version: 66.11
glider: 190
mission: 6
dive: 259
start: 12 8 112 20 31 1
data:
$ID,190
$MISSION,6
$DIVE,259
$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,-13126.05
$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,11
$R_STBD_OVSHOOT,17
$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
$GPS1,081212,201734,2422.140,-3825.908,41,0.8,41,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-66.2
$GPS2,081212,203030,2422.210,-3825.943,15,1.9,15,-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,137.6,65458,-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,-146.0,0.0,0.0,0,37,0.00,0.00,-11.77,0.000,2,0.000,0.000,142,1433,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.2,0.0,1,151,11.43,1.70,-87.32,0.000,4,0.360,0.177,2685,556,3586,0,0,0,0,0,0,14.31,14.32,14.73
$GC,356,-0.60,-146.0,22.3,-10.6,32,361,0.00,1.58,0.00,0.000,6,0.000,0.085,2681,1443,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,669,-0.62,-146.0,48.1,-9.0,63,675,0.00,1.73,0.00,0.000,4,0.000,0.142,2681,556,3586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,733,-0.62,-146.0,54.1,-9.4,69,739,0.00,1.58,0.00,0.000,6,0.000,0.089,2679,1417,3586,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1049,-0.64,-146.0,81.3,-7.9,100,1054,0.00,1.65,0.00,0.000,4,0.000,0.107,2679,2325,3585,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1115,-0.67,-146.0,86.4,-7.7,106,1122,0.00,1.73,0.00,0.000,6,0.000,0.127,2679,1423,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1423,-0.70,-146.0,108.7,-6.9,137,1428,0.00,1.67,0.00,0.000,4,0.000,0.144,2679,555,3586,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1590,-0.71,-146.0,120.7,-7.2,153,1595,0.00,1.55,0.00,0.000,6,0.000,0.090,2677,1412,3586,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1903,-0.74,-146.0,146.1,-8.9,184,1908,0.00,1.67,0.00,0.000,4,0.000,0.146,2678,554,3585,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1940,-0.76,-146.0,149.2,-9.2,187,1947,0.00,1.52,0.00,0.000,6,0.000,0.093,2679,1411,3586,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2247,-0.78,-146.0,175.8,-7.6,218,2253,0.12,1.70,0.00,0.000,4,0.131,0.147,2614,537,3586,0,0,0,0,0,0,14.61,14.33,28.83
$GC,2485,-0.72,-146.0,195.4,-7.8,241,2491,0.17,1.52,0.00,0.000,6,0.241,0.094,2659,1371,3586,0,0,0,0,0,0,14.28,14.42,28.83
$GC,2802,-0.72,-146.0,213.6,-6.1,272,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1371,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-0.74,-146.0,236.1,-8.1,303,3115,0.00,1.73,0.00,0.000,4,0.000,0.109,2652,2322,3586,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3158,-0.75,-146.0,239.6,-8.1,307,3165,0.00,1.83,0.00,0.000,6,0.000,0.133,2652,1373,3588,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3464,-0.77,-146.0,265.7,-8.5,326,3470,0.00,1.58,0.00,0.000,4,0.000,0.150,2652,553,3586,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3632,-0.77,-146.0,278.5,-8.2,331,3637,0.00,1.42,0.00,0.000,6,0.000,0.099,2650,1340,3585,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3953,-0.79,-146.0,303.4,-7.3,342,3958,0.00,1.80,0.00,0.000,4,0.000,0.116,2649,2322,3585,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4041,-0.81,-146.0,308.2,-7.3,344,4047,0.00,1.88,0.00,0.000,6,0.000,0.138,2649,1352,3584,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4349,-0.82,-146.0,333.1,-7.7,355,4354,0.00,1.85,0.00,0.000,4,0.000,0.119,2648,2322,3583,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4407,-0.84,-146.0,335.8,-7.6,356,4414,0.00,1.85,0.00,0.000,6,0.000,0.138,2648,1368,3583,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4714,-0.86,-146.0,361.8,-7.9,367,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1368,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5013,-0.88,-146.0,385.0,-7.5,377,5018,0.12,1.58,0.00,0.000,4,0.135,0.153,2586,556,3581,0,0,0,0,0,0,14.69,14.37,28.83
$GC,5050,-0.88,-146.0,387.9,-7.7,378,5055,0.00,1.50,0.00,0.000,6,0.000,0.103,2581,1375,3581,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5381,-0.82,-146.0,415.7,-8.0,389,5387,0.12,1.75,0.00,0.000,4,0.257,0.116,2618,2325,3580,0,0,0,0,0,0,14.40,14.47,28.83
$GC,5477,-0.78,-146.0,422.3,-7.0,392,5482,0.00,1.85,0.00,0.000,6,0.000,0.135,2618,1373,3580,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5813,-0.76,-146.0,446.9,-7.6,403,5818,0.00,1.77,0.00,0.000,4,0.000,0.119,2617,2326,3578,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5871,-0.73,-146.0,449.7,-7.7,404,5878,0.12,1.83,0.00,0.000,6,0.218,0.135,2651,1379,3579,0,0,0,0,0,0,14.40,14.42,28.83
$GC,6179,-0.76,-146.0,474.8,-7.9,415,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1379,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6476,-0.78,-146.0,499.6,-8.4,425,6482,0.00,1.80,0.00,0.000,4,0.000,0.118,2648,2320,3576,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6519,-0.80,-146.0,502.3,-8.3,426,6525,0.00,1.83,0.00,0.000,6,0.000,0.136,2649,1390,3575,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6845,-0.83,-146.0,529.2,-7.9,437,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1390,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7144,-0.85,-146.0,551.8,-7.5,447,7149,0.00,1.62,0.00,0.000,4,0.000,0.155,2649,556,3572,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7191,-0.87,-146.0,554.5,-7.5,448,7197,0.12,1.52,0.00,0.000,6,0.140,0.103,2597,1401,3572,0,0,0,0,0,0,14.57,14.47,28.83
$GC,7513,-0.86,-146.0,583.6,-9.0,459,7519,0.00,1.67,0.00,0.000,4,0.000,0.151,2597,549,3571,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7596,-0.83,-146.0,590.0,-9.3,461,7602,0.00,1.52,0.00,0.000,6,0.000,0.100,2592,1394,3570,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7913,-0.79,-146.0,621.9,-9.5,472,7920,0.12,1.73,0.00,0.000,4,0.259,0.116,2621,2327,3570,0,0,0,0,0,0,14.35,14.42,28.83
$GC,8037,-0.79,-146.0,632.8,-8.5,476,8043,0.00,1.80,0.00,0.000,6,0.000,0.132,2621,1400,3569,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8374,-0.79,-146.0,661.1,-8.2,487,8380,0.00,1.65,0.00,0.000,4,0.000,0.151,2621,555,3568,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8441,-0.79,-146.0,666.8,-8.3,489,8447,0.00,1.55,0.00,0.000,6,0.000,0.099,2618,1398,3566,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8772,-0.79,-146.0,691.5,-7.2,500,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1399,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,-0.79,-146.0,712.6,-7.1,510,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1399,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9370,-0.79,-146.0,735.8,-8.0,520,9375,0.00,1.67,0.00,0.000,4,0.000,0.151,2618,552,3564,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9473,-0.79,-146.0,744.0,-8.6,523,9479,0.00,1.55,0.00,0.000,6,0.000,0.101,2618,1403,3563,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9798,-0.79,-146.0,775.0,-9.7,534,9803,0.00,1.73,0.00,0.000,4,0.000,0.125,2618,2321,3562,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9865,-0.79,-146.0,781.3,-9.6,536,9871,0.00,1.83,0.00,0.000,6,0.000,0.139,2618,1406,3562,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10196,-0.79,-146.0,814.1,-9.7,547,10201,0.00,1.70,0.00,0.000,4,0.000,0.158,2618,549,3561,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10218,-0.79,-146.0,814.1,-9.7,547,10223,0.00,1.58,0.00,0.000,6,0.000,0.103,2618,1411,3561,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10531,-0.79,-146.0,844.6,-8.5,558,10537,0.00,1.73,0.00,0.000,4,0.000,0.125,2618,2328,3560,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10589,-0.79,-146.0,847.3,-8.2,559,10595,0.00,1.80,0.00,0.000,6,0.000,0.137,2618,1409,3560,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10895,-0.79,-146.0,871.6,-7.0,570,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1409,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11195,-0.79,-146.0,890.8,-6.4,580,11200,0.00,1.77,0.00,0.000,4,0.000,0.125,2618,2316,3557,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11274,-0.80,-146.0,894.9,-6.4,582,11279,0.00,1.75,0.00,0.000,6,0.000,0.138,2618,1428,3557,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11594,-0.80,-146.0,917.4,-6.9,593,11599,0.00,1.73,0.00,0.000,4,0.000,0.127,2618,2322,3556,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11642,-0.81,-146.0,919.8,-7.0,594,11647,0.00,1.75,0.00,0.000,6,0.000,0.139,2618,1434,3555,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11962,-0.83,-146.0,945.1,-7.9,605,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1434,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12261,-0.84,-146.0,969.2,-8.1,615,12266,0.00,1.70,0.00,0.000,4,0.000,0.127,2617,2322,3553,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12314,-0.85,-146.0,971.9,-8.0,616,12319,0.00,1.73,0.00,0.000,6,0.000,0.140,2618,1449,3553,0,0,0,0,0,0,28.83,14.30,28.83
$STATE,12536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12537,begin apogee
$GC,12543,-0.23,0.0,991.9,-8.1,624,12690,0.65,0.00,137.68,1.858,4,0.190,0.000,2809,1643,2983,0,0,0,0,0,0,14.23,28.83,13.29
$STATE,12692,end apogee,CONTROL_FINISHED_OK
$STATE,12692,begin climb
$GC,12694,0.63,146.0,999.8,0.0,629,12851,0.82,1.75,145.50,1.836,4,0.109,0.130,3092,2519,2390,0,0,0,0,0,0,14.12,14.07,13.24
$GC,12962,0.58,169.5,993.6,6.1,638,12991,0.00,1.73,23.75,1.751,6,0.000,0.133,3099,1638,2295,0,0,0,0,0,0,28.83,14.22,13.43
$GC,13290,0.53,169.5,970.7,7.0,649,13292,0.15,0.00,0.00,0.000,6,0.286,0.000,3065,1638,2279,0,0,0,0,0,0,14.27,28.83,28.83
$GC,13592,0.51,174.5,950.8,6.7,659,13598,0.00,1.70,0.00,0.000,4,0.000,0.125,3064,2519,2280,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,25508,end climb,SURFACE_DEPTH_REACHED
$STATE,25508,begin surface coast
$FINISH,1.3,1.003905
$STATE,25538,end surface coast,CONTROL_FINISHED_OK
$STATE,25538,begin surface
$SM_CCo,25559,9.60,0.130,0,0,1560,350.04
$SM_GC,2.91,8.55,0.50,9.60,0.071,0.169,0.130,138,1438,1560,-8.55,0.42,350.04,0,0,0,0,0,0,14.50,14.29,14.43
$IRIDIUM_FIX,2415.74,-3825.91,081212,131317
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.98
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.40
$XPDR_PINGS,4
$SC_FREEKB,7670816
$TM_FREEKB,5180448
$24V_AH,13.2,109.338
$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,23.675,190.975,498.525,9.600,0.000,0.000,0.000,427.300,1.000,0.000,16.334,4411.873,16679.660,723.338,3880.534,615.385,0.000,2894.915,0.000,3261.470,0.000,0.541,0.000
$DEVICE_MAMPS,360.315,177.480,1858.185,130.050,0.000,0.000,0.000,190.485,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25568.000,6459.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.599,13.305,0.000,0.000
$MEM,344488
$DATA_FILE_SIZE,46628,1255
$CAP_FILE_SIZE,303722,7
$CFSIZE,260034560,214028288
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,86,0,1,0
$CURRENT,0.060,262.0,1
$GPS,091212,033834,2420.569,-3824.670,38,0.9,39,-14.2