version: 66.11
glider: 190
mission: 6
dive: 269
start: 12 11 112 21 14 11
data:
$ID,190
$MISSION,6
$DIVE,269
$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,-13140.958
$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,6
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,18
$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
$GPS1,111212,210134,2408.847,-3813.718,34,0.8,35,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-63.3
$GPS2,111212,211341,2408.760,-3813.730,17,1.2,17,-14.1
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$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,84.9,93972,-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,-11.23,0.000,2,0.000,0.000,140,1445,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.1,0.0,1,139,11.20,0.00,-82.18,0.000,6,0.350,0.000,2680,1446,3586,0,0,0,0,0,0,14.26,28.83,14.70
$GC,441,-0.61,-146.0,33.8,-11.5,41,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1446,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,739,-0.61,-146.0,64.6,-10.9,71,744,0.00,1.58,0.00,0.000,4,0.000,0.091,2676,2323,3587,0,0,0,0,0,0,28.83,14.36,28.83
$GC,868,-0.61,-146.0,77.7,-10.3,83,876,0.00,1.67,0.00,0.000,6,0.000,0.113,2676,1435,3587,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1176,-0.62,-146.0,104.4,-7.7,114,1181,0.00,1.70,0.00,0.000,4,0.000,0.136,2676,555,3588,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1371,-0.62,-146.0,120.4,-8.2,133,1376,0.00,1.52,0.00,0.000,6,0.000,0.079,2676,1415,3588,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1685,-0.65,-146.0,144.2,-7.5,164,1690,0.00,1.65,0.00,0.000,4,0.000,0.135,2676,552,3587,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1851,-0.65,-146.0,156.7,-7.1,180,1856,0.00,1.45,0.00,0.000,6,0.000,0.077,2675,1368,3588,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2167,-0.68,-146.0,177.2,-6.4,211,2172,0.00,1.55,0.00,0.000,4,0.000,0.135,2675,555,3588,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2336,-0.70,-146.0,188.9,-7.2,227,2342,0.00,1.38,0.00,0.000,6,0.000,0.076,2675,1337,3588,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2643,-0.72,-146.0,211.4,-7.3,258,2648,0.00,1.52,0.00,0.000,4,0.000,0.135,2675,537,3588,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2781,-0.72,-146.0,221.8,-7.6,271,2789,0.00,1.35,0.00,0.000,6,0.000,0.076,2675,1306,3587,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3091,-0.75,-146.0,242.4,-5.9,302,3096,0.00,1.45,0.00,0.000,4,0.000,0.137,2675,561,3587,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3250,-0.77,-146.0,252.2,-6.2,315,3255,0.00,1.40,0.00,0.000,6,0.000,0.077,2675,1360,3587,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3582,-0.80,-146.0,273.0,-6.7,326,3587,0.12,1.52,0.00,0.000,4,0.137,0.132,2609,555,3587,0,0,0,0,0,0,14.68,14.40,28.83
$GC,3697,-0.79,-146.0,281.1,-7.9,329,3702,0.00,1.38,0.00,0.000,6,0.000,0.079,2608,1337,3587,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4012,-0.75,-146.0,310.7,-9.1,340,4018,0.12,1.77,0.00,0.000,4,0.249,0.094,2644,2323,3586,0,0,0,0,0,0,14.38,14.50,28.83
$GC,4096,-0.73,-146.0,316.1,-8.7,342,4101,0.00,1.83,0.00,0.000,6,0.000,0.116,2645,1346,3586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4411,-0.75,-146.0,347.6,-9.7,353,4416,0.00,1.50,0.00,0.000,4,0.000,0.134,2645,559,3586,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4469,-0.76,-146.0,351.1,-9.9,354,4476,0.00,1.40,0.00,0.000,6,0.000,0.078,2644,1353,3585,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4775,-0.78,-146.0,383.0,-9.5,365,4780,0.00,1.52,0.00,0.000,4,0.000,0.135,2644,551,3584,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4827,-0.79,-146.0,386.2,-9.5,366,4832,0.00,1.40,0.00,0.000,6,0.000,0.079,2644,1336,3584,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5143,-0.81,-146.0,416.8,-9.3,377,5148,0.00,1.77,0.00,0.000,4,0.000,0.100,2645,2319,3583,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5216,-0.83,-146.0,422.3,-8.5,379,5221,0.00,1.85,0.00,0.000,6,0.000,0.119,2644,1337,3582,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5542,-0.85,-146.0,446.1,-6.6,390,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1337,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5840,-0.87,-146.0,464.7,-6.3,400,5842,0.12,0.00,0.00,0.000,6,0.134,0.000,2588,1338,3580,0,0,0,0,0,0,14.72,28.83,28.83
$GC,6140,-0.83,-146.0,488.8,-8.3,410,6146,0.12,1.77,0.00,0.000,4,0.237,0.094,2618,2321,3579,0,0,0,0,0,0,14.39,14.49,28.83
$GC,6188,-0.80,-146.0,491.4,-8.2,411,6194,0.00,1.85,0.00,0.000,6,0.000,0.116,2617,1337,3579,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6508,-0.80,-146.0,519.1,-8.3,422,6513,0.00,1.50,0.00,0.000,4,0.000,0.135,2618,556,3578,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6544,-0.80,-146.0,522.0,-8.3,423,6551,0.00,1.40,0.00,0.000,6,0.000,0.079,2618,1341,3578,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6876,-0.80,-146.0,549.6,-8.4,434,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1342,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7174,-0.80,-146.0,573.3,-7.8,444,7179,0.00,1.52,0.00,0.000,4,0.000,0.135,2618,546,3576,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7237,-0.80,-146.0,578.6,-8.2,446,7242,0.00,1.40,0.00,0.000,6,0.000,0.079,2618,1326,3575,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7573,-0.80,-146.0,606.5,-8.7,457,7578,0.00,1.80,0.00,0.000,4,0.000,0.104,2618,2322,3574,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7621,-0.80,-146.0,609.8,-8.7,458,7626,0.00,1.88,0.00,0.000,6,0.000,0.121,2618,1335,3573,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7940,-0.80,-146.0,638.6,-8.6,469,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1335,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8239,-0.80,-146.0,661.8,-7.4,479,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1335,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8539,-0.80,-146.0,681.6,-6.3,489,8544,0.00,1.83,0.00,0.000,4,0.000,0.101,2618,2322,3570,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8587,-0.80,-146.0,683.8,-6.4,490,8593,0.00,1.88,0.00,0.000,6,0.000,0.121,2617,1339,3569,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8906,-0.80,-146.0,707.5,-7.6,501,8911,0.00,1.52,0.00,0.000,4,0.000,0.141,2618,545,3569,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8964,-0.80,-146.0,710.1,-7.7,502,8971,0.00,1.42,0.00,0.000,6,0.000,0.081,2618,1341,3568,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9269,-0.80,-146.0,738.4,-9.1,513,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1341,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9570,-0.80,-146.0,767.1,-9.7,523,9575,0.00,1.83,0.00,0.000,4,0.000,0.106,2618,2324,3565,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9643,-0.81,-146.0,772.9,-9.4,525,9649,0.00,1.90,0.00,0.000,6,0.000,0.124,2617,1334,3565,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9969,-0.82,-146.0,802.2,-8.3,536,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1334,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10268,-0.82,-146.0,823.9,-6.7,546,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1334,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10568,-0.83,-146.0,844.2,-6.9,556,10573,0.00,1.88,0.00,0.000,4,0.000,0.107,2618,2314,3561,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10633,-0.85,-146.0,848.9,-7.2,558,10638,0.00,1.85,0.00,0.000,6,0.000,0.125,2618,1351,3561,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10969,-0.86,-146.0,876.9,-9.1,569,10974,0.00,1.52,0.00,0.000,4,0.000,0.148,2618,555,3561,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11102,-0.86,-146.0,889.4,-9.9,573,11107,0.00,1.42,0.00,0.000,6,0.000,0.089,2618,1336,3560,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11427,-0.87,-146.0,923.5,-10.5,584,11433,0.00,1.83,0.00,0.000,4,0.000,0.112,2618,2321,3559,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11472,-0.89,-146.0,927.2,-10.4,585,11477,0.00,1.90,0.00,0.000,6,0.000,0.128,2618,1340,3558,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11797,-0.90,-146.0,960.1,-9.4,596,11802,0.00,1.55,0.00,0.000,4,0.000,0.152,2618,554,3557,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11845,-0.90,-146.0,963.4,-9.3,597,11850,0.00,1.45,0.00,0.000,6,0.000,0.093,2618,1343,3557,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,12163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12164,begin apogee
$GC,12170,-0.23,0.0,990.1,-7.3,608,12317,0.65,0.00,138.45,1.863,4,0.194,0.000,2808,1634,2988,0,0,0,0,0,0,14.19,28.83,13.27
$STATE,12318,end apogee,CONTROL_FINISHED_OK
$STATE,12318,begin climb
$GC,12321,0.63,146.0,996.1,0.0,613,12480,0.82,1.75,146.27,1.825,4,0.107,0.119,3094,2520,2387,0,0,0,0,0,0,14.12,14.07,13.23
$GC,12709,0.57,146.0,978.2,7.2,626,12714,0.00,1.70,0.00,0.000,6,0.000,0.127,3100,1637,2375,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13045,0.55,200.6,959.0,5.1,637,13107,0.12,1.75,54.00,1.779,4,0.308,0.157,3074,749,2165,0,0,0,0,0,0,14.23,14.23,13.51
$GC,13267,0.56,262.7,948.6,4.9,644,13336,0.00,1.65,64.07,1.758,6,0.000,0.097,3076,1649,1916,0,0,0,0,0,0,28.83,14.38,13.41
$GC,13650,0.59,312.3,928.2,5.3,657,13710,0.00,1.70,50.25,1.732,4,0.000,0.119,3076,2523,1708,0,0,0,0,0,0,28.83,14.22,13.50
$GC,13864,0.61,319.1,914.9,6.7,664,13870,0.00,1.65,1.10,0.197,6,0.000,0.126,3079,1668,1688,0,0,0,0,0,0,28.83,14.33,14.35
$GC,14199,0.63,319.1,890.3,7.8,675,14204,0.00,1.77,0.00,0.000,4,0.000,0.151,3089,756,1692,0,0,0,0,0,0,28.83,14.38,28.83
$GC,14347,0.65,319.1,879.6,8.6,679,14354,0.00,1.75,0.00,0.000,6,0.000,0.098,3089,1710,1690,0,0,0,0,0,0,28.83,14.46,28.83
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$STATE,24776,end climb,SURFACE_DEPTH_REACHED
$STATE,24777,begin surface coast
$FINISH,1.3,1.011196
$STATE,24808,end surface coast,CONTROL_FINISHED_OK
$STATE,24808,begin surface
$SM_CCo,24890,0.00,0.000,0,0,1207,437.37
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.63
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.70
$XPDR_PINGS,1
$SC_FREEKB,7666976
$TM_FREEKB,5081344
$24V_AH,13.2,113.761
$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
$DEVICE_SECS,22.725,163.650,536.200,0.000,0.000,0.000,0.000,398.325,0.250,0.000,19.224,4271.649,16285.883,695.424,3760.235,582.792,0.000,2788.031,0.000,3155.661,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24842.000,6299.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.899,13.284,0.000,0.000
$MEM,344552
$DATA_FILE_SIZE,46647,1220
$CAP_FILE_SIZE,287768,0
$CFSIZE,260034560,212430848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,224.7,1
$GPS,121212,041022,2408.423,-3812.436,39,0.9,40,-14.1