version: 66.11
glider: 190
mission: 6
dive: 289
start: 12 17 112 12 17 4
data:
$ID,190
$MISSION,6
$DIVE,289
$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,460
$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,160
$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,-13261.225
$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,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$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
$GPS1,171212,120452,2413.581,-3746.921,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-55.4
$GPS2,171212,121635,2413.582,-3746.854,18,1.2,18,-14.0
$SPEED_LIMITS,0.124,0.130
$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,47.4,62728,-16.4,-7.174,-28.86
$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,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.00,0.000,2,0.000,0.000,137,1514,810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.1,0.0,1,191,10.30,1.70,-131.88,0.000,4,0.313,0.129,2618,2408,3626,0,0,0,0,0,0,14.36,14.32,14.70
$GC,421,-0.84,-155.7,23.6,-10.4,38,427,0.00,1.70,0.00,0.000,6,0.000,0.116,2617,1518,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,728,-0.84,-155.7,55.1,-8.9,69,734,0.00,1.65,0.00,0.000,4,0.000,0.103,2618,2407,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,924,-0.84,-155.7,72.1,-8.0,88,929,0.00,1.67,0.00,0.000,6,0.000,0.117,2618,1531,3629,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1237,-0.84,-155.7,96.8,-7.6,119,1242,0.00,1.62,0.00,0.000,4,0.000,0.103,2618,2408,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1311,-0.84,-155.7,102.1,-6.7,126,1317,0.00,1.67,0.00,0.000,6,0.000,0.117,2618,1532,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1626,-0.84,-155.7,122.4,-7.0,157,1631,0.00,1.70,0.00,0.000,4,0.000,0.142,2617,638,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1786,-0.84,-155.7,136.1,-9.8,172,1793,0.00,1.62,0.00,0.000,6,0.000,0.090,2618,1543,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2091,-0.84,-155.7,166.0,-9.4,203,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1544,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2392,-0.88,-155.7,193.2,-8.6,233,2397,0.00,1.75,0.00,0.000,4,0.000,0.136,2618,638,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2467,-0.88,-155.7,199.9,-9.1,240,2472,0.00,1.60,0.00,0.000,6,0.000,0.090,2618,1529,3626,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2781,-0.92,-155.7,227.0,-8.8,271,2786,0.00,1.70,0.00,0.000,4,0.000,0.140,2618,638,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2867,-0.92,-155.7,235.0,-9.1,279,2872,0.00,1.60,0.00,0.000,6,0.000,0.092,2618,1528,3625,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3200,-0.96,-155.7,263.9,-8.9,302,3206,0.12,1.70,0.00,0.000,4,0.140,0.138,2559,638,3625,0,0,0,0,0,0,14.62,14.30,28.83
$GC,3295,-0.96,-155.7,274.3,-10.5,305,3300,0.00,1.55,0.00,0.000,6,0.000,0.093,2553,1503,3624,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3632,-0.93,-155.7,310.5,-10.9,316,3638,0.12,1.65,0.00,0.000,4,0.272,0.107,2580,2402,3623,0,0,0,0,0,0,14.31,14.42,28.83
$GC,3720,-0.93,-155.7,317.1,-10.3,318,3726,0.00,1.70,0.00,0.000,6,0.000,0.125,2580,1509,3623,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4028,-0.93,-155.7,349.1,-9.5,329,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1509,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,-0.93,-155.7,376.0,-8.7,339,4331,0.00,1.65,0.00,0.000,4,0.000,0.110,2577,2409,3621,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4451,-0.93,-155.7,386.1,-8.2,343,4457,0.00,1.70,0.00,0.000,6,0.000,0.123,2576,1519,3621,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4786,-0.93,-155.7,416.2,-9.4,354,4791,0.00,1.65,0.00,0.000,4,0.000,0.114,2571,2401,3619,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4899,-0.93,-155.7,425.0,-9.4,357,4905,0.00,1.67,0.00,0.000,6,0.000,0.126,2571,1524,3619,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5213,-0.93,-155.7,456.5,-9.4,368,5218,0.00,1.73,0.00,0.000,4,0.000,0.147,2571,633,3618,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5280,-0.93,-155.7,463.0,-9.9,370,5285,0.00,1.60,0.00,0.000,6,0.000,0.099,2566,1523,3618,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5610,-0.93,-155.7,496.2,-9.9,381,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1523,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5909,-0.93,-155.7,525.1,-9.5,391,5914,0.00,1.62,0.00,0.000,4,0.000,0.116,2565,2407,3614,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5961,-0.93,-155.7,528.3,-9.4,392,5966,0.00,1.67,0.00,0.000,6,0.000,0.127,2565,1522,3615,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6275,-0.93,-155.7,558.1,-8.9,403,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1522,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6575,-0.93,-155.7,584.7,-9.0,413,6580,0.00,1.73,0.00,0.000,4,0.000,0.145,2565,630,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6638,-0.93,-155.7,591.0,-9.5,415,6644,0.12,1.62,0.00,0.000,6,0.271,0.096,2587,1525,3612,0,0,0,0,0,0,14.22,14.42,28.83
$GC,6975,-0.93,-155.7,622.8,-10.1,426,6980,0.00,1.62,0.00,0.000,4,0.000,0.117,2581,2400,3609,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7071,-0.93,-155.7,632.7,-10.2,429,7076,0.00,1.67,0.00,0.000,6,0.000,0.128,2582,1529,3608,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7402,-0.93,-155.7,668.6,-10.8,440,7407,0.00,1.65,0.00,0.000,4,0.000,0.117,2575,2401,3609,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7449,-0.93,-155.7,672.4,-10.7,441,7454,0.00,1.67,0.00,0.000,6,0.000,0.127,2575,1530,3609,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7768,-0.93,-155.7,706.2,-9.8,452,7773,0.00,1.65,0.00,0.000,4,0.000,0.118,2570,2399,3607,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7816,-0.93,-155.7,709.4,-9.7,453,7822,0.00,1.65,0.00,0.000,6,0.000,0.128,2570,1541,3607,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8135,-0.93,-155.7,740.2,-9.1,464,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1541,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8435,-0.93,-155.7,765.1,-7.9,474,8441,0.00,1.80,0.00,0.000,4,0.000,0.150,2570,639,3605,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8478,-0.93,-155.7,767.8,-7.9,475,8483,0.00,1.65,0.00,0.000,6,0.000,0.099,2565,1531,3602,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8802,-0.93,-155.7,792.5,-7.2,486,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1531,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9102,-0.93,-155.7,816.1,-8.4,496,9107,0.00,1.62,0.00,0.000,4,0.000,0.122,2565,2401,3601,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9189,-0.93,-155.7,821.8,-8.8,498,9197,0.00,1.67,0.00,0.000,6,0.000,0.129,2565,1539,3601,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9496,-0.93,-155.7,856.3,-10.9,509,9502,0.00,1.83,0.00,0.000,4,0.000,0.153,2565,632,3600,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9569,-0.93,-155.7,863.8,-11.2,511,9575,0.12,1.65,0.00,0.000,6,0.271,0.099,2587,1536,3599,0,0,0,0,0,0,14.14,14.34,28.83
$GC,9896,-0.93,-155.7,897.1,-9.3,522,9901,0.00,1.65,0.00,0.000,4,0.000,0.125,2582,2402,3598,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9973,-0.95,-155.7,902.7,-8.8,524,9979,0.00,1.70,0.00,0.000,6,0.000,0.133,2582,1533,3598,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10295,-0.95,-155.7,928.5,-7.2,535,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1533,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10592,-0.95,-155.7,949.9,-7.1,545,10598,0.00,1.70,0.00,0.000,4,0.000,0.128,2580,2407,3596,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10645,-0.95,-155.7,952.4,-7.2,546,10650,0.00,1.70,0.00,0.000,6,0.000,0.132,2580,1540,3596,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10961,-0.95,-155.7,977.5,-7.9,557,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1540,3595,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11136,begin apogee
$GC,11142,-0.23,0.0,992.2,-8.2,563,11299,0.80,0.00,147.80,1.828,4,0.207,0.000,2808,1520,2986,0,0,0,0,0,0,14.06,28.83,13.22
$STATE,11301,end apogee,CONTROL_FINISHED_OK
$STATE,11301,begin climb
$GC,11303,0.84,155.7,999.7,0.0,568,11468,1.05,1.75,156.55,1.799,4,0.112,0.125,3159,2393,2355,0,0,0,0,0,0,14.09,14.05,13.19
$GC,11655,0.80,167.6,990.8,6.8,580,11675,0.00,1.73,11.70,1.639,6,0.000,0.151,3166,1521,2304,0,0,0,0,0,0,28.83,14.28,13.50
$GC,11986,0.75,167.6,967.0,7.4,591,11991,0.12,1.67,0.00,0.000,4,0.304,0.126,3135,2403,2295,0,0,0,0,0,0,14.24,14.40,28.83
$GC,12054,0.71,168.1,962.3,7.2,593,12060,0.00,1.77,0.00,0.000,6,0.000,0.148,3141,1520,2295,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12386,0.69,169.9,939.1,7.1,604,12391,0.00,1.70,0.00,0.000,4,0.000,0.133,3141,2408,2294,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12439,0.66,169.9,936.3,7.3,605,12445,0.17,1.75,0.00,0.000,6,0.298,0.149,3109,1520,2291,0,0,0,0,0,0,14.17,14.35,28.83
$GC,12755,0.66,170.2,912.9,7.2,616,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1520,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13054,0.67,186.4,892.3,6.7,626,13083,0.00,1.70,19.83,1.711,4,0.000,0.130,3109,2398,2222,0,0,0,0,0,0,28.83,14.54,13.69
$GC,13210,0.67,194.5,881.8,6.9,631,13217,0.00,1.75,2.60,0.672,6,0.000,0.148,3113,1527,2195,0,0,0,0,0,0,28.83,14.31,13.29
$GC,13540,0.69,223.5,860.0,6.3,642,13584,0.00,1.75,38.22,1.714,4,0.000,0.132,3114,2406,2072,0,0,0,0,0,0,28.83,14.36,13.61
$GC,13643,0.70,241.4,853.9,6.6,645,13667,0.00,1.75,19.23,1.641,6,0.000,0.145,3120,1536,2003,0,0,0,0,0,0,28.83,14.26,13.50
$GC,13995,0.71,251.8,829.1,6.8,657,14010,0.00,1.70,10.77,1.571,4,0.000,0.124,3120,2407,1960,0,0,0,0,0,0,28.83,14.48,13.62
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$STATE,23062,end climb,SURFACE_DEPTH_REACHED
$STATE,23062,begin surface coast
$FINISH,1.4,1.025588
$STATE,23073,end surface coast,CONTROL_FINISHED_OK
$STATE,23073,begin surface
$SM_CCo,23097,129.55,0.128,0,0,497,610.80
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$IRIDIUM_FIX,2401.56,-3744.63,171212,050536
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.00
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.80
$XPDR_PINGS,4
$SC_FREEKB,7659296
$TM_FREEKB,4899776
$24V_AH,13.2,122.624
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,22.025,150.300,510.050,129.550,0.000,0.000,0.000,377.550,1.000,0.000,19.482,3765.727,15440.655,814.358,3340.461,554.547,0.000,2720.584,0.000,2794.401,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.746,13.252,0.000,0.000
$MEM,345600
$DATA_FILE_SIZE,39992,1124
$CAP_FILE_SIZE,259807,0
$CFSIZE,260034560,209547264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.037,153.6,1
$GPS,171212,184534,2414.599,-3745.323,38,0.8,38,-14.0