version: 66.11
glider: 190
mission: 6
dive: 335
start: 12 29 112 23 47 32
data:
$ID,190
$MISSION,6
$DIVE,335
$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,-13336.919
$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,16
$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,10
$MINV_10V,10
$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
$GPS1,291212,233352,2508.398,-3754.479,38,0.9,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-64.6
$GPS2,291212,234700,2508.385,-3754.491,18,0.9,18,-13.9
$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,346.4,12580,-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,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.20,0.000,2,0.000,0.000,136,1520,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,159,11.02,2.05,-99.95,0.000,4,0.347,0.134,2613,2585,3626,0,0,0,0,0,0,14.25,14.23,14.69
$GC,389,-0.84,-155.7,25.9,-9.7,36,398,0.00,2.10,0.00,0.000,6,0.000,0.121,2613,1516,3631,0,0,0,0,0,0,28.83,14.23,28.83
$GC,700,-0.84,-155.7,54.1,-9.0,67,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1516,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-0.84,-155.7,80.7,-8.9,97,1009,0.00,2.03,0.00,0.000,4,0.000,0.108,2608,2578,3630,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1101,-0.86,-155.7,89.4,-8.7,107,1108,0.00,2.05,0.00,0.000,6,0.000,0.119,2609,1517,3630,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1412,-0.89,-155.7,118.3,-9.6,138,1419,0.00,2.03,0.00,0.000,4,0.000,0.141,2609,460,3631,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1561,-0.89,-155.7,134.0,-10.5,153,1569,0.00,1.88,0.00,0.000,6,0.000,0.084,2605,1494,3630,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1870,-0.89,-155.7,166.2,-10.6,184,1878,0.00,2.03,0.00,0.000,4,0.000,0.103,2605,2579,3631,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1951,-0.92,-155.7,174.5,-10.5,192,1959,0.00,2.08,0.00,0.000,6,0.000,0.116,2605,1500,3631,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2261,-0.96,-155.7,204.9,-9.6,223,2269,0.00,2.03,0.00,0.000,4,0.000,0.139,2605,460,3631,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2380,-0.96,-155.7,216.3,-9.6,235,2388,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1487,3630,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2691,-0.99,-155.7,241.1,-7.5,266,2698,0.00,2.03,0.00,0.000,4,0.000,0.141,2604,456,3631,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2731,-0.99,-155.7,244.3,-8.1,270,2740,0.00,1.83,0.00,0.000,6,0.000,0.080,2604,1474,3631,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3051,-1.03,-155.7,269.8,-8.5,286,3058,0.15,2.03,0.00,0.000,4,0.123,0.106,2539,2570,3630,0,0,0,0,0,0,14.63,14.33,28.83
$GC,3080,-1.06,-155.7,272.8,-8.9,287,3088,0.00,2.10,0.00,0.000,6,0.000,0.117,2539,1473,3629,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3414,-1.03,-155.7,310.2,-11.7,298,3419,0.00,1.95,0.00,0.000,4,0.000,0.142,2539,459,3630,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3519,-0.99,-155.7,321.7,-12.5,301,3530,0.12,1.83,0.00,0.000,6,0.269,0.086,2564,1469,3630,0,0,0,0,0,0,14.23,14.45,28.83
$GC,3833,-0.99,-155.7,357.2,-10.2,312,3838,0.00,2.05,0.00,0.000,4,0.000,0.109,2556,2580,3629,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3969,-0.99,-155.7,368.8,-9.7,316,3978,0.00,2.12,0.00,0.000,6,0.000,0.119,2556,1479,3629,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4281,-0.99,-155.7,400.1,-9.5,327,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1479,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4580,-0.99,-155.7,427.5,-9.1,337,4587,0.00,2.08,0.00,0.000,4,0.000,0.109,2553,2574,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4640,-0.99,-155.7,432.8,-9.1,339,4648,0.00,2.10,0.00,0.000,6,0.000,0.119,2553,1487,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4971,-0.99,-155.7,463.7,-9.4,350,4977,0.00,2.05,0.00,0.000,4,0.000,0.112,2552,2567,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5030,-0.99,-155.7,469.2,-9.2,352,5037,0.00,2.10,0.00,0.000,6,0.000,0.122,2552,1487,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5361,-0.99,-155.7,500.4,-9.8,363,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1487,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,-0.99,-155.7,529.0,-9.7,373,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1487,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,-0.99,-155.7,558.4,-9.9,383,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1487,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.99,-155.7,589.8,-10.4,393,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1487,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6560,-0.99,-155.7,620.0,-9.9,403,6568,0.00,2.08,0.00,0.000,4,0.000,0.111,2549,2574,3620,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6660,-0.99,-155.7,628.6,-9.6,406,6667,0.00,2.10,0.00,0.000,6,0.000,0.120,2549,1495,3619,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6980,-0.99,-155.7,661.7,-10.2,417,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1495,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,-0.99,-155.7,693.0,-10.4,427,7288,0.00,2.08,0.00,0.000,4,0.000,0.116,2549,2573,3617,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7330,-0.99,-155.7,695.8,-10.1,428,7339,0.00,2.10,0.00,0.000,6,0.000,0.124,2548,1498,3617,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7640,-0.99,-155.7,726.5,-8.7,439,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1498,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,-0.99,-155.7,750.9,-8.0,449,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1498,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8240,-0.99,-155.7,776.0,-8.9,459,8248,0.00,2.10,0.00,0.000,4,0.000,0.119,2549,2577,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8319,-0.99,-155.7,781.4,-8.9,461,8323,0.00,2.12,0.00,0.000,6,0.000,0.124,2549,1497,3612,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8621,-0.99,-155.7,813.1,-10.3,471,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1497,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8920,-0.99,-155.7,845.5,-10.9,481,8928,0.00,2.10,0.00,0.000,4,0.000,0.119,2543,2577,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8981,-0.99,-155.7,851.8,-10.6,483,8988,0.00,2.10,0.00,0.000,6,0.000,0.125,2543,1507,3610,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9312,-0.99,-155.7,885.7,-9.8,494,9317,0.00,2.08,0.00,0.000,4,0.000,0.151,2543,457,3609,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9371,-0.97,-155.7,891.9,-10.0,496,9378,0.10,1.92,0.00,0.000,6,0.243,0.099,2568,1496,3609,0,0,0,0,0,0,13.97,14.24,28.83
$GC,9704,-0.97,-155.7,918.2,-7.5,507,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1496,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10000,-0.97,-155.7,939.3,-6.9,517,10008,0.00,2.10,0.00,0.000,4,0.000,0.123,2566,2578,3606,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10080,-0.97,-155.7,943.5,-7.1,519,10089,0.00,2.12,0.00,0.000,6,0.000,0.129,2566,1511,3606,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10392,-1.00,-155.7,969.2,-8.2,530,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1511,3605,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10627,begin apogee
$GC,10634,-0.23,0.0,990.1,-8.9,538,10792,0.85,0.00,153.02,1.838,4,0.197,0.000,2808,1510,2989,0,0,0,0,0,0,13.97,28.83,13.16
$STATE,10795,end apogee,CONTROL_FINISHED_OK
$STATE,10795,begin climb
$GC,10798,0.84,155.7,999.9,0.0,543,10966,1.10,2.10,157.62,1.808,4,0.116,0.125,3160,2579,2357,0,0,0,0,0,0,14.10,14.07,13.16
$GC,11097,0.81,185.0,995.8,6.2,554,11133,0.00,2.08,31.40,1.756,6,0.000,0.142,3168,1516,2234,0,0,0,0,0,0,28.83,14.28,13.35
$GC,11455,0.77,185.0,969.8,7.6,566,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1516,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,0.73,185.0,946.7,7.8,576,11757,0.17,0.00,0.00,0.000,6,0.287,0.000,3128,1515,2215,0,0,0,0,0,0,14.23,28.83,28.83
$GC,12055,0.73,185.0,924.9,7.2,586,12061,0.00,2.05,0.00,0.000,4,0.000,0.126,3130,2571,2213,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12134,0.73,186.1,920.5,7.1,588,12142,0.00,2.10,0.00,0.000,6,0.000,0.145,3135,1525,2212,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12445,0.75,209.2,898.0,6.4,599,12474,0.00,2.17,24.17,1.733,4,0.000,0.177,3144,460,2131,0,0,0,0,0,0,28.83,14.43,13.58
$GC,12543,0.76,226.8,891.9,6.6,602,12567,0.00,2.00,19.38,1.688,6,0.000,0.104,3143,1526,2064,0,0,0,0,0,0,28.83,14.42,13.52
$GC,12886,0.77,256.4,869.2,6.2,614,12924,0.00,2.15,32.33,1.704,4,0.000,0.177,3151,461,1936,0,0,0,0,0,0,28.83,14.28,13.51
$GC,12964,0.79,279.2,865.2,6.5,616,12995,0.00,2.00,23.95,1.662,6,0.000,0.104,3151,1518,1847,0,0,0,0,0,0,28.83,14.33,13.42
$GC,13306,0.79,279.2,838.0,8.1,628,13314,0.00,2.20,0.00,0.000,4,0.000,0.177,3158,463,1833,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13355,0.79,279.2,835.5,8.3,629,13363,0.00,2.00,0.00,0.000,6,0.000,0.103,3159,1527,1832,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13665,0.79,279.2,807.1,8.6,640,13673,0.00,2.22,0.00,0.000,4,0.000,0.174,3166,451,1831,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13745,0.79,279.2,801.5,9.0,642,13754,0.00,2.00,0.00,0.000,6,0.000,0.103,3165,1514,1830,0,0,0,0,0,0,28.83,14.40,28.83
$GC,14055,0.79,279.2,769.5,10.1,653,14062,0.00,2.20,0.00,0.000,4,0.000,0.174,3173,460,1830,0,0,0,0,0,0,28.83,14.21,28.83
$GC,14094,0.79,279.2,766.3,10.3,654,14098,0.00,1.98,0.00,0.000,6,0.000,0.103,3174,1512,1829,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,22735,end climb,SURFACE_DEPTH_REACHED
$STATE,22735,begin surface coast
$FINISH,1.4,1.003331
$STATE,22766,end surface coast,CONTROL_FINISHED_OK
$STATE,22767,begin surface
$SM_CCo,22790,20.33,0.128,0,0,1562,350.04
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$IRIDIUM_FIX,2456.07,-3751.66,291212,171725
$TT8_MAMPS,0.023968,0.023968
$HUMID,56.77
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7641632
$TM_FREEKB,4495296
$24V_AH,13.2,141.772
$10V_AH,11.9,0.000
$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,22.775,164.350,469.025,20.325,0.000,0.000,0.000,447.700,0.500,0.000,19.862,3107.580,16426.027,894.077,2570.726,592.620,0.000,2437.103,0.000,2011.616,0.000,0.540,0.000
$DEVICE_MAMPS,347.310,176.715,1837.530,127.755,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.092,13.256,0.000,0.000
$MEM,345576
$DATA_FILE_SIZE,40020,1133
$CAP_FILE_SIZE,231234,0
$CFSIZE,260034560,203517952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,303.2,1
$GPS,301212,060904,2510.237,-3755.766,36,0.9,36,-13.9