version: 66.11
glider: 190
mission: 6
dive: 125
start: 10 24 112 21 45 28
data:
$ID,190
$MISSION,6
$DIVE,125
$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,-12424.415
$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,25
$C_ROLL_DIVE,1650
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,21
$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
$GPS1,241012,213334,2440.327,-3843.369,31,0.9,31,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-68.2
$GPS2,241012,214459,2440.445,-3843.266,18,0.9,18,-14.2
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,194.7,82321,-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,3474,-0.60,-97.3,225.5,-6.7,340,3479,0.00,1.58,0.00,0.000,4,0.000,0.099,2700,2533,3389,0,0,0,0,0,0,28.83,14.72,28.83
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$GC,4689,-0.71,-97.3,302.4,-6.6,402,4695,0.12,1.60,0.00,0.000,6,0.139,0.109,2646,1643,3385,0,0,0,0,0,0,14.83,14.75,28.83
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$GC,7508,-0.65,-97.3,496.1,-5.8,495,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1645,3374,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,13901,-0.66,-97.3,921.7,-5.7,706,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1645,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14199,-0.66,-97.3,939.9,-6.2,716,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1645,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14500,-0.66,-97.3,959.7,-6.8,726,14505,0.00,1.62,0.00,0.000,4,0.000,0.108,2662,2535,3353,0,0,0,0,0,0,28.83,14.66,28.83
$GC,14618,-0.68,-97.3,965.6,-6.5,729,14626,0.00,1.62,0.00,0.000,6,0.000,0.111,2661,1651,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,14923,-0.68,-97.3,988.5,-7.1,740,14924,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1651,3351,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14951,begin apogee
$GC,14956,-0.19,0.0,990.7,-7.1,741,15048,0.55,0.00,87.00,1.903,6,0.208,0.000,2823,1471,2988,0,0,0,0,0,0,14.57,28.83,13.54
$STATE,15051,end apogee,CONTROL_FINISHED_OK
$STATE,15051,begin climb
$GC,15052,0.58,97.3,993.3,0.0,744,15159,0.77,1.75,95.95,1.857,4,0.132,0.142,3078,605,2586,0,0,0,0,0,0,14.24,14.04,13.43
$GC,15231,0.55,175.8,990.3,2.8,750,15317,0.00,1.60,76.53,1.836,6,0.000,0.088,3078,1488,2266,0,0,0,0,0,0,28.83,14.33,13.45
$GC,15617,0.53,175.8,962.0,8.2,763,15622,0.00,1.60,0.00,0.000,4,0.000,0.111,3078,2360,2255,0,0,0,0,0,0,28.83,14.53,28.83
$GC,15689,0.50,175.8,956.6,8.5,765,15695,0.12,1.65,0.00,0.000,6,0.288,0.125,3057,1478,2254,0,0,0,0,0,0,14.41,14.52,28.83
$GC,16014,0.50,175.8,930.1,8.0,776,16015,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1478,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16312,0.50,175.8,906.6,7.7,786,16317,0.00,1.60,0.00,0.000,4,0.000,0.110,3057,2361,2252,0,0,0,0,0,0,28.83,14.66,28.83
$GC,16368,0.50,175.8,904.1,7.7,787,16375,0.00,1.65,0.00,0.000,6,0.000,0.125,3063,1480,2251,0,0,0,0,0,0,28.83,14.63,28.83
$GC,16674,0.50,175.8,880.4,6.8,798,16679,0.00,1.67,0.00,0.000,4,0.000,0.142,3070,594,2251,0,0,0,0,0,0,28.83,14.59,28.83
$GC,16721,0.50,175.8,878.2,6.7,799,16726,0.00,1.55,0.00,0.000,6,0.000,0.088,3070,1483,2249,0,0,0,0,0,0,28.83,14.69,28.83
$GC,17039,0.48,175.8,856.9,6.2,810,17044,0.00,1.58,0.00,0.000,4,0.000,0.109,3070,2365,2250,0,0,0,0,0,0,28.83,14.66,28.83
$GC,17153,0.46,175.8,850.6,6.6,813,17158,0.15,1.65,0.00,0.000,6,0.288,0.125,3042,1479,2249,0,0,0,0,0,0,14.47,14.63,28.83
$GC,17467,0.46,177.1,830.7,6.1,824,17472,0.00,1.60,0.00,0.000,4,0.000,0.108,3042,2367,2249,0,0,0,0,0,0,28.83,14.66,28.83
$GC,17524,0.46,177.1,828.5,6.1,825,17531,0.00,1.67,0.00,0.000,6,0.000,0.125,3049,1475,2249,0,0,0,0,0,0,28.83,14.64,28.83
$GC,17829,0.46,177.1,806.7,6.6,836,17831,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1475,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18130,0.46,177.1,787.9,6.2,846,18131,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1473,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18430,0.46,177.1,768.9,6.5,856,18431,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1475,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18730,0.47,181.4,750.6,5.9,866,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1475,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19030,0.48,209.2,735.0,4.9,876,19063,0.00,0.00,31.23,1.670,6,0.000,0.000,3049,1475,2135,0,0,0,0,0,0,28.83,28.83,13.97
$GC,19361,0.52,236.3,718.6,5.0,887,19395,0.00,1.62,26.85,1.618,4,0.000,0.096,3049,2362,2018,0,0,0,0,0,0,28.83,14.52,13.93
$GC,19469,0.54,245.0,713.0,5.7,890,19479,0.00,1.62,2.65,0.689,6,0.000,0.115,3055,1483,1990,0,0,0,0,0,0,28.83,14.50,13.76
$GC,19787,0.56,245.0,688.0,8.3,901,19791,0.00,0.00,1.48,0.193,6,0.000,0.000,3055,1479,1989,0,0,0,0,0,0,28.83,28.83,14.54
$GC,20087,0.58,245.0,658.2,10.4,911,20093,0.00,1.60,1.42,0.192,4,0.000,0.096,3054,2365,1989,0,0,0,0,0,0,28.83,14.64,14.54
$GC,20211,0.60,245.0,645.2,10.5,915,20216,0.00,1.65,0.00,0.000,6,0.000,0.118,3061,1467,2000,0,0,0,0,0,0,28.83,14.61,28.83
$GC,20544,0.62,245.0,614.2,8.4,926,20550,0.00,1.60,1.10,0.204,4,0.000,0.098,3061,2364,1991,0,0,0,0,0,0,28.83,14.66,14.59
$GC,20648,0.64,245.0,607.3,7.6,929,20653,0.00,1.65,0.00,0.000,6,0.000,0.119,3068,1479,1999,0,0,0,0,0,0,28.83,14.62,28.83
$GC,20972,0.66,287.9,590.4,4.3,940,21023,0.10,0.00,48.58,1.506,6,0.164,0.000,3106,1479,1816,0,0,0,0,0,0,14.73,28.83,13.93
$GC,21302,0.65,287.9,566.8,8.3,951,21303,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1479,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21601,0.63,287.9,536.4,10.8,961,21603,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1479,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21901,0.61,287.9,503.1,11.0,971,21906,0.00,1.58,0.00,0.000,4,0.000,0.099,3105,2361,1797,0,0,0,0,0,0,28.83,14.64,28.83
$GC,21953,0.60,287.9,499.6,10.9,972,21958,0.00,1.62,0.00,0.000,6,0.000,0.117,3112,1476,1796,0,0,0,0,0,0,28.83,14.61,28.83
$GC,22268,0.58,287.9,465.5,10.0,983,22270,0.15,0.00,0.00,0.000,6,0.271,0.000,3074,1476,1796,0,0,0,0,0,0,14.50,28.83,28.83
$GC,22566,0.59,287.9,438.5,9.1,993,22567,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1476,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22867,0.61,287.9,410.1,9.5,1003,22872,0.00,1.60,0.00,0.000,4,0.000,0.100,3075,2363,1797,0,0,0,0,0,0,28.83,14.68,28.83
$GC,22971,0.63,287.9,401.2,9.5,1006,22976,0.00,1.65,0.00,0.000,6,0.000,0.120,3082,1476,1797,0,0,0,0,0,0,28.83,14.64,28.83
$GC,23294,0.63,287.9,373.8,7.3,1017,23295,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1476,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23594,0.65,287.9,354.0,6.5,1027,23599,0.00,1.58,0.00,0.000,4,0.000,0.096,3082,2366,1797,0,0,0,0,0,0,28.83,14.69,28.83
$GC,23631,0.67,287.9,351.7,6.6,1028,23636,0.00,1.62,0.00,0.000,6,0.000,0.116,3088,1475,1797,0,0,0,0,0,0,28.83,14.66,28.83
$GC,23960,0.67,287.9,325.1,8.8,1039,23961,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1475,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24259,0.67,287.9,293.5,10.7,1049,24261,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1474,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24559,0.67,287.9,266.7,7.9,1059,24560,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1475,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24860,0.67,287.9,245.5,7.2,1073,24865,0.00,1.55,0.00,0.000,4,0.000,0.091,3088,2362,1798,0,0,0,0,0,0,28.83,14.68,28.83
$GC,24917,0.67,287.9,241.7,7.3,1078,24924,0.00,1.58,0.00,0.000,6,0.000,0.102,3092,1479,1798,0,0,0,0,0,0,28.83,14.66,28.83
$GC,25223,0.67,287.9,213.5,9.7,1109,25228,0.00,1.62,0.00,0.000,4,0.000,0.122,3102,593,1799,0,0,0,0,0,0,28.83,14.58,28.83
$GC,25255,0.67,287.9,210.3,10.1,1112,25261,0.00,1.50,0.00,0.000,6,0.000,0.067,3102,1492,1800,0,0,0,0,0,0,28.83,14.69,28.83
$GC,25569,0.67,287.9,179.2,9.6,1143,25574,0.00,1.50,0.00,0.000,4,0.000,0.087,3102,2361,1799,0,0,0,0,0,0,28.83,14.63,28.83
$GC,25645,0.67,287.9,172.1,9.4,1150,25652,0.00,1.60,0.00,0.000,6,0.000,0.107,3108,1475,1800,0,0,0,0,0,0,28.83,14.60,28.83
$GC,25951,0.67,287.9,144.0,8.9,1181,25952,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1474,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26252,0.67,287.9,116.4,9.1,1211,26253,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1475,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26551,0.67,287.9,91.0,7.8,1241,26556,0.00,1.58,0.00,0.000,4,0.000,0.118,3115,597,1802,0,0,0,0,0,0,28.83,14.57,28.83
$GC,26574,0.67,287.9,89.3,7.6,1243,26579,0.00,1.52,0.00,0.000,6,0.000,0.067,3115,1496,1802,0,0,0,0,0,0,28.83,14.66,28.83
$GC,26886,0.67,287.9,67.4,8.3,1274,26891,0.00,1.50,0.00,0.000,4,0.000,0.087,3115,2366,1803,0,0,0,0,0,0,28.83,14.59,28.83
$GC,26928,0.67,287.9,63.8,8.8,1278,26934,0.00,1.65,0.00,0.000,6,0.000,0.119,3123,1479,1803,0,0,0,0,0,0,28.83,14.56,28.83
$GC,27241,0.67,287.9,41.4,6.2,1309,27247,0.00,1.55,0.00,0.000,4,0.000,0.096,3121,2353,1803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,27345,0.67,287.9,34.2,7.2,1319,27350,0.00,1.62,0.00,0.000,6,0.000,0.120,3127,1474,1804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,27657,0.67,287.9,8.3,7.6,1350,27658,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1473,1805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,27716,end climb,SURFACE_DEPTH_REACHED
$STATE,27716,begin surface coast
$FINISH,1.1,1.023880
$STATE,27747,end surface coast,CONTROL_FINISHED_OK
$STATE,27747,begin surface
$SM_CCo,27767,28.77,0.125,0,0,1561,350.04
$SM_GC,2.00,8.45,0.32,28.77,0.069,0.099,0.125,139,1647,1561,-8.54,-0.82,350.04,0,0,0,0,0,0,14.70,14.69,14.64
$IRIDIUM_FIX,2434.69,-3838.48,241012,131340
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.15
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,7722272
$TM_FREEKB,6623328
$24V_AH,13.4,52.325
$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,22.525,137.800,372.775,28.775,0.000,0.000,0.000,397.750,0.250,0.000,19.132,4278.784,19666.703,619.357,3538.699,359.784,0.000,2556.385,0.000,2926.962,0.000,0.879,0.000
$DEVICE_MAMPS,360.315,155.295,1903.320,125.460,0.000,0.000,0.000,192.015,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27786.000,6800.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.857,13.364,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,46590,1359
$CAP_FILE_SIZE,294123,0
$CFSIZE,260034560,236220416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026, 49.7,1
$GPS,251012,053005,2437.510,-3842.954,38,0.9,38,-14.2