version: 66.11
glider: 190
mission: 6
dive: 46
start: 9 28 112 7 37 27
data:
$ID,190
$MISSION,6
$DIVE,46
$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,-12322.71
$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,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
$GPS1,280912,072555,2420.688,-3802.357,39,1.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.7
$GPS2,280912,073659,2420.720,-3802.343,16,1.1,17,-14.1
$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,190.9,45786,-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,14709,-0.66,-97.3,934.7,-5.5,737,14714,0.00,1.90,0.00,0.000,4,0.000,0.115,2671,730,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14821,-0.66,-97.3,939.6,-5.2,740,14826,0.00,1.80,0.00,0.000,6,0.000,0.079,2666,1788,3351,0,0,0,0,0,0,28.83,14.88,28.83
$GC,15134,-0.66,-97.3,951.6,-3.2,751,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1788,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15434,-0.66,-97.3,964.8,-5.2,761,15435,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1788,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15733,-0.66,-97.3,985.3,-7.5,771,15735,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1788,3348,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15822,begin apogee
$GC,15826,-0.19,0.0,992.4,-7.8,774,15919,0.52,0.00,85.22,2.027,6,0.209,0.000,2824,1475,2984,0,0,0,0,0,0,14.73,28.83,13.61
$STATE,15921,end apogee,CONTROL_FINISHED_OK
$STATE,15921,begin climb
$GC,15923,0.58,97.3,996.1,0.0,777,16029,0.77,2.10,95.68,1.971,4,0.142,0.135,3076,424,2586,0,0,0,0,0,0,14.26,14.04,13.48
$GC,16070,0.58,202.9,995.3,1.6,782,16181,0.00,1.88,103.82,1.959,6,0.000,0.073,3077,1488,2160,0,0,0,0,0,0,28.83,14.33,13.46
$GC,16489,0.58,202.9,970.2,7.1,796,16494,0.00,1.85,0.00,0.000,4,0.000,0.099,3077,2537,2144,0,0,0,0,0,0,28.83,14.62,28.83
$GC,16546,0.58,202.9,967.8,7.4,797,16553,0.00,1.95,0.00,0.000,6,0.000,0.126,3082,1485,2142,0,0,0,0,0,0,28.83,14.62,28.83
$GC,16851,0.58,202.9,938.5,9.1,808,16856,0.00,2.03,0.00,0.000,4,0.000,0.150,3085,417,2141,0,0,0,0,0,0,28.83,14.70,28.83
$GC,16892,0.58,202.9,935.5,9.3,809,16897,0.00,1.83,0.00,0.000,6,0.000,0.080,3085,1479,2141,0,0,0,0,0,0,28.83,14.76,28.83
$GC,17215,0.58,202.9,904.8,9.3,820,17217,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1479,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17514,0.58,202.9,876.3,9.8,830,17519,0.00,1.85,0.00,0.000,4,0.000,0.106,3085,2535,2139,0,0,0,0,0,0,28.83,14.82,28.83
$GC,17540,0.58,202.9,876.3,9.8,830,17548,0.00,1.90,0.00,0.000,6,0.000,0.110,3093,1472,2138,0,0,0,0,0,0,28.83,14.81,28.83
$GC,17847,0.56,202.9,841.3,10.9,841,17852,0.00,1.88,0.00,0.000,4,0.000,0.096,3093,2544,2138,0,0,0,0,0,0,28.83,14.84,28.83
$GC,17880,0.54,202.9,837.6,11.0,842,17886,0.15,1.95,0.00,0.000,6,0.297,0.111,3066,1459,2137,0,0,0,0,0,0,14.72,14.83,28.83
$GC,18213,0.54,202.9,806.9,8.8,853,18218,0.00,1.88,0.00,0.000,4,0.000,0.096,3067,2535,2137,0,0,0,0,0,0,28.83,14.85,28.83
$GC,18299,0.54,202.9,801.6,8.6,855,18306,0.00,1.90,0.00,0.000,6,0.000,0.109,3074,1470,2137,0,0,0,0,0,0,28.83,14.83,28.83
$GC,18606,0.54,202.9,777.5,6.8,866,18611,0.00,1.88,0.00,0.000,4,0.000,0.096,3074,2545,2136,0,0,0,0,0,0,28.83,14.85,28.83
$GC,18647,0.54,202.9,775.3,6.7,867,18652,0.00,1.90,0.00,0.000,6,0.000,0.109,3082,1479,2136,0,0,0,0,0,0,28.83,14.83,28.83
$GC,18970,0.55,208.1,754.7,5.9,878,18975,0.00,1.95,0.00,0.000,4,0.000,0.135,3090,424,2136,0,0,0,0,0,0,28.83,14.80,28.83
$GC,19012,0.55,208.6,752.5,6.1,879,19017,0.00,1.80,0.00,0.000,6,0.000,0.075,3090,1489,2136,0,0,0,0,0,0,28.83,14.86,28.83
$GC,19335,0.55,208.6,727.7,7.9,890,19336,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1489,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19633,0.55,208.6,701.6,9.0,900,19639,0.00,1.80,0.00,0.000,4,0.000,0.094,3090,2534,2136,0,0,0,0,0,0,28.83,14.86,28.83
$GC,19719,0.55,208.6,695.9,9.2,902,19727,0.00,1.90,0.00,0.000,6,0.000,0.106,3097,1474,2135,0,0,0,0,0,0,28.83,14.84,28.83
$GC,20027,0.53,208.6,663.9,9.8,913,20029,0.15,0.00,0.00,0.000,6,0.278,0.000,3061,1475,2135,0,0,0,0,0,0,14.75,28.83,28.83
$GC,20326,0.54,208.6,638.8,8.3,923,20331,0.00,1.90,0.00,0.000,4,0.000,0.129,3071,425,2135,0,0,0,0,0,0,28.83,14.81,28.83
$GC,20368,0.54,208.6,636.1,8.3,924,20373,0.00,1.80,0.00,0.000,6,0.000,0.070,3069,1488,2135,0,0,0,0,0,0,28.83,14.89,28.83
$GC,20690,0.54,208.6,609.5,7.6,935,20692,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1488,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20991,0.54,208.6,589.6,6.5,945,20996,0.00,1.77,0.00,0.000,4,0.000,0.088,3069,2532,2135,0,0,0,0,0,0,28.83,14.87,28.83
$GC,21096,0.54,208.6,583.2,6.8,948,21102,0.00,1.88,0.00,0.000,6,0.000,0.101,3076,1481,2135,0,0,0,0,0,0,28.83,14.85,28.83
$GC,21414,0.54,208.6,558.6,7.8,959,21419,0.00,1.80,0.00,0.000,4,0.000,0.086,3077,2535,2136,0,0,0,0,0,0,28.83,14.86,28.83
$GC,21479,0.54,208.6,553.4,8.1,961,21485,0.00,1.85,0.00,0.000,6,0.000,0.099,3084,1481,2136,0,0,0,0,0,0,28.83,14.85,28.83
$GC,21808,0.54,208.6,525.4,8.3,972,21809,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1481,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22108,0.54,208.6,503.4,7.0,982,22109,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1481,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22407,0.54,208.6,481.6,7.4,992,22412,0.00,1.92,0.00,0.000,4,0.000,0.125,3093,416,2137,0,0,0,0,0,0,28.83,14.80,28.83
$GC,22443,0.54,208.6,479.1,7.5,993,22448,0.00,1.80,0.00,0.000,6,0.000,0.064,3098,1487,2137,0,0,0,0,0,0,28.83,14.90,28.83
$GC,22771,0.54,208.6,452.9,7.8,1004,22776,0.00,1.80,0.00,0.000,4,0.000,0.083,3093,2538,2137,0,0,0,0,0,0,28.83,14.88,28.83
$GC,22863,0.54,208.6,445.3,8.1,1007,22869,0.15,1.85,0.00,0.000,6,0.280,0.096,3065,1479,2137,0,0,0,0,0,0,14.73,14.85,28.83
$GC,23196,0.56,208.6,424.1,6.2,1018,23197,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1479,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23497,0.59,208.6,402.3,7.7,1028,23498,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1479,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23796,0.61,208.6,376.7,8.6,1038,23797,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1479,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24097,0.63,208.6,353.0,7.5,1048,24102,0.00,1.77,0.00,0.000,4,0.000,0.076,3065,2532,2141,0,0,0,0,0,0,28.83,14.88,28.83
$GC,24148,0.65,208.6,350.6,7.4,1049,24154,0.00,1.83,0.00,0.000,6,0.000,0.092,3072,1479,2139,0,0,0,0,0,0,28.83,14.85,28.83
$GC,24461,0.67,231.9,331.2,5.1,1060,24491,0.00,0.00,25.45,1.343,6,0.000,0.000,3073,1479,2037,0,0,0,0,0,0,28.83,28.83,14.26
$GC,24792,0.69,235.0,313.4,6.0,1071,24797,0.12,1.90,0.00,0.000,4,0.145,0.118,3132,421,2031,0,0,0,0,0,0,14.81,14.75,28.83
$GC,24819,0.72,238.1,313.4,6.0,1071,24827,0.00,1.80,1.30,0.190,6,0.000,0.067,3132,1481,2018,0,0,0,0,0,0,28.83,14.81,14.76
$GC,25126,0.67,238.1,276.6,11.9,1082,25131,0.00,1.80,0.00,0.000,4,0.000,0.081,3131,2548,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25197,0.63,238.1,269.4,11.5,1084,25204,0.17,1.88,0.00,0.000,6,0.259,0.099,3097,1483,2027,0,0,0,0,0,0,14.71,14.81,28.83
$GC,25511,0.63,238.1,244.6,6.8,1098,25516,0.00,1.85,0.00,0.000,4,0.000,0.090,3097,2544,2027,0,0,0,0,0,0,28.83,14.82,28.83
$GC,25574,0.63,238.1,240.2,6.8,1104,25579,0.00,1.92,0.00,0.000,6,0.000,0.109,3104,1478,2027,0,0,0,0,0,0,28.83,14.78,28.83
$GC,25886,0.63,238.1,214.1,9.8,1135,25892,0.00,1.95,1.38,0.186,4,0.000,0.132,3111,421,2016,0,0,0,0,0,0,28.83,14.76,14.77
$GC,26000,0.60,238.1,201.6,11.0,1146,26005,0.00,1.77,0.00,0.000,6,0.000,0.068,3111,1479,2028,0,0,0,0,0,0,28.83,14.82,28.83
$GC,26313,0.58,238.1,169.3,9.3,1177,26322,0.12,0.00,1.40,0.180,6,0.262,0.000,3081,1480,2018,0,0,0,0,0,0,14.71,28.83,14.77
$GC,26623,0.60,238.1,147.9,6.2,1208,26626,0.00,0.00,1.23,0.193,6,0.000,0.000,3081,1480,2018,0,0,0,0,0,0,28.83,28.83,14.73
$GC,26924,0.63,255.5,131.1,5.4,1238,26951,0.00,1.88,22.23,1.115,4,0.000,0.085,3080,2534,1942,0,0,0,0,0,0,28.83,14.71,14.28
$GC,27059,0.67,274.9,123.5,5.3,1251,27085,0.00,1.90,18.25,1.089,6,0.000,0.104,3087,1479,1864,0,0,0,0,0,0,28.83,14.69,14.21
$GC,27392,0.70,274.9,101.2,9.3,1284,27397,0.00,1.95,0.00,0.000,4,0.000,0.129,3095,421,1856,0,0,0,0,0,0,28.83,14.68,28.83
$GC,27455,0.72,274.9,94.1,11.8,1290,27460,0.00,1.77,0.00,0.000,6,0.000,0.063,3095,1483,1857,0,0,0,0,0,0,28.83,14.76,28.83
$GC,27767,0.75,274.9,60.9,8.2,1321,27769,0.12,0.00,0.00,0.000,6,0.145,0.000,3145,1484,1856,0,0,0,0,0,0,14.78,28.83,28.83
$GC,28067,0.75,274.9,35.9,8.3,1351,28073,0.00,1.95,0.00,0.000,4,0.000,0.123,3153,419,1857,0,0,0,0,0,0,28.83,14.73,28.83
$GC,28144,0.72,274.9,29.3,9.1,1358,28151,0.12,1.77,0.00,0.000,6,0.249,0.060,3122,1486,1857,0,0,0,0,0,0,14.69,14.79,28.83
$GC,28451,0.74,274.9,6.6,7.6,1389,28452,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1486,1858,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,28499,end climb,SURFACE_DEPTH_REACHED
$STATE,28499,begin surface coast
$FINISH,0.8,1.010355
$STATE,28530,end surface coast,CONTROL_FINISHED_OK
$STATE,28530,begin surface
$SM_CCo,28550,33.85,0.127,0,0,1561,350.04
$SM_GC,2.32,8.55,0.52,33.85,0.087,0.086,0.127,141,1786,1561,-8.54,-0.96,350.04,0,0,0,0,0,0,14.80,14.83,14.76
$IRIDIUM_FIX,2418.11,-3741.91,270912,232303
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.18
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7752352
$TM_FREEKB,7490816
$24V_AH,13.5,22.398
$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,23.100,164.075,355.950,33.850,0.000,0.000,0.000,414.725,0.000,0.000,18.334,4379.246,20348.168,615.469,3635.196,254.071,0.000,2617.581,0.000,2996.501,0.000,0.542,0.000
$DEVICE_MAMPS,383.265,149.940,2027.250,126.990,0.000,0.000,0.000,186.660,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28564.000,6928.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.526,13.323,0.000,0.000
$MEM,345168
$DATA_FILE_SIZE,49970,1397
$CAP_FILE_SIZE,301972,0
$CFSIZE,260034560,248844288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018, 43.0,1
$GPS,280912,153504,2417.799,-3801.688,33,0.9,33,-14.1