version: 66.11
glider: 190
mission: 6
dive: 243
start: 12 4 112 0 0 25
data:
$ID,190
$MISSION,6
$DIVE,243
$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,480
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$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,0.0099999998
$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,-13103.649
$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,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$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,49
$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
$GPS1,031212,234737,2448.772,-3835.932,28,1.3,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-60.4
$GPS2,031212,235955,2448.821,-3835.938,18,1.0,18,-14.1
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpSW
$TGT_LATLONG,2356.000,-3830.000
$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,196.7,98339,-11.8,-6.875,-16.86
$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,23,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-11.23,0.000,2,0.000,0.000,131,1436,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.3,0.0,1,144,11.40,1.75,-83.75,0.000,4,0.359,0.176,2686,552,3586,0,0,0,0,0,0,14.31,14.35,14.73
$GC,227,-0.63,-146.0,8.9,-10.5,19,235,0.00,1.58,0.00,0.000,6,0.000,0.083,2686,1448,3586,0,0,0,0,0,0,28.83,14.40,28.83
$GC,534,-0.61,-146.0,31.3,-7.7,50,539,0.00,1.60,0.00,0.000,4,0.000,0.109,2685,2316,3586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,703,-0.61,-146.0,44.6,-8.5,66,711,0.00,1.65,0.00,0.000,6,0.000,0.127,2685,1455,3586,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1010,-0.60,-146.0,67.1,-7.2,97,1015,0.00,1.62,0.00,0.000,4,0.000,0.109,2682,2319,3586,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1178,-0.61,-146.0,78.9,-7.3,113,1186,0.00,1.65,0.00,0.000,6,0.000,0.127,2682,1468,3586,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1485,-0.63,-146.0,101.6,-7.1,144,1490,0.00,1.75,0.00,0.000,4,0.000,0.144,2682,554,3584,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1528,-0.63,-146.0,104.7,-7.4,148,1533,0.00,1.65,0.00,0.000,6,0.000,0.088,2680,1476,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1844,-0.66,-146.0,124.5,-6.5,179,1850,0.00,1.80,0.00,0.000,4,0.000,0.144,2680,554,3586,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1943,-0.66,-146.0,131.9,-8.0,188,1949,0.00,1.58,0.00,0.000,6,0.000,0.087,2679,1451,3587,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2249,-0.69,-146.0,159.4,-9.1,219,2254,0.00,1.60,0.00,0.000,4,0.000,0.107,2679,2320,3588,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2316,-0.73,-146.0,164.8,-8.6,225,2323,0.00,1.67,0.00,0.000,6,0.000,0.126,2679,1454,3587,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2624,-0.76,-146.0,188.9,-6.7,256,2630,0.12,1.73,0.00,0.000,4,0.134,0.130,2617,549,3587,0,0,0,0,0,0,14.47,14.37,28.83
$GC,2825,-0.71,-146.0,203.2,-6.8,275,2833,0.12,1.62,0.00,0.000,6,0.207,0.090,2655,1454,3586,0,0,0,0,0,0,14.31,14.47,28.83
$GC,3134,-0.72,-146.0,219.0,-6.2,306,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1452,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3442,-0.74,-146.0,243.6,-9.0,337,3447,0.00,1.73,0.00,0.000,4,0.000,0.139,2655,551,3586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3525,-0.74,-146.0,250.7,-9.6,344,3530,0.00,1.58,0.00,0.000,6,0.000,0.082,2652,1451,3585,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3839,-0.76,-146.0,281.0,-8.9,355,3845,0.00,1.60,0.00,0.000,4,0.000,0.106,2651,2314,3586,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3882,-0.78,-146.0,283.8,-8.7,356,3887,0.00,1.65,0.00,0.000,6,0.000,0.126,2651,1443,3586,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4208,-0.80,-146.0,305.9,-6.0,367,4214,0.00,1.70,0.00,0.000,4,0.000,0.145,2651,553,3585,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4376,-0.80,-146.0,315.1,-5.9,372,4381,0.00,1.55,0.00,0.000,6,0.000,0.091,2650,1441,3585,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4697,-0.82,-146.0,337.1,-7.1,383,4702,0.00,1.70,0.00,0.000,4,0.000,0.146,2651,555,3583,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4789,-0.82,-146.0,344.7,-8.0,386,4795,0.00,1.55,0.00,0.000,6,0.000,0.092,2650,1423,3583,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5126,-0.84,-146.0,374.2,-9.4,397,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1423,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.86,-146.0,401.6,-9.0,407,5426,0.12,0.00,0.00,0.000,6,0.137,0.000,2595,1424,3580,0,0,0,0,0,0,14.73,28.83,28.83
$GC,5724,-0.82,-146.0,428.5,-8.5,417,5731,0.12,1.62,0.00,0.000,4,0.233,0.099,2631,2322,3579,0,0,0,0,0,0,14.43,14.54,28.83
$GC,5789,-0.79,-146.0,432.8,-7.4,419,5795,0.00,1.70,0.00,0.000,6,0.000,0.122,2631,1427,3579,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6126,-0.77,-146.0,454.8,-6.5,430,6132,0.00,1.65,0.00,0.000,4,0.000,0.108,2631,2323,3577,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6260,-0.77,-146.0,462.5,-6.1,434,6266,0.00,1.70,0.00,0.000,6,0.000,0.127,2631,1439,3577,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6587,-0.78,-146.0,484.5,-6.9,445,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1439,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6884,-0.78,-146.0,509.0,-8.7,455,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1439,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7185,-0.80,-146.0,536.2,-9.1,465,7191,0.00,1.70,0.00,0.000,4,0.000,0.145,2631,554,3573,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7278,-0.80,-146.0,545.0,-9.2,468,7283,0.00,1.60,0.00,0.000,6,0.000,0.096,2630,1452,3572,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7614,-0.81,-146.0,573.7,-8.4,479,7619,0.00,1.60,0.00,0.000,4,0.000,0.113,2631,2324,3571,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7667,-0.82,-146.0,576.8,-8.5,480,7672,0.00,1.67,0.00,0.000,6,0.000,0.132,2630,1448,3571,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7983,-0.83,-146.0,603.6,-7.9,491,7989,0.00,1.73,0.00,0.000,4,0.000,0.151,2631,556,3570,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8066,-0.83,-146.0,609.0,-8.0,493,8071,0.00,1.58,0.00,0.000,6,0.000,0.100,2631,1444,3569,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8382,-0.84,-146.0,634.1,-7.2,504,8388,0.00,1.62,0.00,0.000,4,0.000,0.119,2631,2323,3568,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8482,-0.86,-146.0,640.8,-7.0,507,8487,0.00,1.65,0.00,0.000,6,0.000,0.128,2631,1457,3568,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8813,-0.88,-146.0,663.6,-6.8,518,8818,0.00,1.73,0.00,0.000,4,0.000,0.145,2631,556,3567,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8959,-0.88,-146.0,672.5,-7.0,522,8967,0.00,1.62,0.00,0.000,6,0.000,0.096,2631,1442,3566,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9269,-0.89,-146.0,695.0,-7.1,533,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1442,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9566,-0.91,-146.0,717.4,-7.6,543,9572,0.00,1.65,0.00,0.000,4,0.000,0.120,2631,2324,3563,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9631,-0.93,-146.0,722.3,-7.7,545,9638,0.12,1.70,0.00,0.000,6,0.142,0.135,2581,1440,3563,0,0,0,0,0,0,14.55,14.38,28.83
$GC,9967,-0.88,-146.0,753.2,-9.4,556,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1440,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10267,-0.84,-146.0,780.7,-9.0,566,10272,0.12,1.67,0.00,0.000,4,0.248,0.118,2609,2322,3561,0,0,0,0,0,0,14.32,14.40,28.83
$GC,10345,-0.80,-146.0,785.7,-8.4,568,10351,0.00,1.73,0.00,0.000,6,0.000,0.135,2609,1448,3561,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10666,-0.78,-146.0,811.3,-7.5,579,10672,0.00,1.67,0.00,0.000,4,0.000,0.124,2605,2315,3559,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10754,-0.76,-146.0,816.1,-7.4,581,10761,0.15,1.65,0.00,0.000,6,0.218,0.133,2644,1454,3558,0,0,0,0,0,0,14.28,14.33,28.83
$GC,11062,-0.79,-146.0,838.6,-6.9,592,11067,0.00,1.65,0.00,0.000,4,0.000,0.123,2641,2321,3558,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11120,-0.82,-146.0,841.0,-6.9,593,11126,0.00,1.65,0.00,0.000,6,0.000,0.135,2641,1470,3558,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11428,-0.84,-146.0,865.5,-7.7,604,11434,0.00,1.60,0.00,0.000,4,0.000,0.125,2639,2321,3557,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11591,-0.87,-146.0,877.5,-7.7,609,11597,0.00,1.75,0.00,0.000,6,0.000,0.136,2639,1424,3557,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11918,-0.90,-146.0,904.5,-8.1,620,11923,0.12,1.70,0.00,0.000,4,0.151,0.153,2588,553,3555,0,0,0,0,0,0,14.56,14.28,28.83
$GC,11971,-0.91,-146.0,907.9,-8.4,621,11977,0.00,1.62,0.00,0.000,6,0.000,0.104,2584,1436,3555,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12287,-0.87,-146.0,939.4,-9.6,632,12293,0.00,1.70,0.00,0.000,4,0.000,0.127,2580,2330,3554,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12426,-0.83,-146.0,950.8,-9.0,636,12432,0.15,1.70,0.00,0.000,6,0.239,0.134,2617,1442,3554,0,0,0,0,0,0,14.24,14.33,28.83
$GC,12748,-0.81,-146.0,978.8,-8.3,647,12754,0.00,1.70,0.00,0.000,4,0.000,0.128,2617,2324,3553,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12801,-0.80,-146.0,981.7,-8.2,648,12806,0.00,1.73,0.00,0.000,6,0.000,0.139,2617,1442,3552,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,12901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12901,begin apogee
$GC,12908,-0.23,0.0,991.4,-7.9,652,13107,0.65,0.00,190.50,1.575,4,0.197,0.000,2808,1642,2986,0,0,0,0,0,0,14.28,28.83,13.42
$STATE,13109,end apogee,CONTROL_FINISHED_OK
$STATE,13109,begin climb
$GC,13112,0.63,146.0,1001.1,0.0,658,13268,0.90,1.83,146.60,1.832,4,0.121,0.158,3099,761,2392,0,0,0,0,0,0,14.12,14.05,13.28
$GC,13495,0.58,172.0,990.3,6.0,671,13526,0.00,1.65,25.50,1.753,6,0.000,0.109,3094,1644,2286,0,0,0,0,0,0,28.83,14.38,13.57
$GC,13839,0.55,195.8,967.7,6.1,683,13869,0.00,1.83,24.55,1.759,4,0.000,0.158,3101,750,2186,0,0,0,0,0,0,28.83,14.39,13.69
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$STATE,25692,end climb,SURFACE_DEPTH_REACHED
$STATE,25693,begin surface coast
$FINISH,1.2,1.025382
$STATE,25725,end surface coast,CONTROL_FINISHED_OK
$STATE,25725,begin surface
$SM_CCo,25808,0.00,0.000,0,0,1352,401.80
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$IRIDIUM_FIX,2439.44,-3833.29,031212,161604
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.80
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.90
$XPDR_PINGS,7
$SC_FREEKB,7676992
$TM_FREEKB,5339008
$24V_AH,13.3,102.166
$10V_AH,13.0,0.000
$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,23.600,181.125,590.325,0.000,0.000,0.000,0.000,415.900,1.750,0.000,19.671,4486.645,16714.775,793.345,3943.297,586.354,0.000,3004.503,0.000,3341.764,0.000,0.542,0.000
$DEVICE_MAMPS,358.785,175.950,1832.175,0.000,0.000,0.000,0.000,183.600,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25777.000,6638.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.704,13.316,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,46715,1274
$CAP_FILE_SIZE,308431,0
$CFSIZE,260034560,216612864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061, 26.3,1
$GPS,041212,071153,2446.938,-3835.907,38,1.1,38,-14.1