version: 66.11
glider: 190
mission: 6
dive: 323
start: 12 26 112 18 49 59
data:
$ID,190
$MISSION,6
$DIVE,323
$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,-13304.377
$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,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
$GPS1,261212,183634,2453.615,-3739.062,37,0.9,37,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-61.5
$GPS2,261212,184929,2453.586,-3739.046,18,1.0,18,-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,346.2,50253,-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,-11.40,0.000,2,0.000,0.000,143,1526,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.4,0.0,1,138,10.62,1.92,-78.30,0.000,4,0.330,0.126,2607,2576,3624,0,0,0,0,0,0,14.13,14.28,14.71
$GC,371,-0.84,-155.7,24.7,-8.7,34,377,0.00,2.00,0.00,0.000,6,0.000,0.118,2607,1517,3622,0,0,0,0,0,0,28.83,14.20,28.83
$GC,678,-0.84,-155.7,53.1,-10.1,65,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1518,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.84,-155.7,85.6,-11.2,95,986,0.00,2.00,0.00,0.000,4,0.000,0.108,2605,2576,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1039,-0.84,-155.7,92.5,-11.5,101,1048,0.00,2.03,0.00,0.000,6,0.000,0.117,2605,1525,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1349,-0.84,-155.7,122.7,-8.4,132,1357,0.00,1.98,0.00,0.000,4,0.000,0.110,2605,2573,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1398,-0.84,-155.7,126.7,-8.2,137,1408,0.00,2.03,0.00,0.000,6,0.000,0.118,2605,1529,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1709,-0.87,-155.7,152.6,-8.4,168,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1530,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.90,-155.7,179.6,-8.6,199,2027,0.00,2.08,0.00,0.000,4,0.000,0.140,2605,463,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2108,-0.90,-155.7,187.9,-9.0,208,2116,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1524,3626,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2419,-0.92,-155.7,212.8,-8.1,239,2427,0.00,1.95,0.00,0.000,4,0.000,0.107,2604,2574,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2499,-0.96,-155.7,219.2,-8.1,247,2507,0.00,2.00,0.00,0.000,6,0.000,0.116,2610,1526,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2809,-1.00,-155.7,246.3,-9.2,278,2817,0.12,2.08,0.00,0.000,4,0.132,0.141,2549,460,3625,0,0,0,0,0,0,14.58,14.17,28.83
$GC,2857,-1.00,-155.7,250.5,-10.8,282,2861,0.00,1.92,0.00,0.000,6,0.000,0.087,2549,1521,3625,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3158,-0.97,-155.7,281.8,-9.7,292,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1522,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3459,-0.95,-155.7,308.5,-8.7,302,3466,0.12,1.92,0.00,0.000,4,0.270,0.103,2570,2573,3624,0,0,0,0,0,0,14.36,14.35,28.83
$GC,3527,-0.95,-155.7,313.3,-8.3,304,3535,0.00,2.03,0.00,0.000,6,0.000,0.116,2570,1518,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3849,-0.95,-155.7,341.8,-9.0,315,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1518,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4148,-0.95,-155.7,371.1,-10.0,325,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1518,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4449,-0.95,-155.7,401.6,-10.3,335,4455,0.00,1.98,0.00,0.000,4,0.000,0.106,2565,2574,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4527,-0.95,-155.7,407.9,-10.3,337,4536,0.00,2.00,0.00,0.000,6,0.000,0.114,2565,1527,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4838,-0.95,-155.7,443.3,-10.8,348,4846,0.00,2.08,0.00,0.000,4,0.000,0.137,2565,461,3621,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4888,-0.95,-155.7,446.9,-11.0,349,4897,0.00,1.92,0.00,0.000,6,0.000,0.086,2558,1528,3620,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5199,-0.93,-155.7,484.5,-11.3,360,5207,0.12,1.92,0.00,0.000,4,0.271,0.109,2579,2568,3620,0,0,0,0,0,0,14.37,14.33,28.83
$GC,5327,-0.93,-155.7,496.6,-10.0,364,5335,0.00,1.98,0.00,0.000,6,0.000,0.116,2579,1543,3619,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5648,-0.93,-155.7,526.5,-8.6,375,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1543,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5948,-0.93,-155.7,549.6,-7.3,385,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1543,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6250,-0.93,-155.7,570.2,-6.8,395,6255,0.00,1.90,0.00,0.000,4,0.000,0.109,2573,2580,3616,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6297,-0.93,-155.7,572.2,-6.8,396,6306,0.00,2.00,0.00,0.000,6,0.000,0.116,2573,1543,3616,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6613,-0.95,-155.7,595.8,-7.2,407,6618,0.00,2.10,0.00,0.000,4,0.000,0.143,2573,460,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6747,-0.95,-155.7,605.6,-8.1,411,6751,0.00,1.98,0.00,0.000,6,0.000,0.090,2566,1538,3615,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7049,-0.95,-155.7,632.4,-8.6,421,7055,0.00,1.95,0.00,0.000,4,0.000,0.113,2558,2576,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7157,-0.95,-155.7,640.5,-9.0,424,7161,0.00,2.03,0.00,0.000,6,0.000,0.117,2558,1531,3613,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7458,-0.95,-155.7,671.8,-10.1,434,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1531,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7759,-0.95,-155.7,703.9,-11.0,444,7766,0.00,1.98,0.00,0.000,4,0.000,0.113,2553,2571,3611,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7867,-0.95,-155.7,713.9,-11.1,447,7871,0.12,2.00,0.00,0.000,6,0.239,0.119,2582,1541,3610,0,0,0,0,0,0,14.19,14.27,28.83
$GC,8171,-0.95,-155.7,747.8,-10.5,457,8177,0.00,1.98,0.00,0.000,4,0.000,0.116,2575,2584,3609,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8258,-0.95,-155.7,757.2,-10.5,460,8265,0.00,2.03,0.00,0.000,6,0.000,0.119,2575,1545,3608,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8588,-0.95,-155.7,791.3,-10.2,471,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1545,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,-0.95,-155.7,820.7,-9.4,481,8895,0.00,1.98,0.00,0.000,4,0.000,0.116,2569,2575,3606,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8948,-0.95,-155.7,826.0,-9.1,483,8955,0.00,2.00,0.00,0.000,6,0.000,0.122,2569,1552,3609,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9281,-0.98,-155.7,851.3,-6.9,494,9287,0.00,2.17,0.00,0.000,4,0.000,0.151,2569,460,3605,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9369,-0.98,-155.7,857.5,-6.8,497,9375,0.00,2.00,0.00,0.000,6,0.000,0.095,2563,1540,3604,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9701,-0.98,-155.7,876.0,-5.5,508,9706,0.00,1.95,0.00,0.000,4,0.000,0.122,2556,2579,3603,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9828,-0.98,-155.7,882.7,-5.5,512,9835,0.00,2.03,0.00,0.000,6,0.000,0.124,2556,1550,3602,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10149,-0.98,-155.7,905.3,-7.5,523,10155,0.00,2.00,0.00,0.000,4,0.000,0.122,2553,2577,3601,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10217,-0.98,-155.7,910.2,-7.9,525,10221,0.00,2.03,0.00,0.000,6,0.000,0.126,2553,1552,3601,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10532,-0.98,-155.7,940.8,-10.2,536,10537,0.00,1.95,0.00,0.000,4,0.000,0.123,2552,2579,3599,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10579,-0.98,-155.7,943.9,-10.3,537,10588,0.00,2.00,0.00,0.000,6,0.000,0.124,2557,1567,3599,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10890,-0.98,-155.7,981.5,-11.4,548,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1567,3598,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10976,begin apogee
$GC,10984,-0.23,0.0,992.0,-11.7,551,11142,0.93,0.00,153.70,1.812,4,0.226,0.000,2805,1512,2991,0,0,0,0,0,0,13.95,28.83,13.17
$STATE,11146,end apogee,CONTROL_FINISHED_OK
$STATE,11146,begin climb
$GC,11148,0.84,155.7,1003.8,0.0,556,11318,1.10,2.08,157.73,1.819,4,0.116,0.122,3157,2575,2351,0,0,0,0,0,0,14.09,14.06,13.15
$GC,11550,0.81,183.7,996.3,6.3,570,11587,0.00,2.08,28.77,1.763,6,0.000,0.134,3165,1527,2236,0,0,0,0,0,0,28.83,14.29,13.43
$GC,11900,0.77,183.7,967.8,8.4,582,11906,0.00,2.15,0.00,0.000,4,0.000,0.162,3173,458,2227,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12140,0.72,183.7,946.2,9.0,590,12147,0.15,1.92,0.00,0.000,6,0.271,0.093,3132,1520,2227,0,0,0,0,0,0,14.16,14.42,28.83
$GC,12472,0.72,183.7,921.5,7.3,601,12477,0.00,1.98,0.00,0.000,4,0.000,0.117,3132,2575,2225,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12539,0.73,188.5,917.3,7.0,603,12546,0.00,2.12,0.00,0.000,6,0.000,0.143,3140,1518,2224,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12863,0.71,194.5,894.0,7.0,614,12875,0.00,0.00,10.50,1.646,6,0.000,0.000,3139,1517,2196,0,0,0,0,0,0,28.83,28.83,13.59
$GC,13159,0.71,194.5,871.1,7.8,624,13166,0.00,2.17,0.00,0.000,4,0.000,0.173,3147,462,2187,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13280,0.68,194.5,861.0,8.5,628,13287,0.10,1.95,0.00,0.000,6,0.270,0.100,3120,1521,2187,0,0,0,0,0,0,14.14,14.39,28.83
$GC,13611,0.68,194.5,833.4,8.6,639,13618,0.00,2.03,0.00,0.000,4,0.000,0.122,3121,2570,2186,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13690,0.68,194.5,828.1,8.8,641,13698,0.00,2.10,0.00,0.000,6,0.000,0.142,3127,1517,2186,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13999,0.68,194.5,800.2,8.2,652,14000,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1517,2186,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23272,end climb,SURFACE_DEPTH_REACHED
$STATE,23272,begin surface coast
$FINISH,1.3,1.012840
$STATE,23300,end surface coast,CONTROL_FINISHED_OK
$STATE,23300,begin surface
$SM_CCo,23324,23.58,0.129,0,0,1561,350.04
$SM_GC,2.46,8.82,2.10,23.58,0.080,0.132,0.129,148,1523,1561,-8.53,0.51,350.04,0,0,0,0,0,0,14.35,14.17,14.35
$IRIDIUM_FIX,2444.18,-3738.75,261212,121204
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.28
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7646240
$TM_FREEKB,4600480
$24V_AH,13.2,136.707
$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,22.600,165.850,464.575,23.575,0.000,0.000,0.000,422.375,0.250,0.000,19.692,3211.487,16817.701,855.891,2623.494,602.461,0.000,2401.847,0.000,2077.702,0.000,0.542,0.000
$DEVICE_MAMPS,330.480,192.015,1819.170,128.520,0.000,0.000,0.000,177.480,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23347.000,5635.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.922,13.226,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43354,1145
$CAP_FILE_SIZE,237627,0
$CFSIZE,260034560,205058048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.007,210.2,1
$GPS,271212,012034,2455.179,-3739.990,41,1.0,41,-13.8