version: 66.11
glider: 190
mission: 6
dive: 17
start: 9 19 112 20 43 10
data:
$ID,190
$MISSION,6
$DIVE,17
$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,-12050.09
$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,12
$R_STBD_OVSHOOT,25
$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
$GPS1,190912,202034,2512.074,-3802.190,35,0.9,35,-13.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.0
$GPS2,190912,204241,2512.055,-3802.143,15,1.6,15,-13.9
$SPEED_LIMITS,0.114,0.203
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-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,192.0,140854,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.65,-116.8,0.0,0.0,0,44,0.00,0.00,-22.62,0.000,2,0.000,0.000,148,1811,2379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-0.65,-116.8,2.1,0.0,2,118,12.45,1.85,-52.97,0.000,4,0.428,0.113,2665,2860,3717,0,0,0,0,0,0,14.51,14.67,14.89
$GC,345,-0.60,-116.8,30.6,-13.2,31,354,0.12,1.83,0.00,0.000,6,0.259,0.084,2696,1796,3718,0,0,0,0,0,0,14.70,14.76,28.83
$GC,651,-0.57,-116.8,68.2,-11.4,62,657,0.00,1.83,0.00,0.000,4,0.000,0.085,2688,2857,3718,0,0,0,0,0,0,28.83,14.82,28.83
$GC,688,-0.55,-116.8,71.6,-10.8,65,694,0.00,1.83,0.00,0.000,6,0.000,0.085,2688,1793,3718,0,0,0,0,0,0,28.83,14.81,28.83
$GC,994,-0.53,-116.8,107.0,-10.9,96,996,0.12,0.00,0.00,0.000,6,0.250,0.000,2719,1793,3718,0,0,0,0,0,0,14.80,28.83,28.83
$GC,1293,-0.53,-116.8,131.8,-7.8,126,1299,0.00,1.85,0.00,0.000,4,0.000,0.106,2720,739,3719,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1386,-0.53,-116.8,139.9,-9.1,135,1391,0.00,1.77,0.00,0.000,6,0.000,0.063,2715,1799,3719,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1700,-0.54,-116.8,160.9,-5.8,166,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1799,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-0.56,-116.8,179.9,-6.7,196,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1799,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2299,-0.57,-116.8,201.0,-6.0,226,2304,0.00,1.88,0.00,0.000,4,0.000,0.106,2715,738,3717,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2342,-0.59,-116.8,203.8,-6.6,230,2347,0.00,1.77,0.00,0.000,6,0.000,0.066,2715,1799,3717,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2655,-0.61,-116.8,224.4,-7.3,261,2660,0.00,1.90,0.00,0.000,4,0.000,0.109,2715,742,3716,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2698,-0.62,-116.8,227.8,-7.9,265,2703,0.00,1.77,0.00,0.000,6,0.000,0.067,2715,1797,3716,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3021,-0.64,-116.8,252.8,-7.8,295,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1798,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,-0.66,-116.8,274.6,-6.7,305,3322,0.12,0.00,0.00,0.000,6,0.143,0.000,2660,1802,3714,0,0,0,0,0,0,14.99,28.83,28.83
$GC,3620,-0.64,-116.8,299.7,-8.3,315,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1798,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-0.63,-116.8,323.9,-8.1,325,3925,0.00,1.85,0.00,0.000,4,0.000,0.109,2660,740,3711,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3962,-0.61,-116.8,326.9,-8.3,326,3967,0.12,1.77,0.00,0.000,6,0.277,0.069,2689,1808,3711,0,0,0,0,0,0,14.91,14.99,28.83
$GC,4284,-0.61,-116.8,352.3,-7.6,337,4290,0.00,1.77,0.00,0.000,4,0.000,0.091,2688,2861,3709,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4326,-0.61,-116.8,354.6,-7.3,338,4332,0.00,1.83,0.00,0.000,6,0.000,0.090,2688,1793,3709,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4650,-0.61,-116.8,374.6,-5.6,349,4655,0.00,1.80,0.00,0.000,4,0.000,0.102,2688,739,3708,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4706,-0.61,-116.8,376.4,-5.6,350,4713,0.00,1.80,0.00,0.000,6,0.000,0.070,2688,1809,3707,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5012,-0.61,-116.8,397.9,-7.0,361,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1809,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5312,-0.61,-116.8,421.8,-8.4,371,5317,0.00,1.88,0.00,0.000,4,0.000,0.114,2685,740,3705,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5363,-0.61,-116.8,424.8,-8.8,372,5368,0.00,1.80,0.00,0.000,6,0.000,0.073,2688,1805,3704,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5675,-0.61,-116.8,452.9,-8.0,383,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1805,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5975,-0.62,-116.8,474.8,-7.1,393,5981,0.00,1.88,0.00,0.000,4,0.000,0.116,2688,741,3702,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6007,-0.62,-116.8,477.1,-7.1,394,6013,0.00,1.80,0.00,0.000,6,0.000,0.075,2688,1799,3702,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6341,-0.63,-116.8,498.9,-6.3,405,6347,0.00,1.80,0.00,0.000,4,0.000,0.098,2687,2856,3700,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6375,-0.65,-116.8,500.9,-6.2,406,6380,0.00,1.83,0.00,0.000,6,0.000,0.095,2688,1795,3700,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6708,-0.66,-116.8,520.4,-5.6,417,6713,0.00,1.85,0.00,0.000,4,0.000,0.122,2688,741,3698,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6785,-0.67,-116.8,524.4,-6.1,419,6791,0.00,1.83,0.00,0.000,6,0.000,0.078,2687,1797,3698,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7104,-0.69,-116.8,545.2,-6.6,430,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1797,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7403,-0.71,-116.8,565.7,-7.0,440,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1797,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7703,-0.72,-116.8,585.4,-6.4,450,7708,0.00,1.88,0.00,0.000,4,0.000,0.120,2687,741,3692,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7745,-0.74,-116.8,587.7,-6.5,451,7751,0.12,1.80,0.00,0.000,6,0.152,0.079,2639,1809,3692,0,0,0,0,0,0,15.01,15.00,28.83
$GC,8069,-0.72,-116.8,615.1,-8.5,462,8074,0.00,1.80,0.00,0.000,4,0.000,0.101,2637,2859,3691,0,0,0,0,0,0,28.83,14.98,28.83
$GC,8146,-0.71,-116.8,620.4,-8.5,464,8151,0.00,1.85,0.00,0.000,6,0.000,0.099,2637,1804,3690,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8464,-0.69,-116.8,651.2,-9.6,475,8470,0.12,1.83,0.00,0.000,4,0.265,0.099,2667,2859,3689,0,0,0,0,0,0,14.91,14.97,28.83
$GC,8522,-0.68,-116.8,654.0,-9.4,476,8528,0.00,1.85,0.00,0.000,6,0.000,0.099,2667,1793,3689,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8828,-0.68,-116.8,679.2,-7.2,487,8833,0.00,1.90,0.00,0.000,4,0.000,0.125,2673,735,3687,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8938,-0.68,-116.8,686.2,-7.4,490,8944,0.00,1.83,0.00,0.000,6,0.000,0.082,2666,1799,3687,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9251,-0.68,-116.8,708.8,-7.0,501,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1798,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9551,-0.68,-116.8,731.0,-7.5,511,9556,0.00,1.90,0.00,0.000,4,0.000,0.125,2665,737,3684,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9602,-0.68,-116.8,733.7,-7.8,512,9608,0.00,1.83,0.00,0.000,6,0.000,0.084,2664,1798,3684,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9914,-0.68,-116.8,761.6,-8.7,523,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1798,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10215,-0.68,-116.8,788.3,-8.6,533,10220,0.00,1.83,0.00,0.000,4,0.000,0.106,2662,2859,3681,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10260,-0.68,-116.8,790.9,-8.5,534,10265,0.00,1.85,0.00,0.000,6,0.000,0.100,2661,1796,3681,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10577,-0.68,-116.8,817.8,-7.9,545,10583,0.00,1.90,0.00,0.000,4,0.000,0.128,2661,732,3680,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10614,-0.68,-116.8,820.8,-8.1,546,10619,0.00,1.85,0.00,0.000,6,0.000,0.086,2662,1801,3680,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10941,-0.68,-116.8,845.3,-7.1,557,10946,0.00,1.92,0.00,0.000,4,0.000,0.125,2662,732,3679,0,0,0,0,0,0,28.83,14.94,28.83
$GC,10977,-0.68,-116.8,847.7,-7.2,558,10982,0.00,1.83,0.00,0.000,6,0.000,0.086,2662,1801,3679,0,0,0,0,0,0,28.83,14.96,28.83
$GC,11305,-0.68,-116.8,870.0,-6.6,569,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1801,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11604,-0.68,-116.8,890.8,-7.1,579,11609,0.00,1.92,0.00,0.000,4,0.000,0.128,2662,734,3677,0,0,0,0,0,0,28.83,14.93,28.83
$GC,11645,-0.68,-116.8,893.3,-7.3,580,11650,0.00,1.85,0.00,0.000,6,0.000,0.087,2661,1799,3677,0,0,0,0,0,0,28.83,14.95,28.83
$GC,11967,-0.68,-116.8,917.1,-7.1,591,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1800,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12268,-0.69,-116.8,937.3,-6.6,601,12273,0.00,1.83,0.00,0.000,4,0.000,0.111,2662,2857,3675,0,0,0,0,0,0,28.83,14.94,28.83
$GC,12314,-0.70,-116.8,939.4,-6.5,602,12319,0.00,1.85,0.00,0.000,6,0.000,0.105,2662,1800,3674,0,0,0,0,0,0,28.83,14.93,28.83
$GC,12633,-0.71,-116.8,960.7,-6.6,613,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1799,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12931,-0.72,-116.8,980.6,-6.8,623,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1800,3673,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13080,begin apogee
$GC,13084,-0.19,0.0,991.2,-7.0,628,13207,0.52,0.00,116.88,2.042,6,0.216,0.000,2818,1498,3235,0,0,0,0,0,0,14.87,28.83,13.47
$STATE,13209,end apogee,CONTROL_FINISHED_OK
$STATE,13209,begin climb
$GC,13210,0.65,116.8,995.8,0.0,632,13332,0.85,2.15,114.32,2.083,4,0.138,0.145,3096,443,2757,0,0,0,0,0,0,14.15,14.00,13.40
$GC,13559,0.70,205.9,995.0,3.2,643,13656,0.00,1.88,86.75,2.092,6,0.000,0.081,3095,1506,2390,0,0,0,0,0,0,28.83,14.58,13.45
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$STATE,26629,end climb,SURFACE_DEPTH_REACHED
$STATE,26630,begin surface coast
$FINISH,0.6,1.013710
$STATE,26662,end surface coast,CONTROL_FINISHED_OK
$STATE,26662,begin surface
$SM_CCo,26680,16.38,0.131,0,0,1809,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,48.77
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,7763488
$TM_FREEKB,7772064
$24V_AH,13.4,11.992
$10V_AH,13.6,0.000
$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
$DEVICE_SECS,23.775,146.650,467.650,16.375,0.000,0.000,0.000,848.600,0.250,0.000,16.767,3989.447,19253.859,662.282,3886.578,221.935,0.000,2968.463,0.000,2709.980,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26694.000,6467.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.144,13.158,0.000,0.000
$MEM,345312
$DATA_FILE_SIZE,46645,1298
$CAP_FILE_SIZE,293049,0
$CFSIZE,260034560,253255680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.123, 13.7,1
$GPS,200912,040922,2510.603,-3801.598,36,0.9,36,-13.9