version: 66.11
glider: 190
mission: 6
dive: 27
start: 9 22 112 23 59 9
data:
$ID,190
$MISSION,6
$DIVE,27
$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,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,-12063.145
$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,0.015
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,220912,234452,2452.154,-3801.697,39,0.8,39,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-60.7
$GPS2,220912,235842,2452.189,-3801.621,13,1.3,14,-14.0
$SPEED_LIMITS,0.106,0.183
$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,200.7,104064,-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,14038,-0.69,-97.3,876.5,-7.0,736,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1785,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14338,-0.67,-97.3,896.8,-6.8,746,14340,0.12,0.00,0.00,0.000,6,0.271,0.000,2669,1785,3351,0,0,0,0,0,0,14.84,28.83,28.83
$GC,14638,-0.67,-97.3,914.7,-6.1,756,14643,0.00,1.92,0.00,0.000,4,0.000,0.128,2669,726,3351,0,0,0,0,0,0,28.83,14.90,28.83
$GC,14701,-0.67,-97.3,918.8,-6.3,758,14706,0.00,1.83,0.00,0.000,6,0.000,0.085,2667,1793,3350,0,0,0,0,0,0,28.83,14.93,28.83
$GC,15034,-0.67,-97.3,939.1,-6.2,769,15039,0.00,1.95,0.00,0.000,4,0.000,0.129,2667,731,3348,0,0,0,0,0,0,28.83,14.89,28.83
$GC,15085,-0.67,-97.3,941.3,-6.3,770,15090,0.00,1.83,0.00,0.000,6,0.000,0.087,2665,1792,3350,0,0,0,0,0,0,28.83,14.92,28.83
$GC,15397,-0.67,-97.3,962.7,-6.6,781,15402,0.00,1.85,0.00,0.000,4,0.000,0.108,2662,2851,3349,0,0,0,0,0,0,28.83,14.90,28.83
$GC,15459,-0.67,-97.3,967.0,-6.8,783,15464,0.00,1.85,0.00,0.000,6,0.000,0.103,2662,1786,3349,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,15791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15791,begin apogee
$GC,15795,-0.19,0.0,991.8,-7.9,794,15886,0.52,0.00,86.53,2.134,6,0.214,0.000,2818,1471,2986,0,0,0,0,0,0,14.79,28.83,13.57
$STATE,15889,end apogee,CONTROL_FINISHED_OK
$STATE,15889,begin climb
$GC,15890,0.58,97.3,995.4,0.0,797,15997,0.80,2.12,96.22,2.063,4,0.148,0.149,3070,427,2585,0,0,0,0,0,0,14.23,14.03,13.44
$GC,16019,0.60,213.6,995.4,1.2,801,16140,0.00,1.90,114.82,2.028,6,0.000,0.081,3069,1488,2119,0,0,0,0,0,0,28.83,14.26,13.43
$GC,16452,0.60,213.6,969.2,7.0,816,16458,0.00,1.88,0.00,0.000,4,0.000,0.106,3070,2543,2097,0,0,0,0,0,0,28.83,14.64,28.83
$GC,16539,0.60,213.6,964.3,7.6,818,16546,0.00,1.98,0.00,0.000,6,0.000,0.126,3070,1483,2096,0,0,0,0,0,0,28.83,14.65,28.83
$GC,16845,0.60,213.6,936.7,8.9,829,16846,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1483,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17144,0.60,213.6,908.9,9.3,839,17150,0.00,2.00,0.00,0.000,4,0.000,0.153,3072,422,2094,0,0,0,0,0,0,28.83,14.78,28.83
$GC,17216,0.60,213.6,902.9,9.4,841,17222,0.00,1.85,0.00,0.000,6,0.000,0.084,3072,1475,2094,0,0,0,0,0,0,28.83,14.84,28.83
$GC,17539,0.60,213.6,874.6,8.3,852,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1474,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17838,0.60,213.6,850.8,7.8,862,17844,0.00,1.85,0.00,0.000,4,0.000,0.107,3072,2537,2092,0,0,0,0,0,0,28.83,14.88,28.83
$GC,17880,0.60,213.6,848.2,7.8,863,17886,0.00,1.95,0.00,0.000,6,0.000,0.125,3078,1473,2091,0,0,0,0,0,0,28.83,14.85,28.83
$GC,18203,0.60,213.6,821.6,7.9,874,18208,0.00,1.90,0.00,0.000,4,0.000,0.108,3078,2537,2091,0,0,0,0,0,0,28.83,14.88,28.83
$GC,18265,0.60,213.6,816.8,7.8,876,18270,0.00,1.95,0.00,0.000,6,0.000,0.125,3083,1473,2090,0,0,0,0,0,0,28.83,14.85,28.83
$GC,18597,0.60,213.6,792.6,7.0,887,18602,0.00,1.88,0.00,0.000,4,0.000,0.107,3083,2536,2090,0,0,0,0,0,0,28.83,14.89,28.83
$GC,18654,0.60,213.6,790.3,7.0,888,18660,0.00,1.95,0.00,0.000,6,0.000,0.125,3090,1472,2089,0,0,0,0,0,0,28.83,14.86,28.83
$GC,18959,0.60,213.6,765.3,7.9,899,18960,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1472,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19260,0.60,213.6,738.2,9.5,909,19265,0.00,1.98,0.00,0.000,4,0.000,0.150,3096,416,2089,0,0,0,0,0,0,28.83,14.85,28.83
$GC,19341,0.60,213.6,731.7,10.1,911,19346,0.00,1.85,0.00,0.000,6,0.000,0.082,3096,1489,2089,0,0,0,0,0,0,28.83,14.91,28.83
$GC,19652,0.60,213.6,700.0,9.3,922,19654,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1489,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19952,0.60,213.6,675.0,7.9,932,19958,0.00,1.85,0.00,0.000,4,0.000,0.106,3097,2541,2089,0,0,0,0,0,0,28.83,14.90,28.83
$GC,20004,0.60,213.6,672.4,7.9,933,20009,0.00,1.92,0.00,0.000,6,0.000,0.123,3104,1475,2089,0,0,0,0,0,0,28.83,14.88,28.83
$GC,20317,0.58,213.6,644.5,8.7,944,20322,0.00,1.98,0.00,0.000,4,0.000,0.148,3111,415,2089,0,0,0,0,0,0,28.83,14.85,28.83
$GC,20388,0.56,213.6,638.3,9.3,946,20395,0.17,1.83,0.00,0.000,6,0.288,0.080,3069,1489,2089,0,0,0,0,0,0,14.79,14.91,28.83
$GC,20713,0.57,213.6,611.3,7.8,957,20718,0.00,1.83,0.00,0.000,4,0.000,0.096,3069,2540,2089,0,0,0,0,0,0,28.83,14.91,28.83
$GC,20759,0.59,213.6,608.7,7.7,958,20764,0.00,1.90,0.00,0.000,6,0.000,0.110,3077,1477,2089,0,0,0,0,0,0,28.83,14.88,28.83
$GC,21076,0.59,213.6,584.5,7.1,969,21082,0.00,1.85,0.00,0.000,4,0.000,0.096,3077,2545,2089,0,0,0,0,0,0,28.83,14.91,28.83
$GC,21109,0.59,213.6,582.1,7.0,970,21114,0.00,1.90,0.00,0.000,6,0.000,0.109,3085,1482,2089,0,0,0,0,0,0,28.83,14.88,28.83
$GC,21441,0.59,213.6,556.1,8.1,981,21446,0.00,1.83,0.00,0.000,4,0.000,0.094,3084,2539,2088,0,0,0,0,0,0,28.83,14.91,28.83
$GC,21542,0.59,213.6,548.2,8.6,984,21547,0.00,1.90,0.00,0.000,6,0.000,0.108,3092,1478,2089,0,0,0,0,0,0,28.83,14.88,28.83
$GC,21865,0.59,213.6,521.2,7.9,995,21866,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1477,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22164,0.59,213.6,497.3,8.3,1005,22165,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1477,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22464,0.59,213.6,470.2,9.2,1015,22470,0.00,1.95,0.00,0.000,4,0.000,0.142,3096,422,2091,0,0,0,0,0,0,28.83,14.85,28.83
$GC,22536,0.59,213.6,464.3,9.3,1017,22541,0.00,1.77,0.00,0.000,6,0.000,0.075,3096,1480,2091,0,0,0,0,0,0,28.83,14.92,28.83
$GC,22858,0.59,213.6,437.1,7.8,1028,22864,0.00,1.83,0.00,0.000,4,0.000,0.091,3096,2541,2092,0,0,0,0,0,0,28.83,14.92,28.83
$GC,22939,0.59,213.6,432.3,7.8,1030,22945,0.00,1.88,0.00,0.000,6,0.000,0.106,3104,1477,2091,0,0,0,0,0,0,28.83,14.88,28.83
$GC,23252,0.59,213.6,405.5,8.4,1041,23258,0.00,1.95,0.00,0.000,4,0.000,0.141,3110,418,2093,0,0,0,0,0,0,28.83,14.85,28.83
$GC,23310,0.58,213.6,402.5,8.6,1042,23317,0.12,1.80,0.00,0.000,6,0.288,0.075,3082,1488,2093,0,0,0,0,0,0,14.80,14.91,28.83
$GC,23616,0.58,213.6,376.3,7.8,1053,23617,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1488,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23915,0.58,213.6,352.1,8.1,1063,23921,0.00,1.80,0.00,0.000,4,0.000,0.087,3081,2540,2093,0,0,0,0,0,0,28.83,14.92,28.83
$GC,23992,0.58,213.6,346.8,8.2,1065,23997,0.00,1.88,0.00,0.000,6,0.000,0.103,3089,1480,2093,0,0,0,0,0,0,28.83,14.89,28.83
$GC,24308,0.58,213.6,317.8,8.8,1076,24314,0.00,1.95,0.00,0.000,4,0.000,0.138,3096,416,2094,0,0,0,0,0,0,28.83,14.86,28.83
$GC,24360,0.58,213.6,314.8,8.9,1077,24365,0.00,1.77,0.00,0.000,6,0.000,0.072,3096,1482,2094,0,0,0,0,0,0,28.83,14.92,28.83
$GC,24672,0.58,213.6,286.2,8.2,1088,24673,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1482,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24973,0.58,220.5,266.6,5.8,1098,24979,0.00,1.80,0.00,0.000,4,0.000,0.090,3096,2545,2095,0,0,0,0,0,0,28.83,14.92,28.83
$GC,25024,0.58,228.1,264.7,5.8,1099,25042,0.00,1.88,12.25,1.347,6,0.000,0.102,3104,1475,2057,0,0,0,0,0,0,28.83,14.89,14.31
$GC,25348,0.58,228.1,241.5,7.8,1117,25350,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1474,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25649,0.58,228.1,215.4,9.7,1147,25655,0.00,1.90,0.00,0.000,4,0.000,0.116,3111,414,2048,0,0,0,0,0,0,28.83,14.79,28.83
$GC,25685,0.58,228.1,211.9,10.5,1150,25693,0.12,1.80,0.00,0.000,6,0.262,0.060,3081,1492,2048,0,0,0,0,0,0,14.76,14.86,28.83
$GC,25992,0.60,228.1,184.0,8.4,1181,25998,0.00,1.98,0.00,0.000,4,0.000,0.130,3085,419,2048,0,0,0,0,0,0,28.83,14.79,28.83
$GC,26035,0.62,228.1,180.4,8.5,1185,26040,0.00,1.77,0.00,0.000,6,0.000,0.066,3084,1485,2049,0,0,0,0,0,0,28.83,14.83,28.83
$GC,26348,0.65,248.1,160.6,5.3,1216,26374,0.00,1.80,19.85,1.232,4,0.000,0.082,3085,2540,1971,0,0,0,0,0,0,28.83,14.72,14.25
$GC,26416,0.69,277.8,157.4,4.8,1222,26449,0.00,1.92,27.80,1.212,6,0.000,0.107,3092,1476,1856,0,0,0,0,0,0,28.83,14.70,14.12
$GC,26756,0.72,277.8,131.2,8.9,1256,26757,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1476,1841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27056,0.75,277.8,103.7,9.2,1286,27062,0.12,1.83,0.00,0.000,4,0.145,0.083,3147,2536,1842,0,0,0,0,0,0,14.77,14.77,28.83
$GC,27130,0.72,277.8,95.2,12.1,1293,27136,0.12,1.90,0.00,0.000,6,0.262,0.105,3125,1478,1840,0,0,0,0,0,0,14.69,14.74,28.83
$GC,27444,0.72,277.8,63.1,9.3,1324,27450,0.00,1.92,0.00,0.000,4,0.000,0.129,3132,422,1841,0,0,0,0,0,0,28.83,14.75,28.83
$GC,27551,0.72,277.8,53.9,8.8,1334,27558,0.00,1.77,0.00,0.000,6,0.000,0.062,3132,1483,1842,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27857,0.72,289.5,29.7,5.6,1365,27863,0.00,0.00,3.70,0.184,6,0.000,0.000,3132,1483,1808,0,0,0,0,0,0,28.83,28.83,14.71
$STATE,28119,end climb,SURFACE_DEPTH_REACHED
$STATE,28119,begin surface coast
$FINISH,0.9,1.024659
$STATE,28141,end surface coast,CONTROL_FINISHED_OK
$STATE,28141,begin surface
$SM_CCo,28158,30.42,0.129,0,0,1560,350.04
$SM_GC,1.58,8.55,0.52,30.42,0.085,0.076,0.129,138,1790,1560,-8.54,-0.93,350.04,0,0,0,0,0,0,14.84,14.85,14.79
$IRIDIUM_FIX,2441.81,-3809.17,220912,232301
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.62
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7759648
$TM_FREEKB,7671648
$24V_AH,13.4,16.103
$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,24.850,187.000,361.175,30.425,0.000,0.000,0.000,527.325,0.000,0.000,15.812,4458.024,19843.477,620.328,3846.863,233.110,0.000,2788.524,0.000,3092.025,0.000,0.542,0.000
$DEVICE_MAMPS,439.875,153.000,2134.350,128.520,0.000,0.000,0.000,182.070,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28174.000,7093.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.952,13.354,0.000,0.000
$MEM,344940
$DATA_FILE_SIZE,49951,1393
$CAP_FILE_SIZE,308654,0
$CFSIZE,260034560,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,  4.6,1
$GPS,230912,075004,2450.051,-3802.006,26,0.9,26,-14.0