version: 66.11
glider: 190
mission: 6
dive: 256
start: 12 7 112 22 43 24
data:
$ID,190
$MISSION,6
$DIVE,256
$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,-13122.083
$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,10
$R_STBD_OVSHOOT,15
$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
$GPS1,071212,223035,2426.719,-3829.154,37,0.9,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-67.5
$GPS2,071212,224253,2426.710,-3829.137,16,1.0,16,-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,147.5,75282,-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,21,begin dive
$GC,25,-0.63,-146.0,0.0,0.0,0,38,0.00,0.00,-11.00,0.000,2,0.000,0.000,139,1437,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.3,0.0,1,145,11.62,1.73,-83.70,0.000,4,0.369,0.171,2678,552,3586,0,0,0,0,0,0,14.24,14.30,14.70
$GC,377,-0.59,-146.0,22.4,-8.9,34,382,0.00,1.60,0.00,0.000,6,0.000,0.092,2675,1442,3585,0,0,0,0,0,0,28.83,14.40,28.83
$GC,691,-0.57,-146.0,49.9,-8.4,65,693,0.12,0.00,0.00,0.000,6,0.238,0.000,2706,1442,3587,0,0,0,0,0,0,14.20,28.83,28.83
$GC,991,-0.61,-146.0,73.3,-8.8,95,996,0.00,1.60,0.00,0.000,4,0.000,0.106,2705,2323,3587,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1035,-0.66,-146.0,77.0,-8.6,99,1040,0.00,1.70,0.00,0.000,6,0.000,0.128,2706,1449,3586,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1348,-0.70,-146.0,104.1,-7.9,130,1354,0.12,1.75,0.00,0.000,4,0.134,0.148,2639,555,3587,0,0,0,0,0,0,14.59,14.19,28.83
$GC,1587,-0.65,-146.0,125.3,-9.1,153,1593,0.17,1.58,0.00,0.000,6,0.236,0.095,2679,1427,3587,0,0,0,0,0,0,14.21,14.38,28.83
$GC,1905,-0.67,-146.0,150.5,-8.4,184,1910,0.00,1.73,0.00,0.000,4,0.000,0.147,2680,553,3587,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2010,-0.69,-146.0,159.6,-8.7,194,2015,0.00,1.55,0.00,0.000,6,0.000,0.093,2678,1417,3587,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2324,-0.72,-146.0,183.8,-7.3,225,2329,0.00,1.70,0.00,0.000,4,0.000,0.148,2678,553,3587,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2351,-0.75,-146.0,185.7,-7.7,227,2358,0.00,1.55,0.00,0.000,6,0.000,0.095,2677,1419,3587,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2659,-0.78,-146.0,208.7,-7.8,258,2664,0.12,1.70,0.00,0.000,4,0.132,0.146,2613,549,3587,0,0,0,0,0,0,14.60,14.33,28.83
$GC,2858,-0.72,-146.0,227.1,-9.9,277,2866,0.17,1.50,0.00,0.000,6,0.244,0.094,2654,1375,3587,0,0,0,0,0,0,14.26,14.42,28.83
$GC,3174,-0.72,-146.0,252.2,-7.2,307,3179,0.00,1.75,0.00,0.000,4,0.000,0.111,2651,2325,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3232,-0.72,-146.0,254.4,-6.9,308,3239,0.00,1.80,0.00,0.000,6,0.000,0.132,2651,1383,3587,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3540,-0.74,-146.0,273.1,-5.4,319,3545,0.00,1.60,0.00,0.000,4,0.000,0.148,2651,555,3586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3604,-0.75,-146.0,277.0,-5.6,321,3611,0.00,1.50,0.00,0.000,6,0.000,0.095,2649,1376,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3941,-0.76,-146.0,301.3,-8.4,332,3946,0.00,1.60,0.00,0.000,4,0.000,0.147,2649,553,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4083,-0.76,-146.0,313.8,-9.9,336,4089,0.00,1.45,0.00,0.000,6,0.000,0.095,2649,1352,3585,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4399,-0.77,-146.0,349.8,-11.0,347,4405,0.00,1.58,0.00,0.000,4,0.000,0.148,2649,553,3585,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4483,-0.79,-146.0,357.0,-10.8,349,4488,0.00,1.42,0.00,0.000,6,0.000,0.095,2649,1340,3584,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4798,-0.80,-146.0,388.2,-8.6,360,4804,0.00,1.52,0.00,0.000,4,0.000,0.148,2649,554,3583,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4848,-0.82,-146.0,391.2,-8.4,361,4853,0.00,1.40,0.00,0.000,6,0.000,0.096,2648,1325,3583,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5168,-0.84,-146.0,415.8,-7.0,372,5173,0.00,1.85,0.00,0.000,4,0.000,0.112,2649,2329,3582,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5262,-0.86,-146.0,421.9,-6.4,375,5269,0.12,1.90,0.00,0.000,6,0.135,0.127,2590,1340,3581,0,0,0,0,0,0,14.52,14.38,28.83
$GC,5599,-0.81,-146.0,447.3,-7.7,386,5601,0.15,0.00,0.00,0.000,6,0.236,0.000,2628,1339,3580,0,0,0,0,0,0,14.39,28.83,28.83
$GC,5898,-0.79,-146.0,468.5,-7.3,396,5903,0.00,1.83,0.00,0.000,4,0.000,0.112,2621,2330,3579,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5976,-0.77,-146.0,473.3,-7.3,398,5981,0.00,1.88,0.00,0.000,6,0.000,0.128,2621,1349,3578,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6297,-0.73,-146.0,498.9,-7.9,409,6302,0.00,1.83,0.00,0.000,4,0.000,0.116,2618,2321,3578,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6369,-0.71,-146.0,504.0,-7.8,411,6376,0.10,1.85,0.00,0.000,6,0.187,0.129,2662,1370,3577,0,0,0,0,0,0,14.33,14.37,28.83
$GC,6697,-0.74,-146.0,530.2,-8.0,422,6702,0.00,1.77,0.00,0.000,4,0.000,0.111,2653,2321,3576,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6784,-0.77,-146.0,535.5,-7.9,424,6791,0.00,1.80,0.00,0.000,6,0.000,0.132,2652,1386,3575,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7093,-0.80,-146.0,563.0,-8.4,435,7098,0.00,1.75,0.00,0.000,4,0.000,0.117,2650,2324,3574,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7165,-0.82,-146.0,568.7,-8.7,437,7171,0.00,1.75,0.00,0.000,6,0.000,0.129,2650,1409,3574,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7493,-0.85,-146.0,598.5,-8.9,448,7498,0.00,1.70,0.00,0.000,4,0.000,0.113,2648,2329,3572,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7535,-0.88,-146.0,601.7,-8.9,449,7541,0.12,1.75,0.00,0.000,6,0.137,0.128,2593,1415,3572,0,0,0,0,0,0,14.58,14.40,28.83
$GC,7862,-0.86,-146.0,633.8,-9.7,460,7868,0.00,1.65,0.00,0.000,4,0.000,0.138,2592,552,3571,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8030,-0.80,-146.0,649.9,-10.5,465,8036,0.15,1.55,0.00,0.000,6,0.262,0.091,2628,1415,3570,0,0,0,0,0,0,14.23,14.46,28.83
$GC,8351,-0.80,-146.0,677.4,-7.8,476,8356,0.00,1.67,0.00,0.000,4,0.000,0.112,2621,2328,3569,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8453,-0.80,-146.0,684.5,-7.4,479,8458,0.00,1.77,0.00,0.000,6,0.000,0.132,2621,1411,3569,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8779,-0.80,-146.0,709.3,-7.3,490,8784,0.00,1.62,0.00,0.000,4,0.000,0.141,2621,553,3568,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8920,-0.78,-146.0,718.7,-7.4,494,8925,0.00,1.55,0.00,0.000,6,0.000,0.092,2617,1416,3567,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9238,-0.78,-146.0,741.5,-6.9,505,9245,0.00,1.73,0.00,0.000,4,0.000,0.151,2618,556,3566,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9289,-0.78,-146.0,744.2,-7.2,506,9294,0.00,1.52,0.00,0.000,6,0.000,0.092,2618,1407,3566,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9608,-0.78,-146.0,770.5,-8.5,517,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1406,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9907,-0.78,-146.0,797.5,-9.1,527,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1406,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10208,-0.78,-146.0,824.9,-9.0,537,10213,0.00,1.67,0.00,0.000,4,0.000,0.107,2618,2320,3562,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10265,-0.78,-146.0,827.8,-8.9,538,10271,0.00,1.77,0.00,0.000,6,0.000,0.125,2618,1396,3562,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10573,-0.79,-146.0,854.2,-7.5,549,10579,0.00,1.62,0.00,0.000,4,0.000,0.142,2618,558,3561,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10752,-0.77,-146.0,865.4,-7.2,554,10758,0.00,1.50,0.00,0.000,6,0.000,0.092,2618,1381,3561,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11061,-0.78,-146.0,886.2,-6.2,565,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1381,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11358,-0.79,-146.0,907.3,-7.3,575,11364,0.00,1.65,0.00,0.000,4,0.000,0.147,2618,553,3558,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11513,-0.78,-146.0,920.4,-8.5,580,11519,0.00,1.50,0.00,0.000,6,0.000,0.093,2617,1369,3558,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11848,-0.79,-146.0,950.9,-9.6,591,11854,0.00,1.80,0.00,0.000,4,0.000,0.117,2618,2318,3556,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11902,-0.81,-146.0,954.2,-9.6,592,11907,0.00,1.85,0.00,0.000,6,0.000,0.135,2618,1371,3557,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12217,-0.82,-146.0,986.5,-9.6,603,12223,0.00,1.60,0.00,0.000,4,0.000,0.149,2617,556,3554,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,12249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12249,begin apogee
$GC,12257,-0.23,0.0,990.0,-9.6,604,12461,0.65,0.00,193.32,1.531,4,0.201,0.000,2808,1636,2986,0,0,0,0,0,0,14.25,28.83,13.43
$STATE,12463,end apogee,CONTROL_FINISHED_OK
$STATE,12463,begin climb
$GC,12466,0.63,146.0,1003.8,0.0,611,12621,0.82,1.75,146.27,1.821,4,0.106,0.122,3096,2520,2392,0,0,0,0,0,0,14.14,14.09,13.25
$GC,12844,0.57,155.5,993.4,6.6,623,12852,0.00,1.73,2.78,0.782,6,0.000,0.135,3102,1637,2353,0,0,0,0,0,0,28.83,14.28,13.32
$GC,13152,0.52,155.5,969.7,7.4,634,13157,0.17,0.00,1.80,0.174,6,0.282,0.000,3061,1637,2353,0,0,0,0,0,0,14.26,28.83,14.39
$GC,13452,0.50,176.3,950.1,6.2,644,13482,0.00,0.00,28.08,1.769,6,0.000,0.000,3061,1638,2270,0,0,0,0,0,0,28.83,28.83,13.71
$GC,13782,0.50,208.3,929.9,5.9,655,13823,0.00,1.73,34.03,1.757,4,0.000,0.125,3061,2516,2134,0,0,0,0,0,0,28.83,14.35,13.64
$GC,13855,0.50,235.4,926.2,6.0,657,13890,0.00,1.73,28.70,1.722,6,0.000,0.146,3067,1649,2025,0,0,0,0,0,0,28.83,14.28,13.50
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$STATE,25431,end climb,SURFACE_DEPTH_REACHED
$STATE,25431,begin surface coast
$FINISH,1.2,0.999986
$STATE,25462,end surface coast,CONTROL_FINISHED_OK
$STATE,25462,begin surface
$SM_CCo,25545,0.00,0.000,0,0,1539,355.93
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$IRIDIUM_FIX,2420.48,-3830.71,071212,151546
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.74
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,7671968
$TM_FREEKB,5210560
$24V_AH,13.2,107.978
$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,23.500,173.475,575.525,0.000,0.000,0.000,0.000,417.450,0.250,0.000,18.197,4239.145,16951.428,758.908,3746.866,567.825,0.000,2861.210,0.000,3139.282,0.000,0.541,0.000
$DEVICE_MAMPS,369.495,170.595,1821.465,0.000,0.000,0.000,0.000,183.600,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25493.000,6033.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.517,13.300,0.000,0.000
$MEM,344544
$DATA_FILE_SIZE,43384,1225
$CAP_FILE_SIZE,295731,0
$CFSIZE,260034560,214523904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,266.7,1
$GPS,081212,055028,2424.958,-3827.919,37,0.9,38,-14.2