version: 66.11
glider: 190
mission: 6
dive: 247
start: 12 5 112 5 31 17
data:
$ID,190
$MISSION,6
$DIVE,247
$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,-13108.78
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,051212,051234,2441.025,-3835.806,38,0.8,39,-14.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-62.4
$GPS2,051212,053047,2441.108,-3835.826,17,1.1,17,-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,194.4,84121,-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,-146.0,0.0,0.0,0,32,0.00,0.00,-6.80,0.000,2,0.000,0.000,140,1450,1720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-0.63,-146.0,2.1,0.0,1,144,11.52,1.73,-85.00,0.000,4,0.365,0.161,2678,562,3586,0,0,0,0,0,0,14.28,14.26,14.74
$GC,208,-0.59,-146.0,10.5,-10.4,18,214,0.00,1.58,0.00,0.000,6,0.000,0.075,2675,1445,3586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,523,-0.57,-146.0,40.0,-8.7,49,529,0.12,1.60,0.00,0.000,4,0.240,0.094,2711,2331,3587,0,0,0,0,0,0,14.28,14.44,28.83
$GC,653,-0.61,-146.0,49.5,-7.9,61,659,0.00,1.70,0.00,0.000,6,0.000,0.115,2712,1446,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,958,-0.65,-146.0,74.7,-8.8,92,964,0.00,1.70,0.00,0.000,4,0.000,0.135,2712,547,3586,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1133,-0.68,-146.0,90.4,-8.1,109,1139,0.12,1.55,0.00,0.000,6,0.135,0.080,2659,1427,3586,0,0,0,0,0,0,14.52,14.47,28.83
$GC,1450,-0.68,-146.0,117.6,-8.6,140,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1427,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1758,-0.68,-146.0,142.9,-7.4,171,1763,0.00,1.67,0.00,0.000,4,0.000,0.134,2659,548,3589,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1996,-0.64,-146.0,160.7,-8.3,194,2001,0.00,1.52,0.00,0.000,6,0.000,0.079,2658,1425,3586,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2312,-0.63,-146.0,184.1,-6.8,225,2317,0.00,1.62,0.00,0.000,4,0.000,0.096,2658,2330,3586,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2508,-0.63,-146.0,196.8,-6.4,244,2513,0.00,1.75,0.00,0.000,6,0.000,0.114,2658,1400,3586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2824,-0.65,-146.0,218.5,-7.9,275,2829,0.00,1.60,0.00,0.000,4,0.000,0.133,2658,552,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2907,-0.65,-146.0,225.9,-8.9,283,2913,0.00,1.50,0.00,0.000,6,0.000,0.078,2658,1397,3588,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3231,-0.67,-146.0,255.9,-9.7,311,3236,0.00,1.60,0.00,0.000,4,0.000,0.134,2658,554,3586,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3279,-0.69,-146.0,259.1,-9.7,312,3284,0.00,1.48,0.00,0.000,6,0.000,0.080,2658,1392,3586,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3598,-0.71,-146.0,288.2,-8.2,323,3604,0.00,1.60,0.00,0.000,4,0.000,0.135,2658,552,3585,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3682,-0.72,-146.0,293.8,-8.2,325,3688,0.00,1.48,0.00,0.000,6,0.000,0.080,2658,1388,3585,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3998,-0.75,-146.0,317.5,-6.8,336,4004,0.00,1.67,0.00,0.000,4,0.000,0.101,2653,2320,3585,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4048,-0.77,-146.0,319.8,-6.6,337,4053,0.00,1.75,0.00,0.000,6,0.000,0.121,2654,1388,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4367,-0.79,-146.0,344.7,-7.9,348,4372,0.00,1.58,0.00,0.000,4,0.000,0.138,2654,556,3583,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4520,-0.79,-146.0,357.4,-8.3,353,4527,0.00,1.45,0.00,0.000,6,0.000,0.083,2652,1367,3582,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4856,-0.81,-146.0,383.5,-7.6,364,4862,0.00,1.73,0.00,0.000,4,0.000,0.103,2650,2318,3581,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4905,-0.83,-146.0,386.0,-7.4,365,4910,0.00,1.80,0.00,0.000,6,0.000,0.124,2650,1367,3581,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5225,-0.85,-146.0,408.3,-6.6,376,5231,0.12,1.52,0.00,0.000,4,0.134,0.139,2588,555,3580,0,0,0,0,0,0,14.71,14.42,28.83
$GC,5389,-0.78,-146.0,422.1,-9.1,381,5395,0.15,1.45,0.00,0.000,6,0.218,0.088,2636,1365,3579,0,0,0,0,0,0,14.31,14.51,28.83
$GC,5714,-0.78,-146.0,447.4,-7.7,392,5721,0.00,1.75,0.00,0.000,4,0.000,0.106,2632,2324,3578,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5779,-0.78,-146.0,452.3,-7.5,394,5785,0.00,1.83,0.00,0.000,6,0.000,0.125,2632,1368,3578,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6114,-0.78,-146.0,477.9,-7.8,405,6120,0.00,1.55,0.00,0.000,4,0.000,0.143,2632,558,3577,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6240,-0.76,-146.0,488.3,-8.3,409,6246,0.00,1.45,0.00,0.000,6,0.000,0.092,2632,1354,3576,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6575,-0.76,-146.0,514.7,-7.9,420,6582,0.00,1.77,0.00,0.000,4,0.000,0.112,2631,2317,3575,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6619,-0.76,-146.0,517.4,-7.8,421,6625,0.00,1.85,0.00,0.000,6,0.000,0.130,2631,1351,3575,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6943,-0.76,-146.0,545.6,-8.8,432,6948,0.00,1.52,0.00,0.000,4,0.000,0.151,2631,552,3573,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6989,-0.76,-146.0,548.7,-9.0,433,6994,0.00,1.45,0.00,0.000,6,0.000,0.095,2631,1352,3573,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7307,-0.76,-146.0,579.1,-9.1,444,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1352,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7607,-0.76,-146.0,604.9,-8.2,454,7612,0.00,1.52,0.00,0.000,4,0.000,0.147,2631,556,3570,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7671,-0.76,-146.0,609.9,-8.1,456,7676,0.00,1.45,0.00,0.000,6,0.000,0.094,2631,1349,3570,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8005,-0.76,-146.0,633.8,-7.0,467,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1349,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8305,-0.78,-146.0,655.4,-7.2,477,8311,0.00,1.55,0.00,0.000,4,0.000,0.150,2631,557,3567,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8328,-0.79,-146.0,655.4,-7.2,477,8334,0.00,1.45,0.00,0.000,6,0.000,0.096,2631,1352,3568,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8644,-0.80,-146.0,681.2,-8.0,488,8650,0.00,1.83,0.00,0.000,4,0.000,0.120,2631,2324,3567,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8712,-0.81,-146.0,686.6,-8.1,490,8718,0.00,1.88,0.00,0.000,6,0.000,0.137,2631,1372,3567,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9043,-0.83,-146.0,716.5,-9.3,501,9049,0.00,1.60,0.00,0.000,4,0.000,0.154,2631,556,3565,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9216,-0.83,-146.0,731.8,-9.9,506,9221,0.00,1.45,0.00,0.000,6,0.000,0.098,2631,1346,3564,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9532,-0.84,-146.0,762.6,-9.2,517,9537,0.00,1.55,0.00,0.000,4,0.000,0.155,2631,559,3562,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9590,-0.85,-146.0,766.0,-9.2,518,9596,0.00,1.42,0.00,0.000,6,0.000,0.099,2631,1333,3563,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9897,-0.87,-146.0,795.3,-8.5,529,9903,0.00,1.85,0.00,0.000,4,0.000,0.116,2631,2316,3561,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9962,-0.88,-146.0,800.7,-8.4,531,9968,0.00,1.90,0.00,0.000,6,0.000,0.136,2631,1346,3561,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10298,-0.90,-146.0,827.5,-7.6,542,10304,0.00,1.52,0.00,0.000,4,0.000,0.149,2631,557,3560,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10357,-0.92,-146.0,830.1,-7.5,543,10364,0.08,1.42,0.00,0.000,6,0.106,0.096,2580,1336,3560,0,0,0,0,0,0,14.47,14.42,28.83
$GC,10663,-0.87,-146.0,857.3,-8.1,554,10669,0.12,1.85,0.00,0.000,4,0.265,0.121,2607,2316,3558,0,0,0,0,0,0,14.30,14.37,28.83
$GC,10782,-0.84,-146.0,864.0,-7.1,557,10789,0.00,1.88,0.00,0.000,6,0.000,0.134,2607,1352,3558,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11091,-0.81,-146.0,887.7,-7.5,568,11097,0.00,1.83,0.00,0.000,4,0.000,0.113,2605,2321,3556,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11180,-0.79,-146.0,892.9,-7.8,570,11187,0.12,1.85,0.00,0.000,6,0.233,0.125,2636,1358,3556,0,0,0,0,0,0,14.31,14.38,28.83
$GC,11489,-0.81,-146.0,919.9,-8.6,581,11495,0.00,1.83,0.00,0.000,4,0.000,0.119,2634,2317,3555,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11537,-0.83,-146.0,923.2,-8.5,582,11543,0.00,1.83,0.00,0.000,6,0.000,0.130,2634,1371,3555,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11857,-0.86,-146.0,952.3,-8.7,593,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1371,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12156,-0.88,-146.0,976.4,-7.8,603,12162,0.00,1.83,0.00,0.000,4,0.000,0.122,2633,2319,3553,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12220,-0.90,-146.0,981.1,-7.5,605,12226,0.00,1.85,0.00,0.000,6,0.000,0.132,2633,1373,3553,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,12371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12372,begin apogee
$GC,12379,-0.23,0.0,992.1,-7.2,610,12526,0.60,0.00,139.50,1.825,4,0.181,0.000,2813,1639,2986,0,0,0,0,0,0,14.31,28.83,13.31
$STATE,12528,end apogee,CONTROL_FINISHED_OK
$STATE,12528,begin climb
$GC,12531,0.63,146.0,999.2,0.0,615,12685,0.80,1.75,145.45,1.827,4,0.099,0.126,3096,2516,2393,0,0,0,0,0,0,14.14,14.09,13.27
$GC,12889,0.58,160.4,987.1,6.4,627,12909,0.00,1.73,13.70,1.696,6,0.000,0.145,3101,1644,2334,0,0,0,0,0,0,28.83,14.30,13.62
$GC,13218,0.53,175.7,965.7,6.4,638,13238,0.15,0.00,16.65,1.721,6,0.297,0.000,3068,1644,2272,0,0,0,0,0,0,14.27,28.83,13.73
$GC,13518,0.53,212.9,948.5,5.7,648,13560,0.00,0.00,39.58,1.779,6,0.000,0.000,3072,1644,2120,0,0,0,0,0,0,28.83,28.83,13.62
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$STATE,26029,end climb,SURFACE_DEPTH_REACHED
$STATE,26030,begin surface coast
$FINISH,1.4,1.025413
$STATE,26061,end surface coast,CONTROL_FINISHED_OK
$STATE,26061,begin surface
$SM_CCo,26082,22.62,0.127,0,0,1562,350.04
$SM_GC,1.98,8.45,0.50,22.62,0.073,0.149,0.127,141,1440,1562,-8.54,0.54,350.04,0,0,0,0,0,0,14.50,14.35,14.45
$IRIDIUM_FIX,2429.95,-3837.00,051212,050553
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.00
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.90
$XPDR_PINGS,2
$SC_FREEKB,7675456
$TM_FREEKB,5299072
$24V_AH,13.3,103.947
$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,22.875,178.950,455.900,22.625,0.000,0.000,0.000,650.900,0.500,0.000,18.541,4412.614,17400.930,744.083,4037.450,584.127,0.000,3091.637,0.000,3198.442,0.000,0.541,0.000
$DEVICE_MAMPS,364.905,161.415,1826.820,126.990,0.000,0.000,0.000,179.010,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26093.000,6483.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.589,13.301,0.000,0.000
$MEM,344524
$DATA_FILE_SIZE,46601,1275
$CAP_FILE_SIZE,305000,0
$CFSIZE,260034560,215961600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,349.0,1
$GPS,051212,124735,2438.841,-3835.776,28,0.8,29,-14.2