version: 66.11
glider: 190
mission: 6
dive: 338
start: 12 30 112 19 19 49
data:
$ID,190
$MISSION,6
$DIVE,338
$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,-13340.691
$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,8
$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
$GPS1,301212,190605,2513.012,-3759.708,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-63.7
$GPS2,301212,191917,2513.101,-3759.666,17,1.3,17,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,229.9,100310,-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,-11.12,0.000,2,0.000,0.000,142,1515,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.3,0.0,1,141,11.15,2.12,-81.12,0.000,4,0.354,0.167,2616,457,3625,0,0,0,0,0,0,14.20,14.16,14.70
$GC,371,-0.84,-155.7,30.1,-12.8,34,379,0.00,1.95,0.00,0.000,6,0.000,0.090,2610,1517,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,679,-0.84,-155.7,60.9,-9.9,65,688,0.00,2.03,0.00,0.000,4,0.000,0.109,2605,2585,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,741,-0.84,-155.7,66.8,-10.0,71,749,0.00,2.05,0.00,0.000,6,0.000,0.120,2606,1529,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1050,-0.84,-155.7,96.2,-8.7,102,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1530,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1350,-0.84,-155.7,120.8,-7.8,132,1358,0.00,2.10,0.00,0.000,4,0.000,0.138,2606,457,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1399,-0.84,-155.7,125.0,-8.7,137,1408,0.00,1.98,0.00,0.000,6,0.000,0.087,2605,1532,3628,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1710,-0.84,-155.7,151.6,-9.4,168,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1532,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2011,-0.87,-155.7,181.2,-9.3,198,2019,0.00,2.10,0.00,0.000,4,0.000,0.142,2605,457,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2089,-0.87,-155.7,189.0,-9.8,206,2100,0.00,1.95,0.00,0.000,6,0.000,0.086,2605,1525,3628,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2400,-0.91,-155.7,214.9,-8.3,237,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1525,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2701,-0.94,-155.7,239.1,-8.0,267,2708,0.00,2.10,0.00,0.000,4,0.000,0.141,2604,462,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2888,-0.94,-155.7,253.6,-8.2,283,2892,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1519,3627,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3203,-0.98,-155.7,280.2,-8.6,294,3208,0.00,2.08,0.00,0.000,4,0.000,0.143,2605,451,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3301,-0.98,-155.7,288.8,-9.4,297,3308,0.00,1.88,0.00,0.000,6,0.000,0.089,2604,1489,3627,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3623,-1.02,-155.7,319.2,-9.2,308,3629,0.12,2.03,0.00,0.000,4,0.139,0.140,2543,454,3626,0,0,0,0,0,0,14.64,14.27,28.83
$GC,3804,-0.98,-155.7,340.3,-12.1,314,3810,0.12,1.83,0.00,0.000,6,0.271,0.090,2567,1474,3626,0,0,0,0,0,0,14.23,14.45,28.83
$GC,4132,-0.98,-155.7,374.7,-10.2,325,4139,0.00,2.03,0.00,0.000,4,0.000,0.112,2561,2575,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4222,-0.98,-155.7,383.4,-9.8,328,4228,0.00,2.12,0.00,0.000,6,0.000,0.120,2561,1468,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4551,-0.98,-155.7,414.7,-9.2,339,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1468,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4851,-0.98,-155.7,440.1,-8.3,349,4859,0.00,2.08,0.00,0.000,4,0.000,0.109,2553,2572,3622,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4920,-0.98,-155.7,445.1,-8.3,351,4927,0.00,2.15,0.00,0.000,6,0.000,0.121,2554,1466,3622,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5240,-0.98,-155.7,473.2,-8.9,362,5248,0.00,2.12,0.00,0.000,4,0.000,0.111,2549,2582,3621,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5310,-0.98,-155.7,478.5,-9.0,364,5318,0.00,2.15,0.00,0.000,6,0.000,0.121,2549,1478,3620,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5631,-0.98,-155.7,509.8,-9.6,375,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1478,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5930,-0.98,-155.7,538.7,-9.3,385,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1479,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6231,-0.98,-155.7,565.6,-9.0,395,6238,0.00,2.10,0.00,0.000,4,0.000,0.116,2549,2575,3618,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6329,-0.98,-155.7,573.4,-8.7,398,6333,0.00,2.12,0.00,0.000,6,0.000,0.124,2550,1488,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6642,-0.98,-155.7,601.3,-8.8,409,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1488,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6942,-0.98,-155.7,627.4,-8.5,419,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1488,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7242,-0.98,-155.7,651.3,-7.6,429,7249,0.00,2.08,0.00,0.000,4,0.000,0.115,2548,2572,3615,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7310,-0.98,-155.7,656.0,-7.8,431,7314,0.00,2.12,0.00,0.000,6,0.000,0.124,2548,1490,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7623,-0.98,-155.7,683.5,-9.2,442,7630,0.00,2.05,0.00,0.000,4,0.000,0.149,2548,462,3612,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7663,-0.98,-155.7,686.4,-9.4,443,7670,0.10,1.88,0.00,0.000,6,0.227,0.093,2570,1481,3612,0,0,0,0,0,0,14.09,14.34,28.83
$GC,7985,-0.98,-155.7,717.0,-9.5,454,7991,0.00,2.05,0.00,0.000,4,0.000,0.115,2565,2577,3611,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8083,-1.01,-155.7,725.4,-9.4,457,8090,0.00,2.10,0.00,0.000,6,0.000,0.125,2565,1507,3610,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8405,-1.03,-155.7,757.2,-9.6,468,8410,0.00,2.08,0.00,0.000,4,0.000,0.150,2565,457,3609,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8626,-1.03,-155.7,779.1,-10.5,475,8631,0.00,1.88,0.00,0.000,6,0.000,0.093,2558,1490,3609,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8943,-1.03,-155.7,810.3,-9.4,486,8950,0.00,2.08,0.00,0.000,4,0.000,0.118,2553,2578,3607,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8991,-1.03,-155.7,813.0,-9.3,487,8995,0.00,2.15,0.00,0.000,6,0.000,0.127,2553,1488,3607,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9293,-1.03,-155.7,841.6,-8.7,497,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1488,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9592,-1.03,-155.7,867.0,-8.3,507,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1488,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9893,-1.03,-155.7,892.3,-8.5,517,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1488,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10192,-1.03,-155.7,918.0,-8.6,527,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1488,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10492,-1.03,-155.7,946.7,-10.1,537,10501,0.00,2.15,0.00,0.000,4,0.000,0.124,2553,2576,3599,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10562,-1.03,-155.7,952.7,-10.1,539,10570,0.00,2.17,0.00,0.000,6,0.000,0.129,2553,1486,3601,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10884,-1.03,-155.7,989.4,-11.5,550,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1488,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10910,begin apogee
$GC,10918,-0.23,0.0,992.8,-11.5,551,11092,0.93,0.00,165.23,2.238,4,0.224,0.000,2806,1519,2990,0,0,0,0,1,0,13.90,28.83,12.79
$STATE,11096,end apogee,CONTROL_FINISHED_OK
$STATE,11096,begin climb
$GC,11099,0.84,155.7,1005.9,0.0,557,11282,1.10,2.08,167.88,2.541,4,0.107,0.125,3160,2578,2353,0,0,0,0,1,0,14.02,13.97,12.75
$GC,11493,0.81,188.5,999.8,6.1,570,11544,0.00,2.12,39.95,1.812,6,0.000,0.145,3166,1522,2216,0,0,0,0,0,0,28.83,14.28,13.35
$GC,11843,0.77,188.5,972.0,8.1,582,11850,0.00,2.17,0.00,0.000,4,0.000,0.177,3168,460,2209,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12073,0.72,188.5,953.7,8.8,589,12082,0.15,1.98,0.00,0.000,6,0.275,0.104,3128,1528,2206,0,0,0,0,0,0,14.20,14.44,28.83
$GC,12386,0.72,188.5,928.3,7.4,600,12391,0.00,2.00,0.00,0.000,4,0.000,0.126,3128,2584,2207,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12553,0.72,194.4,918.0,7.0,605,12562,0.00,2.05,1.17,0.177,6,0.000,0.140,3136,1548,2195,0,0,0,0,0,0,28.83,14.33,14.34
$GC,12865,0.76,261.0,899.5,5.1,616,12943,0.00,0.00,75.28,1.790,6,0.000,0.000,3134,1548,1924,0,0,0,0,0,0,28.83,28.83,13.35
$GC,13226,0.78,300.4,878.9,5.9,628,13272,0.00,2.05,40.90,1.740,4,0.000,0.129,3136,2576,1761,0,0,0,0,0,0,28.83,14.25,13.43
$GC,13374,0.79,304.6,869.1,7.0,632,13381,0.00,2.08,0.00,0.000,6,0.000,0.140,3144,1544,1753,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13695,0.79,304.6,840.6,9.2,643,13702,0.00,1.98,0.00,0.000,4,0.000,0.124,3143,2576,1749,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13752,0.79,304.6,834.6,9.6,645,13760,0.00,2.03,0.00,0.000,6,0.000,0.140,3151,1560,1749,0,0,0,0,0,0,28.83,14.32,28.83
$GC,14084,0.79,304.6,801.5,10.1,656,14090,0.00,1.95,0.00,0.000,4,0.000,0.126,3152,2569,1748,0,0,0,0,0,0,28.83,14.31,28.83
$GC,14132,0.79,304.6,798.4,10.1,657,14142,0.00,2.03,0.00,0.000,6,0.000,0.142,3158,1561,1748,0,0,0,0,0,0,28.83,14.31,28.83
$GC,14442,0.79,304.6,765.8,9.5,668,14449,0.00,1.98,0.00,0.000,4,0.000,0.126,3158,2577,1748,0,0,0,0,0,0,28.83,14.38,28.83
$GC,14481,0.79,304.6,762.9,9.6,669,14485,0.00,2.03,0.00,0.000,6,0.000,0.142,3165,1568,1747,0,0,0,0,0,0,28.83,14.28,28.83
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$STATE,23123,end climb,SURFACE_DEPTH_REACHED
$STATE,23123,begin surface coast
$FINISH,1.4,1.016517
$STATE,23156,end surface coast,CONTROL_FINISHED_OK
$STATE,23156,begin surface
$SM_CCo,23180,23.52,0.129,0,0,1561,350.04
$SM_GC,2.06,8.75,1.95,23.52,0.071,0.086,0.129,141,1520,1561,-8.52,-0.54,350.04,0,0,0,0,0,0,14.42,14.29,14.33
$IRIDIUM_FIX,2503.20,-3754.59,301212,121241
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.08
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7640480
$TM_FREEKB,4469568
$24V_AH,12.7,143.115
$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,22.925,168.675,490.400,23.525,0.000,0.000,0.000,436.350,0.250,0.000,19.254,3181.377,16648.121,890.402,2628.885,636.761,0.000,2450.941,0.000,2070.152,0.000,0.541,0.000
$DEVICE_MAMPS,354.195,181.305,2541.330,129.285,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23191.000,5540.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.971,13.230,0.000,0.000
$MEM,345560
$DATA_FILE_SIZE,39974,1135
$CAP_FILE_SIZE,234718,0
$CFSIZE,260034560,203124736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.057,275.1,1
$GPS,311212,014759,2511.768,-3801.594,40,0.8,40,-13.9