version: 66.11
glider: 190
mission: 6
dive: 318
start: 12 25 112 9 48 25
data:
$ID,190
$MISSION,6
$DIVE,318
$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,4
$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,-13298.09
$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
$GPS1,251212,093458,2448.028,-3733.178,36,0.8,36,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-60.2
$GPS2,251212,094755,2447.973,-3733.239,18,0.7,19,-13.8
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,331.9,64489,-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,-11.85,0.000,2,0.000,0.000,137,1540,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,148,11.25,1.95,-89.20,0.000,4,0.358,0.125,2617,2576,3625,0,0,0,0,0,0,14.21,14.31,14.69
$GC,379,-0.84,-155.7,22.7,-8.8,35,387,0.00,2.03,0.00,0.000,6,0.000,0.110,2618,1523,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,689,-0.84,-155.7,58.2,-10.0,66,697,0.00,1.98,0.00,0.000,4,0.000,0.103,2618,2573,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,798,-0.84,-155.7,67.8,-8.2,77,808,0.00,2.00,0.00,0.000,6,0.000,0.112,2617,1528,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1109,-0.84,-155.7,93.2,-7.6,108,1117,0.00,1.95,0.00,0.000,4,0.000,0.103,2618,2570,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1188,-0.84,-155.7,99.2,-7.7,116,1197,0.00,2.03,0.00,0.000,6,0.000,0.110,2617,1520,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1498,-0.87,-155.7,122.0,-7.7,147,1507,0.00,2.05,0.00,0.000,4,0.000,0.138,2617,466,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1569,-0.87,-155.7,128.0,-8.5,154,1577,0.00,1.90,0.00,0.000,6,0.000,0.082,2617,1525,3626,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1879,-0.91,-155.7,153.1,-8.9,185,1888,0.00,1.95,0.00,0.000,4,0.000,0.102,2618,2582,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1909,-0.95,-155.7,155.6,-8.6,188,1917,0.08,2.03,0.00,0.000,6,0.087,0.109,2569,1518,3626,0,0,0,0,0,0,14.37,14.28,28.83
$GC,2219,-0.95,-155.7,189.6,-11.4,219,2227,0.00,2.05,0.00,0.000,4,0.000,0.135,2569,463,3627,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2340,-0.91,-155.7,204.7,-12.6,231,2347,0.00,1.85,0.00,0.000,6,0.000,0.083,2565,1514,3626,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2648,-0.91,-155.7,241.6,-11.4,262,2650,0.12,0.00,0.00,0.000,6,0.271,0.000,2595,1515,3626,0,0,0,0,0,0,14.29,28.83,28.83
$GC,2949,-0.91,-155.7,270.2,-9.0,278,2956,0.00,1.95,0.00,0.000,4,0.000,0.100,2592,2576,3626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3048,-0.94,-155.7,278.3,-9.0,281,3055,0.00,2.05,0.00,0.000,6,0.000,0.111,2592,1506,3626,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3369,-0.94,-155.7,306.8,-8.8,292,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1507,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3669,-0.96,-155.7,333.3,-8.8,302,3676,0.00,2.03,0.00,0.000,4,0.000,0.132,2592,457,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3748,-0.96,-155.7,339.0,-9.1,304,3757,0.00,1.90,0.00,0.000,6,0.000,0.080,2587,1515,3624,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4059,-0.96,-155.7,370.2,-9.3,315,4067,0.00,1.95,0.00,0.000,4,0.000,0.104,2580,2573,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4137,-0.96,-155.7,375.8,-9.5,317,4141,0.00,2.03,0.00,0.000,6,0.000,0.112,2580,1517,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4439,-0.96,-155.7,407.5,-10.0,327,4446,0.00,1.98,0.00,0.000,4,0.000,0.105,2577,2572,3623,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4498,-0.96,-155.7,413.4,-9.9,329,4506,0.00,2.00,0.00,0.000,6,0.000,0.109,2577,1524,3623,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4830,-0.96,-155.7,446.0,-9.7,340,4836,0.00,2.05,0.00,0.000,4,0.000,0.134,2577,464,3622,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4877,-0.96,-155.7,449.1,-9.8,341,4881,0.00,1.90,0.00,0.000,6,0.000,0.081,2570,1520,3622,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5179,-0.96,-155.7,479.8,-9.6,351,5187,0.00,1.95,0.00,0.000,4,0.000,0.105,2565,2577,3619,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5229,-0.96,-155.7,482.6,-9.6,352,5238,0.00,2.00,0.00,0.000,6,0.000,0.109,2565,1525,3620,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5539,-0.96,-155.7,514.2,-9.9,363,5547,0.00,1.98,0.00,0.000,4,0.000,0.106,2560,2574,3620,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5588,-0.96,-155.7,517.3,-10.1,364,5597,0.00,2.00,0.00,0.000,6,0.000,0.109,2560,1529,3619,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5899,-0.96,-155.7,553.5,-11.3,375,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1529,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6198,-0.96,-155.7,585.8,-10.6,385,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1529,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6499,-0.96,-155.7,614.2,-8.8,395,6507,0.00,2.08,0.00,0.000,4,0.000,0.135,2560,463,3616,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6548,-0.96,-155.7,616.8,-8.6,396,6557,0.00,1.95,0.00,0.000,6,0.000,0.088,2553,1530,3616,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6861,-0.96,-155.7,641.8,-7.1,407,6867,0.00,1.92,0.00,0.000,4,0.000,0.112,2549,2576,3615,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6950,-0.96,-155.7,648.0,-6.9,410,6957,0.12,2.00,0.00,0.000,6,0.243,0.116,2579,1521,3614,0,0,0,0,0,0,14.20,14.28,28.83
$GC,7281,-0.96,-155.7,668.9,-6.6,421,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1521,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7580,-0.96,-155.7,691.2,-7.9,431,7587,0.00,2.00,0.00,0.000,4,0.000,0.112,2571,2573,3612,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7628,-0.96,-155.7,693.8,-8.1,432,7637,0.00,2.00,0.00,0.000,6,0.000,0.117,2572,1544,3612,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7939,-0.96,-155.7,725.3,-10.3,443,7947,0.00,1.98,0.00,0.000,4,0.000,0.116,2565,2575,3610,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7978,-0.96,-155.7,728.4,-10.5,444,7982,0.00,2.00,0.00,0.000,6,0.000,0.119,2565,1543,3611,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8290,-0.96,-155.7,765.7,-12.0,455,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1546,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8591,-0.96,-155.7,802.2,-12.3,465,8597,0.00,1.98,0.00,0.000,4,0.000,0.116,2558,2576,3608,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8699,-0.96,-155.7,813.0,-12.0,468,8703,0.00,2.00,0.00,0.000,6,0.000,0.120,2560,1556,3607,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9000,-0.96,-155.7,848.4,-10.5,478,9007,0.00,2.20,0.00,0.000,4,0.000,0.148,2558,461,3607,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9061,-0.96,-155.7,855.0,-10.5,480,9068,0.00,2.00,0.00,0.000,6,0.000,0.096,2553,1539,3606,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9392,-0.96,-155.7,886.0,-9.1,491,9397,0.00,1.98,0.00,0.000,4,0.000,0.124,2549,2585,3605,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9450,-0.96,-155.7,891.3,-8.9,493,9457,0.00,2.00,0.00,0.000,6,0.000,0.120,2550,1558,3604,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9782,-0.96,-155.7,921.1,-9.1,504,9788,0.00,1.95,0.00,0.000,4,0.000,0.123,2549,2584,3604,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9829,-0.96,-155.7,923.9,-9.2,505,9839,0.12,2.03,0.00,0.000,6,0.250,0.121,2577,1554,3603,0,0,0,0,0,0,14.10,14.22,28.83
$GC,10143,-1.00,-155.7,953.7,-9.4,516,10150,0.00,2.20,0.00,0.000,4,0.000,0.154,2577,461,3602,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10219,-1.00,-155.7,959.8,-9.8,518,10223,0.00,2.05,0.00,0.000,6,0.000,0.094,2571,1560,3599,0,0,0,0,0,0,28.83,14.32,28.83
$STATE,10517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10517,begin apogee
$GC,10525,-0.23,0.0,992.5,-10.4,528,10681,0.85,0.00,151.32,1.839,4,0.211,0.000,2810,1522,2989,0,0,0,0,0,0,14.03,28.83,13.19
$STATE,10684,end apogee,CONTROL_FINISHED_OK
$STATE,10684,begin climb
$GC,10687,0.84,155.7,1003.8,0.0,533,10854,1.08,2.05,157.32,1.815,4,0.112,0.119,3157,2582,2355,0,0,0,0,0,0,14.11,14.07,13.17
$GC,11041,0.80,174.6,996.9,6.6,546,11066,0.00,2.15,19.25,1.714,6,0.000,0.139,3164,1514,2277,0,0,0,0,0,0,28.83,14.32,13.46
$GC,11366,0.76,174.6,972.7,7.8,556,11371,0.00,2.05,0.00,0.000,4,0.000,0.129,3164,2577,2263,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11462,0.72,174.6,965.4,8.2,559,11471,0.20,2.10,0.00,0.000,6,0.311,0.137,3128,1523,2261,0,0,0,0,0,0,14.17,14.39,28.83
$GC,11786,0.72,178.4,941.8,7.1,570,11792,0.00,2.00,0.00,0.000,4,0.000,0.122,3128,2576,2261,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11873,0.72,178.4,935.3,7.3,573,11880,0.00,2.10,0.00,0.000,6,0.000,0.148,3136,1532,2260,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12206,0.71,196.3,912.6,6.6,584,12234,0.00,2.20,22.55,1.737,4,0.000,0.175,3143,458,2184,0,0,0,0,0,0,28.83,14.45,13.62
$GC,12344,0.69,201.3,904.2,7.0,588,12354,0.10,2.00,0.98,0.178,6,0.274,0.104,3117,1531,2166,0,0,0,0,0,0,14.19,14.40,14.41
$GC,12656,0.71,237.9,883.7,6.0,599,12705,0.00,2.05,43.97,1.730,4,0.000,0.122,3117,2579,2014,0,0,0,0,0,0,28.83,14.33,13.52
$GC,12815,0.72,255.1,874.3,6.6,603,12841,0.00,2.10,19.02,1.655,6,0.000,0.143,3124,1533,1943,0,0,0,0,0,0,28.83,14.24,13.47
$GC,13155,0.72,255.1,848.4,7.4,615,13160,0.00,2.15,0.00,0.000,4,0.000,0.171,3131,458,1932,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13213,0.72,255.1,843.7,7.6,617,13220,0.00,2.03,0.00,0.000,6,0.000,0.099,3132,1536,1932,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,22643,end climb,SURFACE_DEPTH_REACHED
$STATE,22643,begin surface coast
$FINISH,1.4,1.015972
$STATE,22674,end surface coast,CONTROL_FINISHED_OK
$STATE,22674,begin surface
$SM_CCo,22695,11.10,0.131,0,0,1560,350.04
$SM_GC,2.94,8.70,0.00,11.10,0.063,0.000,0.131,138,1517,1560,-8.54,-0.08,350.04,0,0,0,0,0,0,14.45,28.83,14.35
$IRIDIUM_FIX,2434.69,-3732.52,251212,030301
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.50
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7648160
$TM_FREEKB,4645472
$24V_AH,13.2,134.643
$10V_AH,12.6,0.000
$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,23.000,182.525,489.100,11.100,0.000,0.000,0.000,431.850,0.000,0.000,20.704,3136.425,16231.037,898.402,2602.625,602.555,0.000,2453.608,0.000,2040.661,0.000,0.540,0.000
$DEVICE_MAMPS,358.020,187.425,1839.060,130.815,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.911,13.248,0.000,0.000
$MEM,345576
$DATA_FILE_SIZE,39978,1107
$CAP_FILE_SIZE,237342,0
$CFSIZE,260034560,205742080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,172.2,1
$GPS,251212,160804,2449.055,-3734.372,27,1.4,27,-13.8