version: 66.11
glider: 190
mission: 6
dive: 257
start: 12 8 112 6 2 49
data:
$ID,190
$MISSION,6
$DIVE,257
$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,-13123.437
$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,8
$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
$GPS1,081212,055028,2424.958,-3827.919,37,0.9,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-66.1
$GPS2,081212,060218,2424.851,-3827.953,17,1.2,17,-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,136.9,71372,-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,24,-0.63,-146.0,0.0,0.0,0,38,0.00,0.00,-11.50,0.000,2,0.000,0.000,140,1447,1790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.2,0.0,1,145,11.12,1.73,-84.68,0.000,4,0.348,0.164,2679,553,3585,0,0,0,0,0,0,14.28,14.33,14.71
$GC,346,-0.59,-146.0,20.2,-8.1,31,352,0.00,1.58,0.00,0.000,6,0.000,0.084,2674,1437,3589,0,0,0,0,0,0,28.83,14.41,28.83
$GC,660,-0.57,-146.0,52.4,-10.2,62,665,0.00,1.62,0.00,0.000,4,0.000,0.102,2675,2323,3586,0,0,0,0,0,0,28.83,14.33,28.83
$GC,769,-0.57,-146.0,62.9,-9.3,72,777,0.00,1.67,0.00,0.000,6,0.000,0.121,2674,1445,3586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1076,-0.56,-146.0,84.1,-7.7,103,1082,0.12,1.62,0.00,0.000,4,0.229,0.097,2710,2315,3586,0,0,0,0,0,0,14.29,14.39,28.83
$GC,1144,-0.59,-146.0,88.9,-7.6,109,1152,0.00,1.62,0.00,0.000,6,0.000,0.120,2710,1454,3586,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1451,-0.64,-146.0,113.2,-7.5,140,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1454,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.69,-146.0,136.3,-7.3,170,1757,0.12,1.60,0.00,0.000,4,0.136,0.096,2643,2317,3586,0,0,0,0,0,0,14.59,14.41,28.83
$GC,1985,-0.69,-146.0,153.9,-7.5,192,1991,0.00,1.58,0.00,0.000,6,0.000,0.119,2643,1483,3586,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2289,-0.69,-146.0,176.2,-7.3,223,2294,0.00,1.77,0.00,0.000,4,0.000,0.138,2643,551,3586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2489,-0.66,-146.0,191.8,-7.9,242,2497,0.15,1.65,0.00,0.000,6,0.238,0.083,2676,1480,3586,0,0,0,0,0,0,14.14,14.26,28.83
$GC,2798,-0.69,-146.0,214.3,-7.5,273,2803,0.00,1.80,0.00,0.000,4,0.000,0.138,2677,546,3586,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2944,-0.71,-146.0,226.6,-8.5,287,2949,0.00,1.60,0.00,0.000,6,0.000,0.081,2675,1453,3583,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3259,-0.74,-146.0,253.4,-8.7,316,3264,0.00,1.70,0.00,0.000,4,0.000,0.137,2675,553,3585,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3421,-0.76,-146.0,268.0,-9.6,321,3427,0.00,1.52,0.00,0.000,6,0.000,0.082,2675,1409,3586,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3747,-0.79,-146.0,298.4,-8.7,332,3753,0.12,1.67,0.00,0.000,4,0.135,0.136,2609,552,3585,0,0,0,0,0,0,14.68,14.36,28.83
$GC,3928,-0.74,-146.0,313.3,-9.5,337,3935,0.17,1.48,0.00,0.000,6,0.240,0.085,2649,1378,3585,0,0,0,0,0,0,14.30,14.51,28.83
$GC,4236,-0.76,-146.0,333.0,-5.4,348,4241,0.00,1.73,0.00,0.000,4,0.000,0.105,2648,2314,3584,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4301,-0.78,-146.0,336.4,-5.2,350,4306,0.00,1.80,0.00,0.000,6,0.000,0.125,2648,1371,3583,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4637,-0.80,-146.0,356.2,-6.8,361,4642,0.00,1.58,0.00,0.000,4,0.000,0.141,2648,546,3582,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4695,-0.81,-146.0,358.7,-7.0,362,4702,0.00,1.50,0.00,0.000,6,0.000,0.088,2648,1383,3582,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5002,-0.83,-146.0,385.3,-8.6,373,5007,0.00,1.60,0.00,0.000,4,0.000,0.142,2649,553,3584,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5054,-0.85,-146.0,388.4,-8.8,374,5059,0.00,1.48,0.00,0.000,6,0.000,0.089,2648,1375,3581,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5371,-0.86,-146.0,417.6,-8.4,385,5376,0.12,1.58,0.00,0.000,4,0.138,0.138,2586,547,3580,0,0,0,0,0,0,14.66,14.39,28.83
$GC,5606,-0.79,-146.0,439.4,-10.2,392,5612,0.12,1.42,0.00,0.000,6,0.230,0.090,2629,1340,3579,0,0,0,0,0,0,14.26,14.48,28.83
$GC,5922,-0.77,-146.0,465.2,-7.4,403,5927,0.00,1.80,0.00,0.000,4,0.000,0.107,2622,2321,3578,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6085,-0.77,-146.0,476.8,-7.4,408,6090,0.00,1.85,0.00,0.000,6,0.000,0.125,2622,1350,3578,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6411,-0.77,-146.0,503.1,-8.1,419,6416,0.00,1.52,0.00,0.000,4,0.000,0.143,2622,553,3578,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6453,-0.77,-146.0,506.2,-8.2,420,6458,0.00,1.45,0.00,0.000,6,0.000,0.090,2618,1355,3576,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6777,-0.77,-146.0,535.8,-9.5,431,6783,0.00,1.58,0.00,0.000,4,0.000,0.146,2618,546,3574,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6907,-0.74,-146.0,548.7,-10.3,435,6913,0.08,1.42,0.00,0.000,6,0.229,0.094,2642,1324,3574,0,0,0,0,0,0,14.25,14.45,28.83
$GC,7239,-0.76,-146.0,582.2,-9.8,446,7244,0.00,1.85,0.00,0.000,4,0.000,0.112,2637,2320,3572,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7358,-0.78,-146.0,591.0,-9.3,449,7364,0.00,1.88,0.00,0.000,6,0.000,0.131,2637,1345,3571,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7666,-0.79,-146.0,616.9,-7.1,460,7671,0.00,1.83,0.00,0.000,4,0.000,0.114,2632,2327,3570,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7714,-0.81,-146.0,619.3,-6.8,461,7719,0.00,1.85,0.00,0.000,6,0.000,0.131,2633,1364,3570,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8035,-0.83,-146.0,639.3,-5.8,472,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1364,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8335,-0.84,-146.0,657.7,-6.3,482,8340,0.00,1.58,0.00,0.000,4,0.000,0.151,2633,554,3568,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8387,-0.84,-146.0,660.1,-6.5,483,8392,0.00,1.50,0.00,0.000,6,0.000,0.095,2632,1376,3568,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8703,-0.86,-146.0,684.4,-7.8,494,8708,0.00,1.77,0.00,0.000,4,0.000,0.117,2632,2321,3567,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8760,-0.87,-146.0,687.1,-7.8,495,8767,0.00,1.83,0.00,0.000,6,0.000,0.135,2632,1382,3567,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9070,-0.89,-146.0,714.1,-8.4,506,9075,0.00,1.75,0.00,0.000,4,0.000,0.116,2632,2318,3565,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9127,-0.90,-146.0,717.1,-8.3,507,9135,0.00,1.80,0.00,0.000,6,0.000,0.135,2632,1393,3565,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9436,-0.92,-146.0,744.6,-8.2,518,9441,0.12,1.73,0.00,0.000,4,0.136,0.114,2569,2314,3563,0,0,0,0,0,0,14.64,14.39,28.83
$GC,9499,-0.92,-146.0,750.5,-8.5,520,9504,0.00,1.75,0.00,0.000,6,0.000,0.131,2569,1418,3563,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9835,-0.86,-146.0,781.2,-9.2,531,9841,0.12,1.70,0.00,0.000,4,0.253,0.115,2604,2321,3562,0,0,0,0,0,0,14.28,14.37,28.83
$GC,9910,-0.83,-146.0,786.9,-8.9,533,9916,0.00,1.73,0.00,0.000,6,0.000,0.131,2603,1431,3561,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10236,-0.83,-146.0,817.1,-9.3,544,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1431,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10534,-0.83,-146.0,844.5,-9.1,554,10539,0.00,1.70,0.00,0.000,4,0.000,0.148,2604,550,3560,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10591,-0.83,-146.0,847.5,-9.1,555,10598,0.00,1.60,0.00,0.000,6,0.000,0.100,2604,1425,3559,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10900,-0.80,-146.0,877.0,-8.8,566,10905,0.00,1.67,0.00,0.000,4,0.000,0.122,2604,2322,3558,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10973,-0.77,-146.0,882.6,-8.7,568,10979,0.12,1.73,0.00,0.000,6,0.226,0.135,2635,1438,3558,0,0,0,0,0,0,14.30,14.32,28.83
$GC,11299,-0.80,-146.0,910.7,-8.3,579,11304,0.00,1.70,0.00,0.000,4,0.000,0.120,2632,2324,3557,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11374,-0.82,-146.0,916.1,-8.3,581,11379,0.00,1.70,0.00,0.000,6,0.000,0.135,2633,1453,3556,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11700,-0.84,-146.0,941.2,-7.1,592,11705,0.00,1.65,0.00,0.000,4,0.000,0.125,2632,2321,3557,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11748,-0.87,-146.0,943.4,-6.8,593,11753,0.00,1.67,0.00,0.000,6,0.000,0.137,2632,1466,3553,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12070,-0.89,-146.0,964.2,-6.2,604,12075,0.00,1.62,0.00,0.000,4,0.000,0.125,2632,2321,3554,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12224,-0.91,-146.0,973.5,-6.0,609,12230,0.12,1.77,0.00,0.000,6,0.153,0.139,2588,1428,3554,0,0,0,0,0,0,14.43,14.28,28.83
$STATE,12468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12468,begin apogee
$GC,12474,-0.23,0.0,991.8,-7.7,617,12621,0.75,0.00,137.20,1.864,4,0.193,0.000,2809,1639,2985,0,0,0,0,0,0,14.23,28.83,13.28
$STATE,12622,end apogee,CONTROL_FINISHED_OK
$STATE,12622,begin climb
$GC,12625,0.63,146.0,999.5,0.0,622,12781,0.80,1.75,145.88,1.833,4,0.099,0.126,3092,2516,2392,0,0,0,0,0,0,14.13,14.07,13.24
$GC,13012,0.60,196.6,988.1,5.3,635,13071,0.00,1.75,50.65,1.802,6,0.000,0.141,3097,1635,2181,0,0,0,0,0,0,28.83,14.30,13.43
$GC,13372,0.59,226.8,966.9,5.9,647,13410,0.00,1.73,30.75,1.778,4,0.000,0.132,3097,2520,2057,0,0,0,0,0,0,28.83,14.33,13.60
$GC,13460,0.57,253.2,963.1,6.0,649,13496,0.12,1.75,28.40,1.751,6,0.283,0.143,3076,1637,1952,0,0,0,0,0,0,14.21,14.28,13.50
$GC,13793,0.57,253.2,938.6,7.0,661,13798,0.00,1.70,0.00,0.000,4,0.000,0.130,3076,2522,1939,0,0,0,0,0,0,28.83,14.41,28.83
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$STATE,26046,end climb,SURFACE_DEPTH_REACHED
$STATE,26047,begin surface coast
$FINISH,1.2,1.004587
$STATE,26076,end surface coast,CONTROL_FINISHED_OK
$STATE,26076,begin surface
$SM_CCo,26158,0.00,0.000,0,0,1382,394.44
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$IRIDIUM_FIX,2418.11,-3827.39,071212,222250
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.47
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.50
$XPDR_PINGS,1
$SC_FREEKB,7671584
$TM_FREEKB,5200448
$24V_AH,13.2,108.431
$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,23.525,179.625,543.575,0.000,0.000,0.000,0.000,391.950,0.250,0.000,18.546,4680.377,16709.449,723.999,4108.646,626.064,0.000,2972.313,0.000,3523.871,0.000,0.542,0.000
$DEVICE_MAMPS,348.075,163.710,1863.540,0.000,0.000,0.000,0.000,183.600,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26105.000,6465.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.544,13.310,0.000,0.000
$MEM,344516
$DATA_FILE_SIZE,46619,1273
$CAP_FILE_SIZE,312393,0
$CFSIZE,260034560,214343680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,257.1,1
$GPS,081212,132005,2423.454,-3826.853,36,0.8,37,-14.2