version: 66.11
glider: 190
mission: 6
dive: 258
start: 12 8 112 13 32 49
data:
$ID,190
$MISSION,6
$DIVE,258
$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,-13124.791
$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,10
$R_STBD_OVSHOOT,15
$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
$GPS1,081212,132005,2423.454,-3826.853,36,0.8,37,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-66.3
$GPS2,081212,133218,2423.387,-3827.000,19,0.9,19,-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,135.5,68275,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.63,-146.0,0.0,0.0,0,38,0.00,0.00,-11.62,0.000,2,0.000,0.000,141,1435,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.2,0.0,1,153,11.40,1.77,-90.03,0.000,4,0.360,0.174,2680,548,3586,0,0,0,0,0,0,14.30,14.34,14.72
$GC,211,-0.58,-146.0,7.4,-8.2,17,219,0.00,1.62,0.00,0.000,6,0.000,0.088,2675,1439,3585,0,0,0,0,0,0,28.83,14.37,28.83
$GC,518,-0.56,-146.0,31.5,-7.3,48,523,0.10,1.60,0.00,0.000,4,0.255,0.104,2701,2324,3586,0,0,0,0,0,0,14.35,14.40,28.83
$GC,617,-0.59,-146.0,38.2,-7.0,57,623,0.00,1.67,0.00,0.000,6,0.000,0.122,2701,1446,3587,0,0,0,0,0,0,28.83,14.32,28.83
$GC,923,-0.63,-146.0,63.5,-9.0,88,928,0.00,1.73,0.00,0.000,4,0.000,0.142,2701,550,3587,0,0,0,0,0,0,28.83,14.33,28.83
$GC,981,-0.64,-146.0,68.1,-8.7,93,988,0.00,1.62,0.00,0.000,6,0.000,0.085,2701,1467,3586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1288,-0.68,-146.0,92.9,-6.6,124,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1467,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1588,-0.72,-146.0,110.4,-6.4,154,1594,0.12,1.75,0.00,0.000,4,0.132,0.138,2636,555,3586,0,0,0,0,0,0,14.60,14.21,28.83
$GC,1777,-0.67,-146.0,125.9,-8.8,172,1784,0.15,1.58,0.00,0.000,6,0.246,0.085,2669,1448,3586,0,0,0,0,0,0,14.28,14.47,28.83
$GC,2086,-0.69,-146.0,153.7,-10.2,203,2091,0.00,1.73,0.00,0.000,4,0.000,0.139,2669,554,3587,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2139,-0.69,-146.0,159.5,-10.6,208,2144,0.00,1.55,0.00,0.000,6,0.000,0.083,2666,1432,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2454,-0.71,-146.0,191.6,-9.4,239,2459,0.00,1.70,0.00,0.000,4,0.000,0.137,2667,549,3587,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2507,-0.71,-146.0,196.4,-8.9,244,2512,0.00,1.55,0.00,0.000,6,0.000,0.082,2665,1424,3587,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2823,-0.74,-146.0,217.9,-6.1,275,2828,0.00,1.70,0.00,0.000,4,0.000,0.136,2664,552,3586,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2962,-0.74,-146.0,226.5,-6.2,288,2969,0.00,1.52,0.00,0.000,6,0.000,0.083,2664,1420,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3269,-0.76,-146.0,247.1,-7.3,319,3274,0.00,1.67,0.00,0.000,4,0.000,0.137,2663,552,3587,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3395,-0.77,-146.0,256.9,-7.9,326,3400,0.00,1.48,0.00,0.000,6,0.000,0.082,2663,1376,3587,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3730,-0.80,-146.0,284.6,-8.4,337,3735,0.00,1.55,0.00,0.000,4,0.000,0.138,2663,552,3586,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3913,-0.81,-146.0,300.6,-8.6,343,3918,0.00,1.40,0.00,0.000,6,0.000,0.081,2663,1337,3585,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4248,-0.84,-146.0,326.8,-7.8,354,4254,0.12,1.75,0.00,0.000,4,0.136,0.097,2597,2320,3585,0,0,0,0,0,0,14.69,14.52,28.83
$GC,4292,-0.86,-146.0,329.7,-7.9,355,4297,0.00,1.85,0.00,0.000,6,0.000,0.119,2597,1336,3584,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4617,-0.81,-146.0,359.1,-8.8,366,4623,0.12,1.77,0.00,0.000,4,0.242,0.096,2632,2321,3584,0,0,0,0,0,0,14.35,14.52,28.83
$GC,4691,-0.78,-146.0,364.1,-8.3,368,4696,0.00,1.83,0.00,0.000,6,0.000,0.119,2632,1342,3583,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5017,-0.76,-146.0,390.4,-8.2,379,5022,0.00,1.80,0.00,0.000,4,0.000,0.100,2632,2313,3581,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5115,-0.75,-146.0,398.3,-8.2,382,5121,0.00,1.80,0.00,0.000,6,0.000,0.119,2632,1358,3581,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5445,-0.75,-146.0,428.8,-9.5,393,5450,0.00,1.50,0.00,0.000,4,0.000,0.135,2632,553,3580,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5502,-0.75,-146.0,432.2,-9.6,394,5509,0.00,1.42,0.00,0.000,6,0.000,0.082,2632,1358,3580,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5809,-0.75,-146.0,463.8,-9.7,405,5814,0.00,1.55,0.00,0.000,4,0.000,0.138,2632,547,3579,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5972,-0.73,-146.0,479.3,-10.0,410,5977,0.00,1.40,0.00,0.000,6,0.000,0.081,2631,1337,3578,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6296,-0.73,-146.0,507.8,-7.8,421,6301,0.00,1.52,0.00,0.000,4,0.000,0.138,2631,543,3577,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6470,-0.72,-146.0,518.9,-7.1,426,6475,0.00,1.38,0.00,0.000,6,0.000,0.083,2631,1315,3576,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6786,-0.73,-146.0,537.9,-5.4,437,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1315,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7083,-0.73,-146.0,554.6,-5.8,447,7088,0.00,1.48,0.00,0.000,4,0.000,0.140,2630,561,3574,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7197,-0.73,-146.0,560.5,-6.3,450,7202,0.00,1.35,0.00,0.000,6,0.000,0.083,2631,1316,3573,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7514,-0.74,-146.0,586.0,-8.4,461,7519,0.00,1.50,0.00,0.000,4,0.000,0.141,2631,553,3572,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7600,-0.74,-146.0,591.9,-8.8,463,7607,0.00,1.33,0.00,0.000,6,0.000,0.086,2632,1292,3571,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7910,-0.75,-146.0,624.1,-10.1,474,7915,0.00,1.45,0.00,0.000,4,0.000,0.144,2631,556,3570,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8003,-0.75,-146.0,634.3,-10.5,477,8008,0.00,1.30,0.00,0.000,6,0.000,0.086,2631,1274,3570,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8338,-0.77,-146.0,667.0,-9.4,488,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1274,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8637,-0.78,-146.0,692.5,-8.2,498,8642,0.00,1.42,0.00,0.000,4,0.000,0.145,2632,556,3568,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8749,-0.78,-146.0,700.1,-7.9,501,8754,0.00,1.25,0.00,0.000,6,0.000,0.085,2631,1252,3567,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9064,-0.79,-146.0,724.0,-7.0,512,9070,0.00,1.38,0.00,0.000,4,0.000,0.147,2631,559,3565,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9142,-0.79,-146.0,728.9,-7.1,514,9147,0.00,1.23,0.00,0.000,6,0.000,0.086,2631,1239,3565,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9462,-0.81,-146.0,751.1,-6.7,525,9467,0.00,1.38,0.00,0.000,4,0.000,0.147,2631,549,3563,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9557,-0.81,-146.0,757.8,-6.9,528,9562,0.00,1.23,0.00,0.000,6,0.000,0.085,2632,1221,3563,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9892,-0.82,-146.0,781.5,-7.3,539,9897,0.00,2.05,0.00,0.000,4,0.000,0.109,2631,2326,3562,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9980,-0.84,-146.0,786.3,-7.3,541,9987,0.00,2.12,0.00,0.000,6,0.000,0.129,2631,1229,3562,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10288,-0.86,-146.0,812.4,-8.2,552,10293,0.00,2.05,0.00,0.000,4,0.000,0.110,2631,2317,3561,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10414,-0.88,-146.0,822.4,-8.0,556,10419,0.00,2.08,0.00,0.000,6,0.000,0.133,2631,1258,3561,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10750,-0.89,-146.0,849.8,-8.2,567,10755,0.00,1.40,0.00,0.000,4,0.000,0.155,2631,557,3560,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10972,-0.89,-146.0,868.3,-8.8,574,10977,0.00,1.25,0.00,0.000,6,0.000,0.093,2631,1239,3559,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11298,-0.91,-146.0,897.1,-8.7,585,11303,0.12,2.00,0.00,0.000,4,0.161,0.103,2580,2320,3557,0,0,0,0,0,0,14.52,14.37,28.83
$GC,11453,-0.90,-146.0,911.8,-9.6,590,11459,0.00,2.05,0.00,0.000,6,0.000,0.123,2583,1264,3556,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11789,-0.85,-146.0,945.9,-10.4,601,11795,0.12,1.98,0.00,0.000,4,0.259,0.108,2606,2316,3555,0,0,0,0,0,0,14.25,14.35,28.83
$GC,11873,-0.82,-146.0,952.2,-10.0,603,11878,0.00,2.03,0.00,0.000,6,0.000,0.127,2607,1272,3554,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12187,-0.82,-146.0,986.6,-10.4,614,12192,0.00,2.00,0.00,0.000,4,0.000,0.116,2605,2320,3554,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,12219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12219,begin apogee
$GC,12227,-0.23,0.0,990.1,-10.4,615,12373,0.70,0.00,137.57,1.869,4,0.190,0.000,2812,1633,2986,0,0,0,0,0,0,14.26,28.83,13.28
$STATE,12374,end apogee,CONTROL_FINISHED_OK
$STATE,12374,begin climb
$GC,12377,0.63,146.0,1001.2,0.0,620,12532,0.80,1.77,145.82,1.836,4,0.103,0.125,3094,2517,2392,0,0,0,0,0,0,14.12,14.07,13.24
$GC,12589,0.66,307.7,1004.3,1.7,627,12763,0.00,1.75,163.50,1.808,6,0.000,0.141,3097,1643,1726,0,0,0,0,0,0,28.83,14.13,13.26
$GC,13062,0.66,307.7,968.8,8.9,643,13068,0.00,1.77,0.00,0.000,4,0.000,0.168,3100,755,1712,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13106,0.65,307.7,965.5,9.1,644,13111,0.00,1.60,0.00,0.000,6,0.000,0.106,3100,1626,1712,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13430,0.65,307.7,931.1,10.6,655,13436,0.00,1.70,0.00,0.000,4,0.000,0.127,3100,2525,1711,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13473,0.64,307.7,927.4,10.7,656,13478,0.00,1.77,0.00,0.000,6,0.000,0.142,3107,1627,1710,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,24081,end climb,SURFACE_DEPTH_REACHED
$STATE,24081,begin surface coast
$FINISH,1.1,1.011509
$STATE,24120,end surface coast,CONTROL_FINISHED_OK
$STATE,24120,begin surface
$SM_CCo,24202,0.00,0.000,0,0,1492,367.46
$SM_GC,2.07,8.50,0.30,0.00,0.071,0.164,0.000,141,1435,1492,-8.52,0.28,367.46,0,0,0,0,0,0,14.52,14.31,28.83
$IRIDIUM_FIX,2415.74,-3829.24,081212,050536
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.86
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.60
$XPDR_PINGS,3
$SC_FREEKB,7671200
$TM_FREEKB,5190560
$24V_AH,13.2,108.892
$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,22.750,182.700,565.000,0.000,0.000,0.000,0.000,404.200,0.750,0.000,20.989,4326.816,15412.178,748.253,3849.277,577.670,0.000,2889.926,0.000,3239.423,0.000,0.543,0.000
$DEVICE_MAMPS,359.550,174.420,1868.895,0.000,0.000,0.000,0.000,185.130,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24153.000,6327.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.707,13.315,0.000,0.000
$MEM,344564
$DATA_FILE_SIZE,43272,1200
$CAP_FILE_SIZE,295342,7
$CFSIZE,260034560,214200320
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,86,2,1,0
$CURRENT,0.085,276.6,1
$GPS,081212,201734,2422.140,-3825.908,41,0.8,41,-14.2