version: 66.11
glider: 190
mission: 6
dive: 321
start: 12 26 112 5 39 18
data:
$ID,190
$MISSION,6
$DIVE,321
$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,4
$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,-13301.863
$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,9
$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
$GPS1,261212,052534,2451.403,-3737.069,30,1.2,30,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-59.6
$GPS2,261212,053848,2451.407,-3737.083,15,1.4,15,-13.8
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,342.4,55440,-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,-11.57,0.000,2,0.000,0.000,140,1516,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,148,10.75,2.00,-86.68,0.000,4,0.336,0.126,2614,2579,3625,0,0,0,0,0,0,14.27,14.29,14.70
$GC,380,-0.84,-155.7,24.5,-11.3,35,387,0.00,2.03,0.00,0.000,6,0.000,0.112,2613,1512,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,689,-0.84,-155.7,56.3,-9.9,66,697,0.00,2.00,0.00,0.000,4,0.000,0.107,2610,2574,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,858,-0.84,-155.7,71.2,-8.1,83,866,0.00,2.03,0.00,0.000,6,0.000,0.116,2610,1531,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1168,-0.84,-155.7,99.1,-8.8,114,1177,0.00,1.95,0.00,0.000,4,0.000,0.108,2606,2566,3625,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1249,-0.84,-155.7,105.9,-8.3,122,1257,0.00,2.00,0.00,0.000,6,0.000,0.119,2603,1538,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1561,-0.87,-155.7,127.6,-6.6,153,1569,0.00,2.10,0.00,0.000,4,0.000,0.135,2606,450,3625,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1610,-0.87,-155.7,131.1,-6.9,158,1617,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1534,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1919,-0.90,-155.7,153.5,-7.8,189,1929,0.00,2.15,0.00,0.000,4,0.000,0.143,2605,450,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2038,-0.90,-155.7,163.7,-8.6,201,2047,0.00,1.98,0.00,0.000,6,0.000,0.091,2605,1521,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2348,-0.90,-155.7,189.3,-8.8,232,2356,0.00,2.00,0.00,0.000,4,0.000,0.110,2605,2581,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2419,-0.93,-155.7,195.3,-8.7,239,2427,0.00,2.08,0.00,0.000,6,0.000,0.119,2604,1513,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2731,-0.96,-155.7,223.6,-9.8,270,2738,0.00,2.08,0.00,0.000,4,0.000,0.147,2605,454,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2898,-0.96,-155.7,241.4,-10.4,287,2906,0.00,1.95,0.00,0.000,6,0.000,0.092,2605,1516,3626,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3209,-0.98,-155.7,268.4,-8.3,304,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1514,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3509,-1.02,-155.7,290.9,-7.2,314,3511,0.15,0.00,0.00,0.000,6,0.125,0.000,2540,1517,3625,0,0,0,0,0,0,14.64,28.83,28.83
$GC,3809,-0.99,-155.7,316.2,-8.5,324,3816,0.12,1.98,0.00,0.000,4,0.253,0.110,2562,2577,3625,0,0,0,0,0,0,14.39,14.35,28.83
$GC,3907,-0.99,-155.7,323.4,-8.1,327,3915,0.00,2.10,0.00,0.000,6,0.000,0.122,2562,1497,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4230,-0.99,-155.7,354.8,-10.3,338,4235,0.00,2.00,0.00,0.000,4,0.000,0.115,2554,2580,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4267,-0.99,-155.7,358.0,-10.5,339,4275,0.00,2.10,0.00,0.000,6,0.000,0.125,2554,1504,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4591,-0.97,-155.7,395.8,-11.6,350,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1507,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4888,-0.94,-155.7,430.7,-11.4,360,4896,0.12,2.00,0.00,0.000,4,0.261,0.111,2576,2572,3622,0,0,0,0,0,0,14.38,14.34,28.83
$GC,5028,-0.94,-155.7,443.0,-10.2,364,5036,0.00,2.05,0.00,0.000,6,0.000,0.121,2577,1518,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5339,-0.94,-155.7,476.5,-10.0,375,5346,0.00,2.00,0.00,0.000,4,0.000,0.113,2569,2575,3620,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5428,-0.94,-155.7,485.1,-9.6,378,5435,0.00,2.03,0.00,0.000,6,0.000,0.122,2569,1527,3619,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5761,-0.94,-155.7,518.6,-10.2,389,5766,0.00,1.95,0.00,0.000,4,0.000,0.116,2564,2574,3618,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5818,-0.94,-155.7,524.6,-10.1,391,5826,0.00,2.05,0.00,0.000,6,0.000,0.122,2564,1526,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6151,-0.94,-155.7,557.9,-9.9,402,6157,0.00,1.98,0.00,0.000,4,0.000,0.116,2557,2582,3617,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6217,-0.94,-155.7,563.8,-9.8,404,6221,0.00,2.05,0.00,0.000,6,0.000,0.121,2557,1531,3619,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6529,-0.94,-155.7,597.8,-10.9,415,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1531,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6831,-0.94,-155.7,633.7,-12.1,425,6836,0.00,1.95,0.00,0.000,4,0.000,0.116,2553,2576,3614,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6919,-0.94,-155.7,644.7,-12.2,428,6927,0.12,2.03,0.00,0.000,6,0.246,0.120,2581,1540,3614,0,0,0,0,0,0,14.20,14.29,28.83
$GC,7252,-0.97,-155.7,682.0,-11.0,439,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1539,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7550,-1.01,-155.7,711.2,-9.0,449,7556,0.00,2.15,0.00,0.000,4,0.000,0.148,2581,459,3612,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7589,-1.04,-155.7,714.0,-9.0,450,7597,0.00,2.00,0.00,0.000,6,0.000,0.091,2575,1544,3612,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7913,-1.07,-155.7,739.0,-7.2,461,7918,0.00,2.15,0.00,0.000,4,0.000,0.145,2575,460,3611,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7949,-1.09,-155.7,741.2,-7.1,462,7956,0.00,1.95,0.00,0.000,6,0.000,0.091,2567,1527,3610,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8271,-1.09,-155.7,763.7,-6.6,473,8276,0.00,1.98,0.00,0.000,4,0.000,0.118,2564,2577,3609,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8419,-1.09,-155.7,774.6,-7.2,478,8428,0.00,2.05,0.00,0.000,6,0.000,0.124,2564,1539,3608,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8753,-1.11,-155.7,803.9,-9.8,489,8758,0.00,2.12,0.00,0.000,4,0.000,0.150,2564,460,3607,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8798,-1.11,-155.7,807.2,-10.2,490,8802,0.00,2.00,0.00,0.000,6,0.000,0.091,2557,1543,3607,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9099,-1.11,-155.7,843.7,-11.9,500,9107,0.00,2.00,0.00,0.000,4,0.000,0.119,2552,2585,3605,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9199,-1.11,-155.7,854.4,-12.0,503,9206,0.00,2.05,0.00,0.000,6,0.000,0.123,2553,1546,3605,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9519,-1.11,-155.7,894.2,-11.8,514,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1546,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9820,-1.11,-155.7,926.9,-10.5,524,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1546,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10119,-1.11,-155.7,954.3,-8.5,534,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1546,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10419,-1.11,-155.7,978.1,-7.7,544,10427,0.00,2.03,0.00,0.000,4,0.000,0.124,2553,2576,3600,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10510,-1.11,-155.7,984.5,-7.3,547,10516,0.00,2.05,0.00,0.000,6,0.000,0.130,2553,1550,3600,0,0,0,0,0,0,28.83,14.06,28.83
$STATE,10596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10596,begin apogee
$GC,10603,-0.23,0.0,991.1,-7.3,550,10758,0.93,0.00,150.60,1.841,4,0.219,0.000,2808,1521,2991,0,0,0,0,0,0,13.97,28.83,13.18
$STATE,10763,end apogee,CONTROL_FINISHED_OK
$STATE,10763,begin climb
$GC,10765,0.84,155.7,997.8,0.0,555,10933,1.10,2.08,158.57,1.813,4,0.116,0.125,3160,2585,2354,0,0,0,0,0,0,14.11,14.07,13.18
$GC,11022,0.80,178.2,993.1,6.5,564,11050,0.00,2.10,23.52,1.729,6,0.000,0.135,3169,1522,2261,0,0,0,0,0,0,28.83,14.20,13.34
$GC,11352,0.75,178.2,964.8,8.0,575,11360,0.15,2.00,0.00,0.000,4,0.317,0.124,3136,2571,2249,0,0,0,0,0,0,14.21,14.38,28.83
$GC,11412,0.72,178.2,960.2,7.8,577,11419,0.00,2.05,0.00,0.000,6,0.000,0.144,3144,1529,2248,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11744,0.69,178.2,934.5,7.9,588,11750,0.12,2.10,0.00,0.000,4,0.302,0.164,3125,460,2247,0,0,0,0,0,0,14.30,14.31,28.83
$GC,11811,0.67,178.2,929.7,8.0,590,11819,0.00,2.00,0.00,0.000,6,0.000,0.103,3125,1528,2246,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12131,0.67,178.2,904.2,7.6,601,12139,0.00,2.20,0.00,0.000,4,0.000,0.171,3134,459,2245,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12201,0.67,178.2,899.5,7.7,603,12208,0.00,1.98,0.00,0.000,6,0.000,0.103,3134,1518,2245,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12525,0.68,193.7,876.3,6.7,614,12545,0.00,2.03,15.20,1.693,4,0.000,0.126,3134,2581,2198,0,0,0,0,0,0,28.83,14.56,13.59
$GC,12592,0.69,210.1,872.7,6.7,615,12617,0.12,2.15,18.90,1.694,6,0.308,0.146,3116,1506,2134,0,0,0,0,0,0,14.25,14.38,13.55
$GC,12926,0.70,227.7,849.5,6.6,627,12955,0.00,2.10,19.15,1.681,4,0.000,0.129,3116,2583,2053,0,0,0,0,0,0,28.83,14.45,13.59
$GC,13046,0.70,232.3,841.0,7.0,631,13052,0.00,2.08,0.00,0.000,6,0.000,0.139,3123,1531,2049,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13378,0.70,232.3,817.2,7.4,642,13383,0.00,2.10,0.00,0.000,4,0.000,0.158,3132,457,2048,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13424,0.70,232.3,815.0,7.4,643,13428,0.00,1.98,0.00,0.000,6,0.000,0.093,3132,1528,2046,0,0,0,0,0,0,28.83,14.43,28.83
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$STATE,22353,end climb,SURFACE_DEPTH_REACHED
$STATE,22353,begin surface coast
$FINISH,1.4,1.003632
$STATE,22385,end surface coast,CONTROL_FINISHED_OK
$STATE,22385,begin surface
$SM_CCo,22407,18.73,0.129,0,0,1562,350.04
$SM_GC,1.95,8.70,0.00,18.73,0.065,0.000,0.129,148,1522,1562,-8.53,0.06,350.04,0,0,0,0,0,0,14.34,28.83,14.35
$IRIDIUM_FIX,2439.44,-3733.97,251212,222208
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.19
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7647008
$TM_FREEKB,4618336
$24V_AH,13.2,135.896
$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,22.925,163.825,472.300,18.725,0.000,0.000,0.000,446.700,0.250,0.000,17.130,3165.574,15984.416,848.860,2604.839,605.090,0.000,2404.764,0.000,2042.967,0.000,0.541,0.000
$DEVICE_MAMPS,335.835,232.560,1840.590,129.285,0.000,0.000,0.000,175.185,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22429.000,5666.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.161,13.220,0.000,0.000
$MEM,345560
$DATA_FILE_SIZE,40053,1116
$CAP_FILE_SIZE,233604,0
$CFSIZE,260034560,205336576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,181.1,1
$GPS,261212,115428,2452.634,-3737.944,37,0.9,37,-13.8