version: 66.11
glider: 190
mission: 6
dive: 293
start: 12 18 112 14 52 51
data:
$ID,190
$MISSION,6
$DIVE,293
$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,-13266.356
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,181212,144104,2417.750,-3740.961,37,0.9,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-61.7
$GPS2,181212,145220,2417.713,-3740.891,18,1.6,18,-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,41.6,50112,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.84,-155.7,0.0,0.0,0,37,0.00,0.00,-11.38,0.000,2,0.000,0.000,145,1528,820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.1,0.0,1,189,10.73,2.08,-128.23,0.000,4,0.336,0.160,2618,463,3625,0,0,0,0,0,0,14.35,14.23,14.71
$GC,418,-0.81,-155.7,27.2,-10.4,39,426,0.00,1.95,0.00,0.000,6,0.000,0.084,2618,1519,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,729,-0.81,-155.7,56.8,-9.5,70,737,0.00,2.00,0.00,0.000,4,0.000,0.108,2618,2579,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,788,-0.81,-155.7,62.2,-8.8,76,797,0.00,2.05,0.00,0.000,6,0.000,0.119,2618,1528,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1098,-0.81,-155.7,91.4,-9.7,107,1106,0.00,2.00,0.00,0.000,4,0.000,0.109,2618,2575,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1209,-0.81,-155.7,101.5,-8.9,118,1217,0.00,2.03,0.00,0.000,6,0.000,0.118,2618,1529,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1519,-0.81,-155.7,126.2,-7.2,149,1528,0.00,2.10,0.00,0.000,4,0.000,0.145,2618,463,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1608,-0.81,-155.7,133.5,-8.6,158,1617,0.00,1.95,0.00,0.000,6,0.000,0.088,2618,1527,3625,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1919,-0.84,-155.7,157.6,-8.5,189,1929,0.00,1.98,0.00,0.000,4,0.000,0.109,2618,2570,3627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1998,-0.88,-155.7,164.6,-8.7,197,2008,0.00,2.03,0.00,0.000,6,0.000,0.120,2618,1531,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2308,-0.92,-155.7,193.5,-9.3,228,2317,0.00,2.12,0.00,0.000,4,0.000,0.144,2618,460,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2409,-0.92,-155.7,203.4,-10.2,238,2417,0.00,1.95,0.00,0.000,6,0.000,0.090,2618,1532,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2719,-0.95,-155.7,229.6,-7.6,269,2728,0.00,1.95,0.00,0.000,4,0.000,0.112,2618,2567,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2788,-0.98,-155.7,234.9,-7.5,276,2798,0.15,2.03,0.00,0.000,6,0.119,0.122,2553,1531,3625,0,0,0,0,0,0,14.43,14.26,28.83
$GC,3109,-0.95,-155.7,264.9,-9.7,298,3116,0.12,1.95,0.00,0.000,4,0.257,0.112,2574,2566,3624,0,0,0,0,0,0,14.35,14.36,28.83
$GC,3168,-0.93,-155.7,270.3,-9.4,300,3175,0.00,2.03,0.00,0.000,6,0.000,0.124,2574,1528,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3499,-0.93,-155.7,301.3,-9.6,311,3506,0.00,2.10,0.00,0.000,4,0.000,0.145,2574,460,3623,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3548,-0.91,-155.7,304.4,-9.8,312,3557,0.12,1.98,0.00,0.000,6,0.280,0.096,2594,1531,3623,0,0,0,0,0,0,14.26,14.47,28.83
$GC,3860,-0.91,-155.7,332.7,-8.0,323,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1531,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4158,-0.91,-155.7,357.0,-8.0,333,4165,0.00,1.98,0.00,0.000,4,0.000,0.112,2587,2578,3621,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4227,-0.91,-155.7,361.5,-7.6,335,4231,0.00,2.03,0.00,0.000,6,0.000,0.123,2587,1536,3621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4540,-0.91,-155.7,387.2,-8.0,346,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1536,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-0.91,-155.7,412.5,-8.6,356,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1536,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.91,-155.7,437.1,-7.9,366,5148,0.00,1.98,0.00,0.000,4,0.000,0.113,2583,2576,3617,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5238,-0.91,-155.7,444.3,-8.1,369,5242,0.00,2.03,0.00,0.000,6,0.000,0.125,2584,1539,3617,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5551,-0.91,-155.7,470.6,-8.3,380,5557,0.00,2.12,0.00,0.000,4,0.000,0.151,2583,464,3616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5639,-0.91,-155.7,479.1,-9.3,383,5647,0.00,2.00,0.00,0.000,6,0.000,0.096,2579,1545,3616,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5971,-0.91,-155.7,506.9,-8.3,394,5977,0.00,1.95,0.00,0.000,4,0.000,0.119,2572,2574,3614,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6090,-0.91,-155.7,516.6,-8.1,398,6098,0.00,1.98,0.00,0.000,6,0.000,0.122,2572,1554,3614,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6420,-0.91,-155.7,546.6,-9.4,409,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1551,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6720,-0.91,-155.7,576.1,-9.9,419,6727,0.00,1.95,0.00,0.000,4,0.000,0.117,2565,2573,3611,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6779,-0.91,-155.7,581.9,-9.9,421,6788,0.12,2.00,0.00,0.000,6,0.239,0.124,2596,1547,3611,0,0,0,0,0,0,14.26,14.33,28.83
$GC,7114,-0.94,-155.7,613.2,-9.5,432,7119,0.00,2.12,0.00,0.000,4,0.000,0.151,2596,462,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7231,-0.94,-155.7,625.1,-9.9,436,7237,0.00,2.00,0.00,0.000,6,0.000,0.096,2592,1545,3609,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7560,-0.94,-155.7,654.2,-8.4,447,7567,0.00,1.98,0.00,0.000,4,0.000,0.122,2592,2574,3608,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7609,-0.96,-155.7,656.7,-8.2,448,7613,0.00,2.03,0.00,0.000,6,0.000,0.127,2591,1546,3608,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7911,-1.00,-155.7,681.6,-7.6,458,7917,0.00,2.17,0.00,0.000,4,0.000,0.153,2592,461,3607,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8039,-1.00,-155.7,691.6,-8.2,462,8047,0.00,2.00,0.00,0.000,6,0.000,0.095,2584,1534,3606,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8360,-1.00,-155.7,717.6,-8.1,473,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1535,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8660,-1.00,-155.7,743.5,-9.0,483,8668,0.00,2.15,0.00,0.000,4,0.000,0.148,2584,461,3603,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8709,-1.00,-155.7,746.5,-9.1,484,8718,0.00,2.00,0.00,0.000,6,0.000,0.096,2578,1534,3603,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9019,-1.00,-155.7,778.2,-9.6,495,9027,0.00,2.03,0.00,0.000,4,0.000,0.119,2571,2582,3602,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9061,-1.00,-155.7,781.0,-9.6,496,9068,0.00,2.03,0.00,0.000,6,0.000,0.116,2571,1532,3601,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9380,-1.00,-155.7,813.6,-10.1,507,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1532,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9680,-1.00,-155.7,845.0,-10.6,517,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1532,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9980,-1.00,-155.7,874.6,-9.5,527,9988,0.00,2.00,0.00,0.000,4,0.000,0.116,2565,2571,3598,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10039,-1.00,-155.7,879.8,-8.9,529,10047,0.00,2.05,0.00,0.000,6,0.000,0.126,2565,1537,3597,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10371,-1.00,-155.7,907.0,-8.0,540,10377,0.00,2.17,0.00,0.000,4,0.000,0.156,2565,460,3597,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10430,-1.00,-155.7,912.5,-8.5,542,10437,0.00,2.00,0.00,0.000,6,0.000,0.098,2558,1533,3596,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10761,-1.00,-155.7,941.5,-9.0,553,10767,0.00,2.03,0.00,0.000,4,0.000,0.125,2553,2581,3594,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10809,-1.00,-155.7,944.0,-8.8,554,10818,0.00,2.08,0.00,0.000,6,0.000,0.127,2553,1535,3594,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11120,-1.00,-155.7,975.2,-9.2,565,11127,0.00,2.20,0.00,0.000,4,0.000,0.155,2553,455,3592,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11158,-1.00,-155.7,978.1,-9.3,566,11162,0.00,2.05,0.00,0.000,6,0.000,0.099,2549,1537,3592,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,11288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11288,begin apogee
$GC,11295,-0.23,0.0,991.6,-9.4,571,11511,0.95,0.00,209.18,1.514,4,0.223,0.000,2811,1536,2989,0,0,0,0,0,0,14.05,28.83,13.36
$STATE,11512,end apogee,CONTROL_FINISHED_OK
$STATE,11512,begin climb
$GC,11516,0.84,155.7,1002.6,0.0,578,11682,1.08,2.03,157.55,1.799,4,0.105,0.122,3162,2586,2354,0,0,0,0,0,0,14.13,14.09,13.19
$GC,11913,0.79,155.7,984.2,8.5,592,11919,0.00,2.08,0.00,0.000,6,0.000,0.140,3170,1520,2338,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12243,0.74,157.0,959.0,7.1,603,12249,0.15,2.10,0.00,0.000,4,0.308,0.163,3140,460,2335,0,0,0,0,0,0,14.21,14.32,28.83
$GC,12481,0.73,208.3,944.7,5.5,611,12540,0.00,2.03,53.15,1.765,6,0.000,0.104,3140,1532,2135,0,0,0,0,0,0,28.83,14.45,13.50
$GC,12841,0.77,268.9,925.2,5.3,623,12905,0.00,0.00,62.62,1.746,6,0.000,0.000,3140,1532,1894,0,0,0,0,0,0,28.83,28.83,13.42
$GC,13203,0.77,268.9,901.5,7.2,635,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1532,1871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13500,0.77,268.9,875.7,9.3,645,13509,0.00,2.20,0.00,0.000,4,0.000,0.164,3147,462,1869,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13550,0.77,268.9,872.6,9.7,646,13559,0.00,1.98,0.00,0.000,6,0.000,0.093,3148,1523,1868,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13860,0.77,268.9,835.0,11.8,657,13868,0.00,2.05,0.00,0.000,4,0.000,0.119,3148,2586,1866,0,0,0,0,0,0,28.83,14.42,28.83
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$STATE,23348,end climb,SURFACE_DEPTH_REACHED
$STATE,23348,begin surface coast
$FINISH,1.2,1.005539
$STATE,23377,end surface coast,CONTROL_FINISHED_OK
$STATE,23377,begin surface
$SM_CCo,23399,149.00,0.127,0,0,498,610.80
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$TT8_MAMPS,0.024717,0.024717
$HUMID,53.42
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7657760
$TM_FREEKB,4863840
$24V_AH,13.2,124.299
$10V_AH,13.0,0.000
$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,22.675,171.025,541.475,149.000,0.000,0.000,0.000,355.800,0.500,0.000,20.057,3250.816,16715.078,1111.459,2613.249,525.962,0.000,2614.538,0.000,2102.939,0.000,0.542,0.000
$DEVICE_MAMPS,335.835,163.710,1798.515,126.990,0.000,0.000,0.000,186.660,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.921,13.267,0.000,0.000
$MEM,345596
$DATA_FILE_SIZE,43281,1172
$CAP_FILE_SIZE,239999,0
$CFSIZE,260034560,209006592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,159.8,1
$GPS,181212,212634,2418.764,-3739.636,30,0.9,30,-13.9