version: 66.11
glider: 190
mission: 6
dive: 292
start: 12 18 112 8 3 40
data:
$ID,190
$MISSION,6
$DIVE,292
$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,10
$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,-13265.004
$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,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,16
$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
$GPS1,181212,074904,2416.695,-3742.150,27,0.9,27,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-60.3
$GPS2,181212,080311,2416.633,-3742.065,16,1.2,16,-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,41.3,52912,-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,-11.30,0.000,2,0.000,0.000,144,1514,815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,192,10.50,2.03,-132.12,0.000,4,0.325,0.123,2613,2585,3626,0,0,0,0,0,0,14.31,14.35,14.71
$GC,420,-0.84,-155.7,22.3,-8.8,39,429,0.00,2.08,0.00,0.000,6,0.000,0.112,2616,1518,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,732,-0.84,-155.7,51.8,-10.9,70,740,0.00,2.00,0.00,0.000,4,0.000,0.103,2608,2579,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,790,-0.84,-155.7,58.0,-10.6,76,799,0.00,2.05,0.00,0.000,6,0.000,0.114,2608,1523,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1101,-0.84,-155.7,89.6,-10.1,107,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1523,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,-0.84,-155.7,120.0,-9.5,137,1410,0.00,2.10,0.00,0.000,4,0.000,0.137,2608,453,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1471,-0.84,-155.7,127.1,-10.1,144,1480,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1531,3624,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1781,-0.84,-155.7,152.7,-7.7,175,1789,0.00,2.12,0.00,0.000,4,0.000,0.137,2605,453,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1831,-0.84,-155.7,156.4,-8.0,180,1841,0.00,1.98,0.00,0.000,6,0.000,0.081,2605,1542,3625,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2141,-0.84,-155.7,180.1,-8.4,211,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1541,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2441,-0.84,-155.7,211.2,-11.5,241,2450,0.00,1.90,0.00,0.000,4,0.000,0.099,2605,2575,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2491,-0.84,-155.7,216.7,-11.5,246,2500,0.00,2.03,0.00,0.000,6,0.000,0.109,2605,1521,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2801,-0.86,-155.7,248.6,-9.1,277,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1521,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-0.90,-155.7,272.2,-6.5,289,3129,0.00,2.03,0.00,0.000,4,0.000,0.138,2605,457,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3312,-0.90,-155.7,284.8,-7.1,295,3318,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1528,3623,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3631,-0.90,-155.7,310.8,-8.7,306,3638,0.00,1.95,0.00,0.000,4,0.000,0.103,2604,2571,3623,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3721,-0.90,-155.7,319.3,-9.4,309,3729,0.00,1.98,0.00,0.000,6,0.000,0.112,2604,1530,3622,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4053,-0.93,-155.7,354.2,-10.7,320,4059,0.00,2.05,0.00,0.000,4,0.000,0.136,2604,459,3621,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4211,-0.93,-155.7,370.6,-11.0,325,4218,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1515,3621,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4531,-0.93,-155.7,400.2,-8.0,336,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1516,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4832,-0.97,-155.7,421.4,-6.7,346,4838,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,461,3619,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5021,-0.97,-155.7,433.9,-7.0,352,5028,0.00,1.90,0.00,0.000,6,0.000,0.081,2604,1526,3618,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5341,-0.99,-155.7,457.7,-8.0,363,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1526,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-1.03,-155.7,487.2,-10.7,373,5643,0.15,0.00,0.00,0.000,6,0.125,0.000,2541,1528,3615,0,0,0,0,0,0,14.69,28.83,28.83
$GC,5942,-1.00,-155.7,526.4,-13.4,383,5948,0.00,2.08,0.00,0.000,4,0.000,0.135,2541,462,3614,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6001,-0.96,-155.7,534.7,-13.5,385,6010,0.17,1.90,0.00,0.000,6,0.281,0.082,2576,1516,3613,0,0,0,0,0,0,14.17,14.51,28.83
$GC,6334,-0.96,-155.7,571.6,-10.4,396,6339,0.00,2.05,0.00,0.000,4,0.000,0.136,2576,456,3613,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6379,-0.96,-155.7,574.7,-10.4,397,6383,0.00,1.92,0.00,0.000,6,0.000,0.080,2568,1519,3612,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6681,-0.96,-155.7,604.1,-8.7,407,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1519,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6981,-0.96,-155.7,628.4,-7.9,417,6988,0.00,2.08,0.00,0.000,4,0.000,0.135,2568,457,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7040,-0.96,-155.7,633.8,-8.4,419,7048,0.00,1.90,0.00,0.000,6,0.000,0.080,2561,1510,3610,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7371,-0.96,-155.7,663.1,-9.3,430,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1510,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,-0.96,-155.7,693.1,-10.3,440,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1513,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,-0.96,-155.7,723.0,-9.9,450,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1513,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,-0.96,-155.7,750.9,-9.3,460,8278,0.00,2.05,0.00,0.000,4,0.000,0.135,2560,463,3604,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8319,-0.96,-155.7,753.8,-9.4,461,8323,0.00,1.90,0.00,0.000,6,0.000,0.082,2553,1505,3604,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8621,-0.96,-155.7,782.7,-8.6,471,8628,0.00,2.03,0.00,0.000,4,0.000,0.106,2549,2574,3603,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8670,-0.96,-155.7,785.2,-8.5,472,8680,0.12,2.08,0.00,0.000,6,0.252,0.112,2578,1503,3603,0,0,0,0,0,0,14.19,14.31,28.83
$GC,8982,-0.96,-155.7,810.2,-7.5,483,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1502,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9281,-0.96,-155.7,834.4,-8.4,493,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1502,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9580,-0.96,-155.7,862.5,-9.7,503,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1502,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9880,-0.96,-155.7,892.6,-10.1,513,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1502,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10181,-0.96,-155.7,921.9,-9.8,523,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1502,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10480,-0.96,-155.7,951.1,-9.7,533,10488,0.00,2.08,0.00,0.000,4,0.000,0.111,2577,2574,3595,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10550,-0.96,-155.7,956.6,-9.4,535,10557,0.00,2.08,0.00,0.000,6,0.000,0.116,2577,1512,3595,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10870,-0.96,-155.7,986.9,-9.0,546,10878,0.00,2.08,0.00,0.000,4,0.000,0.135,2576,459,3593,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10919,-0.96,-155.7,989.8,-9.0,547,10923,0.00,1.92,0.00,0.000,6,0.000,0.080,2569,1512,3593,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,10948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10949,begin apogee
$GC,10955,-0.23,0.0,994.5,-9.2,548,11109,0.85,0.00,148.95,1.818,4,0.215,0.000,2808,1512,2988,0,0,0,0,0,0,14.00,28.83,13.22
$STATE,11111,end apogee,CONTROL_FINISHED_OK
$STATE,11112,begin climb
$GC,11115,0.84,155.7,1002.5,0.0,553,11282,1.10,2.05,157.10,1.805,4,0.113,0.109,3161,2583,2354,0,0,0,0,0,0,14.11,14.09,13.20
$GC,11513,0.79,163.7,989.9,6.9,567,11519,0.00,2.10,2.12,0.317,6,0.000,0.130,3169,1520,2321,0,0,0,0,0,0,28.83,14.32,13.09
$GC,11844,0.76,193.5,968.4,6.2,578,11890,0.12,2.03,37.80,1.756,4,0.317,0.114,3139,2569,2193,0,0,0,0,0,0,14.24,14.35,13.55
$GC,12052,0.74,198.9,954.2,7.0,585,12058,0.00,2.03,0.00,0.000,6,0.000,0.134,3146,1525,2186,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12383,0.72,198.9,930.6,7.5,596,12388,0.00,1.98,0.00,0.000,4,0.000,0.118,3146,2579,2185,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12450,0.69,198.9,925.8,7.8,598,12458,0.17,2.10,0.00,0.000,6,0.295,0.138,3115,1526,2183,0,0,0,0,0,0,14.18,14.37,28.83
$GC,12774,0.69,198.9,899.7,8.1,609,12779,0.00,1.98,0.00,0.000,4,0.000,0.118,3115,2582,2183,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12850,0.69,198.9,894.5,8.5,611,12858,0.00,2.08,0.00,0.000,6,0.000,0.132,3122,1536,2182,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13162,0.69,198.9,864.1,9.4,622,13169,0.00,2.17,0.00,0.000,4,0.000,0.164,3131,458,2182,0,0,0,0,0,0,28.83,14.22,28.83
$GC,13239,0.69,198.9,858.1,9.9,624,13243,0.00,2.00,0.00,0.000,6,0.000,0.091,3131,1536,2182,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13541,0.69,198.9,827.5,9.3,634,13548,0.00,1.98,0.00,0.000,4,0.000,0.119,3131,2575,2181,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13709,0.69,198.9,813.6,9.3,639,13713,0.00,2.05,0.00,0.000,6,0.000,0.130,3138,1542,2180,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14012,0.69,198.9,787.7,7.5,649,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1543,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14311,0.70,221.8,767.9,6.5,659,14341,0.00,0.00,27.88,1.632,6,0.000,0.000,3138,1542,2084,0,0,0,0,0,0,28.83,28.83,13.69
$GC,14643,0.72,240.8,746.0,6.6,670,14671,0.00,0.00,20.23,1.586,6,0.000,0.000,3138,1542,2000,0,0,0,0,0,0,28.83,28.83,13.67
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$STATE,23560,end climb,SURFACE_DEPTH_REACHED
$STATE,23560,begin surface coast
$FINISH,1.3,1.001818
$STATE,23591,end surface coast,CONTROL_FINISHED_OK
$STATE,23591,begin surface
$SM_CCo,23612,148.82,0.127,0,0,497,610.80
$SM_GC,2.01,8.77,0.00,148.82,0.080,0.000,0.127,145,1524,497,-8.53,0.14,610.80,0,0,0,0,0,0,14.43,28.83,14.38
$IRIDIUM_FIX,2408.65,-3740.89,181212,070709
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.15
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7658144
$TM_FREEKB,4873184
$24V_AH,13.1,123.878
$10V_AH,12.7,0.000
$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,22.300,141.875,486.125,148.825,0.000,0.000,0.000,466.750,0.250,0.000,18.224,3205.227,17167.553,1022.980,2697.218,503.179,0.000,2609.112,0.000,2088.857,0.000,0.541,0.000
$DEVICE_MAMPS,325.125,164.475,1818.405,126.990,0.000,0.000,0.000,179.010,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23631.000,5735.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.801,13.259,0.000,0.000
$MEM,345608
$DATA_FILE_SIZE,43400,1160
$CAP_FILE_SIZE,234904,0
$CFSIZE,260034560,209154048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,154.8,1
$GPS,181212,144104,2417.750,-3740.961,37,0.9,37,-14.0