version: 66.11
glider: 190
mission: 6
dive: 295
start: 12 19 112 3 43 10
data:
$ID,190
$MISSION,6
$DIVE,295
$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,350
$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,-13268.871
$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,11
$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
$GPS1,191212,032934,2419.855,-3738.128,40,1.0,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-62.5
$GPS2,191212,034241,2419.789,-3738.109,13,1.3,13,-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,42.3,44051,-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,-11.50,0.000,2,0.000,0.000,138,1504,819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.1,0.0,1,194,11.05,2.05,-132.10,0.000,4,0.352,0.127,2606,2576,3624,0,0,0,0,0,0,14.28,14.35,14.71
$GC,374,-0.84,-155.7,19.6,-10.0,34,382,0.00,2.05,0.00,0.000,6,0.000,0.112,2605,1519,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,683,-0.84,-155.7,52.8,-11.2,65,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1522,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,983,-0.84,-155.7,85.5,-10.7,95,991,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2577,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1032,-0.84,-155.7,90.7,-10.3,100,1041,0.00,2.05,0.00,0.000,6,0.000,0.114,2605,1520,3624,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1343,-0.84,-155.7,122.9,-9.7,131,1351,0.00,2.00,0.00,0.000,4,0.000,0.109,2604,2580,3624,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1412,-0.84,-155.7,129.5,-9.4,138,1423,0.00,2.05,0.00,0.000,6,0.000,0.116,2604,1525,3622,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1723,-0.84,-155.7,159.6,-9.9,169,1731,0.00,2.10,0.00,0.000,4,0.000,0.138,2606,458,3621,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1763,-0.84,-155.7,164.0,-11.2,173,1772,0.00,1.95,0.00,0.000,6,0.000,0.087,2605,1526,3624,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2074,-0.84,-155.7,189.2,-6.5,204,2081,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,465,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2113,-0.84,-155.7,191.9,-7.0,208,2121,0.00,1.95,0.00,0.000,6,0.000,0.086,2604,1531,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2424,-0.84,-155.7,211.2,-6.0,239,2431,0.00,1.92,0.00,0.000,4,0.000,0.105,2605,2571,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2464,-0.84,-155.7,213.8,-6.4,243,2472,0.00,2.03,0.00,0.000,6,0.000,0.113,2605,1513,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2773,-0.87,-155.7,239.1,-9.5,274,2784,0.00,2.05,0.00,0.000,4,0.000,0.140,2605,462,3624,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2905,-0.87,-155.7,251.4,-10.6,286,2910,0.00,1.88,0.00,0.000,6,0.000,0.083,2605,1502,3624,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3224,-0.87,-155.7,284.7,-10.0,297,3230,0.00,2.00,0.00,0.000,4,0.000,0.104,2604,2575,3623,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3333,-0.89,-155.7,293.3,-9.6,300,3343,0.00,2.05,0.00,0.000,6,0.000,0.111,2605,1507,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3643,-0.89,-155.7,322.9,-8.5,311,3650,0.00,2.03,0.00,0.000,4,0.000,0.104,2605,2585,3621,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3681,-0.89,-155.7,325.3,-8.3,312,3685,0.00,2.05,0.00,0.000,6,0.000,0.113,2604,1514,3622,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3997,-0.89,-155.7,347.6,-6.3,323,4002,0.00,2.03,0.00,0.000,4,0.000,0.141,2605,457,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4054,-0.89,-155.7,351.4,-6.1,325,4062,0.00,1.92,0.00,0.000,6,0.000,0.086,2604,1516,3620,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4387,-0.89,-155.7,368.4,-5.2,336,4392,0.00,1.95,0.00,0.000,4,0.000,0.110,2605,2579,3620,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4474,-0.92,-155.7,373.4,-5.4,339,4481,0.00,2.03,0.00,0.000,6,0.000,0.115,2605,1522,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4806,-0.92,-155.7,397.9,-8.4,350,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1519,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,-0.96,-155.7,427.5,-10.2,360,5111,0.00,2.08,0.00,0.000,4,0.000,0.139,2605,456,3617,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5274,-0.96,-155.7,443.2,-10.5,365,5282,0.00,1.95,0.00,0.000,6,0.000,0.089,2604,1521,3616,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5585,-0.98,-155.7,471.7,-8.1,376,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1521,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5885,-1.02,-155.7,493.8,-7.3,386,5892,0.15,2.10,0.00,0.000,4,0.127,0.140,2540,453,3614,0,0,0,0,0,0,14.69,14.25,28.83
$GC,5992,-1.02,-155.7,502.8,-9.4,389,5996,0.00,1.95,0.00,0.000,6,0.000,0.089,2536,1515,3613,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6296,-0.99,-155.7,534.5,-10.0,399,6302,0.12,1.95,0.00,0.000,4,0.281,0.111,2556,2581,3612,0,0,0,0,0,0,14.35,14.39,28.83
$GC,6374,-0.97,-155.7,540.1,-9.7,401,6384,0.00,2.05,0.00,0.000,6,0.000,0.115,2556,1515,3612,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6683,-0.97,-155.7,572.8,-10.2,412,6691,0.00,2.03,0.00,0.000,4,0.000,0.110,2551,2578,3611,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6763,-0.97,-155.7,578.8,-10.2,414,6772,0.00,2.03,0.00,0.000,6,0.000,0.114,2553,1529,3611,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7073,-0.97,-155.7,611.8,-10.0,425,7081,0.00,2.10,0.00,0.000,4,0.000,0.141,2553,462,3610,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7134,-0.94,-155.7,618.3,-10.3,427,7143,0.15,1.95,0.00,0.000,6,0.269,0.090,2581,1530,3609,0,0,0,0,0,0,14.19,14.46,28.83
$GC,7467,-0.94,-155.7,649.8,-9.5,438,7472,0.00,1.95,0.00,0.000,4,0.000,0.112,2574,2580,3608,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7572,-0.94,-155.7,658.3,-9.4,441,7576,0.00,2.03,0.00,0.000,6,0.000,0.116,2574,1532,3608,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7874,-0.94,-155.7,689.1,-9.7,451,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1532,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,-0.94,-155.7,718.2,-9.7,461,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1532,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,-0.94,-155.7,746.5,-9.4,471,8481,0.00,1.98,0.00,0.000,4,0.000,0.110,2568,2569,3603,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8543,-0.94,-155.7,752.0,-9.3,473,8550,0.00,2.03,0.00,0.000,6,0.000,0.119,2568,1530,3603,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8864,-0.94,-155.7,780.7,-8.3,484,8871,0.00,2.00,0.00,0.000,4,0.000,0.112,2563,2571,3603,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8904,-0.94,-155.7,783.1,-8.1,485,8911,0.00,2.00,0.00,0.000,6,0.000,0.117,2563,1544,3601,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9226,-0.94,-155.7,807.5,-7.0,496,9231,0.00,2.12,0.00,0.000,4,0.000,0.146,2563,457,3601,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9283,-0.94,-155.7,812.2,-7.4,498,9290,0.00,2.00,0.00,0.000,6,0.000,0.090,2556,1538,3600,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9616,-0.94,-155.7,837.1,-7.7,509,9623,0.12,1.95,0.00,0.000,4,0.267,0.113,2582,2574,3599,0,0,0,0,0,0,14.24,14.29,28.83
$GC,9705,-0.94,-155.7,843.5,-7.3,512,9711,0.00,2.00,0.00,0.000,6,0.000,0.119,2583,1551,3599,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10037,-0.94,-155.7,866.3,-6.9,523,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1550,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10335,-0.98,-155.7,888.7,-7.7,533,10341,0.00,2.17,0.00,0.000,4,0.000,0.148,2582,466,3596,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10535,-0.98,-155.7,905.3,-9.5,539,10543,0.00,2.00,0.00,0.000,6,0.000,0.096,2579,1538,3595,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10846,-1.02,-155.7,937.2,-9.9,550,10851,0.00,2.17,0.00,0.000,4,0.000,0.151,2579,456,3594,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10953,-1.02,-155.7,946.7,-10.3,553,10962,0.00,2.03,0.00,0.000,6,0.000,0.097,2574,1532,3593,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11267,-1.04,-155.7,981.2,-10.5,564,11272,0.00,2.15,0.00,0.000,4,0.000,0.152,2573,457,3593,0,0,0,0,0,0,28.83,14.10,28.83
$STATE,11351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11351,begin apogee
$GC,11360,-0.23,0.0,991.2,-11.0,567,11576,0.88,0.00,209.12,1.507,4,0.233,0.000,2807,1530,2989,0,0,0,0,0,0,14.04,28.83,13.35
$STATE,11577,end apogee,CONTROL_FINISHED_OK
$STATE,11577,begin climb
$GC,11580,0.84,155.7,1006.4,0.0,574,11747,1.10,2.05,157.62,1.799,4,0.114,0.125,3159,2581,2357,0,0,0,0,0,0,14.12,14.08,13.19
$GC,11976,0.81,188.9,998.6,6.1,588,12015,0.00,2.15,33.97,1.740,6,0.000,0.144,3166,1519,2219,0,0,0,0,0,0,28.83,14.32,13.45
$GC,12316,0.78,205.7,975.5,6.6,599,12336,0.00,0.00,17.52,1.707,6,0.000,0.000,3166,1519,2152,0,0,0,0,0,0,28.83,28.83,13.60
$GC,12619,0.75,206.8,954.0,7.1,609,12625,0.12,2.03,0.00,0.000,4,0.307,0.128,3135,2578,2140,0,0,0,0,0,0,14.25,14.36,28.83
$GC,12725,0.73,208.7,947.6,7.1,612,12734,0.00,2.12,0.00,0.000,6,0.000,0.142,3143,1521,2138,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13036,0.73,208.7,923.8,7.5,623,13043,0.00,2.15,0.00,0.000,4,0.000,0.169,3151,457,2137,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13085,0.71,208.7,921.3,7.6,624,13094,0.12,2.00,0.00,0.000,6,0.292,0.104,3124,1524,2137,0,0,0,0,0,0,14.25,14.47,28.83
$GC,13397,0.71,208.7,893.5,8.8,635,13403,0.00,1.98,0.00,0.000,4,0.000,0.125,3124,2579,2136,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13516,0.71,208.7,882.2,9.5,639,13523,0.00,2.08,0.00,0.000,6,0.000,0.138,3132,1535,2135,0,0,0,0,0,0,28.83,14.32,28.83
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$STATE,23296,end climb,SURFACE_DEPTH_REACHED
$STATE,23296,begin surface coast
$FINISH,1.3,1.010620
$STATE,23327,end surface coast,CONTROL_FINISHED_OK
$STATE,23328,begin surface
$SM_CCo,23350,11.30,0.133,0,0,1562,350.04
$SM_GC,2.90,8.75,0.15,11.30,0.071,0.131,0.133,145,1529,1562,-8.53,-0.54,350.04,0,0,0,0,0,0,14.43,14.47,14.37
$IRIDIUM_FIX,2411.01,-3739.02,181212,212142
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.87
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7656992
$TM_FREEKB,4846368
$24V_AH,13.2,125.155
$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,22.950,182.750,540.900,11.300,0.000,0.000,0.000,476.750,0.000,0.000,15.142,3206.997,16650.295,998.730,2692.906,589.608,0.000,2638.806,0.000,2117.185,0.000,0.542,0.000
$DEVICE_MAMPS,351.900,169.065,1799.280,133.110,0.000,0.000,0.000,175.950,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23373.000,5488.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.938,13.253,0.000,0.000
$MEM,345624
$DATA_FILE_SIZE,40082,1136
$CAP_FILE_SIZE,240575,0
$CFSIZE,260034560,208752640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,159.0,1
$GPS,191212,101353,2420.568,-3736.790,37,0.8,37,-13.9