version: 66.11
glider: 190
mission: 6
dive: 251
start: 12 6 112 10 43 12
data:
$ID,190
$MISSION,6
$DIVE,251
$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,-13115.321
$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,20
$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
$GPS1,061212,103122,2433.654,-3833.876,59,0.8,59,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-51.5
$GPS2,061212,104241,2433.706,-3833.858,15,1.1,15,-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,150.8,90340,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.63,-146.0,0.0,0.0,0,36,0.00,0.00,-10.57,0.000,2,0.000,0.000,140,1429,1562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.0,0.0,1,158,10.55,1.67,-96.60,0.000,4,0.321,0.131,2678,2323,3586,0,0,0,0,0,0,14.31,14.32,14.72
$GC,314,-0.61,-146.0,21.5,-8.9,28,319,0.00,1.70,0.00,0.000,6,0.000,0.121,2678,1436,3588,0,0,0,0,0,0,28.83,14.21,28.83
$GC,628,-0.59,-146.0,46.8,-7.0,59,633,0.00,1.65,0.00,0.000,4,0.000,0.103,2676,2314,3587,0,0,0,0,0,0,28.83,14.36,28.83
$GC,762,-0.59,-146.0,57.3,-8.2,72,768,0.00,1.65,0.00,0.000,6,0.000,0.122,2675,1455,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1077,-0.57,-146.0,83.7,-8.3,103,1083,0.10,1.58,0.00,0.000,4,0.240,0.100,2700,2320,3586,0,0,0,0,0,0,14.40,14.42,28.83
$GC,1136,-0.59,-146.0,87.7,-6.8,108,1143,0.00,1.65,0.00,0.000,6,0.000,0.122,2700,1455,3587,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1443,-0.63,-146.0,112.4,-8.3,139,1448,0.00,1.73,0.00,0.000,4,0.000,0.140,2701,553,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1591,-0.66,-146.0,124.0,-7.8,153,1597,0.00,1.52,0.00,0.000,6,0.000,0.083,2700,1426,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1897,-0.70,-146.0,146.3,-6.9,184,1903,0.12,1.67,0.00,0.000,4,0.132,0.138,2635,552,3586,0,0,0,0,0,0,14.59,14.35,28.83
$GC,2134,-0.65,-146.0,164.0,-7.2,207,2141,0.17,1.52,0.00,0.000,6,0.239,0.085,2676,1395,3587,0,0,0,0,0,0,14.27,14.43,28.83
$GC,2452,-0.67,-146.0,185.2,-7.6,238,2458,0.00,1.62,0.00,0.000,4,0.000,0.136,2676,551,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2490,-0.69,-146.0,188.2,-7.9,241,2496,0.00,1.50,0.00,0.000,6,0.000,0.082,2675,1410,3586,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2796,-0.72,-146.0,214.7,-8.8,272,2801,0.00,1.65,0.00,0.000,4,0.000,0.136,2675,552,3587,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2850,-0.74,-146.0,219.5,-9.0,277,2856,0.00,1.50,0.00,0.000,6,0.000,0.082,2675,1384,3586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3167,-0.77,-146.0,242.6,-6.6,308,3173,0.00,1.58,0.00,0.000,4,0.000,0.135,2675,556,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3264,-0.78,-146.0,248.8,-6.1,317,3269,0.08,1.42,0.00,0.000,6,0.097,0.083,2611,1353,3586,0,0,0,0,0,0,14.52,14.46,28.83
$GC,3590,-0.73,-146.0,273.6,-8.1,329,3596,0.12,1.77,0.00,0.000,4,0.246,0.102,2645,2325,3586,0,0,0,0,0,0,14.37,14.48,28.83
$GC,3788,-0.73,-146.0,288.2,-8.0,335,3794,0.00,1.83,0.00,0.000,6,0.000,0.121,2645,1371,3586,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4108,-0.75,-146.0,316.9,-8.5,346,4114,0.00,1.58,0.00,0.000,4,0.000,0.138,2645,555,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4282,-0.75,-146.0,331.0,-9.1,351,4287,0.00,1.40,0.00,0.000,6,0.000,0.086,2645,1340,3585,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4597,-0.76,-146.0,361.9,-9.6,362,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1340,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4896,-0.77,-146.0,390.4,-9.2,372,4901,0.00,1.52,0.00,0.000,4,0.000,0.138,2645,545,3582,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4953,-0.77,-146.0,393.4,-9.0,373,4959,0.00,1.42,0.00,0.000,6,0.000,0.087,2645,1340,3582,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5263,-0.79,-146.0,417.4,-6.5,384,5268,0.00,1.52,0.00,0.000,4,0.000,0.140,2645,551,3581,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5315,-0.80,-146.0,419.6,-6.3,385,5320,0.00,1.40,0.00,0.000,6,0.000,0.089,2644,1327,3581,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5631,-0.81,-146.0,440.7,-6.8,396,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1327,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,-0.83,-146.0,465.5,-8.8,406,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1327,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6228,-0.85,-146.0,494.9,-10.1,416,6233,0.00,1.50,0.00,0.000,4,0.000,0.142,2645,559,3578,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6363,-0.85,-146.0,507.4,-10.1,420,6368,0.00,1.38,0.00,0.000,6,0.000,0.089,2645,1324,3577,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6688,-0.87,-146.0,536.9,-8.3,431,6694,0.12,1.83,0.00,0.000,4,0.143,0.106,2583,2323,3576,0,0,0,0,0,0,14.68,14.47,28.83
$GC,6752,-0.87,-146.0,542.4,-8.2,433,6757,0.00,1.92,0.00,0.000,6,0.000,0.126,2584,1322,3576,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7087,-0.81,-146.0,570.1,-8.4,444,7093,0.12,1.85,0.00,0.000,4,0.258,0.108,2618,2321,3574,0,0,0,0,0,0,14.33,14.44,28.83
$GC,7223,-0.79,-146.0,579.5,-7.4,448,7228,0.00,1.90,0.00,0.000,6,0.000,0.129,2618,1332,3574,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7549,-0.76,-146.0,607.8,-8.8,459,7554,0.00,1.83,0.00,0.000,4,0.000,0.112,2618,2319,3572,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7627,-0.74,-146.0,613.5,-8.6,461,7633,0.12,1.88,0.00,0.000,6,0.226,0.130,2649,1343,3571,0,0,0,0,0,0,14.35,14.41,28.83
$GC,7948,-0.77,-146.0,640.9,-8.3,472,7953,0.00,1.83,0.00,0.000,4,0.000,0.113,2648,2326,3571,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8015,-0.79,-146.0,646.2,-8.1,474,8021,0.00,1.88,0.00,0.000,6,0.000,0.131,2649,1367,3570,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8347,-0.82,-146.0,673.7,-8.2,485,8352,0.00,1.55,0.00,0.000,4,0.000,0.138,2648,553,3569,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8501,-0.82,-146.0,687.5,-8.8,490,8506,0.00,1.42,0.00,0.000,6,0.000,0.083,2648,1346,3568,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8837,-0.84,-146.0,715.5,-8.2,501,8842,0.00,1.52,0.00,0.000,4,0.000,0.140,2648,555,3567,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8910,-0.86,-146.0,721.2,-8.4,503,8915,0.08,1.38,0.00,0.000,6,0.104,0.086,2605,1320,3567,0,0,0,0,0,0,14.42,14.44,28.83
$GC,9237,-0.83,-146.0,747.4,-7.3,514,9242,0.00,1.85,0.00,0.000,4,0.000,0.104,2604,2323,3565,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9424,-0.81,-146.0,760.1,-6.9,520,9429,0.00,1.88,0.00,0.000,6,0.000,0.122,2602,1338,3564,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9755,-0.78,-146.0,786.1,-8.3,531,9760,0.12,1.83,0.00,0.000,4,0.252,0.103,2633,2323,3563,0,0,0,0,0,0,14.30,14.41,28.83
$GC,9829,-0.77,-146.0,791.3,-8.0,533,9834,0.00,1.88,0.00,0.000,6,0.000,0.118,2633,1350,3562,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10154,-0.79,-146.0,821.2,-9.2,544,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1350,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10453,-0.81,-146.0,847.6,-8.5,554,10458,0.00,1.83,0.00,0.000,4,0.000,0.103,2632,2327,3561,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10595,-0.83,-146.0,857.2,-7.7,558,10600,0.00,1.85,0.00,0.000,6,0.000,0.118,2632,1355,3560,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10911,-0.85,-146.0,879.3,-6.3,569,10916,0.00,1.55,0.00,0.000,4,0.000,0.137,2632,550,3559,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10993,-0.85,-146.0,883.4,-6.1,571,10998,0.00,1.45,0.00,0.000,6,0.000,0.083,2631,1359,3558,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11309,-0.86,-146.0,903.4,-6.2,582,11315,0.00,1.80,0.00,0.000,4,0.000,0.103,2632,2314,3557,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11464,-0.88,-146.0,913.8,-6.6,587,11469,0.00,1.80,0.00,0.000,6,0.000,0.119,2632,1377,3556,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11800,-0.90,-146.0,940.7,-8.5,598,11806,0.10,1.75,0.00,0.000,4,0.176,0.103,2597,2320,3555,0,0,0,0,0,0,14.61,14.37,28.83
$GC,11873,-0.91,-146.0,946.7,-8.7,600,11878,0.00,1.77,0.00,0.000,6,0.000,0.119,2597,1405,3555,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12201,-0.89,-146.0,977.1,-9.0,611,12206,0.00,1.73,0.00,0.000,4,0.000,0.112,2592,2326,3554,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12273,-0.86,-146.0,982.9,-8.7,613,12278,0.00,1.75,0.00,0.000,6,0.000,0.120,2592,1412,3553,0,0,0,0,0,0,28.83,14.32,28.83
$STATE,12354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12354,begin apogee
$GC,12361,-0.23,0.0,990.6,-8.4,616,12508,0.75,0.00,137.48,1.850,4,0.208,0.000,2808,1643,2984,0,0,0,0,0,0,14.23,28.83,13.31
$STATE,12510,end apogee,CONTROL_FINISHED_OK
$STATE,12510,begin climb
$GC,12513,0.63,146.0,997.9,0.0,621,12670,0.82,1.70,146.12,1.821,4,0.117,0.106,3094,2518,2391,0,0,0,0,0,0,14.11,14.09,13.25
$GC,12687,0.67,352.3,999.4,0.3,626,12903,0.00,1.75,208.80,1.787,6,0.000,0.135,3097,1643,1552,0,0,0,0,0,0,28.83,14.03,13.26
$GC,13204,0.68,352.3,959.0,7.4,644,13209,0.00,1.77,0.00,0.000,4,0.000,0.162,3096,749,1531,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13268,0.70,352.3,954.3,7.3,646,13273,0.00,1.62,0.00,0.000,6,0.000,0.099,3096,1632,1529,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13604,0.73,352.3,930.0,7.4,657,13609,0.00,1.73,0.00,0.000,4,0.000,0.164,3097,755,1528,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13647,0.76,352.3,927.2,7.5,658,13653,0.12,1.73,0.00,0.000,6,0.160,0.102,3138,1692,1528,0,0,0,0,0,0,14.54,14.50,28.83
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$STATE,23925,end climb,SURFACE_DEPTH_REACHED
$STATE,23925,begin surface coast
$FINISH,1.2,0.999947
$STATE,23957,end surface coast,CONTROL_FINISHED_OK
$STATE,23957,begin surface
$SM_CCo,24039,0.00,0.000,0,0,1533,357.16
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$TT8_MAMPS,0.023968,0.023968
$HUMID,56.22
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.50
$XPDR_PINGS,3
$SC_FREEKB,7673920
$TM_FREEKB,5260000
$24V_AH,13.2,105.753
$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,22.525,172.475,498.900,0.000,0.000,0.000,0.000,370.025,0.750,0.000,17.740,4454.442,15092.436,685.549,3900.446,566.848,0.000,2817.223,0.000,3341.870,0.000,0.542,0.000
$DEVICE_MAMPS,320.535,163.710,1849.770,0.000,0.000,0.000,0.000,185.895,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.710,13.302,0.000,0.000
$MEM,344504
$DATA_FILE_SIZE,43322,1188
$CAP_FILE_SIZE,292606,0
$CFSIZE,260034560,215334912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,304.3,1
$GPS,061212,172506,2432.394,-3832.972,33,1.0,34,-14.2