version: 66.11
glider: 190
mission: 6
dive: 294
start: 12 18 112 21 41 45
data:
$ID,190
$MISSION,6
$DIVE,294
$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,-13267.615
$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,10
$R_STBD_OVSHOOT,18
$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
$GPS1,181212,212634,2418.764,-3739.636,30,0.9,30,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-62.9
$GPS2,181212,214114,2418.697,-3739.672,17,1.7,17,-13.9
$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,46.0,47369,-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,24,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.70,0.000,2,0.000,0.000,144,1531,830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.3,0.0,1,191,11.00,1.95,-128.05,0.000,4,0.351,0.122,2618,2581,3625,0,0,0,0,0,0,14.29,14.32,14.72
$GC,419,-0.84,-155.7,23.7,-9.3,39,428,0.00,2.05,0.00,0.000,6,0.000,0.110,2618,1519,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,730,-0.84,-155.7,53.9,-9.9,70,739,0.00,1.98,0.00,0.000,4,0.000,0.103,2618,2572,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,800,-0.84,-155.7,60.2,-8.8,77,810,0.00,2.00,0.00,0.000,6,0.000,0.112,2618,1522,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1110,-0.84,-155.7,87.0,-7.8,108,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1523,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1410,-0.84,-155.7,110.3,-8.9,138,1418,0.00,1.95,0.00,0.000,4,0.000,0.099,2618,2576,3626,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1451,-0.84,-155.7,113.9,-9.2,142,1459,0.00,1.98,0.00,0.000,6,0.000,0.111,2618,1536,3625,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1760,-0.84,-155.7,149.4,-11.5,173,1770,0.00,2.08,0.00,0.000,4,0.000,0.137,2617,463,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1829,-0.84,-155.7,158.0,-12.5,180,1839,0.00,1.92,0.00,0.000,6,0.000,0.082,2618,1525,3625,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2140,-0.84,-155.7,187.3,-7.4,211,2148,0.00,1.98,0.00,0.000,4,0.000,0.104,2617,2580,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2262,-0.84,-155.7,195.2,-6.2,223,2269,0.00,2.00,0.00,0.000,6,0.000,0.112,2618,1522,3625,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2572,-0.84,-155.7,212.4,-5.6,254,2579,0.00,2.05,0.00,0.000,4,0.000,0.138,2618,465,3625,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2690,-0.84,-155.7,220.7,-7.5,266,2698,0.00,1.92,0.00,0.000,6,0.000,0.083,2617,1529,3620,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3000,-0.86,-155.7,245.4,-9.1,297,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1529,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-0.89,-155.7,276.2,-9.7,311,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1529,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.94,-155.7,304.9,-9.4,321,3628,0.00,2.10,0.00,0.000,4,0.000,0.135,2618,444,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3719,-0.94,-155.7,313.6,-9.6,324,3722,0.00,1.98,0.00,0.000,6,0.000,0.083,2617,1535,3622,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4034,-0.98,-155.7,343.1,-9.4,335,4036,0.15,0.00,0.00,0.000,6,0.125,0.000,2553,1537,3621,0,0,0,0,0,0,14.68,28.83,28.83
$GC,4331,-0.95,-155.7,375.7,-11.1,345,4333,0.12,0.00,0.00,0.000,6,0.252,0.000,2582,1537,3620,0,0,0,0,0,0,14.42,28.83,28.83
$GC,4632,-0.95,-155.7,405.2,-9.5,355,4638,0.00,1.92,0.00,0.000,4,0.000,0.105,2579,2575,3619,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4679,-0.95,-155.7,408.0,-9.4,356,4683,0.00,2.03,0.00,0.000,6,0.000,0.112,2578,1518,3619,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4981,-0.95,-155.7,436.2,-8.7,366,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1517,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5280,-0.95,-155.7,461.9,-8.7,376,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1518,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5581,-0.95,-155.7,486.4,-7.9,386,5589,0.00,2.05,0.00,0.000,4,0.000,0.137,2579,461,3615,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5660,-0.95,-155.7,491.3,-8.1,388,5670,0.00,1.92,0.00,0.000,6,0.000,0.083,2572,1524,3615,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5971,-0.95,-155.7,515.7,-6.9,399,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1524,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6272,-0.95,-155.7,536.3,-6.9,409,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1524,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6570,-0.95,-155.7,559.2,-8.1,419,6577,0.00,2.10,0.00,0.000,4,0.000,0.137,2572,456,3612,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6620,-0.95,-155.7,562.1,-8.5,420,6624,0.00,1.92,0.00,0.000,6,0.000,0.086,2565,1510,3612,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6921,-0.95,-155.7,593.3,-10.4,430,6928,0.00,2.00,0.00,0.000,4,0.000,0.110,2558,2576,3610,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7010,-0.95,-155.7,602.9,-10.6,433,7017,0.00,2.05,0.00,0.000,6,0.000,0.118,2557,1517,3609,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7341,-0.95,-155.7,638.3,-10.5,444,7349,0.00,2.00,0.00,0.000,4,0.000,0.112,2553,2568,3607,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7449,-0.95,-155.7,647.2,-10.0,447,7454,0.12,2.03,0.00,0.000,6,0.244,0.120,2581,1528,3608,0,0,0,0,0,0,14.23,14.31,28.83
$GC,7753,-0.95,-155.7,676.9,-9.2,457,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1528,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8051,-0.98,-155.7,705.1,-9.4,467,8058,0.00,2.10,0.00,0.000,4,0.000,0.140,2582,460,3605,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8170,-0.98,-155.7,717.4,-10.4,471,8177,0.00,1.98,0.00,0.000,6,0.000,0.090,2575,1528,3607,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8503,-0.98,-155.7,747.5,-8.7,482,8510,0.00,2.00,0.00,0.000,4,0.000,0.118,2569,2585,3603,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8550,-0.98,-155.7,749.9,-8.5,483,8558,0.00,2.08,0.00,0.000,6,0.000,0.122,2569,1524,3602,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8863,-1.00,-155.7,776.9,-8.1,494,8870,0.00,2.08,0.00,0.000,4,0.000,0.142,2569,460,3602,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9081,-0.98,-155.7,796.6,-9.6,501,9088,0.00,1.95,0.00,0.000,6,0.000,0.096,2563,1511,3602,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9401,-0.98,-155.7,828.7,-10.2,512,9408,0.00,2.03,0.00,0.000,4,0.000,0.116,2556,2571,3600,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9449,-0.98,-155.7,831.9,-10.3,513,9453,0.00,2.10,0.00,0.000,6,0.000,0.124,2555,1504,3600,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9751,-0.98,-155.7,867.3,-11.2,523,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1504,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10051,-0.98,-155.7,901.7,-11.5,533,10058,0.00,2.10,0.00,0.000,4,0.000,0.124,2553,2579,3597,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10099,-0.98,-155.7,905.3,-11.6,534,10103,0.00,2.12,0.00,0.000,6,0.000,0.126,2553,1507,3597,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10401,-0.98,-155.7,942.5,-11.6,544,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1507,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10700,-0.98,-155.7,975.8,-10.8,554,10708,0.00,2.10,0.00,0.000,4,0.000,0.125,2553,2576,3594,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10760,-0.98,-155.7,982.0,-10.5,556,10767,0.00,2.12,0.00,0.000,6,0.000,0.129,2553,1510,3594,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,10848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10848,begin apogee
$GC,10854,-0.23,0.0,990.9,-9.9,559,11009,0.93,0.00,148.93,1.821,4,0.230,0.000,2805,1510,2987,0,0,0,0,0,0,14.03,28.83,13.23
$STATE,11010,end apogee,CONTROL_FINISHED_OK
$STATE,11012,begin climb
$GC,11015,0.84,155.7,999.0,0.0,564,11181,1.12,2.08,156.38,1.807,4,0.124,0.123,3160,2576,2349,0,0,0,0,0,0,14.10,14.07,13.21
$GC,11192,0.89,367.7,1000.4,0.5,570,11417,0.00,2.17,217.57,1.775,6,0.000,0.138,3168,1516,1493,0,0,0,0,0,0,28.83,14.04,13.22
$GC,11713,0.89,367.7,942.1,11.8,587,11720,0.00,2.10,0.00,0.000,4,0.000,0.161,3176,467,1470,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11772,0.89,367.7,935.0,11.7,589,11780,0.00,1.95,0.00,0.000,6,0.000,0.094,3175,1517,1470,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12104,0.89,367.7,898.3,10.8,600,12110,0.00,2.03,0.00,0.000,4,0.000,0.121,3176,2581,1468,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12142,0.89,367.7,894.9,10.8,601,12149,0.00,2.10,0.00,0.000,6,0.000,0.135,3183,1517,1468,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12463,0.89,367.7,858.5,11.2,612,12470,0.00,2.10,0.00,0.000,4,0.000,0.159,3192,467,1467,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12572,0.89,367.7,847.4,12.1,615,12582,0.00,1.92,0.00,0.000,6,0.000,0.092,3192,1511,1466,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12882,0.89,367.7,807.6,12.2,626,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1511,1466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13184,0.89,367.7,771.7,11.8,636,13190,0.00,2.12,0.00,0.000,4,0.000,0.159,3199,458,1465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13251,0.89,367.7,764.5,11.9,638,13255,0.00,1.92,0.00,0.000,6,0.000,0.090,3199,1504,1465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13563,0.89,367.7,730.0,10.1,649,13570,0.00,2.12,0.00,0.000,4,0.000,0.158,3207,460,1465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13624,0.89,367.7,724.0,10.0,651,13631,0.08,1.88,0.00,0.000,6,0.267,0.088,3183,1493,1464,0,0,0,0,0,0,14.17,14.43,28.83
$GC,13954,0.89,367.7,695.3,8.6,662,13960,0.00,2.08,0.00,0.000,4,0.000,0.114,3186,2576,1463,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,20622,end climb,SURFACE_DEPTH_REACHED
$STATE,20622,begin surface coast
$FINISH,1.3,1.009005
$STATE,20642,end surface coast,CONTROL_FINISHED_OK
$STATE,20642,begin surface
$SM_CCo,20663,119.15,0.129,0,0,498,610.80
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$IRIDIUM_FIX,2408.65,-3740.89,181212,141414
$TT8_MAMPS,0.023968,0.023968
$HUMID,56.22
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7657376
$TM_FREEKB,4855008
$24V_AH,13.2,124.735
$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,22.875,150.950,522.875,119.150,0.000,0.000,0.000,555.625,0.500,0.000,18.335,2880.846,14688.075,1031.615,2503.424,548.682,0.000,2619.089,0.000,1873.415,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,160.650,1821.465,128.520,0.000,0.000,0.000,180.540,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20686.000,5615.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.302,13.260,0.000,0.000
$MEM,345604
$DATA_FILE_SIZE,36702,1052
$CAP_FILE_SIZE,213810,0
$CFSIZE,260034560,208900096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.049,138.7,1
$GPS,191212,032934,2419.855,-3738.128,40,1.0,40,-13.9