version: 66.11
glider: 190
mission: 6
dive: 264
start: 12 10 112 8 43 18
data:
$ID,190
$MISSION,6
$DIVE,264
$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,-13134.387
$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,17
$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
$GPS1,101212,083035,2414.368,-3819.999,33,0.7,33,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-65.0
$GPS2,101212,084247,2414.411,-3819.947,16,0.9,16,-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,137.3,47987,-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,-11.10,0.000,2,0.000,0.000,136,1436,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.4,0.0,1,145,11.38,1.75,-83.50,0.000,4,0.357,0.171,2674,551,3585,0,0,0,0,0,0,14.27,14.32,14.71
$GC,326,-0.59,-146.0,17.6,-8.7,29,332,0.00,1.62,0.00,0.000,6,0.000,0.085,2675,1441,3585,0,0,0,0,0,0,28.83,14.38,28.83
$GC,640,-0.56,-146.0,43.0,-9.3,60,646,0.12,1.60,0.00,0.000,4,0.236,0.100,2708,2329,3583,0,0,0,0,0,0,14.32,14.40,28.83
$GC,720,-0.59,-146.0,48.7,-7.3,67,727,0.00,1.70,0.00,0.000,6,0.000,0.119,2708,1439,3584,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1027,-0.63,-146.0,72.1,-6.0,98,1032,0.00,1.70,0.00,0.000,4,0.000,0.139,2708,552,3585,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1065,-0.65,-146.0,74.6,-6.8,101,1072,0.00,1.52,0.00,0.000,6,0.000,0.082,2708,1410,3585,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1373,-0.67,-146.0,92.5,-6.1,132,1379,0.12,1.67,0.00,0.000,4,0.131,0.099,2646,2315,3583,0,0,0,0,0,0,14.58,14.38,28.83
$GC,1408,-0.67,-146.0,94.8,-6.2,135,1413,0.00,1.83,0.00,0.000,6,0.000,0.122,2646,1366,3585,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1722,-0.64,-146.0,121.2,-9.5,166,1728,0.12,1.75,0.00,0.000,4,0.233,0.099,2677,2327,3585,0,0,0,0,0,0,14.30,14.42,28.83
$GC,1814,-0.66,-146.0,128.3,-8.3,174,1820,0.00,1.80,0.00,0.000,6,0.000,0.122,2677,1383,3585,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2120,-0.69,-146.0,152.5,-7.2,205,2125,0.00,1.70,0.00,0.000,4,0.000,0.100,2677,2325,3586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2193,-0.73,-146.0,158.2,-7.8,212,2199,0.00,1.75,0.00,0.000,6,0.000,0.120,2676,1406,3586,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2507,-0.76,-146.0,184.7,-8.6,243,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1406,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-0.79,-146.0,210.3,-8.3,273,2813,0.12,1.65,0.00,0.000,4,0.133,0.097,2611,2322,3586,0,0,0,0,0,0,14.61,14.45,28.83
$GC,2862,-0.78,-146.0,215.0,-8.5,278,2867,0.00,1.70,0.00,0.000,6,0.000,0.119,2611,1428,3585,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3177,-0.76,-146.0,241.5,-8.6,309,3183,0.12,1.65,0.00,0.000,4,0.220,0.132,2650,549,3585,0,0,0,0,0,0,14.39,14.37,28.83
$GC,3282,-0.76,-146.0,250.0,-7.8,319,3288,0.00,1.55,0.00,0.000,6,0.000,0.078,2648,1432,3585,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3598,-0.78,-146.0,273.3,-7.7,330,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1432,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3896,-0.80,-146.0,297.3,-8.2,340,3902,0.00,1.62,0.00,0.000,4,0.000,0.098,2649,2321,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3964,-0.82,-146.0,302.4,-8.1,342,3969,0.00,1.67,0.00,0.000,6,0.000,0.116,2648,1426,3584,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4295,-0.83,-146.0,329.8,-8.4,353,4300,0.00,1.62,0.00,0.000,4,0.000,0.100,2648,2318,3583,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4338,-0.85,-146.0,332.7,-8.4,354,4343,0.00,1.67,0.00,0.000,6,0.000,0.118,2648,1429,3582,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4663,-0.87,-146.0,361.8,-8.7,365,4669,0.12,1.60,0.00,0.000,4,0.135,0.098,2584,2317,3581,0,0,0,0,0,0,14.70,14.47,28.83
$GC,4737,-0.87,-146.0,368.0,-9.0,367,4743,0.00,1.62,0.00,0.000,6,0.000,0.116,2584,1448,3581,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5062,-0.82,-146.0,399.7,-9.5,378,5068,0.12,1.58,0.00,0.000,4,0.249,0.097,2618,2322,3580,0,0,0,0,0,0,14.38,14.51,28.83
$GC,5141,-0.78,-146.0,405.4,-9.2,380,5146,0.00,1.62,0.00,0.000,6,0.000,0.116,2618,1457,3579,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5460,-0.78,-146.0,435.1,-9.1,391,5465,0.00,1.70,0.00,0.000,4,0.000,0.134,2618,556,3579,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5548,-0.77,-146.0,441.2,-9.5,393,5555,0.00,1.55,0.00,0.000,6,0.000,0.082,2618,1444,3578,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5855,-0.74,-146.0,469.9,-8.4,404,5860,0.12,1.60,0.00,0.000,4,0.249,0.100,2648,2324,3577,0,0,0,0,0,0,14.41,14.50,28.83
$GC,5993,-0.75,-146.0,479.2,-7.3,408,5998,0.00,1.65,0.00,0.000,6,0.000,0.118,2649,1461,3577,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6314,-0.77,-146.0,502.1,-6.7,419,6319,0.00,1.75,0.00,0.000,4,0.000,0.135,2649,553,3576,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6498,-0.77,-146.0,514.8,-6.8,425,6503,0.00,1.58,0.00,0.000,6,0.000,0.080,2646,1445,3574,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6834,-0.79,-146.0,537.0,-6.9,436,6839,0.00,1.60,0.00,0.000,4,0.000,0.103,2645,2327,3573,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6943,-0.82,-146.0,543.9,-7.2,439,6948,0.00,1.65,0.00,0.000,6,0.000,0.118,2645,1454,3574,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7266,-0.84,-146.0,570.9,-8.5,450,7271,0.00,1.60,0.00,0.000,4,0.000,0.103,2645,2322,3572,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7363,-0.87,-146.0,579.0,-8.5,453,7369,0.00,1.60,0.00,0.000,6,0.000,0.119,2645,1483,3571,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7695,-0.89,-146.0,607.0,-8.4,464,7700,0.12,1.75,0.00,0.000,4,0.138,0.137,2584,557,3570,0,0,0,0,0,0,14.66,14.35,28.83
$GC,7913,-0.82,-146.0,629.6,-10.6,471,7919,0.17,1.62,0.00,0.000,6,0.256,0.085,2622,1472,3569,0,0,0,0,0,0,14.21,14.48,28.83
$GC,8245,-0.82,-146.0,658.0,-8.6,482,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1472,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8542,-0.82,-146.0,683.5,-8.4,492,8547,0.00,1.77,0.00,0.000,4,0.000,0.136,2622,553,3568,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8720,-0.80,-146.0,696.4,-8.3,497,8727,0.00,1.60,0.00,0.000,6,0.000,0.084,2618,1456,3566,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9028,-0.80,-146.0,720.0,-6.8,508,9034,0.00,1.58,0.00,0.000,4,0.000,0.110,2618,2320,3566,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9095,-0.80,-146.0,724.1,-6.4,510,9100,0.00,1.65,0.00,0.000,6,0.000,0.122,2618,1457,3565,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9426,-0.80,-146.0,744.0,-5.8,521,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1457,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9724,-0.80,-146.0,762.4,-6.4,531,9729,0.00,1.60,0.00,0.000,4,0.000,0.107,2618,2323,3563,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9758,-0.81,-146.0,764.6,-6.4,532,9763,0.00,1.65,0.00,0.000,6,0.000,0.121,2619,1465,3562,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10094,-0.82,-146.0,789.1,-7.7,543,10099,0.00,1.75,0.00,0.000,4,0.000,0.142,2618,552,3562,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10322,-0.81,-146.0,807.4,-8.6,550,10328,0.00,1.60,0.00,0.000,6,0.000,0.086,2618,1445,3561,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10642,-0.81,-146.0,836.8,-9.0,561,10647,0.00,1.75,0.00,0.000,4,0.000,0.142,2618,552,3560,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10799,-0.79,-146.0,851.1,-9.3,566,10804,0.00,1.55,0.00,0.000,6,0.000,0.086,2618,1416,3559,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11131,-0.81,-146.0,881.0,-8.8,577,11136,0.00,1.70,0.00,0.000,4,0.000,0.113,2618,2321,3558,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11168,-0.82,-146.0,884.0,-8.7,578,11174,0.00,1.75,0.00,0.000,6,0.000,0.125,2617,1413,3557,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11499,-0.83,-146.0,910.5,-7.7,589,11504,0.00,1.65,0.00,0.000,4,0.000,0.147,2617,558,3556,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11647,-0.83,-146.0,919.8,-7.5,593,11654,0.00,1.52,0.00,0.000,6,0.000,0.088,2618,1405,3556,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11956,-0.85,-146.0,943.6,-7.2,604,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1405,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12254,-0.86,-146.0,964.0,-6.8,614,12259,0.00,1.70,0.00,0.000,4,0.000,0.114,2617,2318,3553,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12312,-0.87,-146.0,966.3,-6.7,615,12321,0.00,1.80,0.00,0.000,6,0.000,0.125,2618,1387,3553,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12621,-0.88,-146.0,988.2,-6.6,626,12626,0.00,1.62,0.00,0.000,4,0.000,0.148,2618,558,3553,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,12652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12652,begin apogee
$GC,12660,-0.23,0.0,990.8,-6.8,627,12807,0.65,0.00,138.15,1.846,4,0.202,0.000,2806,1642,2986,0,0,0,0,0,0,14.22,28.83,13.28
$STATE,12810,end apogee,CONTROL_FINISHED_OK
$STATE,12810,begin climb
$GC,12812,0.63,146.0,997.3,0.0,632,12971,0.82,1.73,146.25,1.827,4,0.111,0.115,3088,2521,2388,0,0,0,0,0,0,14.11,14.08,13.23
$GC,13201,0.59,178.9,984.3,5.8,645,13239,0.00,1.70,32.75,1.763,6,0.000,0.125,3095,1641,2260,0,0,0,0,0,0,28.83,14.34,13.50
$GC,13563,0.58,222.1,962.8,5.5,657,13615,0.00,1.77,44.42,1.785,4,0.000,0.145,3102,753,2075,0,0,0,0,0,0,28.83,14.24,13.53
$GC,13685,0.55,253.0,955.7,5.9,661,13724,0.12,1.62,32.42,1.744,6,0.277,0.090,3074,1638,1955,0,0,0,0,0,0,14.19,14.33,13.45
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$STATE,25633,end climb,SURFACE_DEPTH_REACHED
$STATE,25633,begin surface coast
$FINISH,1.3,1.007138
$STATE,25664,end surface coast,CONTROL_FINISHED_OK
$STATE,25664,begin surface
$SM_CCo,25685,11.18,0.128,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.07
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.70
$XPDR_PINGS,2
$SC_FREEKB,7668896
$TM_FREEKB,5131712
$24V_AH,13.2,111.562
$10V_AH,12.9,0.000
$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,23.250,176.250,469.050,11.175,0.000,0.000,0.000,412.525,0.500,0.000,17.456,4598.126,16521.062,691.558,3999.333,602.440,0.000,2884.479,0.000,3400.517,0.000,0.541,0.000
$DEVICE_MAMPS,357.255,171.360,1845.945,127.755,0.000,0.000,0.000,185.895,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25693.000,6532.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.974,13.280,0.000,0.000
$MEM,344572
$DATA_FILE_SIZE,46597,1265
$CAP_FILE_SIZE,303003,0
$CFSIZE,260034560,213229568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,242.1,1
$GPS,101212,155303,2412.491,-3818.722,40,1.6,44,-14.2