version: 66.11
glider: 190
mission: 6
dive: 280
start: 12 15 112 2 11 5
data:
$ID,190
$MISSION,6
$DIVE,280
$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,440
$T_MISSION,610
$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,180
$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,0.035
$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,610.797
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-13246.632
$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,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,2.0999999
$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,48
$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
$GPS1,151212,015534,2404.692,-3757.883,40,0.9,40,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-56.2
$GPS2,151212,021035,2404.703,-3757.939,18,1.1,18,-14.1
$SPEED_LIMITS,0.130,0.140
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,56.0,87594,-15.8,-7.500,-28.24
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.82,-175.2,0.0,0.0,0,37,0.00,0.00,-11.15,0.000,2,0.000,0.000,139,1531,813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.82,-175.2,2.1,0.0,1,194,10.12,1.62,-132.95,0.000,4,0.303,0.133,2622,2396,3705,0,0,0,0,0,0,14.33,14.31,14.73
$GC,340,-0.82,-175.2,18.1,-7.4,30,346,0.00,1.67,0.00,0.000,6,0.000,0.115,2622,1512,3705,0,0,0,0,0,0,28.83,14.32,28.83
$GC,647,-0.82,-175.2,54.4,-10.3,61,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1512,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,956,-0.82,-175.2,77.7,-7.3,92,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1512,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.82,-175.2,96.5,-4.6,122,1261,0.00,1.60,0.00,0.000,4,0.000,0.099,2618,2396,3705,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1365,-0.82,-175.2,102.9,-7.0,132,1371,0.00,1.65,0.00,0.000,6,0.000,0.112,2618,1524,3705,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1672,-0.82,-175.2,132.2,-10.4,163,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1524,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-0.85,-175.2,164.3,-10.2,193,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1525,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.89,-175.2,193.4,-9.2,223,2278,0.00,1.70,0.00,0.000,4,0.000,0.132,2619,639,3705,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2502,-0.89,-175.2,213.1,-8.4,245,2509,0.00,1.55,0.00,0.000,6,0.000,0.080,2618,1513,3705,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2809,-0.92,-175.2,237.1,-7.9,276,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1513,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,-0.96,-175.2,263.2,-8.8,297,3124,0.12,1.67,0.00,0.000,4,0.138,0.127,2558,634,3706,0,0,0,0,0,0,14.64,14.28,28.83
$GC,3354,-0.92,-175.2,288.3,-12.1,304,3359,0.15,1.50,0.00,0.000,6,0.270,0.080,2587,1509,3705,0,0,0,0,0,0,14.24,14.50,28.83
$GC,3670,-0.92,-175.2,324.3,-10.8,315,3675,0.00,1.62,0.00,0.000,4,0.000,0.129,2587,638,3703,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3763,-0.92,-175.2,335.8,-11.8,318,3768,0.00,1.55,0.00,0.000,6,0.000,0.082,2581,1519,3702,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4099,-0.92,-175.2,372.6,-10.9,329,4104,0.00,1.60,0.00,0.000,4,0.000,0.101,2577,2404,3704,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4156,-0.92,-175.2,376.3,-10.8,330,4162,0.00,1.65,0.00,0.000,6,0.000,0.111,2577,1515,3701,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4464,-0.92,-175.2,409.4,-9.5,341,4469,0.00,1.62,0.00,0.000,4,0.000,0.128,2577,636,3703,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4566,-0.92,-175.2,419.1,-10.2,344,4571,0.00,1.55,0.00,0.000,6,0.000,0.082,2571,1516,3700,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4890,-0.92,-175.2,448.9,-8.5,355,4895,0.00,1.58,0.00,0.000,4,0.000,0.102,2566,2400,3698,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4967,-0.92,-175.2,454.2,-8.3,357,4972,0.00,1.67,0.00,0.000,6,0.000,0.114,2566,1505,3699,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5285,-0.92,-175.2,483.8,-9.3,368,5290,0.00,1.62,0.00,0.000,4,0.000,0.130,2566,638,3697,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5353,-0.92,-175.2,490.1,-9.7,370,5360,0.08,1.55,0.00,0.000,6,0.252,0.084,2582,1506,3697,0,0,0,0,0,0,14.14,14.40,28.83
$GC,5685,-0.92,-175.2,523.5,-10.2,381,5690,0.00,1.60,0.00,0.000,4,0.000,0.104,2577,2401,3696,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5768,-0.92,-175.2,530.4,-10.5,383,5773,0.00,1.65,0.00,0.000,6,0.000,0.115,2577,1522,3695,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6081,-0.92,-175.2,568.3,-11.4,394,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1522,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6383,-0.92,-175.2,601.2,-10.7,404,6388,0.00,1.70,0.00,0.000,4,0.000,0.132,2577,639,3693,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6420,-0.92,-175.2,605.0,-10.7,405,6426,0.00,1.58,0.00,0.000,6,0.000,0.086,2571,1531,3693,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6751,-0.92,-175.2,637.2,-8.9,416,6756,0.00,1.58,0.00,0.000,4,0.000,0.106,2566,2403,3692,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6804,-0.92,-175.2,640.1,-8.7,417,6809,0.00,1.65,0.00,0.000,6,0.000,0.113,2566,1526,3691,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7118,-0.92,-175.2,666.8,-7.7,428,7123,0.00,1.70,0.00,0.000,4,0.000,0.135,2565,632,3690,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7166,-0.92,-175.2,669.6,-7.8,429,7172,0.12,1.60,0.00,0.000,6,0.276,0.086,2586,1534,3690,0,0,0,0,0,0,14.23,14.47,28.83
$GC,7486,-0.92,-175.2,694.9,-7.7,440,7492,0.00,1.58,0.00,0.000,4,0.000,0.108,2580,2400,3688,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7520,-0.92,-175.2,697.6,-7.9,441,7525,0.00,1.67,0.00,0.000,6,0.000,0.116,2580,1521,3687,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7857,-0.92,-175.2,728.0,-9.4,452,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1521,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,-0.92,-175.2,755.9,-9.4,462,8159,0.00,1.70,0.00,0.000,4,0.000,0.139,2581,638,3684,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8218,-0.92,-175.2,762.4,-9.8,464,8223,0.00,1.60,0.00,0.000,6,0.000,0.088,2574,1529,3684,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8553,-0.92,-175.2,794.3,-9.5,475,8558,0.00,1.62,0.00,0.000,4,0.000,0.111,2568,2403,3683,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8707,-0.92,-175.2,808.8,-9.2,480,8712,0.00,1.65,0.00,0.000,6,0.000,0.118,2568,1541,3682,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9043,-0.92,-175.2,839.8,-9.2,491,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1541,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9342,-0.92,-175.2,867.4,-9.3,501,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1541,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9641,-0.95,-175.2,897.2,-10.1,511,9647,0.00,1.75,0.00,0.000,4,0.000,0.142,2568,636,3678,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9875,-0.95,-175.2,921.1,-11.5,518,9880,0.00,1.62,0.00,0.000,6,0.000,0.093,2565,1535,3677,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10189,-0.95,-175.2,957.4,-11.1,529,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1535,3676,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10486,begin apogee
$GC,10492,-0.23,0.0,990.3,-11.0,539,10670,0.85,0.00,166.62,1.812,4,0.210,0.000,2806,1533,2979,0,0,0,0,0,0,14.08,28.83,13.25
$STATE,10672,end apogee,CONTROL_FINISHED_OK
$STATE,10672,begin climb
$GC,10675,0.82,175.2,1002.8,0.0,545,10857,1.02,1.70,174.85,1.799,4,0.105,0.114,3159,2400,2274,0,0,0,0,0,0,14.11,14.07,13.23
$GC,11087,0.77,175.2,987.2,7.9,559,11093,0.00,1.67,0.00,0.000,6,0.000,0.129,3166,1519,2259,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11423,0.72,175.2,959.8,8.4,570,11429,0.15,1.67,0.00,0.000,4,0.314,0.109,3129,2408,2256,0,0,0,0,0,0,14.23,14.47,28.83
$GC,11618,0.69,175.2,945.6,7.8,576,11623,0.00,1.73,0.00,0.000,6,0.000,0.132,3135,1528,2254,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11943,0.66,175.2,920.1,7.6,587,11945,0.12,0.00,0.00,0.000,6,0.311,0.000,3109,1528,2253,0,0,0,0,0,0,14.30,28.83,28.83
$GC,12243,0.68,197.5,899.3,6.8,597,12271,0.00,1.62,21.20,1.713,4,0.000,0.112,3109,2408,2178,0,0,0,0,0,0,28.83,14.57,13.74
$GC,12350,0.69,216.9,892.8,6.9,600,12378,0.00,1.67,21.58,1.694,6,0.000,0.132,3115,1538,2099,0,0,0,0,0,0,28.83,14.42,13.64
$GC,12696,0.69,216.9,864.6,8.1,612,12702,0.00,1.75,0.00,0.000,4,0.000,0.151,3122,630,2089,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12748,0.69,216.9,861.9,8.1,613,12753,0.00,1.62,0.00,0.000,6,0.000,0.093,3122,1535,2089,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13062,0.69,216.9,835.7,7.7,624,13067,0.00,1.60,0.00,0.000,4,0.000,0.117,3122,2405,2087,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13125,0.69,216.9,830.8,7.6,626,13130,0.00,1.70,0.00,0.000,6,0.000,0.134,3128,1533,2086,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13460,0.71,257.0,808.2,6.3,637,13503,0.00,0.00,40.47,1.665,6,0.000,0.000,3129,1533,1942,0,0,0,0,0,0,28.83,28.83,13.67
$GC,13790,0.74,309.2,787.9,6.0,648,13848,0.00,1.73,53.25,1.623,4,0.000,0.118,3128,2403,1724,0,0,0,0,0,0,28.83,14.23,13.54
$GC,13903,0.77,354.9,782.1,6.2,651,13959,0.00,1.67,48.00,1.587,6,0.000,0.135,3135,1549,1536,0,0,0,0,0,0,28.83,14.22,13.41
$GC,14273,0.80,354.9,752.7,8.2,664,14279,0.00,1.80,0.00,0.000,4,0.000,0.155,3142,634,1522,0,0,0,0,0,0,28.83,14.29,28.83
$GC,14347,0.82,354.9,746.9,8.7,666,14352,0.00,1.65,0.00,0.000,6,0.000,0.093,3142,1537,1521,0,0,0,0,0,0,28.83,14.40,28.83
$GC,14673,0.84,354.9,714.3,10.3,677,14674,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1536,1520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14970,0.86,354.9,681.5,11.0,687,14971,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1536,1519,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21304,end climb,SURFACE_DEPTH_REACHED
$STATE,21304,begin surface coast
$FINISH,1.2,1.025148
$STATE,21334,end surface coast,CONTROL_FINISHED_OK
$STATE,21335,begin surface
$SM_CCo,21358,125.15,0.127,0,0,497,610.80
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$IRIDIUM_FIX,2356.84,-3754.98,151212,020239
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.72
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.20
$XPDR_PINGS,4
$SC_FREEKB,7662752
$TM_FREEKB,4980608
$24V_AH,13.2,118.767
$10V_AH,12.9,0.000
$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,21.800,119.150,525.975,125.150,0.000,0.000,0.000,533.000,1.000,0.000,19.586,3479.704,14295.527,804.905,3266.581,527.184,0.000,2748.546,0.000,2577.736,0.000,0.541,0.000
$DEVICE_MAMPS,313.650,154.530,1811.520,126.990,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.950,13.298,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,40029,1065
$CAP_FILE_SIZE,238269,0
$CFSIZE,260034560,210849792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,185.4,1
$GPS,151212,081035,2405.337,-3756.890,41,0.9,41,-14.1