version: 66.11
glider: 190
mission: 6
dive: 325
start: 12 27 112 8 9 11
data:
$ID,190
$MISSION,6
$DIVE,325
$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,-13306.893
$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,11
$R_STBD_OVSHOOT,18
$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
$GPS1,271212,075529,2455.894,-3741.663,39,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-62.0
$GPS2,271212,080841,2455.837,-3741.709,17,0.9,18,-13.9
$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,352.8,44155,-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,-11.75,0.000,2,0.000,0.000,143,1519,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,148,11.25,1.98,-86.10,0.000,4,0.357,0.127,2617,2575,3625,0,0,0,0,0,0,14.15,14.28,14.70
$GC,379,-0.84,-155.7,25.1,-10.6,35,387,0.00,2.03,0.00,0.000,6,0.000,0.113,2622,1523,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,688,-0.84,-155.7,56.3,-9.3,66,697,0.00,1.98,0.00,0.000,4,0.000,0.106,2614,2572,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,851,-0.88,-155.7,69.5,-8.2,82,858,0.00,1.98,0.00,0.000,6,0.000,0.114,2617,1527,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1158,-0.92,-155.7,96.3,-8.8,113,1167,0.00,2.05,0.00,0.000,4,0.000,0.131,2617,460,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1238,-0.92,-155.7,103.7,-9.5,121,1248,0.00,1.95,0.00,0.000,6,0.000,0.085,2617,1530,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1549,-0.96,-155.7,136.2,-10.8,152,1557,0.12,1.92,0.00,0.000,4,0.138,0.100,2556,2573,3626,0,0,0,0,0,0,14.55,14.31,28.83
$GC,1660,-0.96,-155.7,149.2,-11.7,163,1667,0.00,1.98,0.00,0.000,6,0.000,0.109,2556,1527,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1970,-0.93,-155.7,183.4,-9.9,194,1977,0.12,1.95,0.00,0.000,4,0.251,0.104,2578,2580,3627,0,0,0,0,0,0,14.30,14.35,28.83
$GC,2058,-0.93,-155.7,191.8,-9.2,203,2066,0.00,2.03,0.00,0.000,6,0.000,0.117,2578,1537,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2368,-0.93,-155.7,220.3,-8.7,234,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1537,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2668,-0.93,-155.7,241.6,-5.5,264,2677,0.00,2.08,0.00,0.000,4,0.000,0.131,2578,460,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2780,-0.91,-155.7,248.5,-6.5,275,2787,0.00,1.90,0.00,0.000,6,0.000,0.086,2572,1538,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3110,-0.91,-155.7,269.3,-7.0,288,3115,0.00,1.90,0.00,0.000,4,0.000,0.103,2565,2584,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3229,-0.91,-155.7,279.1,-8.1,292,3236,0.08,2.00,0.00,0.000,6,0.200,0.114,2590,1536,3627,0,0,0,0,0,0,14.22,14.31,28.83
$GC,3560,-0.94,-155.7,314.4,-11.9,303,3567,0.00,2.05,0.00,0.000,4,0.000,0.138,2590,460,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3718,-0.94,-155.7,334.2,-13.4,308,3726,0.00,1.95,0.00,0.000,6,0.000,0.084,2584,1537,3625,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4038,-0.94,-155.7,370.7,-10.0,319,4046,0.00,1.95,0.00,0.000,4,0.000,0.106,2579,2585,3627,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4087,-0.94,-155.7,373.4,-9.8,320,4096,0.00,2.00,0.00,0.000,6,0.000,0.110,2579,1532,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4399,-0.94,-155.7,400.8,-7.8,331,4406,0.00,1.95,0.00,0.000,4,0.000,0.106,2573,2575,3624,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4497,-0.94,-155.7,407.5,-7.5,334,4501,0.00,1.98,0.00,0.000,6,0.000,0.112,2573,1542,3623,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4811,-0.94,-155.7,433.0,-8.3,345,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1542,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5109,-0.96,-155.7,460.3,-9.6,355,5116,0.00,2.10,0.00,0.000,4,0.000,0.138,2573,462,3622,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5200,-0.96,-155.7,470.5,-11.1,358,5207,0.00,1.95,0.00,0.000,6,0.000,0.087,2566,1544,3621,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5529,-0.96,-155.7,507.5,-11.2,369,5536,0.00,1.92,0.00,0.000,4,0.000,0.109,2558,2582,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5679,-0.96,-155.7,524.0,-11.0,374,5687,0.00,1.95,0.00,0.000,6,0.000,0.112,2558,1561,3620,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6010,-0.96,-155.7,556.7,-9.3,385,6016,0.00,1.92,0.00,0.000,4,0.000,0.112,2553,2581,3619,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6118,-0.96,-155.7,564.2,-8.5,388,6121,0.00,1.95,0.00,0.000,6,0.000,0.112,2553,1564,3618,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6420,-0.96,-155.7,590.1,-8.0,398,6426,0.00,1.92,0.00,0.000,4,0.000,0.112,2549,2578,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6528,-0.96,-155.7,597.4,-8.0,401,6538,0.12,1.92,0.00,0.000,6,0.239,0.114,2579,1575,3617,0,0,0,0,0,0,14.25,14.35,28.83
$GC,6842,-0.99,-155.7,625.4,-8.8,412,6850,0.00,2.17,0.00,0.000,4,0.000,0.142,2579,459,3616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6918,-0.99,-155.7,631.0,-9.1,414,6922,0.00,2.03,0.00,0.000,6,0.000,0.089,2572,1568,3616,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7222,-1.01,-155.7,660.6,-9.3,424,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1568,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7519,-1.04,-155.7,687.8,-9.0,434,7528,0.00,2.17,0.00,0.000,4,0.000,0.140,2573,466,3614,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7658,-1.04,-155.7,698.9,-9.2,438,7662,0.00,2.00,0.00,0.000,6,0.000,0.090,2565,1557,3614,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7960,-1.06,-155.7,725.0,-7.8,448,7968,0.00,2.15,0.00,0.000,4,0.000,0.142,2565,458,3612,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8019,-1.06,-155.7,730.0,-8.0,450,8026,0.00,2.00,0.00,0.000,6,0.000,0.090,2558,1547,3612,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8352,-1.06,-155.7,757.0,-8.6,461,8357,0.00,1.92,0.00,0.000,4,0.000,0.114,2553,2578,3611,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8458,-1.06,-155.7,765.1,-9.0,464,8462,0.00,2.00,0.00,0.000,6,0.000,0.116,2553,1548,3610,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8759,-1.06,-155.7,797.1,-10.3,474,8767,0.00,2.17,0.00,0.000,4,0.000,0.146,2553,460,3609,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8869,-1.06,-155.7,807.1,-10.9,477,8878,0.00,2.00,0.00,0.000,6,0.000,0.094,2552,1535,3608,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9179,-1.06,-155.7,841.2,-10.1,488,9186,0.00,2.00,0.00,0.000,4,0.000,0.117,2549,2578,3607,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9250,-1.06,-155.7,847.4,-10.2,490,9256,0.00,2.03,0.00,0.000,6,0.000,0.121,2549,1537,3607,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9569,-1.06,-155.7,881.5,-10.4,501,9576,0.00,2.15,0.00,0.000,4,0.000,0.148,2549,460,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9618,-1.06,-155.7,885.0,-10.7,502,9622,0.00,2.03,0.00,0.000,6,0.000,0.096,2545,1546,3605,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9920,-1.06,-155.7,920.0,-10.9,512,9927,0.00,1.98,0.00,0.000,4,0.000,0.122,2541,2572,3604,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9988,-1.06,-155.7,926.4,-10.7,514,9992,0.00,2.03,0.00,0.000,6,0.000,0.122,2540,1540,3604,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10301,-1.06,-155.7,959.0,-9.7,525,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1540,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10600,-1.06,-155.7,986.2,-8.8,535,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1540,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10657,begin apogee
$GC,10664,-0.23,0.0,991.3,-8.6,537,10819,0.98,0.00,150.68,1.872,4,0.226,0.000,2805,1519,2990,0,0,0,0,0,0,13.97,28.83,13.17
$STATE,10824,end apogee,CONTROL_FINISHED_OK
$STATE,10824,begin climb
$GC,10827,0.84,155.7,998.2,0.0,542,10994,1.10,2.08,157.85,1.829,4,0.110,0.119,3160,2585,2354,0,0,0,0,0,0,14.11,14.07,13.16
$GC,11003,0.86,298.1,997.3,2.7,549,11159,0.00,2.15,147.43,1.791,6,0.000,0.134,3168,1523,1768,0,0,0,0,0,0,28.83,14.02,13.18
$GC,11482,0.86,298.1,947.8,10.1,565,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1523,1756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11783,0.86,298.1,918.8,9.8,575,11789,0.00,2.12,0.00,0.000,4,0.000,0.156,3176,461,1754,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11842,0.86,298.1,912.5,10.0,577,11849,0.00,1.95,0.00,0.000,6,0.000,0.093,3176,1517,1754,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12173,0.86,298.1,879.1,10.1,588,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1517,1753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12472,0.86,298.1,850.1,9.5,598,12479,0.00,2.20,0.00,0.000,4,0.000,0.174,3183,461,1752,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12551,0.86,298.1,844.0,9.8,600,12555,0.00,1.95,0.00,0.000,6,0.000,0.101,3183,1507,1751,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12853,0.86,298.1,813.5,9.4,610,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1507,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13152,0.86,298.1,787.3,8.5,620,13153,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1507,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13453,0.86,298.1,761.8,8.4,630,13460,0.00,2.05,0.00,0.000,4,0.000,0.124,3183,2575,1749,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13501,0.86,298.1,759.1,8.4,631,13510,0.00,2.12,0.00,0.000,6,0.000,0.129,3191,1497,1748,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13812,0.86,298.1,729.0,9.4,642,13820,0.00,2.10,0.00,0.000,4,0.000,0.153,3199,457,1749,0,0,0,0,0,0,28.83,14.22,28.83
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$STATE,21629,end climb,SURFACE_DEPTH_REACHED
$STATE,21629,begin surface coast
$FINISH,1.3,1.014268
$STATE,21661,end surface coast,CONTROL_FINISHED_OK
$STATE,21661,begin surface
$SM_CCo,21683,24.48,0.128,0,0,1560,350.04
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$IRIDIUM_FIX,2446.56,-3740.20,271212,010102
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.56
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,7645472
$TM_FREEKB,4583168
$24V_AH,13.2,137.583
$10V_AH,12.8,0.000
$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,23.100,157.700,455.950,24.475,0.000,0.000,0.000,442.375,0.250,0.000,18.736,3037.611,15490.817,866.774,2519.129,573.178,0.000,2378.697,0.000,1961.285,0.000,0.541,0.000
$DEVICE_MAMPS,357.255,257.040,1871.955,127.755,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21706.000,5622.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.230,13.245,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,39989,1089
$CAP_FILE_SIZE,222678,0
$CFSIZE,260034560,204808192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,225.9,1
$GPS,271212,141222,2457.266,-3742.587,37,0.9,37,-13.9