version: 66.11
glider: 190
mission: 6
dive: 16
start: 9 19 112 12 52 22
data:
$ID,190
$MISSION,6
$DIVE,16
$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,500
$T_MISSION,550
$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,120
$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,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,-12048.736
$T_RSLEEP,2
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,190912,123435,2513.992,-3802.441,25,1.0,25,-13.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.4
$GPS2,190912,125153,2514.126,-3802.354,17,1.0,18,-13.9
$SPEED_LIMITS,0.114,0.203
$TGT_NAME,midN
$TGT_LATLONG,2512.000,-3802.000
$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,191.8,3982,-13.1,-6.600,-17.98
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.65,-116.8,0.0,0.0,0,53,0.00,0.00,-32.28,0.000,2,0.000,0.000,148,1805,2617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.65,-116.8,2.3,-4.5,3,110,12.52,1.85,-36.72,0.000,4,0.431,0.108,2661,2862,3717,0,0,0,0,0,0,14.52,14.70,14.89
$GC,262,-0.60,-116.8,22.3,-13.3,23,268,0.12,1.83,0.00,0.000,6,0.255,0.082,2692,1797,3718,0,0,0,0,0,0,14.69,14.73,28.83
$GC,575,-0.56,-116.8,59.9,-11.0,54,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1797,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,876,-0.54,-116.8,86.8,-7.5,84,881,0.00,1.80,0.00,0.000,4,0.000,0.083,2689,2857,3719,0,0,0,0,0,0,28.83,14.85,28.83
$GC,908,-0.53,-116.8,89.2,-7.0,87,914,0.12,1.80,0.00,0.000,6,0.232,0.083,2720,1800,3719,0,0,0,0,0,0,14.81,14.85,28.83
$GC,1220,-0.53,-116.8,113.7,-7.8,118,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1800,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.54,-116.8,138.0,-8.4,148,1526,0.00,1.85,0.00,0.000,4,0.000,0.106,2719,738,3719,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1627,-0.54,-116.8,147.2,-8.9,158,1634,0.00,1.80,0.00,0.000,6,0.000,0.064,2719,1796,3719,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1935,-0.56,-116.8,167.4,-5.0,189,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1797,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2234,-0.58,-116.8,181.9,-6.5,219,2240,0.00,1.90,0.00,0.000,4,0.000,0.107,2719,739,3719,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2297,-0.59,-116.8,186.5,-7.7,225,2302,0.00,1.77,0.00,0.000,6,0.000,0.066,2718,1800,3718,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2610,-0.61,-116.8,207.2,-6.5,256,2615,0.00,1.85,0.00,0.000,4,0.000,0.109,2718,740,3718,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2656,-0.63,-116.8,210.1,-7.0,260,2663,0.00,1.80,0.00,0.000,6,0.000,0.068,2719,1808,3718,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2962,-0.65,-116.8,231.0,-6.8,291,2964,0.12,0.00,0.00,0.000,6,0.142,0.000,2665,1809,3717,0,0,0,0,0,0,14.95,28.83,28.83
$GC,3282,-0.64,-116.8,263.3,-10.5,315,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1809,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3582,-0.62,-116.8,291.9,-9.0,325,3587,0.00,1.88,0.00,0.000,4,0.000,0.109,2665,738,3715,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3633,-0.60,-116.8,295.0,-9.1,326,3639,0.12,1.80,0.00,0.000,6,0.271,0.069,2692,1809,3713,0,0,0,0,0,0,14.90,14.97,28.83
$GC,3946,-0.60,-116.8,320.9,-7.7,337,3952,0.00,1.88,0.00,0.000,4,0.000,0.112,2693,741,3713,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4027,-0.60,-116.8,326.1,-8.0,339,4033,0.00,1.80,0.00,0.000,6,0.000,0.070,2689,1808,3713,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4339,-0.60,-116.8,353.3,-8.1,350,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1808,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,-0.60,-116.8,375.4,-7.1,360,4645,0.00,1.88,0.00,0.000,4,0.000,0.112,2689,740,3710,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4676,-0.60,-116.8,378.0,-7.2,361,4682,0.00,1.80,0.00,0.000,6,0.000,0.073,2689,1806,3710,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5005,-0.60,-116.8,401.3,-7.3,372,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1806,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5304,-0.60,-116.8,424.5,-7.7,382,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1806,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5604,-0.60,-116.8,447.3,-7.9,392,5609,0.00,1.88,0.00,0.000,4,0.000,0.114,2688,740,3705,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5644,-0.60,-116.8,450.0,-7.9,393,5650,0.00,1.80,0.00,0.000,6,0.000,0.073,2689,1804,3705,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5968,-0.62,-116.8,477.6,-8.3,404,5973,0.00,1.90,0.00,0.000,4,0.000,0.116,2689,741,3704,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6013,-0.62,-116.8,480.5,-8.4,405,6019,0.00,1.80,0.00,0.000,6,0.000,0.075,2688,1803,3703,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6331,-0.63,-116.8,507.5,-7.7,416,6336,0.00,1.88,0.00,0.000,4,0.000,0.119,2688,742,3701,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6367,-0.64,-116.8,510.0,-7.6,417,6372,0.00,1.80,0.00,0.000,6,0.000,0.076,2688,1800,3701,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6695,-0.65,-116.8,531.4,-6.1,428,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1800,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6994,-0.67,-116.8,549.7,-6.1,438,6999,0.00,1.88,0.00,0.000,4,0.000,0.121,2688,737,3699,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7076,-0.68,-116.8,554.0,-6.6,440,7081,0.00,1.83,0.00,0.000,6,0.000,0.079,2688,1806,3698,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7389,-0.70,-116.8,575.2,-6.3,451,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1806,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,-0.71,-116.8,595.2,-7.1,461,7694,0.00,1.90,0.00,0.000,4,0.000,0.121,2688,738,3694,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7751,-0.73,-116.8,600.3,-7.7,463,7756,0.00,1.83,0.00,0.000,6,0.000,0.080,2688,1807,3694,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8084,-0.75,-116.8,630.0,-9.2,474,8086,0.12,0.00,0.00,0.000,6,0.153,0.000,2638,1806,3692,0,0,0,0,0,0,15.02,28.83,28.83
$GC,8384,-0.73,-116.8,662.6,-10.4,484,8389,0.00,1.90,0.00,0.000,4,0.000,0.121,2638,743,3694,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8425,-0.71,-116.8,665.9,-10.2,485,8430,0.00,1.80,0.00,0.000,6,0.000,0.081,2633,1802,3692,0,0,0,0,0,0,28.83,14.99,28.83
$GC,8748,-0.69,-116.8,694.8,-7.9,496,8750,0.12,0.00,0.00,0.000,6,0.281,0.000,2663,1802,3689,0,0,0,0,0,0,14.91,28.83,28.83
$GC,9047,-0.69,-116.8,710.7,-4.9,506,9052,0.00,1.92,0.00,0.000,4,0.000,0.122,2663,736,3688,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9093,-0.69,-116.8,712.5,-5.1,507,9099,0.00,1.83,0.00,0.000,6,0.000,0.081,2661,1799,3687,0,0,0,0,0,0,28.83,14.98,28.83
$GC,9412,-0.69,-116.8,729.8,-5.2,518,9417,0.00,1.83,0.00,0.000,4,0.000,0.105,2661,2858,3687,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9454,-0.69,-116.8,731.5,-5.2,519,9459,0.00,1.83,0.00,0.000,6,0.000,0.099,2662,1803,3686,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9777,-0.69,-116.8,750.5,-6.0,530,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1803,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10076,-0.69,-116.8,771.0,-7.2,540,10082,0.00,1.85,0.00,0.000,4,0.000,0.106,2662,2864,3684,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10122,-0.69,-116.8,773.4,-7.2,541,10127,0.00,1.85,0.00,0.000,6,0.000,0.102,2662,1801,3684,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10439,-0.69,-116.8,799.9,-8.2,552,10444,0.00,1.90,0.00,0.000,4,0.000,0.128,2661,735,3682,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10510,-0.69,-116.8,805.3,-8.6,554,10516,0.00,1.85,0.00,0.000,6,0.000,0.085,2661,1817,3682,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10833,-0.69,-116.8,832.9,-8.0,565,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1817,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11133,-0.69,-116.8,857.2,-8.1,575,11138,0.00,1.95,0.00,0.000,4,0.000,0.126,2661,732,3680,0,0,0,0,0,0,28.83,14.93,28.83
$GC,11219,-0.69,-116.8,862.8,-8.6,577,11226,0.00,1.88,0.00,0.000,6,0.000,0.086,2662,1822,3680,0,0,0,0,0,0,28.83,14.95,28.83
$GC,11525,-0.69,-116.8,892.3,-9.0,588,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1822,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11825,-0.69,-116.8,918.2,-8.3,598,11830,0.00,1.95,0.00,0.000,4,0.000,0.128,2661,741,3678,0,0,0,0,0,0,28.83,14.92,28.83
$GC,11896,-0.69,-116.8,923.7,-8.6,600,11902,0.00,1.85,0.00,0.000,6,0.000,0.086,2662,1807,3678,0,0,0,0,0,0,28.83,14.95,28.83
$GC,12219,-0.69,-116.8,950.4,-7.9,611,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1808,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12519,-0.69,-116.8,972.0,-7.0,621,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1808,3677,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12817,begin apogee
$GC,12821,-0.19,0.0,991.8,-6.5,631,12933,0.52,0.00,105.72,2.136,6,0.211,0.000,2819,1499,3236,0,0,0,0,0,0,14.86,28.83,13.49
$STATE,12935,end apogee,CONTROL_FINISHED_OK
$STATE,12935,begin climb
$GC,12936,0.65,116.8,993.7,0.0,634,13061,0.85,2.10,114.35,2.067,4,0.137,0.142,3095,439,2754,0,0,0,0,0,0,14.15,14.01,13.40
$GC,13288,0.64,159.4,986.6,5.0,646,13335,0.00,1.88,41.58,2.104,6,0.000,0.080,3095,1505,2586,0,0,0,0,0,0,28.83,14.61,13.60
$GC,13633,0.61,159.4,961.1,7.4,658,13639,0.00,2.03,0.00,0.000,4,0.000,0.147,3096,443,2572,0,0,0,0,0,0,28.83,14.63,28.83
$GC,13865,0.56,159.4,946.1,6.8,665,13870,0.00,1.85,0.00,0.000,6,0.000,0.082,3096,1505,2571,0,0,0,0,0,0,28.83,14.76,28.83
$GC,14179,0.57,194.1,927.3,5.3,676,14218,0.00,1.98,33.20,2.095,4,0.000,0.106,3096,2562,2441,0,0,0,0,0,0,28.83,14.49,13.84
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$STATE,26759,end climb,SURFACE_DEPTH_REACHED
$STATE,26759,begin surface coast
$FINISH,0.7,1.024465
$STATE,26791,end surface coast,CONTROL_FINISHED_OK
$STATE,26791,begin surface
$SM_CCo,26808,8.85,0.135,0,0,1811,350.04
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$IRIDIUM_FIX,2505.59,-3801.27,190912,121230
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.97
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,7763872
$TM_FREEKB,7782208
$24V_AH,13.4,11.535
$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,23.950,139.875,442.250,8.850,0.000,0.000,0.000,604.675,0.250,0.000,18.941,4036.824,19347.730,618.780,3650.193,198.220,0.000,2681.760,0.000,2749.802,0.000,0.542,0.000
$DEVICE_MAMPS,430.695,147.645,2135.880,134.640,0.000,0.000,0.000,202.725,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26830.000,6481.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.117,13.206,0.000,0.000
$MEM,345160
$DATA_FILE_SIZE,46657,1306
$CAP_FILE_SIZE,284847,0
$CFSIZE,260034560,253485056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.082,355.3,1
$GPS,190912,202034,2512.074,-3802.190,35,0.9,35,-13.9