version: 66.11
glider: 190
mission: 6
dive: 246
start: 12 4 112 22 0 55
data:
$ID,190
$MISSION,6
$DIVE,246
$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,-13107.521
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,041212,214904,2442.554,-3836.035,35,0.8,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-62.8
$GPS2,041212,220023,2442.576,-3836.046,16,1.2,16,-14.2
$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,191.3,86863,-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,24,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-10.75,0.000,2,0.000,0.000,142,1439,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.1,0.0,1,143,11.73,1.75,-84.00,0.000,4,0.375,0.169,2680,555,3586,0,0,0,0,0,0,14.31,14.38,14.73
$GC,178,-0.58,-146.0,6.5,-10.4,14,184,0.00,1.55,0.00,0.000,6,0.000,0.078,2675,1447,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,484,-0.56,-146.0,30.8,-7.3,45,489,0.12,1.60,0.00,0.000,4,0.243,0.094,2710,2331,3586,0,0,0,0,0,0,14.30,14.44,28.83
$GC,609,-0.58,-146.0,40.9,-6.8,57,614,0.00,1.70,0.00,0.000,6,0.000,0.116,2710,1451,3586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,923,-0.60,-146.0,62.0,-6.7,88,928,0.00,1.60,0.00,0.000,4,0.000,0.097,2708,2328,3586,0,0,0,0,0,0,28.83,14.41,28.83
$GC,966,-0.63,-146.0,65.2,-7.3,92,972,0.00,1.62,0.00,0.000,6,0.000,0.116,2708,1460,3586,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1280,-0.68,-146.0,91.1,-9.1,123,1285,0.12,1.58,0.00,0.000,4,0.131,0.097,2645,2323,3590,0,0,0,0,0,0,14.55,14.45,28.83
$GC,1499,-0.68,-146.0,111.7,-9.0,144,1506,0.00,1.67,0.00,0.000,6,0.000,0.116,2645,1432,3586,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1805,-0.65,-146.0,138.6,-8.0,175,1812,0.12,1.70,0.00,0.000,4,0.236,0.132,2682,550,3586,0,0,0,0,0,0,14.34,14.34,28.83
$GC,1883,-0.63,-146.0,144.2,-7.5,182,1888,0.00,1.58,0.00,0.000,6,0.000,0.081,2677,1441,3586,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2198,-0.65,-146.0,160.0,-4.5,213,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1441,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,-0.68,-146.0,181.0,-8.5,244,2511,0.00,1.70,0.00,0.000,4,0.000,0.137,2677,553,3585,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2686,-0.69,-146.0,198.0,-9.9,261,2693,0.00,1.50,0.00,0.000,6,0.000,0.076,2676,1428,3586,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2994,-0.72,-146.0,222.2,-6.5,292,3000,0.00,1.70,0.00,0.000,4,0.000,0.135,2676,551,3587,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3104,-0.74,-146.0,229.0,-6.3,302,3112,0.00,1.50,0.00,0.000,6,0.000,0.076,2674,1423,3587,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3412,-0.77,-146.0,247.5,-5.9,333,3417,0.00,1.62,0.00,0.000,4,0.000,0.096,2675,2328,3587,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3450,-0.80,-146.0,249.7,-6.3,336,3460,0.15,1.77,0.00,0.000,6,0.116,0.115,2601,1381,3586,0,0,0,0,0,0,14.60,14.44,28.83
$GC,3757,-0.75,-146.0,276.2,-9.2,347,3763,0.12,1.67,0.00,0.000,4,0.241,0.095,2632,2321,3586,0,0,0,0,0,0,14.39,14.53,28.83
$GC,3831,-0.72,-146.0,281.8,-9.0,349,3836,0.00,1.73,0.00,0.000,6,0.000,0.118,2632,1400,3586,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4156,-0.70,-146.0,309.8,-8.3,360,4162,0.12,1.67,0.00,0.000,4,0.234,0.095,2662,2322,3586,0,0,0,0,0,0,14.42,14.54,28.83
$GC,4234,-0.70,-146.0,314.5,-7.7,362,4240,0.00,1.73,0.00,0.000,6,0.000,0.117,2663,1400,3586,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4556,-0.73,-146.0,338.4,-7.0,373,4561,0.00,1.60,0.00,0.000,4,0.000,0.133,2662,551,3585,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4604,-0.76,-146.0,341.1,-7.2,374,4609,0.00,1.50,0.00,0.000,6,0.000,0.078,2662,1428,3583,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4924,-0.79,-146.0,366.0,-7.6,385,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1428,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5223,-0.81,-146.0,387.4,-7.0,395,5229,0.10,1.60,0.00,0.000,4,0.158,0.095,2610,2320,3582,0,0,0,0,0,0,14.73,14.54,28.83
$GC,5311,-0.83,-146.0,392.3,-7.3,397,5318,0.00,1.73,0.00,0.000,6,0.000,0.116,2610,1393,3582,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5621,-0.79,-146.0,419.7,-8.6,408,5626,0.00,1.70,0.00,0.000,4,0.000,0.099,2606,2328,3579,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5730,-0.75,-146.0,427.6,-8.3,411,5736,0.15,1.70,0.00,0.000,6,0.224,0.114,2645,1405,3580,0,0,0,0,0,0,14.38,14.47,28.83
$GC,6051,-0.77,-146.0,453.4,-7.8,422,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1404,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6349,-0.79,-146.0,476.5,-7.9,432,6354,0.00,1.60,0.00,0.000,4,0.000,0.132,2645,556,3578,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6527,-0.79,-146.0,489.4,-8.5,437,6534,0.00,1.50,0.00,0.000,6,0.000,0.080,2645,1399,3578,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6835,-0.80,-146.0,516.1,-8.0,448,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1400,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7134,-0.83,-146.0,538.8,-7.4,458,7140,0.00,1.70,0.00,0.000,4,0.000,0.103,2645,2316,3575,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7222,-0.85,-146.0,543.2,-7.1,460,7229,0.00,1.75,0.00,0.000,6,0.000,0.122,2645,1391,3575,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7529,-0.87,-146.0,567.6,-7.6,471,7535,0.12,1.58,0.00,0.000,4,0.135,0.138,2584,555,3573,0,0,0,0,0,0,14.70,14.40,28.83
$GC,7557,-0.89,-146.0,567.6,-7.6,471,7564,0.00,1.50,0.00,0.000,6,0.000,0.086,2579,1417,3572,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7866,-0.83,-146.0,599.1,-9.5,482,7872,0.12,1.67,0.00,0.000,4,0.275,0.103,2607,2314,3574,0,0,0,0,0,0,14.33,14.43,28.83
$GC,8071,-0.80,-146.0,614.7,-8.2,488,8076,0.00,1.73,0.00,0.000,6,0.000,0.122,2608,1406,3570,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8386,-0.77,-146.0,643.7,-8.8,499,8392,0.12,1.70,0.00,0.000,4,0.243,0.107,2637,2327,3569,0,0,0,0,0,0,14.37,14.45,28.83
$GC,8485,-0.77,-146.0,651.5,-8.3,502,8491,0.00,1.73,0.00,0.000,6,0.000,0.126,2637,1422,3569,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8816,-0.79,-146.0,678.6,-8.0,513,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1422,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,-0.81,-146.0,701.2,-7.4,523,9121,0.00,1.65,0.00,0.000,4,0.000,0.145,2637,555,3567,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9158,-0.83,-146.0,703.6,-7.3,524,9164,0.00,1.55,0.00,0.000,6,0.000,0.093,2632,1419,3567,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9483,-0.84,-146.0,727.0,-7.0,535,9489,0.00,1.70,0.00,0.000,4,0.000,0.118,2632,2327,3565,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9521,-0.86,-146.0,729.4,-7.0,536,9526,0.00,1.73,0.00,0.000,6,0.000,0.133,2632,1424,3566,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9851,-0.88,-146.0,753.7,-7.6,547,9856,0.00,1.70,0.00,0.000,4,0.000,0.146,2632,549,3563,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10074,-0.88,-146.0,770.6,-7.7,554,10079,0.00,1.52,0.00,0.000,6,0.000,0.093,2632,1408,3562,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10400,-0.89,-146.0,795.2,-7.4,565,10405,0.00,1.73,0.00,0.000,4,0.000,0.121,2632,2322,3562,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10473,-0.91,-146.0,799.9,-7.2,567,10478,0.00,1.77,0.00,0.000,6,0.000,0.138,2631,1414,3561,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10798,-0.93,-146.0,825.3,-7.9,578,10804,0.12,1.70,0.00,0.000,4,0.140,0.152,2573,555,3561,0,0,0,0,0,0,14.62,14.30,28.83
$GC,11033,-0.86,-146.0,847.8,-10.9,585,11038,0.17,1.52,0.00,0.000,6,0.267,0.102,2609,1400,3559,0,0,0,0,0,0,14.16,14.40,28.83
$GC,11349,-0.83,-146.0,879.8,-9.5,596,11354,0.00,1.77,0.00,0.000,4,0.000,0.128,2605,2327,3558,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11416,-0.80,-146.0,885.9,-9.4,598,11422,0.00,1.83,0.00,0.000,6,0.000,0.138,2605,1409,3558,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11748,-0.77,-146.0,916.1,-8.5,609,11753,0.12,1.77,0.00,0.000,4,0.249,0.125,2635,2324,3556,0,0,0,0,0,0,14.29,14.29,28.83
$GC,11836,-0.77,-146.0,921.3,-8.1,611,11843,0.00,1.83,0.00,0.000,6,0.000,0.140,2635,1410,3556,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12144,-0.80,-146.0,946.7,-7.6,622,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1410,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12442,-0.82,-146.0,969.4,-7.6,632,12447,0.00,1.77,0.00,0.000,4,0.000,0.129,2635,2325,3554,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12520,-0.84,-146.0,974.5,-7.7,634,12525,0.00,1.77,0.00,0.000,6,0.000,0.133,2635,1428,3554,0,0,0,0,0,0,28.83,14.29,28.83
$STATE,12716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12716,begin apogee
$GC,12723,-0.23,0.0,991.6,-8.2,641,12870,0.57,0.00,137.50,1.844,4,0.187,0.000,2806,1642,2983,0,0,0,0,0,0,14.28,28.83,13.31
$STATE,12871,end apogee,CONTROL_FINISHED_OK
$STATE,12872,begin climb
$GC,12874,0.63,146.0,1000.7,0.0,646,13029,0.85,1.75,145.55,1.831,4,0.119,0.127,3093,2517,2393,0,0,0,0,0,0,14.12,14.09,13.27
$GC,13107,0.61,225.0,999.2,4.3,654,13197,0.00,1.75,79.93,1.796,6,0.000,0.135,3100,1632,2064,0,0,0,0,0,0,28.83,14.17,13.33
$GC,13498,0.58,225.0,970.4,8.0,667,13503,0.00,1.73,0.00,0.000,4,0.000,0.156,3106,756,2051,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13571,0.54,225.0,964.8,8.4,669,13576,0.17,1.60,0.00,0.000,6,0.269,0.105,3065,1635,2050,0,0,0,0,0,0,14.28,14.45,28.83
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$STATE,25752,end climb,SURFACE_DEPTH_REACHED
$STATE,25752,begin surface coast
$FINISH,1.6,1.025503
$STATE,25779,end surface coast,CONTROL_FINISHED_OK
$STATE,25779,begin surface
$SM_CCo,25800,16.05,0.128,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.51
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.80
$XPDR_PINGS,2
$SC_FREEKB,7675840
$TM_FREEKB,5309184
$24V_AH,13.3,103.505
$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
$DEVICE_SECS,24.025,174.775,461.400,16.050,0.000,0.000,0.000,364.425,0.500,0.000,17.704,4420.272,16986.729,710.521,3783.443,579.420,0.000,2788.436,0.000,3221.106,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25810.000,6597.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.721,13.321,0.000,0.000
$MEM,344516
$DATA_FILE_SIZE,46641,1271
$CAP_FILE_SIZE,301433,0
$CFSIZE,260034560,216129536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088, 11.5,1
$GPS,051212,051234,2441.025,-3835.806,38,0.8,39,-14.2