version: 66.11
glider: 190
mission: 6
dive: 249
start: 12 5 112 20 20 48
data:
$ID,190
$MISSION,6
$DIVE,249
$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,-13111.392
$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,12
$R_STBD_OVSHOOT,6
$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
$GPS1,051212,200804,2437.074,-3835.315,23,1.2,24,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-57.8
$GPS2,051212,202018,2437.096,-3835.315,18,1.0,18,-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,165.0,96780,-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,22,begin dive
$GC,25,-0.63,-146.0,0.0,0.0,0,38,0.00,0.00,-11.07,0.000,2,0.000,0.000,141,1427,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.2,0.0,1,153,10.77,1.70,-87.78,0.000,4,0.331,0.136,2678,2331,3585,0,0,0,0,0,0,14.31,14.40,14.73
$GC,251,-0.61,-146.0,12.6,-9.2,21,258,0.00,1.67,0.00,0.000,6,0.000,0.112,2678,1439,3585,0,0,0,0,0,0,28.83,14.35,28.83
$GC,558,-0.60,-146.0,43.1,-7.5,52,563,0.00,1.67,0.00,0.000,4,0.000,0.104,2675,2334,3585,0,0,0,0,0,0,28.83,14.38,28.83
$GC,651,-0.60,-146.0,49.5,-7.1,61,656,0.00,1.70,0.00,0.000,6,0.000,0.118,2676,1441,3583,0,0,0,0,0,0,28.83,14.34,28.83
$GC,965,-0.58,-146.0,74.0,-7.8,92,970,0.00,1.65,0.00,0.000,4,0.000,0.103,2675,2337,3585,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1058,-0.58,-146.0,80.8,-6.9,101,1064,0.00,1.70,0.00,0.000,6,0.000,0.120,2675,1458,3585,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1372,-0.58,-146.0,104.0,-6.7,132,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1458,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1673,-0.61,-146.0,126.5,-7.8,162,1678,0.00,1.70,0.00,0.000,4,0.000,0.131,2675,559,3585,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1817,-0.61,-146.0,138.0,-7.7,176,1823,0.00,1.58,0.00,0.000,6,0.000,0.080,2675,1463,3585,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2133,-0.63,-146.0,160.6,-6.8,207,2138,0.00,1.75,0.00,0.000,4,0.000,0.136,2675,552,3586,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2301,-0.63,-146.0,172.5,-7.4,223,2308,0.00,1.50,0.00,0.000,6,0.000,0.079,2675,1424,3585,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2609,-0.66,-146.0,196.0,-8.4,254,2615,0.00,1.70,0.00,0.000,4,0.000,0.134,2675,552,3585,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2708,-0.67,-146.0,204.4,-9.1,263,2716,0.00,1.50,0.00,0.000,6,0.000,0.082,2675,1397,3585,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3015,-0.70,-146.0,232.5,-8.5,294,3020,0.00,1.62,0.00,0.000,4,0.000,0.135,2675,551,3585,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3149,-0.71,-146.0,243.5,-7.6,307,3154,0.00,1.48,0.00,0.000,6,0.000,0.081,2674,1367,3585,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3483,-0.74,-146.0,265.8,-6.4,324,3488,0.00,1.73,0.00,0.000,4,0.000,0.098,2675,2324,3585,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3668,-0.77,-146.0,277.9,-6.6,330,3673,0.00,1.77,0.00,0.000,6,0.000,0.118,2675,1381,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4003,-0.81,-146.0,304.6,-8.7,341,4008,0.12,1.55,0.00,0.000,4,0.138,0.133,2611,555,3584,0,0,0,0,0,0,14.69,14.45,28.83
$GC,4081,-0.81,-146.0,311.5,-9.6,343,4086,0.00,1.45,0.00,0.000,6,0.000,0.081,2608,1374,3584,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4400,-0.76,-146.0,347.2,-10.6,354,4406,0.12,1.73,0.00,0.000,4,0.255,0.097,2644,2337,3581,0,0,0,0,0,0,14.42,14.51,28.83
$GC,4523,-0.75,-146.0,356.4,-9.7,357,4529,0.00,1.77,0.00,0.000,6,0.000,0.116,2645,1387,3582,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4829,-0.77,-146.0,384.5,-7.9,368,4834,0.00,1.60,0.00,0.000,4,0.000,0.135,2645,555,3581,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4963,-0.77,-146.0,394.1,-7.6,372,4968,0.00,1.48,0.00,0.000,6,0.000,0.082,2645,1384,3580,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5289,-0.78,-146.0,417.8,-7.3,383,5294,0.00,1.67,0.00,0.000,4,0.000,0.098,2645,2321,3580,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5341,-0.80,-146.0,420.4,-7.2,384,5346,0.00,1.73,0.00,0.000,6,0.000,0.114,2645,1383,3580,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5656,-0.82,-146.0,445.9,-8.0,395,5661,0.00,1.58,0.00,0.000,4,0.000,0.138,2645,551,3578,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5734,-0.83,-146.0,451.2,-8.0,397,5739,0.00,1.48,0.00,0.000,6,0.000,0.083,2645,1381,3578,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6054,-0.85,-146.0,476.8,-7.4,408,6059,0.00,1.70,0.00,0.000,4,0.000,0.098,2645,2325,3577,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6159,-0.87,-146.0,483.1,-6.8,411,6164,0.12,1.75,0.00,0.000,6,0.135,0.114,2590,1390,3577,0,0,0,0,0,0,14.59,14.45,28.83
$GC,6486,-0.85,-146.0,506.7,-6.9,422,6491,0.00,1.58,0.00,0.000,4,0.000,0.137,2590,556,3575,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6623,-0.80,-146.0,516.2,-7.5,426,6629,0.17,1.48,0.00,0.000,6,0.249,0.085,2628,1381,3574,0,0,0,0,0,0,14.30,14.51,28.83
$GC,6945,-0.80,-146.0,537.3,-6.3,437,6951,0.00,1.70,0.00,0.000,4,0.000,0.098,2622,2323,3573,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7023,-0.80,-146.0,541.8,-6.7,439,7028,0.00,1.73,0.00,0.000,6,0.000,0.116,2622,1389,3573,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7342,-0.80,-146.0,569.6,-9.0,450,7347,0.00,1.58,0.00,0.000,4,0.000,0.135,2622,556,3572,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7425,-0.80,-146.0,575.9,-9.4,452,7430,0.00,1.50,0.00,0.000,6,0.000,0.085,2618,1415,3570,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7739,-0.80,-146.0,607.3,-9.3,463,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1416,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8038,-0.80,-146.0,632.3,-8.0,473,8043,0.00,1.67,0.00,0.000,4,0.000,0.142,2618,553,3569,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8132,-0.78,-146.0,639.9,-8.1,476,8138,0.00,1.50,0.00,0.000,6,0.000,0.087,2618,1378,3569,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8468,-0.78,-146.0,664.3,-7.1,487,8473,0.00,1.60,0.00,0.000,4,0.000,0.144,2617,556,3568,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8525,-0.78,-146.0,667.0,-7.2,488,8533,0.00,1.48,0.00,0.000,6,0.000,0.091,2618,1369,3567,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8834,-0.76,-146.0,691.0,-7.3,499,8839,0.00,1.75,0.00,0.000,4,0.000,0.103,2618,2322,3566,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8976,-0.76,-146.0,700.2,-7.3,503,8982,0.00,1.80,0.00,0.000,6,0.000,0.120,2618,1387,3565,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9290,-0.76,-146.0,725.7,-7.9,514,9295,0.00,1.58,0.00,0.000,4,0.000,0.133,2618,556,3563,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9368,-0.76,-146.0,730.8,-7.9,516,9373,0.00,1.48,0.00,0.000,6,0.000,0.080,2618,1382,3563,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9686,-0.76,-146.0,757.1,-8.1,527,9692,0.00,1.60,0.00,0.000,4,0.000,0.134,2618,558,3562,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9729,-0.76,-146.0,759.9,-8.1,528,9734,0.00,1.48,0.00,0.000,6,0.000,0.080,2618,1383,3562,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10054,-0.76,-146.0,786.7,-8.1,539,10059,0.00,1.58,0.00,0.000,4,0.000,0.134,2618,556,3561,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10101,-0.76,-146.0,789.6,-8.0,540,10106,0.00,1.45,0.00,0.000,6,0.000,0.081,2618,1369,3561,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10420,-0.76,-146.0,814.5,-7.4,551,10426,0.00,1.58,0.00,0.000,4,0.000,0.135,2618,550,3560,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10457,-0.76,-146.0,817.0,-7.4,552,10462,0.00,1.45,0.00,0.000,6,0.000,0.083,2618,1362,3560,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10787,-0.76,-146.0,840.5,-6.9,563,10792,0.00,1.77,0.00,0.000,4,0.000,0.106,2617,2323,3558,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10871,-0.76,-146.0,844.8,-6.8,565,10876,0.00,1.83,0.00,0.000,6,0.000,0.119,2618,1364,3558,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11187,-0.77,-146.0,868.6,-7.4,576,11192,0.00,1.55,0.00,0.000,4,0.000,0.137,2618,555,3557,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11234,-0.77,-146.0,871.5,-7.6,577,11239,0.00,1.45,0.00,0.000,6,0.000,0.085,2618,1364,3557,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11555,-0.78,-146.0,898.3,-8.2,588,11560,0.00,1.80,0.00,0.000,4,0.000,0.109,2618,2326,3555,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11628,-0.80,-146.0,903.5,-8.2,590,11633,0.00,1.83,0.00,0.000,6,0.000,0.124,2618,1371,3555,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11953,-0.81,-146.0,932.0,-8.7,601,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1371,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12252,-0.81,-146.0,958.4,-8.8,611,12257,0.00,1.80,0.00,0.000,4,0.000,0.121,2618,2320,3553,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12309,-0.81,-146.0,961.3,-8.9,612,12317,0.00,1.88,0.00,0.000,6,0.000,0.140,2618,1370,3553,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,12613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12613,begin apogee
$GC,12621,-0.23,0.0,990.5,-8.7,623,12768,0.65,0.00,136.77,1.857,4,0.199,0.000,2807,1643,2984,0,0,0,0,0,0,14.24,28.83,13.31
$STATE,12769,end apogee,CONTROL_FINISHED_OK
$STATE,12769,begin climb
$GC,12772,0.63,146.0,999.5,0.0,628,12929,0.85,1.75,145.88,1.825,4,0.116,0.129,3096,2517,2389,0,0,0,0,0,0,14.12,14.09,13.27
$GC,12995,0.63,270.2,999.3,2.9,635,13129,0.00,1.75,125.93,1.790,6,0.000,0.148,3096,1639,1886,0,0,0,0,0,0,28.83,14.13,13.30
$GC,13428,0.61,270.2,966.6,7.4,650,13433,0.00,1.80,0.00,0.000,4,0.000,0.178,3097,753,1863,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,25845,end climb,SURFACE_DEPTH_REACHED
$STATE,25845,begin surface coast
$FINISH,1.5,1.023653
$STATE,25876,end surface coast,CONTROL_FINISHED_OK
$STATE,25876,begin surface
$SM_CCo,25900,12.15,0.129,0,0,1561,350.04
$SM_GC,2.76,8.55,1.27,12.15,0.067,0.083,0.129,144,1454,1561,-8.53,-0.28,350.04,0,0,0,0,0,0,14.47,14.45,14.42
$IRIDIUM_FIX,2427.58,-3838.85,051212,121245
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.84
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.80
$XPDR_PINGS,3
$SC_FREEKB,7674688
$TM_FREEKB,5278944
$24V_AH,13.3,104.840
$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,21.875,180.475,465.275,12.150,0.000,0.000,0.000,410.850,0.750,0.000,19.944,4552.364,16803.270,680.153,4000.517,590.841,0.000,2881.156,0.000,3369.688,0.000,0.542,0.000
$DEVICE_MAMPS,331.245,178.245,1856.655,129.285,0.000,0.000,0.000,184.365,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25907.000,6415.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.572,13.312,0.000,0.000
$MEM,344520
$DATA_FILE_SIZE,46620,1262
$CAP_FILE_SIZE,301854,0
$CFSIZE,260034560,215638016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,311.7,1
$GPS,061212,033404,2435.486,-3834.857,39,1.0,40,-14.2