version: 66.11
glider: 190
mission: 6
dive: 250
start: 12 6 112 3 46 48
data:
$ID,190
$MISSION,6
$DIVE,250
$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,480
$T_MISSION,610
$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,150
$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,9
$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,-13112.646
$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,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,061212,033404,2435.486,-3834.857,39,1.0,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-60.2
$GPS2,061212,034618,2435.515,-3834.837,19,1.0,19,-14.2
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpSW
$TGT_LATLONG,2356.000,-3800.000
$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,152.5,93984,-11.8,-6.875,-16.86
$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,21,begin dive
$GC,24,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-10.95,0.000,2,0.000,0.000,144,1433,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.2,0.0,1,139,11.07,1.70,-80.90,0.000,4,0.347,0.132,2676,2328,3587,0,0,0,0,0,0,14.31,14.28,14.71
$GC,316,-0.61,-146.0,16.1,-8.1,28,321,0.00,1.70,0.00,0.000,6,0.000,0.125,2676,1445,3587,0,0,0,0,0,0,28.83,14.31,28.83
$GC,630,-0.59,-146.0,41.5,-8.2,59,635,0.00,1.62,0.00,0.000,4,0.000,0.106,2675,2320,3588,0,0,0,0,0,0,28.83,14.40,28.83
$GC,798,-0.59,-146.0,55.2,-8.2,75,805,0.00,1.67,0.00,0.000,6,0.000,0.123,2675,1448,3587,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1107,-0.57,-146.0,80.3,-8.1,106,1112,0.12,1.62,0.00,0.000,4,0.230,0.103,2708,2322,3587,0,0,0,0,0,0,14.33,14.41,28.83
$GC,1243,-0.61,-146.0,89.1,-6.2,119,1248,0.00,1.65,0.00,0.000,6,0.000,0.125,2713,1464,3585,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1559,-0.66,-146.0,110.2,-6.8,150,1564,0.00,1.60,0.00,0.000,4,0.000,0.106,2709,2320,3587,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1724,-0.71,-146.0,123.5,-8.2,166,1729,0.15,1.70,0.00,0.000,6,0.115,0.125,2641,1439,3587,0,0,0,0,0,0,14.37,14.17,28.83
$GC,2039,-0.71,-146.0,153.6,-9.5,197,2044,0.00,1.73,0.00,0.000,4,0.000,0.143,2640,549,3587,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2124,-0.67,-146.0,161.8,-9.7,205,2130,0.10,1.60,0.00,0.000,6,0.219,0.090,2666,1424,3588,0,0,0,0,0,0,14.21,14.38,28.83
$GC,2441,-0.69,-146.0,186.2,-7.4,236,2446,0.00,1.70,0.00,0.000,4,0.000,0.145,2666,549,3588,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2475,-0.69,-146.0,188.9,-7.4,239,2480,0.00,1.58,0.00,0.000,6,0.000,0.088,2664,1434,3591,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2788,-0.72,-146.0,211.3,-7.4,270,2793,0.00,1.60,0.00,0.000,4,0.000,0.103,2664,2323,3588,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2833,-0.74,-146.0,214.4,-7.0,274,2838,0.00,1.75,0.00,0.000,6,0.000,0.128,2664,1416,3588,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3148,-0.77,-146.0,237.3,-7.5,305,3153,0.00,1.65,0.00,0.000,4,0.000,0.106,2664,2322,3586,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3212,-0.80,-146.0,241.9,-7.2,311,3217,0.00,1.70,0.00,0.000,6,0.000,0.127,2664,1438,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3535,-0.82,-146.0,266.6,-7.7,329,3542,0.12,1.73,0.00,0.000,4,0.132,0.138,2601,552,3587,0,0,0,0,0,0,14.63,14.35,28.83
$GC,3632,-0.80,-146.0,275.2,-8.7,332,3638,0.15,1.58,0.00,0.000,6,0.256,0.090,2632,1443,3587,0,0,0,0,0,0,14.31,14.52,28.83
$GC,3969,-0.77,-146.0,298.4,-6.3,343,3974,0.00,1.60,0.00,0.000,4,0.000,0.107,2631,2321,3586,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4137,-0.75,-146.0,307.7,-6.0,348,4142,0.00,1.65,0.00,0.000,6,0.000,0.126,2631,1451,3586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4457,-0.73,-146.0,331.8,-7.9,359,4463,0.00,1.62,0.00,0.000,4,0.000,0.110,2631,2327,3586,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4552,-0.71,-146.0,339.3,-7.9,362,4557,0.00,1.67,0.00,0.000,6,0.000,0.129,2632,1456,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4886,-0.71,-146.0,367.2,-8.2,373,4891,0.00,1.73,0.00,0.000,4,0.000,0.146,2631,555,3584,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4984,-0.69,-146.0,375.3,-8.4,376,4990,0.12,1.60,0.00,0.000,6,0.261,0.094,2661,1464,3584,0,0,0,0,0,0,14.35,14.52,28.83
$GC,5315,-0.72,-146.0,400.4,-7.7,387,5321,0.00,1.60,0.00,0.000,4,0.000,0.114,2661,2327,3581,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5404,-0.75,-146.0,405.3,-7.6,389,5411,0.00,1.65,0.00,0.000,6,0.000,0.130,2661,1465,3582,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5711,-0.78,-146.0,432.7,-8.6,400,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1465,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.81,-146.0,458.0,-8.2,410,6015,0.00,1.60,0.00,0.000,4,0.000,0.112,2660,2322,3579,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6103,-0.84,-146.0,465.2,-7.7,413,6110,0.12,1.62,0.00,0.000,6,0.132,0.131,2603,1483,3579,0,0,0,0,0,0,14.59,14.40,28.83
$GC,6440,-0.82,-146.0,492.9,-8.2,424,6446,0.00,1.80,0.00,0.000,4,0.000,0.145,2607,550,3578,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6589,-0.77,-146.0,504.4,-9.1,428,6596,0.15,1.65,0.00,0.000,6,0.256,0.090,2634,1474,3577,0,0,0,0,0,0,14.29,14.51,28.83
$GC,6896,-0.77,-146.0,530.2,-7.8,439,6903,0.00,1.58,0.00,0.000,4,0.000,0.109,2636,2317,3577,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6955,-0.77,-146.0,533.0,-7.7,440,6962,0.00,1.60,0.00,0.000,6,0.000,0.125,2631,1476,3576,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7262,-0.78,-146.0,559.3,-8.2,451,7267,0.00,1.77,0.00,0.000,4,0.000,0.140,2631,561,3575,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7482,-0.75,-146.0,579.0,-9.2,458,7487,0.00,1.58,0.00,0.000,6,0.000,0.096,2629,1447,3574,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7812,-0.75,-146.0,608.4,-9.0,469,7818,0.00,1.62,0.00,0.000,4,0.000,0.109,2631,2328,3572,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7881,-0.77,-146.0,614.0,-8.7,471,7887,0.00,1.70,0.00,0.000,6,0.000,0.124,2630,1451,3572,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8212,-0.78,-146.0,640.6,-7.6,482,8218,0.00,1.73,0.00,0.000,4,0.000,0.138,2631,549,3570,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8241,-0.79,-146.0,640.6,-7.6,482,8248,0.00,1.65,0.00,0.000,6,0.000,0.088,2631,1461,3570,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8549,-0.81,-146.0,664.0,-6.9,493,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1461,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,-0.82,-146.0,685.9,-7.6,503,8852,0.00,1.77,0.00,0.000,4,0.000,0.145,2631,554,3569,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8934,-0.82,-146.0,691.0,-7.8,505,8941,0.00,1.65,0.00,0.000,6,0.000,0.090,2631,1458,3568,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9242,-0.84,-146.0,719.4,-9.1,516,9247,0.00,1.77,0.00,0.000,4,0.000,0.142,2631,549,3567,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9314,-0.84,-146.0,725.6,-9.4,518,9321,0.00,1.62,0.00,0.000,6,0.000,0.089,2631,1442,3567,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9641,-0.85,-146.0,758.0,-9.9,529,9646,0.00,1.75,0.00,0.000,4,0.000,0.141,2631,556,3565,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9713,-0.85,-146.0,764.5,-10.0,531,9720,0.00,1.52,0.00,0.000,6,0.000,0.089,2631,1422,3565,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10040,-0.87,-146.0,794.7,-8.5,542,10045,0.00,1.67,0.00,0.000,4,0.000,0.108,2631,2325,3563,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10149,-0.88,-146.0,802.2,-8.1,545,10154,0.00,1.70,0.00,0.000,6,0.000,0.122,2631,1433,3563,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10469,-0.90,-146.0,826.0,-6.9,556,10475,0.00,1.67,0.00,0.000,4,0.000,0.109,2631,2325,3562,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10544,-0.92,-146.0,830.5,-6.7,558,10550,0.08,1.70,0.00,0.000,6,0.099,0.122,2589,1451,3562,0,0,0,0,0,0,14.42,14.33,28.83
$GC,10869,-0.90,-146.0,856.9,-8.2,569,10876,0.00,1.75,0.00,0.000,4,0.000,0.143,2588,562,3561,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11004,-0.85,-146.0,868.6,-9.3,573,11010,0.12,1.58,0.00,0.000,6,0.280,0.090,2610,1448,3559,0,0,0,0,0,0,14.15,14.38,28.83
$GC,11329,-0.82,-146.0,896.5,-8.3,584,11335,0.00,1.62,0.00,0.000,4,0.000,0.109,2605,2321,3559,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11464,-0.80,-146.0,906.8,-8.2,588,11470,0.00,1.67,0.00,0.000,6,0.000,0.120,2604,1444,3559,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11791,-0.77,-146.0,935.5,-8.6,599,11793,0.12,0.00,0.00,0.000,6,0.252,0.000,2634,1445,3557,0,0,0,0,0,0,14.33,28.83,28.83
$GC,12088,-0.79,-146.0,959.6,-8.1,609,12093,0.00,1.73,0.00,0.000,4,0.000,0.141,2634,556,3556,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12171,-0.81,-146.0,964.9,-8.2,611,12176,0.00,1.60,0.00,0.000,6,0.000,0.092,2632,1454,3556,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,12482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12484,begin apogee
$GC,12490,-0.23,0.0,991.8,-8.1,622,12637,0.60,0.00,138.30,1.828,4,0.194,0.000,2808,1637,2986,0,0,0,0,0,0,14.24,28.83,13.31
$STATE,12638,end apogee,CONTROL_FINISHED_OK
$STATE,12638,begin climb
$GC,12641,0.63,146.0,1000.2,0.0,627,12797,0.82,1.75,145.50,1.818,4,0.119,0.119,3092,2521,2389,0,0,0,0,0,0,14.12,14.09,13.27
$GC,12891,0.61,218.4,998.2,4.6,635,12970,0.00,1.70,73.68,1.782,6,0.000,0.132,3098,1644,2098,0,0,0,0,0,0,28.83,14.19,13.34
$GC,13299,0.58,223.5,970.3,6.7,649,13304,0.00,1.77,0.00,0.000,4,0.000,0.157,3105,755,2079,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13352,0.55,228.0,967.9,6.7,650,13365,0.15,1.65,2.47,0.599,6,0.283,0.109,3070,1645,2058,0,0,0,0,0,0,14.28,14.45,13.37
$GC,13662,0.56,259.1,948.4,5.9,661,13711,0.00,1.73,39.65,1.761,4,0.000,0.119,3070,2530,1925,0,0,0,0,0,0,28.83,14.37,13.65
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$STATE,24069,end climb,SURFACE_DEPTH_REACHED
$STATE,24070,begin surface coast
$FINISH,1.2,1.025341
$STATE,24092,end surface coast,CONTROL_FINISHED_OK
$STATE,24092,begin surface
$SM_CCo,24175,0.00,0.000,0,0,1320,409.65
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$IRIDIUM_FIX,2425.21,-3835.52,051212,202020
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.24
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.30
$XPDR_PINGS,2
$SC_FREEKB,7674304
$TM_FREEKB,5269792
$24V_AH,13.3,105.304
$10V_AH,13.0,0.000
$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,23.575,176.150,550.825,0.000,0.000,0.000,0.000,410.700,0.500,0.000,20.479,4335.540,15361.205,731.709,3891.571,567.479,0.000,2898.888,0.000,3290.125,0.000,0.542,0.000
$DEVICE_MAMPS,347.310,244.035,1828.350,0.000,0.000,0.000,0.000,185.130,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24124.000,5824.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.486,13.292,0.000,0.000
$MEM,344544
$DATA_FILE_SIZE,43338,1163
$CAP_FILE_SIZE,293133,0
$CFSIZE,260034560,215486464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,283.1,1
$GPS,061212,103122,2433.654,-3833.876,59,0.8,59,-14.2