1486,2158,0,0,0,0,0,0,28.83,14.73,28.83
$GC,17150,0.52,197.8,806.3,7.8,803,17155,0.00,1.88,0.00,0.000,4,0.000,0.106,3083,2539,2157,0,0,0,0,0,0,28.83,14.70,28.83
$GC,17192,0.50,197.8,803.5,7.8,804,17198,0.15,1.98,0.00,0.000,6,0.296,0.119,3057,1477,2157,0,0,0,0,0,0,14.52,14.67,28.83
$GC,17516,0.50,197.8,780.0,7.4,815,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1477,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17815,0.50,197.8,755.4,8.5,825,17821,0.00,2.03,0.00,0.000,4,0.000,0.148,3065,421,2156,0,0,0,0,0,0,28.83,14.62,28.83
$GC,17851,0.50,197.8,752.2,8.7,826,17856,0.00,1.88,0.00,0.000,6,0.000,0.080,3065,1487,2156,0,0,0,0,0,0,28.83,14.73,28.83
$GC,18180,0.50,197.8,721.5,9.4,837,18181,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1487,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18479,0.50,197.8,696.2,8.0,847,18484,0.00,2.05,0.00,0.000,4,0.000,0.140,3073,415,2156,0,0,0,0,0,0,28.83,14.60,28.83
$GC,18516,0.50,197.8,693.4,7.9,848,18522,0.00,1.88,0.00,0.000,6,0.000,0.081,3073,1484,2156,0,0,0,0,0,0,28.83,14.73,28.83
$GC,18846,0.50,197.8,670.1,6.9,859,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1484,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19144,0.50,197.8,647.9,7.9,869,19149,0.00,1.90,0.00,0.000,4,0.000,0.102,3073,2540,2156,0,0,0,0,0,0,28.83,14.69,28.83
$GC,19230,0.50,197.8,642.8,8.2,871,19238,0.00,1.98,0.00,0.000,6,0.000,0.116,3080,1476,2155,0,0,0,0,0,0,28.83,14.67,28.83
$GC,19536,0.50,197.8,613.8,8.9,882,19537,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1476,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19837,0.50,197.8,588.0,8.3,892,19838,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1476,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20136,0.50,197.8,566.1,6.9,902,20141,0.00,2.00,0.00,0.000,4,0.000,0.138,3089,419,2156,0,0,0,0,0,0,28.83,14.61,28.83
$GC,20198,0.48,197.8,561.8,6.8,904,20204,0.17,1.85,0.00,0.000,6,0.264,0.078,3046,1482,2157,0,0,0,0,0,0,14.53,14.74,28.83
$GC,20532,0.53,233.0,545.9,4.6,915,20571,0.00,1.92,30.90,1.460,4,0.000,0.100,3045,2530,2032,0,0,0,0,0,0,28.83,14.63,14.07
$GC,20604,0.57,264.4,542.7,4.8,917,20643,0.00,1.95,31.52,1.422,6,0.000,0.113,3052,1480,1905,0,0,0,0,0,0,28.83,14.61,13.92
$GC,20956,0.61,264.4,520.3,6.8,929,20958,0.10,0.00,0.00,0.000,6,0.159,0.000,3093,1480,1893,0,0,0,0,0,0,14.64,28.83,28.83
$GC,21255,0.61,264.4,490.8,10.2,939,21256,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1480,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21555,0.61,264.4,458.6,10.9,949,21560,0.00,1.98,0.00,0.000,4,0.000,0.129,3102,422,1894,0,0,0,0,0,0,28.83,14.59,28.83
$GC,21591,0.61,264.4,454.9,11.0,950,21597,0.00,1.83,0.00,0.000,6,0.000,0.069,3102,1482,1894,0,0,0,0,0,0,28.83,14.71,28.83
$GC,21921,0.61,264.4,418.3,10.6,961,21926,0.00,1.88,0.00,0.000,4,0.000,0.093,3101,2540,1893,0,0,0,0,0,0,28.83,14.68,28.83
$GC,21972,0.61,264.4,415.0,10.4,962,21978,0.00,1.95,0.00,0.000,6,0.000,0.107,3109,1476,1893,0,0,0,0,0,0,28.83,14.66,28.83
$GC,22287,0.59,264.4,383.7,9.0,973,22292,0.00,1.95,0.00,0.000,4,0.000,0.131,3117,421,1893,0,0,0,0,0,0,28.83,14.62,28.83
$GC,22353,0.56,264.4,377.6,9.2,975,22359,0.17,1.83,0.00,0.000,6,0.244,0.073,3073,1479,1893,0,0,0,0,0,0,14.54,14.73,28.83
$GC,22682,0.58,264.4,351.0,8.6,986,22687,0.00,1.85,0.00,0.000,4,0.000,0.093,3073,2534,1893,0,0,0,0,0,0,28.83,14.70,28.83
$GC,22729,0.59,264.4,348.1,8.7,987,22734,0.00,1.95,0.00,0.000,6,0.000,0.107,3080,1471,1891,0,0,0,0,0,0,28.83,14.67,28.83
$GC,23046,0.59,264.4,317.1,9.1,998,23052,0.00,1.90,0.00,0.000,4,0.000,0.103,3080,2534,1893,0,0,0,0,0,0,28.83,14.71,28.83
$GC,23082,0.59,264.4,314.3,8.9,999,23087,0.00,1.95,0.00,0.000,6,0.000,0.108,3088,1473,1893,0,0,0,0,0,0,28.83,14.69,28.83
$GC,23411,0.59,264.4,288.4,7.4,1010,23416,0.00,1.95,0.00,0.000,4,0.000,0.124,3096,419,1893,0,0,0,0,0,0,28.83,14.64,28.83
$GC,23474,0.59,264.4,283.4,7.6,1012,23479,0.00,1.83,0.00,0.000,6,0.000,0.075,3096,1483,1894,0,0,0,0,0,0,28.83,14.75,28.83
$GC,23807,0.59,264.4,253.9,9.8,1023,23809,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1483,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24106,0.59,264.4,220.9,10.5,1049,24111,0.00,1.85,0.00,0.000,4,0.000,0.089,3096,2533,1894,0,0,0,0,0,0,28.83,14.69,28.83
$GC,24153,0.59,264.4,216.5,10.4,1053,24160,0.00,1.95,0.00,0.000,6,0.000,0.110,3104,1473,1895,0,0,0,0,0,0,28.83,14.66,28.83
$GC,24458,0.59,264.4,190.3,7.4,1084,24464,0.00,1.95,0.00,0.000,4,0.000,0.122,3111,418,1895,0,0,0,0,0,0,28.83,14.61,28.83
$GC,24535,0.57,264.4,184.7,7.9,1091,24542,0.15,1.85,0.00,0.000,6,0.235,0.072,3072,1488,1894,0,0,0,0,0,0,14.54,14.69,28.83
$GC,24843,0.60,264.4,161.8,8.8,1122,24848,0.00,1.88,0.00,0.000,4,0.000,0.093,3073,2540,1896,0,0,0,0,0,0,28.83,14.61,28.83
$GC,24886,0.63,264.4,157.5,10.0,1126,24891,0.00,1.95,0.00,0.000,6,0.000,0.109,3080,1480,1896,0,0,0,0,0,0,28.83,14.62,28.83
$GC,25201,0.66,264.4,126.8,8.8,1157,25206,0.00,1.98,0.00,0.000,4,0.000,0.122,3088,414,1897,0,0,0,0,0,0,28.83,14.59,28.83
$GC,25347,0.66,264.4,114.2,8.1,1171,25354,0.00,1.85,0.00,0.000,6,0.000,0.073,3089,1478,1897,0,0,0,0,0,0,28.83,14.65,28.83
$GC,25654,0.68,264.4,92.7,6.7,1202,25656,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1479,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25954,0.71,264.4,67.9,8.3,1232,25959,0.00,1.90,0.00,0.000,4,0.000,0.089,3088,2537,1898,0,0,0,0,0,0,28.83,14.56,28.83
$GC,26038,0.75,264.4,61.2,7.8,1240,26044,0.12,1.95,0.00,0.000,6,0.137,0.112,3149,1479,1901,0,0,0,0,0,0,14.69,14.62,28.83
$GC,26353,0.72,264.4,34.1,7.1,1271,26354,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1479,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26653,0.70,264.4,15.0,9.2,1301,26659,0.12,1.98,0.00,0.000,4,0.242,0.121,3120,412,1900,0,0,0,0,0,0,14.53,14.60,28.83
$GC,26696,0.70,264.4,11.3,8.2,1305,26702,0.00,1.83,0.00,0.000,6,0.000,0.065,3120,1483,1901,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,26797,end climb,SURFACE_DEPTH_REACHED
$STATE,26797,begin surface coast
$FINISH,1.1,1.009396
$STATE,26828,end surface coast,CONTROL_FINISHED_OK
$STATE,26828,begin surface
$SM_CCo,26847,40.00,0.125,0,0,1560,350.04
$SM_GC,2.52,8.52,0.55,40.00,0.080,0.086,0.125,143,1792,1560,-8.54,-0.71,350.04,0,0,0,0,0,0,14.70,14.71,14.66
$IRIDIUM_FIX,2503.20,-3746.02,171012,111148
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.66
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7730208
$TM_FREEKB,6855872
$24V_AH,13.4,44.315
$10V_AH,13.3,0.000
$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,23.600,201.400,378.900,40.000,0.000,0.000,0.000,387.825,0.000,0.000,18.933,4314.278,18582.982,645.002,3648.735,339.608,0.000,2662.191,0.000,3031.303,0.000,0.542,0.000
$DEVICE_MAMPS,372.555,147.645,1839.825,125.460,0.000,0.000,0.000,192.015,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26869.000,6651.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.565,13.323,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,46620,1318
$CAP_FILE_SIZE,297911,0
$CFSIZE,260034560,239575040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036, 47.1,1
$GPS,181012,031204,2511.747,-3814.164,40,0.8,40,-14.0