version: 66.11
glider: 190
mission: 6
dive: 297
start: 12 19 112 16 45 33
data:
$ID,190
$MISSION,6
$DIVE,297
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,160
$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,0.035
$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,-13271.389
$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,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$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,48
$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
$GPS1,191212,162522,2421.734,-3735.763,40,0.8,40,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-67.3
$GPS2,191212,164502,2421.653,-3735.652,20,0.9,21,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,43.6,38663,-16.4,-7.174,-28.86
$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,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.68,0.000,2,0.000,0.000,143,1529,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,148,11.45,2.00,-84.25,0.000,4,0.369,0.126,2606,2582,3626,0,0,0,0,0,0,14.21,14.37,14.70
$GC,380,-0.84,-155.7,24.4,-9.0,35,387,0.00,2.03,0.00,0.000,6,0.000,0.114,2606,1516,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,689,-0.84,-155.7,54.0,-9.5,66,697,0.00,2.00,0.00,0.000,4,0.000,0.104,2605,2577,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,777,-0.84,-155.7,62.5,-9.7,75,786,0.00,2.03,0.00,0.000,6,0.000,0.113,2605,1525,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1088,-0.84,-155.7,95.7,-11.2,106,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1528,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-0.84,-155.7,125.9,-10.0,136,1396,0.00,1.98,0.00,0.000,4,0.000,0.102,2605,2577,3627,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1457,-0.84,-155.7,132.6,-9.9,143,1466,0.00,2.03,0.00,0.000,6,0.000,0.114,2605,1530,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1768,-0.84,-155.7,164.5,-10.3,174,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1530,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,-0.84,-155.7,191.5,-8.1,204,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1530,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2369,-0.84,-155.7,213.8,-7.0,234,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1530,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2668,-0.84,-155.7,235.8,-7.4,264,2676,0.00,1.95,0.00,0.000,4,0.000,0.098,2605,2575,3627,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2757,-0.84,-155.7,242.6,-7.5,273,2767,0.00,2.00,0.00,0.000,6,0.000,0.110,2604,1533,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3069,-0.86,-155.7,267.2,-8.1,290,3075,0.00,2.05,0.00,0.000,4,0.000,0.131,2605,464,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3137,-0.86,-155.7,272.5,-8.6,292,3140,0.00,1.92,0.00,0.000,6,0.000,0.082,2605,1532,3628,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3449,-0.86,-155.7,300.5,-8.8,303,3456,0.00,1.92,0.00,0.000,4,0.000,0.100,2605,2579,3625,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3517,-0.86,-155.7,305.7,-8.8,305,3521,0.00,2.00,0.00,0.000,6,0.000,0.111,2605,1533,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3831,-0.86,-155.7,333.1,-8.3,316,3836,0.00,2.05,0.00,0.000,4,0.000,0.134,2604,466,3624,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3908,-0.86,-155.7,338.6,-8.6,318,3917,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1535,3624,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4220,-0.88,-155.7,366.8,-8.9,329,4227,0.00,1.92,0.00,0.000,4,0.000,0.105,2604,2573,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4279,-0.91,-155.7,372.1,-8.8,331,4286,0.00,1.98,0.00,0.000,6,0.000,0.109,2604,1533,3623,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4611,-0.93,-155.7,401.6,-9.0,342,4616,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,463,3622,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4659,-0.95,-155.7,404.4,-9.0,343,4669,0.00,1.92,0.00,0.000,6,0.000,0.081,2604,1531,3621,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4969,-0.99,-155.7,434.0,-8.8,354,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1531,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5271,-1.03,-155.7,459.1,-8.2,364,5277,0.15,2.05,0.00,0.000,4,0.126,0.136,2540,456,3619,0,0,0,0,0,0,14.67,14.29,28.83
$GC,5398,-0.99,-155.7,471.9,-10.7,368,5406,0.12,1.92,0.00,0.000,6,0.287,0.082,2562,1525,3619,0,0,0,0,0,0,14.23,14.50,28.83
$GC,5722,-0.99,-155.7,502.9,-9.4,379,5727,0.00,1.92,0.00,0.000,4,0.000,0.105,2555,2579,3618,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5809,-0.99,-155.7,511.2,-9.2,382,5816,0.00,2.00,0.00,0.000,6,0.000,0.109,2555,1528,3618,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6142,-0.97,-155.7,544.1,-10.2,393,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1528,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6439,-0.97,-155.7,573.9,-9.8,403,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1528,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6739,-0.95,-155.7,601.4,-8.9,413,6747,0.00,1.98,0.00,0.000,4,0.000,0.104,2551,2577,3614,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6790,-0.93,-155.7,604.1,-8.8,414,6799,0.10,1.98,0.00,0.000,6,0.207,0.110,2582,1535,3614,0,0,0,0,0,0,14.17,14.31,28.83
$GC,7101,-0.93,-155.7,629.5,-7.5,425,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1536,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7400,-0.95,-155.7,652.4,-7.7,435,7407,0.00,2.10,0.00,0.000,4,0.000,0.139,2582,463,3612,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7469,-0.95,-155.7,657.5,-8.1,437,7476,0.00,1.98,0.00,0.000,6,0.000,0.085,2575,1542,3611,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7789,-0.95,-155.7,684.3,-8.1,448,7796,0.00,1.95,0.00,0.000,4,0.000,0.109,2568,2582,3611,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7888,-0.95,-155.7,691.7,-8.3,451,7892,0.00,2.00,0.00,0.000,6,0.000,0.111,2568,1542,3611,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8200,-0.95,-155.7,721.3,-9.5,462,8207,0.00,2.12,0.00,0.000,4,0.000,0.139,2568,462,3609,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8249,-0.95,-155.7,724.4,-9.7,463,8258,0.00,1.98,0.00,0.000,6,0.000,0.086,2561,1543,3609,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8560,-0.95,-155.7,758.6,-10.3,474,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1543,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,-0.95,-155.7,788.7,-9.8,484,8868,0.00,1.98,0.00,0.000,4,0.000,0.111,2554,2578,3606,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8951,-0.95,-155.7,797.4,-9.8,487,8958,0.08,1.98,0.00,0.000,6,0.214,0.115,2577,1552,3605,0,0,0,0,0,0,14.09,14.21,28.83
$GC,9282,-0.95,-155.7,827.2,-8.8,498,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1552,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9581,-0.98,-155.7,853.3,-8.5,508,9588,0.00,2.17,0.00,0.000,4,0.000,0.143,2578,460,3602,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9671,-0.98,-155.7,861.4,-9.0,511,9677,0.00,2.00,0.00,0.000,6,0.000,0.088,2570,1548,3602,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10001,-0.98,-155.7,889.9,-8.7,522,10007,0.00,1.98,0.00,0.000,4,0.000,0.116,2566,2578,3601,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10060,-0.98,-155.7,895.2,-8.9,524,10068,0.00,2.00,0.00,0.000,6,0.000,0.117,2566,1551,3600,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10390,-0.98,-155.7,926.0,-9.4,535,10397,0.00,2.17,0.00,0.000,4,0.000,0.146,2566,462,3599,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10450,-0.98,-155.7,932.1,-9.9,537,10457,0.00,2.03,0.00,0.000,6,0.000,0.097,2565,1549,3599,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10782,-0.98,-155.7,964.9,-10.3,548,10788,0.00,2.00,0.00,0.000,4,0.000,0.122,2563,2576,3598,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10819,-0.98,-155.7,967.9,-10.2,549,10823,0.00,2.03,0.00,0.000,6,0.000,0.119,2562,1545,3598,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,11038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11038,begin apogee
$GC,11045,-0.23,0.0,991.9,-10.6,557,11199,0.88,0.00,149.55,1.810,4,0.216,0.000,2807,1517,2989,0,0,0,0,0,0,14.05,28.83,13.24
$STATE,11201,end apogee,CONTROL_FINISHED_OK
$STATE,11203,begin climb
$GC,11206,0.84,155.7,1002.1,0.0,562,11372,1.10,2.08,156.98,1.799,4,0.114,0.118,3160,2584,2354,0,0,0,0,0,0,14.11,14.07,13.19
$GC,11573,0.81,194.1,995.6,6.0,575,11619,0.00,2.08,39.47,1.759,6,0.000,0.125,3167,1514,2193,0,0,0,0,0,0,28.83,14.33,13.40
$GC,11932,0.77,194.1,967.1,8.4,587,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1513,2182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12232,0.73,194.1,940.8,8.7,597,12239,0.15,2.03,0.00,0.000,4,0.306,0.115,3134,2573,2180,0,0,0,0,0,0,14.25,14.41,28.83
$GC,12340,0.71,194.1,933.2,8.6,600,12344,0.00,2.10,0.00,0.000,6,0.000,0.140,3141,1523,2179,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12642,0.69,194.1,907.1,8.2,610,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1523,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12941,0.69,194.1,881.9,8.5,620,12948,0.00,2.20,0.00,0.000,4,0.000,0.168,3149,455,2178,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12980,0.67,194.1,879.2,8.5,621,12988,0.17,2.00,0.00,0.000,6,0.276,0.098,3109,1527,2178,0,0,0,0,0,0,14.17,14.45,28.83
$GC,13304,0.67,197.8,854.9,7.1,632,13309,0.00,1.98,0.00,0.000,4,0.000,0.117,3109,2583,2177,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13440,0.67,205.5,846.6,6.9,636,13451,0.00,2.08,3.25,0.985,6,0.000,0.127,3116,1530,2153,0,0,0,0,0,0,28.83,14.32,13.40
$GC,13754,0.68,222.1,824.4,6.6,647,13784,0.00,2.03,25.42,1.676,4,0.000,0.116,3116,2583,2080,0,0,0,0,0,0,28.83,14.52,13.69
$GC,13852,0.68,223.1,818.5,7.1,650,13860,0.00,2.05,0.00,0.000,6,0.000,0.128,3124,1542,2072,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,22592,end climb,SURFACE_DEPTH_REACHED
$STATE,22592,begin surface coast
$FINISH,1.3,1.008163
$STATE,22613,end surface coast,CONTROL_FINISHED_OK
$STATE,22613,begin surface
$SM_CCo,22697,0.00,0.000,0,0,1474,372.12
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$IRIDIUM_FIX,2413.38,-3733.83,191212,161634
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.66
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.60
$XPDR_PINGS,3
$SC_FREEKB,7656224
$TM_FREEKB,4829664
$24V_AH,13.2,125.997
$10V_AH,12.5,0.000
$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,23.750,178.325,526.300,0.000,0.000,0.000,0.000,800.250,0.750,0.000,22.965,3119.385,16332.879,908.329,2899.945,603.802,0.000,2828.595,0.000,2049.113,0.000,0.542,0.000
$DEVICE_MAMPS,368.730,221.850,1809.990,0.000,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.841,13.248,0.000,0.000
$MEM,345632
$DATA_FILE_SIZE,39994,1097
$CAP_FILE_SIZE,237300,0
$CFSIZE,260034560,208498688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061,156.0,1
$GPS,191212,230505,2422.526,-3734.147,34,0.8,34,-13.9