version: 66.11
glider: 190
mission: 6
dive: 48
start: 9 28 112 23 59 51
data:
$ID,190
$MISSION,6
$DIVE,48
$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,-12325.321
$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,25
$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
$GPS1,280912,234858,2415.194,-3801.577,39,1.0,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-71.1
$GPS2,280912,235923,2415.237,-3801.592,16,1.3,17,-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,198.4,35633,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,14362,-0.66,-97.3,939.6,-6.1,719,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1791,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14662,-0.66,-97.3,958.0,-6.1,729,14663,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1791,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14961,-0.66,-97.3,977.8,-6.8,739,14962,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1791,3350,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15140,begin apogee
$GC,15144,-0.19,0.0,990.3,-7.0,745,15236,0.55,0.00,86.07,1.992,6,0.219,0.000,2823,1479,2986,0,0,0,0,0,0,14.71,28.83,13.62
$STATE,15239,end apogee,CONTROL_FINISHED_OK
$STATE,15239,begin climb
$GC,15240,0.58,97.3,992.6,0.0,748,15340,0.77,0.00,96.07,1.947,6,0.151,0.000,3067,1479,2593,0,0,0,0,0,0,14.26,28.83,13.50
$GC,15622,0.57,122.0,978.2,5.1,761,15653,0.00,0.00,24.27,1.917,6,0.000,0.000,3067,1479,2483,0,0,0,0,0,0,28.83,28.83,13.84
$GC,15952,0.57,132.1,959.3,5.7,772,15957,0.00,0.00,3.22,1.115,6,0.000,0.000,3067,1479,2452,0,0,0,0,0,0,28.83,28.83,13.95
$GC,16252,0.58,147.5,942.7,5.5,782,16282,0.00,1.92,23.05,1.920,4,0.000,0.101,3067,2543,2381,0,0,0,0,0,0,28.83,14.57,13.95
$GC,16388,0.58,152.0,935.4,5.9,786,16394,0.00,1.98,0.00,0.000,6,0.000,0.125,3069,1480,2375,0,0,0,0,0,0,28.83,14.62,28.83
$GC,16707,0.58,152.0,914.6,6.5,797,16712,0.00,2.03,0.00,0.000,4,0.000,0.153,3069,418,2374,0,0,0,0,0,0,28.83,14.70,28.83
$GC,16770,0.58,152.0,910.5,6.5,799,16775,0.00,1.85,0.00,0.000,6,0.000,0.082,3069,1490,2374,0,0,0,0,0,0,28.83,14.78,28.83
$GC,17103,0.58,152.0,887.8,6.8,810,17104,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1490,2372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17402,0.58,152.0,865.8,7.4,820,17407,0.00,2.05,0.00,0.000,4,0.000,0.150,3076,415,2372,0,0,0,0,0,0,28.83,14.77,28.83
$GC,17468,0.57,152.0,860.6,7.8,822,17474,0.00,1.85,0.00,0.000,6,0.000,0.084,3076,1488,2372,0,0,0,0,0,0,28.83,14.84,28.83
$GC,17797,0.57,152.0,834.4,7.8,833,17802,0.00,1.85,0.00,0.000,4,0.000,0.108,3077,2538,2371,0,0,0,0,0,0,28.83,14.83,28.83
$GC,17869,0.57,152.0,829.3,7.9,835,17874,0.00,1.95,0.00,0.000,6,0.000,0.125,3083,1476,2371,0,0,0,0,0,0,28.83,14.81,28.83
$GC,18193,0.55,152.0,804.4,7.2,846,18198,0.00,1.90,0.00,0.000,4,0.000,0.108,3083,2542,2371,0,0,0,0,0,0,28.83,14.84,28.83
$GC,18265,0.52,152.0,799.5,7.2,848,18270,0.00,1.95,0.00,0.000,6,0.000,0.126,3090,1477,2370,0,0,0,0,0,0,28.83,14.81,28.83
$GC,18588,0.49,152.0,777.1,6.5,859,18594,0.12,1.95,0.00,0.000,4,0.300,0.133,3064,419,2370,0,0,0,0,0,0,14.73,14.81,28.83
$GC,18704,0.47,153.7,771.5,6.0,862,18711,0.00,1.83,0.00,0.000,6,0.000,0.080,3064,1481,2370,0,0,0,0,0,0,28.83,14.87,28.83
$GC,19012,0.48,158.6,753.0,5.9,873,19030,0.00,1.95,9.73,1.701,4,0.000,0.108,3064,2544,2337,0,0,0,0,0,0,28.83,14.81,14.19
$GC,19112,0.48,158.6,747.2,6.3,876,19117,0.00,1.95,0.00,0.000,6,0.000,0.125,3071,1479,2334,0,0,0,0,0,0,28.83,14.77,28.83
$GC,19435,0.48,158.8,726.5,6.1,887,19440,0.00,1.88,0.00,0.000,4,0.000,0.106,3071,2536,2334,0,0,0,0,0,0,28.83,14.81,28.83
$GC,19487,0.48,158.8,724.3,6.3,888,19492,0.12,1.92,0.00,0.000,6,0.293,0.123,3050,1479,2334,0,0,0,0,0,0,14.71,14.79,28.83
$GC,19801,0.48,158.8,702.5,7.2,899,19802,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1478,2334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20099,0.48,158.8,682.1,6.6,909,20100,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1479,2334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20401,0.49,162.3,663.7,6.0,919,20406,0.00,1.88,0.00,0.000,4,0.000,0.101,3050,2543,2334,0,0,0,0,0,0,28.83,14.85,28.83
$GC,20443,0.51,168.1,661.8,5.9,920,20464,0.00,1.92,10.68,1.619,6,0.000,0.115,3057,1476,2297,0,0,0,0,0,0,28.83,14.82,14.20
$GC,20764,0.53,196.2,644.1,4.9,931,20799,0.00,1.90,28.35,1.660,4,0.000,0.101,3056,2535,2184,0,0,0,0,0,0,28.83,14.60,14.06
$GC,20916,0.54,219.4,636.3,5.1,936,20947,0.00,1.95,23.67,1.613,6,0.000,0.117,3063,1482,2089,0,0,0,0,0,0,28.83,14.64,13.95
$GC,21247,0.58,237.7,619.6,5.3,947,21267,0.00,0.00,18.23,1.577,6,0.000,0.000,3063,1482,2018,0,0,0,0,0,0,28.83,28.83,14.03
$GC,21546,0.60,237.7,599.3,7.5,957,21548,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1482,2008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21847,0.62,237.7,571.3,9.9,967,21848,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1482,2007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22146,0.65,237.7,544.9,8.0,977,22152,0.10,1.98,0.00,0.000,4,0.168,0.138,3108,422,2006,0,0,0,0,0,0,14.83,14.76,28.83
$GC,22219,0.65,237.7,539.1,8.5,979,22224,0.00,1.80,0.00,0.000,6,0.000,0.073,3108,1483,2006,0,0,0,0,0,0,28.83,14.82,28.83
$GC,22542,0.63,237.7,515.0,6.8,990,22547,0.00,1.83,0.00,0.000,4,0.000,0.098,3108,2535,2006,0,0,0,0,0,0,28.83,14.83,28.83
$GC,22594,0.61,237.7,512.7,7.0,991,22600,0.00,1.90,0.00,0.000,6,0.000,0.115,3113,1478,2005,0,0,0,0,0,0,28.83,14.80,28.83
$GC,22908,0.59,237.7,482.3,10.7,1002,22914,0.12,1.95,0.00,0.000,4,0.292,0.138,3088,419,2005,0,0,0,0,0,0,14.73,14.78,28.83
$GC,22986,0.57,237.7,475.4,10.8,1004,22992,0.00,1.83,0.00,0.000,6,0.000,0.075,3088,1483,2006,0,0,0,0,0,0,28.83,14.86,28.83
$GC,23305,0.57,237.7,441.1,10.1,1015,23310,0.00,1.83,0.00,0.000,4,0.000,0.097,3088,2538,2005,0,0,0,0,0,0,28.83,14.85,28.83
$GC,23376,0.57,237.7,434.8,10.0,1017,23381,0.00,1.92,0.00,0.000,6,0.000,0.113,3096,1477,2005,0,0,0,0,0,0,28.83,14.82,28.83
$GC,23699,0.57,237.7,405.2,8.3,1028,23704,0.00,1.98,0.00,0.000,4,0.000,0.140,3103,415,2006,0,0,0,0,0,0,28.83,14.79,28.83
$GC,23791,0.57,237.7,397.4,8.4,1031,23796,0.00,1.80,0.00,0.000,6,0.000,0.074,3103,1480,2005,0,0,0,0,0,0,28.83,14.87,28.83
$GC,24124,0.57,237.7,373.4,7.2,1042,24129,0.00,1.83,0.00,0.000,4,0.000,0.096,3103,2539,2006,0,0,0,0,0,0,28.83,14.86,28.83
$GC,24170,0.57,237.7,370.8,7.4,1043,24176,0.12,1.90,0.00,0.000,6,0.273,0.112,3080,1480,2006,0,0,0,0,0,0,14.76,14.83,28.83
$GC,24490,0.57,237.7,342.2,9.7,1054,24495,0.00,1.95,0.00,0.000,4,0.000,0.138,3087,422,2006,0,0,0,0,0,0,28.83,14.81,28.83
$GC,24521,0.57,237.7,338.5,10.2,1055,24527,0.00,1.77,0.00,0.000,6,0.000,0.073,3087,1478,2006,0,0,0,0,0,0,28.83,14.88,28.83
$GC,24855,0.57,237.7,300.1,11.3,1066,24860,0.00,1.83,0.00,0.000,4,0.000,0.095,3087,2539,2007,0,0,0,0,0,0,28.83,14.87,28.83
$GC,24930,0.57,237.7,293.2,11.0,1068,24936,0.00,1.90,0.00,0.000,6,0.000,0.111,3095,1476,2007,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25248,0.57,237.7,261.8,9.0,1079,25249,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1476,2007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25548,0.57,237.7,239.5,7.0,1099,25549,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1476,2007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25848,0.57,237.7,212.7,11.0,1129,25854,0.00,1.88,0.00,0.000,4,0.000,0.090,3095,2548,2009,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25921,0.57,237.7,204.2,11.8,1136,25926,0.00,1.95,0.00,0.000,6,0.000,0.108,3103,1473,2008,0,0,0,0,0,0,28.83,14.80,28.83
$GC,26233,0.57,237.7,170.6,9.1,1167,26234,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1473,2009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26533,0.57,237.7,144.8,8.4,1197,26539,0.00,1.95,0.00,0.000,4,0.000,0.133,3109,416,2010,0,0,0,0,0,0,28.83,14.75,28.83
$GC,26566,0.57,237.7,141.9,8.7,1200,26572,0.12,1.80,0.00,0.000,6,0.253,0.068,3078,1491,2011,0,0,0,0,0,0,14.72,14.81,28.83
$GC,26880,0.60,237.7,119.0,7.1,1231,26885,0.00,1.98,0.00,0.000,4,0.000,0.131,3083,421,2011,0,0,0,0,0,0,28.83,14.77,28.83
$GC,26956,0.62,237.7,114.0,7.0,1238,26963,0.00,1.80,0.00,0.000,6,0.000,0.067,3083,1483,2011,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27263,0.64,237.7,92.3,7.9,1269,27268,0.00,1.80,0.00,0.000,4,0.000,0.088,3083,2537,2012,0,0,0,0,0,0,28.83,14.80,28.83
$GC,27316,0.67,237.7,88.0,8.5,1274,27321,0.00,1.90,0.00,0.000,6,0.000,0.106,3089,1479,2012,0,0,0,0,0,0,28.83,14.77,28.83
$GC,27629,0.70,250.1,65.1,5.6,1305,27641,0.00,1.90,5.72,0.264,4,0.000,0.086,3089,2537,1973,0,0,0,0,0,0,28.83,14.77,14.61
$GC,27724,0.73,250.1,59.2,6.5,1314,27735,0.00,1.88,1.95,0.176,6,0.000,0.105,3095,1479,1973,0,0,0,0,0,0,28.83,14.74,14.69
$GC,28035,0.77,253.9,40.2,5.9,1345,28045,0.12,0.00,4.38,0.205,6,0.142,0.000,3147,1479,1955,0,0,0,0,0,0,14.82,28.83,14.65
$GC,28344,0.77,253.9,13.6,9.2,1376,28352,0.00,1.88,2.10,0.168,4,0.000,0.082,3147,2534,1953,0,0,0,0,0,0,28.83,14.76,14.72
$GC,28469,0.77,253.9,3.1,8.0,1388,28476,0.00,1.88,1.35,0.179,6,0.000,0.099,3153,1477,1953,0,0,0,0,0,0,28.83,14.76,14.75
$STATE,28481,end climb,SURFACE_DEPTH_REACHED
$STATE,28481,begin surface coast
$FINISH,0.7,0.996414
$STATE,28512,end surface coast,CONTROL_FINISHED_OK
$STATE,28512,begin surface
$SM_CCo,28531,46.70,0.125,0,0,1560,350.04
$SM_GC,2.17,8.68,0.57,46.70,0.093,0.084,0.125,148,1793,1560,-8.52,-0.65,350.04,0,0,0,0,0,0,14.79,14.81,14.74
$IRIDIUM_FIX,2411.01,-3800.80,280912,151509
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.71
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7751584
$TM_FREEKB,7469024
$24V_AH,13.5,23.171
$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,24.300,180.925,338.850,46.700,0.000,0.000,0.000,378.175,0.000,0.000,18.182,4551.990,19953.439,646.385,3754.887,281.918,0.000,2664.476,0.000,3147.216,0.000,0.542,0.000
$DEVICE_MAMPS,433.755,153.000,1992.060,124.695,0.000,0.000,0.000,192.015,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28544.000,6898.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.447,13.337,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,49915,1392
$CAP_FILE_SIZE,307180,0
$CFSIZE,260034560,248516608
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.007,  0.4,1
$GPS,290912,075729,2412.268,-3801.740,39,0.9,39,-14.1