version: 66.11
glider: 190
mission: 6
dive: 279
start: 12 14 112 19 46 58
data:
$ID,190
$MISSION,6
$DIVE,279
$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,440
$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,180
$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,0.035
$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,610.797
$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,-13245.372
$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,2
$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,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,2.0999999
$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,48
$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
$GPS1,141212,193334,2403.448,-3758.946,31,0.8,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-55.6
$GPS2,141212,194629,2403.437,-3759.067,16,1.3,16,-14.1
$SPEED_LIMITS,0.130,0.140
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,39.9,90556,-15.8,-7.500,-28.24
$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,-0.82,-175.2,0.0,0.0,0,37,0.00,0.00,-11.43,0.000,2,0.000,0.000,141,1437,823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.82,-175.2,2.1,0.0,1,195,10.68,1.65,-136.20,0.000,4,0.337,0.129,2613,2329,3706,0,0,0,0,0,0,14.27,14.33,14.71
$GC,376,-0.82,-175.2,20.4,-8.5,34,382,0.00,1.73,0.00,0.000,6,0.000,0.123,2612,1444,3703,0,0,0,0,0,0,28.83,14.26,28.83
$GC,691,-0.82,-175.2,52.3,-9.7,65,696,0.00,1.65,0.00,0.000,4,0.000,0.105,2607,2330,3703,0,0,0,0,0,0,28.83,14.32,28.83
$GC,754,-0.82,-175.2,58.6,-9.2,71,759,0.00,1.70,0.00,0.000,6,0.000,0.122,2609,1450,3703,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1068,-0.82,-175.2,96.8,-12.2,102,1073,0.00,1.62,0.00,0.000,4,0.000,0.106,2606,2326,3703,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1203,-0.82,-175.2,111.3,-10.9,115,1208,0.00,1.65,0.00,0.000,6,0.000,0.121,2606,1464,3703,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1517,-0.82,-175.2,143.9,-9.7,146,1523,0.00,1.60,0.00,0.000,4,0.000,0.107,2605,2326,3702,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1604,-0.82,-175.2,151.4,-8.7,154,1611,0.00,1.60,0.00,0.000,6,0.000,0.122,2604,1492,3705,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1911,-0.82,-175.2,177.9,-8.7,185,1916,0.00,1.77,0.00,0.000,4,0.000,0.137,2605,553,3703,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2001,-0.80,-175.2,186.1,-10.1,193,2008,0.00,1.67,0.00,0.000,6,0.000,0.085,2605,1487,3705,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2306,-0.80,-175.2,216.2,-9.5,224,2311,0.00,1.50,0.00,0.000,4,0.000,0.102,2605,2326,3702,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2394,-0.80,-175.2,223.6,-8.6,232,2402,0.00,1.60,0.00,0.000,6,0.000,0.118,2605,1491,3702,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2701,-0.80,-175.2,249.0,-7.3,263,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1488,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3020,-0.80,-175.2,273.9,-7.9,275,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1491,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,-0.80,-175.2,300.5,-9.1,285,3326,0.00,1.50,0.00,0.000,4,0.000,0.103,2604,2322,3701,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3438,-0.80,-175.2,309.1,-9.3,288,3445,0.00,1.58,0.00,0.000,6,0.000,0.119,2605,1484,3701,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3745,-0.83,-175.2,339.5,-9.1,299,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1484,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-0.86,-175.2,364.4,-7.9,309,4050,0.00,1.77,0.00,0.000,4,0.000,0.135,2605,562,3699,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4180,-0.86,-175.2,374.5,-8.0,313,4185,0.00,1.60,0.00,0.000,6,0.000,0.084,2605,1474,3699,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4505,-0.86,-175.2,397.4,-6.9,324,4510,0.00,1.52,0.00,0.000,4,0.000,0.105,2604,2323,3697,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4611,-0.89,-175.2,404.0,-6.8,327,4616,0.00,1.60,0.00,0.000,6,0.000,0.121,2605,1476,3697,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4936,-0.92,-175.2,431.1,-8.7,338,4941,0.00,1.75,0.00,0.000,4,0.000,0.138,2605,558,3696,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5166,-0.92,-175.2,452.6,-10.2,345,5172,0.00,1.58,0.00,0.000,6,0.000,0.085,2605,1448,3695,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5488,-0.92,-175.2,486.5,-10.5,356,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1449,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5785,-0.96,-175.2,518.4,-10.5,366,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1450,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6086,-1.00,-175.2,548.6,-9.8,376,6088,0.12,0.00,0.00,0.000,6,0.143,0.000,2553,1450,3694,0,0,0,0,0,0,14.69,28.83,28.83
$GC,6385,-0.98,-175.2,577.6,-9.3,386,6390,0.00,1.58,0.00,0.000,4,0.000,0.106,2549,2322,3690,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6467,-0.96,-175.2,583.5,-9.3,388,6473,0.12,1.67,0.00,0.000,6,0.244,0.121,2578,1441,3690,0,0,0,0,0,0,14.26,14.37,28.83
$GC,6784,-0.96,-175.2,611.7,-8.3,399,6789,0.00,1.67,0.00,0.000,4,0.000,0.139,2579,558,3689,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6836,-0.96,-175.2,614.9,-8.5,400,6841,0.00,1.58,0.00,0.000,6,0.000,0.087,2573,1447,3688,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7150,-0.96,-175.2,644.7,-9.2,411,7155,0.00,1.60,0.00,0.000,4,0.000,0.109,2567,2323,3688,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7275,-0.96,-175.2,656.7,-9.7,415,7280,0.00,1.65,0.00,0.000,6,0.000,0.122,2563,1463,3687,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7611,-0.96,-175.2,692.7,-10.9,426,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1463,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7909,-0.96,-175.2,726.1,-11.3,436,7914,0.00,1.60,0.00,0.000,4,0.000,0.109,2566,2327,3681,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7983,-0.96,-175.2,733.1,-11.1,438,7988,0.00,1.65,0.00,0.000,6,0.000,0.125,2565,1469,3685,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8308,-0.96,-175.2,768.1,-10.1,449,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1468,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8607,-0.96,-175.2,795.9,-9.0,459,8613,0.00,1.58,0.00,0.000,4,0.000,0.110,2560,2321,3680,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8679,-0.96,-175.2,801.5,-8.7,461,8684,0.00,1.62,0.00,0.000,6,0.000,0.125,2560,1476,3680,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9003,-0.96,-175.2,831.0,-9.0,472,9008,0.00,1.58,0.00,0.000,4,0.000,0.112,2555,2320,3680,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9097,-0.96,-175.2,839.0,-8.7,475,9102,0.00,1.62,0.00,0.000,6,0.000,0.126,2555,1484,3678,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9431,-0.96,-175.2,871.0,-9.8,486,9436,0.00,1.58,0.00,0.000,4,0.000,0.116,2549,2323,3678,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9489,-0.96,-175.2,874.2,-9.7,487,9495,0.00,1.60,0.00,0.000,6,0.000,0.127,2553,1497,3677,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9795,-0.96,-175.2,906.1,-9.8,498,9800,0.00,1.85,0.00,0.000,4,0.000,0.148,2553,556,3676,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9832,-0.96,-175.2,909.7,-10.0,499,9838,0.12,1.73,0.00,0.000,6,0.288,0.096,2576,1502,3676,0,0,0,0,0,0,14.13,14.38,28.83
$GC,10163,-0.96,-175.2,942.2,-9.9,510,10168,0.00,1.55,0.00,0.000,4,0.000,0.118,2570,2323,3673,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10311,-0.98,-175.2,954.4,-9.7,514,10319,0.00,1.55,0.00,0.000,6,0.000,0.128,2570,1523,3673,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10620,-1.01,-175.2,986.9,-9.7,525,10625,0.00,1.90,0.00,0.000,4,0.000,0.149,2570,558,3672,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,10651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10652,begin apogee
$GC,10661,-0.23,0.0,990.4,-9.7,526,10897,0.85,0.00,230.73,1.510,4,0.213,0.000,2807,1639,2990,0,0,0,0,0,0,14.13,28.83,13.38
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10899,begin climb
$GC,10902,0.82,175.2,1005.9,0.0,534,11086,1.00,1.73,175.50,1.785,4,0.093,0.120,3157,2519,2274,0,0,0,0,0,0,14.12,14.07,13.23
$GC,11314,0.78,175.2,987.6,8.3,548,11319,0.00,1.70,0.00,0.000,6,0.000,0.130,3162,1639,2257,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11646,0.73,175.2,960.6,7.9,559,11651,0.12,1.65,0.00,0.000,4,0.321,0.119,3132,2522,2254,0,0,0,0,0,0,14.24,14.45,28.83
$GC,11713,0.69,175.2,955.4,7.9,561,11719,0.00,1.73,0.00,0.000,6,0.000,0.141,3138,1653,2254,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12045,0.66,178.0,930.8,7.4,572,12047,0.12,0.00,0.00,0.000,6,0.295,0.000,3110,1653,2253,0,0,0,0,0,0,14.31,28.83,28.83
$GC,12342,0.67,189.9,909.6,7.2,582,12357,0.00,0.00,13.45,1.663,6,0.000,0.000,3110,1653,2215,0,0,0,0,0,0,28.83,28.83,13.78
$GC,12643,0.67,189.9,887.5,7.5,592,12648,0.00,1.77,0.00,0.000,4,0.000,0.165,3115,749,2204,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12857,0.67,189.9,870.3,8.2,599,12862,0.00,1.67,0.00,0.000,6,0.000,0.109,3116,1640,2204,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13191,0.67,189.9,844.5,7.6,610,13196,0.00,1.80,0.00,0.000,4,0.000,0.167,3123,750,2202,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13238,0.67,189.9,841.7,7.6,611,13244,0.00,1.65,0.00,0.000,6,0.000,0.108,3122,1636,2203,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13558,0.67,189.9,815.8,7.7,622,13563,0.00,1.77,0.00,0.000,4,0.000,0.165,3129,748,2202,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13655,0.67,189.9,808.1,8.0,625,13661,0.00,1.60,0.00,0.000,6,0.000,0.102,3129,1617,2202,0,0,0,0,0,0,28.83,14.41,28.83
$GC,13986,0.67,189.9,781.9,7.8,636,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1617,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14285,0.69,228.3,761.3,6.4,646,14326,0.00,0.00,39.62,1.626,6,0.000,0.000,3129,1617,2058,0,0,0,0,0,0,28.83,28.83,13.69
$GC,14616,0.71,261.1,739.7,6.5,657,14657,0.00,1.75,33.47,1.582,4,0.000,0.161,3135,759,1918,0,0,0,0,0,0,28.83,14.31,13.64
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$GC,17401,0.84,399.0,495.8,6.7,749,17430,0.00,1.85,24.92,1.284,4,0.000,0.114,3132,2524,1359,0,0,0,0,0,0,28.83,14.40,13.74
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$STATE,21886,end climb,SURFACE_DEPTH_REACHED
$STATE,21886,begin surface coast
$FINISH,1.2,1.007553
$STATE,21911,end surface coast,CONTROL_FINISHED_OK
$STATE,21911,begin surface
$SM_CCo,21933,97.53,0.128,0,0,499,610.80
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.82
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7663136
$TM_FREEKB,4989376
$24V_AH,13.2,118.326
$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,22.375,132.525,646.000,97.525,0.000,0.000,0.000,455.425,0.250,0.000,17.741,3573.603,14458.808,887.069,3317.245,555.851,0.000,2843.152,0.000,2724.926,0.000,0.541,0.000
$DEVICE_MAMPS,336.600,166.770,1784.745,127.755,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.464,13.333,0.000,0.000
$MEM,345636
$DATA_FILE_SIZE,39990,1042
$CAP_FILE_SIZE,246705,0
$CFSIZE,260034560,210972672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,159.7,1
$GPS,151212,015534,2404.692,-3757.883,40,0.9,40,-14.1