version: 66.11
glider: 190
mission: 6
dive: 43
start: 9 27 112 7 2 57
data:
$ID,190
$MISSION,6
$DIVE,43
$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,-12318.938
$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,30
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,24
$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
$GPS1,270912,064829,2429.014,-3802.679,39,0.8,39,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.1
$GPS2,270912,070229,2429.128,-3802.745,19,1.1,20,-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,193.3,61367,-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,13907,-0.65,-97.3,875.6,-6.4,702,13913,0.00,1.85,0.00,0.000,6,0.000,0.092,2674,1786,3349,0,0,0,0,0,0,28.83,14.86,28.83
$GC,14221,-0.65,-97.3,896.0,-5.8,713,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1786,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14520,-0.65,-97.3,910.7,-4.3,723,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1786,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14820,-0.65,-97.3,922.4,-4.0,733,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1786,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15120,-0.65,-97.3,938.9,-6.2,743,15121,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1786,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15420,-0.65,-97.3,960.3,-7.3,753,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1786,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15720,-0.67,-97.3,981.2,-6.6,763,15725,0.00,1.88,0.00,0.000,4,0.000,0.117,2674,734,3345,0,0,0,0,0,0,28.83,14.83,28.83
$GC,15806,-0.67,-97.3,985.5,-6.7,765,15813,0.00,1.83,0.00,0.000,6,0.000,0.078,2674,1789,3345,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,15871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15871,begin apogee
$GC,15875,-0.19,0.0,991.1,-6.4,768,15968,0.50,0.00,84.95,2.049,6,0.213,0.000,2821,1478,2984,0,0,0,0,0,0,14.68,28.83,13.60
$STATE,15970,end apogee,CONTROL_FINISHED_OK
$STATE,15970,begin climb
$GC,15971,0.58,97.3,992.7,0.0,771,16078,0.80,2.10,96.10,2.005,4,0.148,0.135,3081,427,2587,0,0,0,0,0,0,14.25,14.04,13.49
$GC,16125,0.54,140.3,988.1,4.3,776,16176,0.00,1.85,42.78,1.961,6,0.000,0.073,3081,1482,2412,0,0,0,0,0,0,28.83,14.35,13.52
$GC,16476,0.53,140.3,961.4,7.7,788,16477,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1482,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16775,0.51,140.3,938.6,7.5,798,16777,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1482,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17076,0.49,140.3,916.0,7.6,808,17078,0.12,0.00,0.00,0.000,6,0.285,0.000,3052,1487,2397,0,0,0,0,0,0,14.69,28.83,28.83
$GC,17375,0.49,140.6,897.3,6.1,818,17380,0.00,1.83,0.00,0.000,4,0.000,0.096,3052,2538,2399,0,0,0,0,0,0,28.83,14.81,28.83
$GC,17431,0.49,140.6,895.4,6.1,819,17438,0.00,1.95,0.00,0.000,6,0.000,0.125,3059,1482,2395,0,0,0,0,0,0,28.83,14.76,28.83
$GC,17738,0.50,158.4,876.2,5.4,830,17756,0.00,0.00,16.00,1.945,6,0.000,0.000,3059,1482,2342,0,0,0,0,0,0,28.83,28.83,14.08
$GC,18038,0.52,188.3,861.1,4.8,840,18074,0.00,1.92,30.88,1.922,4,0.000,0.103,3059,2542,2216,0,0,0,0,0,0,28.83,14.51,13.90
$GC,18135,0.53,207.8,856.1,5.3,843,18162,0.00,2.00,20.65,1.854,6,0.000,0.125,3066,1481,2139,0,0,0,0,0,0,28.83,14.55,13.81
$GC,18462,0.53,207.8,834.4,7.2,854,18467,0.00,1.90,0.00,0.000,4,0.000,0.106,3066,2538,2128,0,0,0,0,0,0,28.83,14.66,28.83
$GC,18548,0.53,207.8,829.1,7.8,856,18555,0.00,1.98,0.00,0.000,6,0.000,0.126,3071,1477,2127,0,0,0,0,0,0,28.83,14.67,28.83
$GC,18855,0.53,207.8,797.1,10.4,867,18856,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1477,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19154,0.53,207.8,766.1,10.2,877,19159,0.00,1.98,0.00,0.000,4,0.000,0.138,3080,414,2125,0,0,0,0,0,0,28.83,14.76,28.83
$GC,19210,0.53,207.8,762.9,10.1,878,19217,0.00,1.83,0.00,0.000,6,0.000,0.075,3080,1488,2125,0,0,0,0,0,0,28.83,14.83,28.83
$GC,19516,0.53,207.8,732.1,9.0,889,19522,0.00,1.83,0.00,0.000,4,0.000,0.097,3079,2547,2124,0,0,0,0,0,0,28.83,14.83,28.83
$GC,19608,0.53,207.8,723.9,8.9,892,19614,0.00,1.90,0.00,0.000,6,0.000,0.112,3087,1475,2123,0,0,0,0,0,0,28.83,14.81,28.83
$GC,19941,0.53,207.8,698.2,7.2,903,19946,0.00,1.85,0.00,0.000,4,0.000,0.096,3087,2536,2123,0,0,0,0,0,0,28.83,14.85,28.83
$GC,19992,0.53,207.8,695.9,7.0,904,19998,0.15,1.90,0.00,0.000,6,0.284,0.110,3060,1473,2123,0,0,0,0,0,0,14.74,14.83,28.83
$GC,20307,0.56,230.6,678.3,5.1,915,20335,0.00,0.00,21.48,1.725,6,0.000,0.000,3060,1473,2041,0,0,0,0,0,0,28.83,28.83,14.12
$GC,20637,0.59,232.0,659.8,6.1,926,20638,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1473,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20935,0.62,232.0,639.1,7.1,936,20937,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1473,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21236,0.65,232.0,617.5,7.0,946,21242,0.12,1.85,0.00,0.000,4,0.152,0.088,3110,2538,2035,0,0,0,0,0,0,14.85,14.84,28.83
$GC,21318,0.65,232.0,611.9,7.8,948,21323,0.00,1.90,0.00,0.000,6,0.000,0.106,3118,1472,2034,0,0,0,0,0,0,28.83,14.82,28.83
$GC,21632,0.62,232.0,582.8,8.7,959,21633,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1472,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21931,0.59,232.0,554.3,9.6,969,21937,0.12,1.90,0.00,0.000,4,0.300,0.126,3093,422,2034,0,0,0,0,0,0,14.75,14.78,28.83
$GC,21978,0.56,232.0,551.3,9.6,970,21984,0.00,1.80,0.00,0.000,6,0.000,0.070,3093,1483,2034,0,0,0,0,0,0,28.83,14.88,28.83
$GC,22296,0.56,232.0,522.6,8.6,981,22301,0.00,1.80,0.00,0.000,4,0.000,0.089,3093,2538,2033,0,0,0,0,0,0,28.83,14.87,28.83
$GC,22358,0.56,232.0,517.3,8.6,983,22364,0.00,1.88,0.00,0.000,6,0.000,0.103,3101,1476,2034,0,0,0,0,0,0,28.83,14.85,28.83
$GC,22692,0.56,232.0,489.7,8.2,994,22697,0.00,1.92,0.00,0.000,4,0.000,0.129,3109,421,2034,0,0,0,0,0,0,28.83,14.83,28.83
$GC,22728,0.56,232.0,487.1,8.0,995,22735,0.15,1.77,0.00,0.000,6,0.283,0.070,3073,1486,2035,0,0,0,0,0,0,14.76,14.90,28.83
$GC,23057,0.58,232.0,464.1,6.8,1006,23062,0.00,1.77,0.00,0.000,4,0.000,0.088,3073,2532,2034,0,0,0,0,0,0,28.83,14.88,28.83
$GC,23153,0.60,232.0,457.5,7.1,1009,23158,0.00,1.88,0.00,0.000,6,0.000,0.103,3080,1481,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,23481,0.60,232.0,434.8,6.8,1020,23486,0.00,1.92,0.00,0.000,4,0.000,0.126,3088,421,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,23537,0.60,232.0,432.3,7.0,1021,23544,0.00,1.80,0.00,0.000,6,0.000,0.069,3089,1486,2036,0,0,0,0,0,0,28.83,14.90,28.83
$GC,23843,0.60,232.0,406.0,8.2,1032,23848,0.00,1.77,0.00,0.000,4,0.000,0.086,3089,2534,2035,0,0,0,0,0,0,28.83,14.88,28.83
$GC,23924,0.60,232.0,400.6,8.4,1034,23929,0.00,1.88,0.00,0.000,6,0.000,0.100,3096,1477,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,24236,0.60,232.0,370.0,9.4,1045,24237,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1478,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24537,0.60,232.0,345.4,7.8,1055,24538,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1477,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24836,0.60,232.0,320.9,8.6,1065,24837,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1477,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25137,0.60,232.0,292.3,9.6,1075,25142,0.00,1.80,0.00,0.000,4,0.000,0.081,3097,2538,2038,0,0,0,0,0,0,28.83,14.90,28.83
$GC,25183,0.60,232.0,289.0,9.7,1076,25188,0.00,1.85,0.00,0.000,6,0.000,0.097,3104,1479,2038,0,0,0,0,0,0,28.83,14.87,28.83
$GC,25500,0.60,232.0,258.9,8.5,1087,25501,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1480,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25800,0.60,232.0,235.3,8.4,1109,25801,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1480,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26099,0.60,232.0,209.2,8.6,1139,26101,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1480,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26400,0.60,232.0,184.2,9.0,1169,26405,0.00,1.83,0.00,0.000,4,0.000,0.086,3104,2523,2040,0,0,0,0,0,0,28.83,14.81,28.83
$GC,26476,0.60,232.0,176.7,10.7,1176,26483,0.00,1.88,0.00,0.000,6,0.000,0.106,3109,1475,2040,0,0,0,0,0,0,28.83,14.76,28.83
$GC,26782,0.60,232.0,143.3,9.8,1207,26787,0.00,1.92,0.00,0.000,4,0.000,0.125,3113,418,2041,0,0,0,0,0,0,28.83,14.77,28.83
$GC,26825,0.58,232.0,139.3,9.6,1211,26831,0.15,1.77,0.00,0.000,6,0.248,0.057,3075,1488,2042,0,0,0,0,0,0,14.71,14.84,28.83
$GC,27139,0.61,232.0,119.6,6.5,1242,27144,0.00,1.80,0.00,0.000,4,0.000,0.077,3075,2531,2042,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27226,0.63,232.0,113.5,7.6,1250,27233,0.00,1.88,0.00,0.000,6,0.000,0.095,3082,1471,2042,0,0,0,0,0,0,28.83,14.76,28.83
$GC,27532,0.70,307.3,99.7,2.9,1281,27582,0.10,0.00,43.28,0.438,6,0.163,0.000,3123,1472,1737,0,0,0,0,0,0,14.80,28.83,14.50
$GC,27882,0.70,307.3,71.1,9.0,1316,27888,0.00,1.85,1.67,0.170,4,0.000,0.080,3126,2542,1738,0,0,0,0,0,0,28.83,14.76,14.69
$GC,27979,0.70,307.3,63.5,7.4,1325,27987,0.00,1.90,1.67,0.174,6,0.000,0.099,3131,1476,1737,0,0,0,0,0,0,28.83,14.72,14.69
$GC,28286,0.70,307.3,34.5,10.2,1356,28292,0.00,1.95,1.80,0.168,4,0.000,0.113,3139,418,1737,0,0,0,0,0,0,28.83,14.73,14.71
$GC,28440,0.70,307.3,19.7,9.4,1371,28446,0.00,1.77,1.88,0.167,6,0.000,0.055,3139,1488,1736,0,0,0,0,0,0,28.83,14.80,14.71
$STATE,28632,end climb,SURFACE_DEPTH_REACHED
$STATE,28632,begin surface coast
$FINISH,0.8,0.996290
$STATE,28662,end surface coast,CONTROL_FINISHED_OK
$STATE,28662,begin surface
$SM_CCo,28680,21.98,0.129,0,0,1561,350.04
$SM_GC,1.41,8.52,0.52,21.98,0.080,0.083,0.129,142,1791,1561,-8.54,-0.88,350.04,0,0,0,0,0,0,14.79,14.83,14.76
$IRIDIUM_FIX,2420.48,-3803.71,270912,060623
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.34
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.90
$XPDR_PINGS,1
$SC_FREEKB,7753504
$TM_FREEKB,7523520
$24V_AH,13.5,21.202
$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,23.950,171.150,363.125,21.975,0.000,0.000,0.000,532.150,0.250,0.000,20.527,4444.060,20378.191,623.591,3832.488,247.884,0.000,2785.371,0.000,3081.863,0.000,0.542,0.000
$DEVICE_MAMPS,426.105,138.465,2048.670,128.520,0.000,0.000,0.000,184.365,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28694.000,6797.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.407,13.345,0.000,0.000
$MEM,345212
$DATA_FILE_SIZE,49906,1393
$CAP_FILE_SIZE,306792,0
$CFSIZE,260034560,249327616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044, 35.8,1
$GPS,270912,150234,2426.553,-3802.215,35,0.8,35,-14.0