version: 66.11
glider: 190
mission: 6
dive: 49
start: 9 29 112 8 8 26
data:
$ID,190
$MISSION,6
$DIVE,49
$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,-12326.674
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,290912,075729,2412.268,-3801.740,39,0.9,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-70.4
$GPS2,290912,080759,2412.265,-3801.693,18,1.0,19,-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,195.1,30127,-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,14539,-0.63,-97.3,935.2,-7.3,729,14544,0.00,1.92,0.00,0.000,4,0.000,0.129,2674,727,3352,0,0,0,0,0,0,28.83,14.83,28.83
$GC,14590,-0.63,-97.3,937.6,-7.3,730,14595,0.00,1.88,0.00,0.000,6,0.000,0.087,2674,1795,3352,0,0,0,0,0,0,28.83,14.87,28.83
$GC,14904,-0.64,-97.3,958.4,-5.9,741,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1795,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15203,-0.66,-97.3,974.0,-5.1,751,15208,0.00,1.98,0.00,0.000,4,0.000,0.131,2674,722,3351,0,0,0,0,0,0,28.83,14.81,28.83
$GC,15249,-0.66,-97.3,975.9,-5.1,752,15255,0.00,1.85,0.00,0.000,6,0.000,0.088,2674,1789,3351,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,15535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15535,begin apogee
$GC,15540,-0.19,0.0,991.1,-5.1,762,15632,0.50,0.00,86.15,1.986,6,0.217,0.000,2821,1475,2984,0,0,0,0,0,0,14.72,28.83,13.62
$STATE,15634,end apogee,CONTROL_FINISHED_OK
$STATE,15635,begin climb
$GC,15636,0.58,97.3,992.4,0.0,765,15735,0.77,0.00,95.88,1.932,6,0.151,0.000,3064,1475,2592,0,0,0,0,0,0,14.26,28.83,13.50
$GC,16017,0.58,132.2,977.2,4.6,778,16053,0.00,0.00,33.53,1.906,6,0.000,0.000,3064,1472,2450,0,0,0,0,0,0,28.83,28.83,13.78
$GC,16348,0.59,154.9,960.2,5.1,789,16378,0.00,2.05,22.25,1.893,4,0.000,0.151,3069,422,2351,0,0,0,0,0,0,28.83,14.45,13.89
$GC,16414,0.60,171.8,956.7,5.4,791,16442,0.00,1.88,17.80,1.844,6,0.000,0.081,3069,1485,2281,0,0,0,0,0,0,28.83,14.54,13.81
$GC,16741,0.61,189.8,938.5,5.3,802,16761,0.00,0.00,18.90,1.874,6,0.000,0.000,3069,1485,2215,0,0,0,0,0,0,28.83,28.83,13.93
$GC,17041,0.62,204.7,922.2,5.5,812,17059,0.00,0.00,15.88,1.846,6,0.000,0.000,3069,1485,2156,0,0,0,0,0,0,28.83,28.83,13.96
$GC,17341,0.62,204.7,902.8,7.3,822,17346,0.00,1.88,0.00,0.000,4,0.000,0.105,3069,2535,2142,0,0,0,0,0,0,28.83,14.70,28.83
$GC,17377,0.62,204.7,900.1,7.7,823,17382,0.00,1.98,0.00,0.000,6,0.000,0.127,3070,1480,2139,0,0,0,0,0,0,28.83,14.69,28.83
$GC,17705,0.62,204.7,871.7,9.1,834,17710,0.00,1.90,0.00,0.000,4,0.000,0.107,3070,2544,2140,0,0,0,0,0,0,28.83,14.78,28.83
$GC,17746,0.62,204.7,868.4,9.3,835,17751,0.00,1.98,0.00,0.000,6,0.000,0.126,3075,1482,2140,0,0,0,0,0,0,28.83,14.75,28.83
$GC,18069,0.62,204.7,835.5,9.9,846,18070,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1482,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18369,0.62,204.7,807.7,9.0,856,18374,0.00,2.00,0.00,0.000,4,0.000,0.150,3083,422,2140,0,0,0,0,0,0,28.83,14.77,28.83
$GC,18410,0.62,204.7,804.8,9.0,857,18415,0.00,1.83,0.00,0.000,6,0.000,0.081,3083,1484,2139,0,0,0,0,0,0,28.83,14.84,28.83
$GC,18733,0.62,204.7,776.3,8.0,868,18734,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1483,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19032,0.62,204.7,753.4,7.7,878,19033,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1483,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19332,0.62,204.7,729.5,8.4,888,19337,0.00,1.85,0.00,0.000,4,0.000,0.102,3083,2535,2138,0,0,0,0,0,0,28.83,14.85,28.83
$GC,19373,0.62,204.7,726.5,8.7,889,19378,0.00,1.95,0.00,0.000,6,0.000,0.121,3090,1474,2137,0,0,0,0,0,0,28.83,14.82,28.83
$GC,19696,0.62,204.7,693.4,10.3,900,19701,0.00,1.88,0.00,0.000,4,0.000,0.103,3090,2537,2137,0,0,0,0,0,0,28.83,14.85,28.83
$GC,19723,0.62,204.7,693.4,10.3,900,19729,0.00,1.92,0.00,0.000,6,0.000,0.121,3097,1477,2137,0,0,0,0,0,0,28.83,14.82,28.83
$GC,20030,0.61,204.7,658.9,10.1,911,20035,0.00,1.98,0.00,0.000,4,0.000,0.148,3104,422,2137,0,0,0,0,0,0,28.83,14.79,28.83
$GC,20056,0.59,204.7,658.9,10.1,911,20063,0.00,1.80,0.00,0.000,6,0.000,0.080,3104,1479,2138,0,0,0,0,0,0,28.83,14.87,28.83
$GC,20363,0.56,204.7,628.2,8.4,922,20369,0.12,1.83,0.00,0.000,4,0.296,0.092,3071,2538,2138,0,0,0,0,0,0,14.73,14.86,28.83
$GC,20400,0.54,204.7,625.6,8.2,923,20407,0.00,1.90,0.00,0.000,6,0.000,0.110,3079,1478,2137,0,0,0,0,0,0,28.83,14.83,28.83
$GC,20730,0.54,204.7,602.3,7.1,934,20731,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1478,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21029,0.54,204.7,577.0,9.1,944,21030,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1478,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21329,0.54,204.7,551.0,8.4,954,21334,0.00,1.98,0.00,0.000,4,0.000,0.141,3086,418,2138,0,0,0,0,0,0,28.83,14.81,28.83
$GC,21400,0.54,204.7,545.8,8.3,956,21406,0.00,1.85,0.00,0.000,6,0.000,0.076,3086,1479,2138,0,0,0,0,0,0,28.83,14.86,28.83
$GC,21723,0.54,204.7,518.9,8.2,967,21728,0.00,1.85,0.00,0.000,4,0.000,0.099,3085,2546,2138,0,0,0,0,0,0,28.83,14.85,28.83
$GC,21785,0.54,204.7,513.4,8.5,969,21790,0.00,1.92,0.00,0.000,6,0.000,0.112,3093,1479,2138,0,0,0,0,0,0,28.83,14.83,28.83
$GC,22118,0.54,204.7,483.1,9.0,980,22123,0.00,1.92,0.00,0.000,4,0.000,0.123,3102,418,2139,0,0,0,0,0,0,28.83,14.82,28.83
$GC,22151,0.52,204.7,480.1,9.0,981,22157,0.17,1.83,0.00,0.000,6,0.273,0.072,3058,1489,2139,0,0,0,0,0,0,14.73,14.88,28.83
$GC,22485,0.56,232.6,461.0,4.9,992,22519,0.00,1.85,26.20,1.447,4,0.000,0.093,3058,2523,2033,0,0,0,0,0,0,28.83,14.70,14.20
$GC,22591,0.60,258.6,456.3,5.0,995,22626,0.00,1.88,25.48,1.460,6,0.000,0.108,3066,1479,1929,0,0,0,0,0,0,28.83,14.71,14.05
$GC,22939,0.63,258.6,433.8,6.7,1007,22944,0.00,1.95,0.00,0.000,4,0.000,0.123,3074,416,1920,0,0,0,0,0,0,28.83,14.68,28.83
$GC,22975,0.66,258.6,431.5,6.7,1008,22982,0.00,1.83,0.00,0.000,6,0.000,0.070,3074,1478,1919,0,0,0,0,0,0,28.83,14.71,28.83
$GC,23305,0.69,258.6,409.1,6.7,1019,23311,0.12,1.85,0.00,0.000,4,0.146,0.093,3127,2544,1920,0,0,0,0,0,0,14.80,14.78,28.83
$GC,23332,0.71,258.6,409.1,6.7,1019,23340,0.00,1.95,0.00,0.000,6,0.000,0.116,3135,1480,1919,0,0,0,0,0,0,28.83,14.75,28.83
$GC,23639,0.67,258.6,373.6,11.3,1030,23644,0.00,1.95,0.00,0.000,4,0.000,0.131,3144,419,1919,0,0,0,0,0,0,28.83,14.78,28.83
$GC,23672,0.62,258.6,369.6,11.6,1031,23678,0.12,1.83,0.00,0.000,6,0.247,0.070,3094,1480,1919,0,0,0,0,0,0,14.71,14.82,28.83
$GC,24006,0.62,258.6,336.7,10.0,1042,24007,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1481,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24305,0.62,258.6,305.8,10.5,1052,24311,0.00,1.98,0.00,0.000,4,0.000,0.134,3102,415,1919,0,0,0,0,0,0,28.83,14.80,28.83
$GC,24351,0.62,258.6,302.3,10.5,1053,24357,0.00,1.80,0.00,0.000,6,0.000,0.070,3102,1485,1919,0,0,0,0,0,0,28.83,14.87,28.83
$GC,24670,0.62,258.6,273.4,7.6,1064,24675,0.00,1.77,0.00,0.000,4,0.000,0.083,3102,2537,1920,0,0,0,0,0,0,28.83,14.86,28.83
$GC,24735,0.62,258.6,268.4,7.7,1066,24741,0.00,1.88,0.00,0.000,6,0.000,0.101,3109,1473,1920,0,0,0,0,0,0,28.83,14.81,28.83
$GC,25043,0.62,258.6,243.4,7.5,1081,25049,0.00,1.95,0.00,0.000,4,0.000,0.139,3113,421,1921,0,0,0,0,0,0,28.83,14.78,28.83
$GC,25120,0.60,258.6,237.5,8.4,1088,25128,0.00,1.77,0.00,0.000,6,0.000,0.072,3113,1478,1921,0,0,0,0,0,0,28.83,14.85,28.83
$GC,25426,0.60,258.6,213.3,8.2,1119,25431,0.00,1.85,0.00,0.000,4,0.000,0.091,3113,2528,1921,0,0,0,0,0,0,28.83,14.81,28.83
$GC,25523,0.58,258.6,204.8,9.4,1128,25530,0.15,1.88,0.00,0.000,6,0.252,0.109,3080,1479,1921,0,0,0,0,0,0,14.72,14.78,28.83
$GC,25830,0.60,258.6,172.2,11.9,1159,25831,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1479,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26129,0.63,258.6,140.3,9.6,1189,26134,0.00,1.95,0.00,0.000,4,0.000,0.132,3091,414,1922,0,0,0,0,0,0,28.83,14.75,28.83
$GC,26177,0.64,258.6,136.3,9.5,1193,26184,0.00,1.80,0.00,0.000,6,0.000,0.065,3091,1482,1923,0,0,0,0,0,0,28.83,14.81,28.83
$GC,26482,0.66,258.6,111.8,7.2,1224,26487,0.00,1.80,0.00,0.000,4,0.000,0.087,3091,2536,1923,0,0,0,0,0,0,28.83,14.80,28.83
$GC,26525,0.68,258.6,108.8,6.8,1228,26530,0.00,1.90,0.00,0.000,6,0.000,0.107,3096,1472,1923,0,0,0,0,0,0,28.83,14.75,28.83
$GC,26838,0.70,258.6,84.4,8.8,1259,26843,0.00,1.92,0.00,0.000,4,0.000,0.131,3104,422,1924,0,0,0,0,0,0,28.83,14.73,28.83
$GC,26924,0.70,258.6,77.5,8.2,1267,26931,0.00,1.80,0.00,0.000,6,0.000,0.066,3104,1486,1925,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27231,0.72,259.2,56.2,6.1,1298,27236,0.00,1.83,0.00,0.000,4,0.000,0.087,3105,2541,1926,0,0,0,0,0,0,28.83,14.79,28.83
$GC,27348,0.74,259.2,49.2,6.3,1309,27354,0.00,1.92,0.00,0.000,6,0.000,0.105,3109,1479,1927,0,0,0,0,0,0,28.83,14.76,28.83
$GC,27655,0.77,259.2,33.3,6.2,1340,27661,0.00,1.92,0.00,0.000,4,0.000,0.133,3110,418,1927,0,0,0,0,0,0,28.83,14.72,28.83
$GC,27722,0.79,259.2,29.0,7.2,1346,27729,0.12,1.80,0.00,0.000,6,0.144,0.066,3164,1483,1925,0,0,0,0,0,0,14.81,14.81,28.83
$STATE,28006,end climb,SURFACE_DEPTH_REACHED
$STATE,28006,begin surface coast
$FINISH,0.9,0.995992
$STATE,28037,end surface coast,CONTROL_FINISHED_OK
$STATE,28037,begin surface
$SM_CCo,28056,42.80,0.124,0,0,1561,350.04
$SM_GC,2.42,8.73,0.55,42.80,0.094,0.086,0.124,143,1795,1561,-8.54,-0.65,350.04,0,0,0,0,0,0,14.81,14.83,14.77
$IRIDIUM_FIX,2403.92,-3801.20,280912,232357
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.16
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,7751200
$TM_FREEKB,7458240
$24V_AH,13.5,23.560
$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,24.050,180.700,342.050,42.800,0.000,0.000,0.000,382.500,0.000,0.000,19.699,4369.922,19842.459,657.010,3588.549,254.715,0.000,2605.758,0.000,2978.667,0.000,0.541,0.000
$DEVICE_MAMPS,426.105,150.705,1985.940,123.930,0.000,0.000,0.000,188.955,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28068.000,6877.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.509,13.341,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,49953,1378
$CAP_FILE_SIZE,300426,0
$CFSIZE,260034560,248360960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026, 52.5,1
$GPS,290912,155805,2409.324,-3801.310,40,0.9,40,-14.1