version: 66.11
glider: 190
mission: 6
dive: 50
start: 9 29 112 16 9 21
data:
$ID,190
$MISSION,6
$DIVE,50
$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,-12327.934
$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,11
$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
$GPS1,290912,155805,2409.324,-3801.310,40,0.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-69.3
$GPS2,290912,160853,2409.341,-3801.344,16,0.9,17,-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,203.0,24733,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
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$GC,14681,-0.69,-97.3,936.9,-6.6,739,14687,0.00,1.92,0.00,0.000,4,0.000,0.129,2662,724,3350,0,0,0,0,0,0,28.83,14.80,28.83
$GC,14733,-0.69,-97.3,939.4,-6.9,740,14738,0.00,1.88,0.00,0.000,6,0.000,0.088,2661,1791,3349,0,0,0,0,0,0,28.83,14.85,28.83
$GC,15045,-0.69,-97.3,962.0,-6.7,751,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1791,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15345,-0.69,-97.3,980.7,-6.0,761,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1793,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15523,begin apogee
$GC,15528,-0.19,0.0,990.7,-5.4,767,15621,0.55,0.00,87.05,1.972,6,0.218,0.000,2823,1475,2985,0,0,0,0,0,0,14.71,28.83,13.62
$STATE,15623,end apogee,CONTROL_FINISHED_OK
$STATE,15623,begin climb
$GC,15625,0.58,97.3,991.8,0.0,770,15724,0.77,0.00,95.80,1.955,6,0.154,0.000,3066,1475,2593,0,0,0,0,0,0,14.25,28.83,13.50
$GC,16006,0.57,115.7,974.2,5.3,783,16030,0.00,1.95,17.77,1.897,4,0.000,0.102,3066,2539,2511,0,0,0,0,0,0,28.83,14.48,13.88
$GC,16082,0.55,132.5,970.7,5.4,785,16107,0.00,1.95,17.65,1.870,6,0.000,0.111,3074,1481,2443,0,0,0,0,0,0,28.83,14.54,13.81
$GC,16429,0.53,140.3,950.0,5.8,797,16433,0.00,0.00,2.08,0.298,6,0.000,0.000,3074,1481,2417,0,0,0,0,0,0,28.83,28.83,13.69
$GC,16730,0.52,140.9,932.5,6.1,807,16734,0.00,0.00,2.12,0.363,6,0.000,0.000,3074,1480,2414,0,0,0,0,0,0,28.83,28.83,13.71
$GC,17029,0.50,140.9,912.4,7.2,817,17035,0.00,2.00,1.88,0.195,4,0.000,0.132,3082,422,2415,0,0,0,0,0,0,28.83,14.75,14.69
$GC,17102,0.47,140.9,907.2,7.8,819,17109,0.08,1.85,1.42,0.207,6,0.272,0.073,3046,1489,2414,0,0,0,0,0,0,14.68,14.81,14.71
$GC,17426,0.47,140.9,882.2,7.4,830,17432,0.00,1.90,1.70,0.198,4,0.000,0.101,3046,2532,2415,0,0,0,0,0,0,28.83,14.82,14.75
$GC,17640,0.47,140.9,868.3,6.3,837,17647,0.00,1.95,1.70,0.193,6,0.000,0.125,3053,1476,2413,0,0,0,0,0,0,28.83,14.78,14.75
$GC,17974,0.48,163.8,850.2,5.1,848,18005,0.00,0.00,28.62,1.899,6,0.000,0.000,3054,1476,2321,0,0,0,0,0,0,28.83,28.83,14.01
$GC,18305,0.50,186.9,833.0,5.1,859,18335,0.00,0.00,23.42,1.851,6,0.000,0.000,3053,1476,2222,0,0,0,0,0,0,28.83,28.83,13.95
$GC,18635,0.52,201.2,815.0,5.5,870,18658,0.00,2.05,15.50,1.796,4,0.000,0.150,3060,426,2162,0,0,0,0,0,0,28.83,14.55,14.00
$GC,18695,0.53,208.7,811.3,5.8,872,18706,0.00,1.85,2.75,0.827,6,0.000,0.080,3061,1478,2139,0,0,0,0,0,0,28.83,14.62,13.83
$GC,19028,0.54,208.7,789.4,7.0,883,19034,0.00,1.95,1.52,0.194,4,0.000,0.106,3060,2537,2138,0,0,0,0,0,0,28.83,14.72,14.68
$GC,19110,0.54,208.7,784.4,7.6,885,19115,0.00,1.98,0.00,0.000,6,0.000,0.123,3068,1473,2146,0,0,0,0,0,0,28.83,14.71,28.83
$GC,19423,0.54,208.7,756.7,8.6,896,19429,0.00,2.00,1.42,0.194,4,0.000,0.148,3074,417,2138,0,0,0,0,0,0,28.83,14.70,14.73
$GC,19480,0.54,208.7,753.7,8.7,897,19486,0.00,1.83,0.00,0.000,6,0.000,0.082,3074,1480,2145,0,0,0,0,0,0,28.83,14.80,28.83
$GC,19786,0.54,208.7,725.2,8.2,908,19789,0.00,0.00,1.17,0.203,6,0.000,0.000,3074,1483,2138,0,0,0,0,0,0,28.83,28.83,14.78
$GC,20086,0.54,208.7,703.6,6.8,918,20092,0.00,1.85,1.23,0.203,4,0.000,0.102,3074,2536,2137,0,0,0,0,0,0,28.83,14.83,14.80
$GC,20133,0.54,208.7,701.3,6.7,919,20139,0.00,1.95,0.00,0.000,6,0.000,0.122,3081,1478,2143,0,0,0,0,0,0,28.83,14.80,28.83
$GC,20452,0.54,208.7,679.9,6.4,930,20458,0.00,1.98,1.10,0.206,4,0.000,0.148,3088,418,2138,0,0,0,0,0,0,28.83,14.78,14.80
$GC,20499,0.54,208.7,677.6,6.6,931,20504,0.00,1.85,0.00,0.000,6,0.000,0.081,3088,1484,2146,0,0,0,0,0,0,28.83,14.85,28.83
$GC,20816,0.54,208.7,649.2,9.3,942,20817,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1485,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21116,0.54,208.7,617.8,10.6,952,21119,0.00,0.00,1.17,0.203,6,0.000,0.000,3089,1484,2138,0,0,0,0,0,0,28.83,28.83,14.81
$GC,21416,0.54,208.7,587.0,10.0,962,21422,0.00,1.83,1.25,0.200,4,0.000,0.099,3089,2537,2137,0,0,0,0,0,0,28.83,14.85,14.81
$GC,21458,0.54,208.7,583.6,9.9,963,21463,0.00,1.92,0.00,0.000,6,0.000,0.119,3096,1479,2144,0,0,0,0,0,0,28.83,14.83,28.83
$GC,21781,0.52,208.7,553.3,8.9,974,21785,0.15,0.00,1.02,0.201,6,0.282,0.000,3060,1479,2139,0,0,0,0,0,0,14.75,28.83,14.83
$GC,22081,0.54,208.7,532.6,6.6,984,22087,0.00,1.83,1.27,0.202,4,0.000,0.086,3060,2541,2138,0,0,0,0,0,0,28.83,14.88,14.81
$GC,22123,0.56,208.7,530.3,6.5,985,22128,0.00,1.90,0.00,0.000,6,0.000,0.104,3068,1479,2144,0,0,0,0,0,0,28.83,14.84,28.83
$GC,22447,0.57,227.1,511.0,5.3,996,22476,0.00,1.92,23.45,1.525,4,0.000,0.088,3068,2541,2058,0,0,0,0,0,0,28.83,14.73,14.19
$GC,22509,0.58,245.1,507.6,5.3,998,22533,0.00,1.92,18.08,1.470,6,0.000,0.105,3076,1479,1987,0,0,0,0,0,0,28.83,14.70,14.08
$GC,22840,0.58,245.1,486.9,6.9,1009,22846,0.00,2.00,0.00,0.000,4,0.000,0.141,3083,415,1980,0,0,0,0,0,0,28.83,14.68,28.83
$GC,22922,0.58,245.1,481.7,7.7,1011,22927,0.00,1.85,0.00,0.000,6,0.000,0.074,3083,1484,1980,0,0,0,0,0,0,28.83,14.76,28.83
$GC,23235,0.58,245.1,453.0,8.7,1022,23240,0.00,1.83,0.00,0.000,4,0.000,0.096,3083,2537,1979,0,0,0,0,0,0,28.83,14.79,28.83
$GC,23311,0.58,245.1,447.6,8.7,1024,23317,0.00,1.92,0.00,0.000,6,0.000,0.113,3090,1480,1978,0,0,0,0,0,0,28.83,14.76,28.83
$GC,23630,0.58,245.1,419.5,8.6,1035,23635,0.00,1.98,0.00,0.000,4,0.000,0.139,3098,418,1981,0,0,0,0,0,0,28.83,14.76,28.83
$GC,23716,0.58,245.1,413.3,9.3,1037,23723,0.00,1.83,0.00,0.000,6,0.000,0.074,3098,1482,1979,0,0,0,0,0,0,28.83,14.83,28.83
$GC,24023,0.58,245.1,380.0,10.1,1048,24028,0.00,1.83,0.00,0.000,4,0.000,0.096,3098,2539,1978,0,0,0,0,0,0,28.83,14.84,28.83
$GC,24055,0.58,245.1,376.5,10.1,1049,24060,0.00,1.92,0.00,0.000,6,0.000,0.114,3106,1480,1979,0,0,0,0,0,0,28.83,14.81,28.83
$GC,24387,0.58,245.1,347.3,8.0,1060,24389,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1483,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,24688,0.58,245.1,325.6,7.1,1070,24693,0.00,1.95,0.00,0.000,4,0.000,0.135,3111,421,1979,0,0,0,0,0,0,28.83,14.81,28.83
$GC,24764,0.56,245.1,320.5,7.7,1072,24771,0.15,1.80,0.00,0.000,6,0.255,0.069,3074,1484,1980,0,0,0,0,0,0,14.74,14.85,28.83
$GC,25085,0.59,245.1,294.2,8.5,1083,25090,0.00,1.80,0.00,0.000,4,0.000,0.091,3074,2536,1980,0,0,0,0,0,0,28.83,14.87,28.83
$GC,25157,0.61,245.1,288.1,9.1,1085,25162,0.00,1.90,0.00,0.000,6,0.000,0.109,3081,1479,1980,0,0,0,0,0,0,28.83,14.83,28.83
$GC,25480,0.61,245.1,258.7,8.3,1096,25481,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1479,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25780,0.62,245.1,238.8,6.4,1116,25781,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1479,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26079,0.64,245.1,214.2,9.1,1146,26084,0.00,1.95,0.00,0.000,4,0.000,0.135,3086,419,1982,0,0,0,0,0,0,28.83,14.78,28.83
$GC,26201,0.64,245.1,202.0,10.0,1158,26206,0.00,1.80,0.00,0.000,6,0.000,0.066,3086,1485,1982,0,0,0,0,0,0,28.83,14.84,28.83
$GC,26513,0.64,245.1,177.7,6.1,1189,26519,0.00,1.80,0.00,0.000,4,0.000,0.088,3086,2539,1982,0,0,0,0,0,0,28.83,14.78,28.83
$GC,26589,0.64,252.3,173.3,5.8,1196,26597,0.00,1.92,2.75,0.666,6,0.000,0.108,3093,1475,1960,0,0,0,0,0,0,28.83,14.78,14.05
$GC,26897,0.64,252.3,149.0,8.8,1227,26903,0.00,2.00,2.10,0.295,4,0.000,0.134,3099,418,1962,0,0,0,0,0,0,28.83,14.76,13.95
$GC,26954,0.64,252.3,144.0,9.1,1232,26962,0.00,1.80,1.80,0.186,6,0.000,0.067,3099,1480,1962,0,0,0,0,0,0,28.83,14.76,14.71
$GC,27261,0.64,252.3,118.8,9.1,1263,27267,0.00,1.85,1.98,0.181,4,0.000,0.084,3099,2539,1963,0,0,0,0,0,0,28.83,14.79,14.70
$GC,27480,0.64,252.3,99.8,7.3,1284,27487,0.00,1.92,2.12,0.176,6,0.000,0.106,3107,1472,1961,0,0,0,0,0,0,28.83,14.76,14.69
$GC,27787,0.64,252.3,78.1,7.5,1315,27793,0.00,2.00,2.22,0.180,4,0.000,0.132,3110,416,1963,0,0,0,0,0,0,28.83,14.74,14.69
$GC,27894,0.64,252.3,68.8,9.5,1325,27902,0.00,1.83,2.25,0.169,6,0.000,0.066,3109,1475,1962,0,0,0,0,0,0,28.83,14.80,14.66
$GC,28203,0.68,291.1,47.8,4.5,1356,28234,0.00,2.00,23.02,0.256,4,0.000,0.132,3110,421,1805,0,0,0,0,0,0,28.83,14.69,14.62
$GC,28338,0.71,291.1,39.9,6.7,1369,28344,0.00,1.77,1.65,0.174,6,0.000,0.065,3110,1486,1801,0,0,0,0,0,0,28.83,14.79,14.69
$GC,28652,0.74,291.1,14.2,8.2,1400,28661,0.00,0.00,1.62,0.171,6,0.000,0.000,3110,1486,1804,0,0,0,0,0,0,28.83,28.83,14.73
$STATE,28809,end climb,SURFACE_DEPTH_REACHED
$STATE,28809,begin surface coast
$FINISH,0.9,1.004545
$STATE,28851,end surface coast,CONTROL_FINISHED_OK
$STATE,28851,begin surface
$SM_CCo,28868,29.80,0.126,0,0,1560,350.04
$SM_GC,1.89,8.48,0.52,29.80,0.083,0.081,0.126,140,1792,1560,-8.55,-0.90,350.04,0,0,0,0,0,0,14.80,14.83,14.76
$IRIDIUM_FIX,2403.92,-3759.75,290912,080833
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.26
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7750816
$TM_FREEKB,7447136
$24V_AH,13.5,23.953
$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,23.775,166.550,393.700,29.800,0.000,0.000,0.000,401.725,0.000,0.000,18.288,4485.630,20456.885,645.182,3686.972,257.775,0.000,2650.999,0.000,3064.006,0.000,0.542,0.000
$DEVICE_MAMPS,429.930,149.940,1972.170,126.225,0.000,0.000,0.000,185.895,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28882.000,7106.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.590,13.340,0.000,0.000
$MEM,344984
$DATA_FILE_SIZE,49999,1420
$CAP_FILE_SIZE,309394,0
$CFSIZE,260034560,248193024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017, 94.0,1
$GPS,300912,001205,2406.198,-3801.551,25,0.9,25,-14.1