version: 66.11
glider: 190
mission: 6
dive: 248
start: 12 5 112 12 59 49
data:
$ID,190
$MISSION,6
$DIVE,248
$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,-13110.135
$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,11
$R_STBD_OVSHOOT,7
$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
$GPS1,051212,124735,2438.841,-3835.776,28,0.8,29,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-58.4
$GPS2,051212,125918,2438.872,-3835.763,18,0.9,18,-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,186.3,79997,-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,-146.0,0.0,0.0,0,38,0.00,0.00,-11.75,0.000,2,0.000,0.000,140,1437,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.2,0.0,1,137,11.20,0.00,-77.05,0.000,6,0.351,0.000,2678,1437,3583,0,0,0,0,0,0,14.30,28.83,14.75
$GC,438,-0.60,-146.0,39.0,-11.2,41,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1437,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-0.58,-146.0,72.3,-9.3,71,743,0.00,1.62,0.00,0.000,4,0.000,0.094,2675,2335,3583,0,0,0,0,0,0,28.83,14.43,28.83
$GC,833,-0.58,-146.0,79.5,-6.4,80,839,0.00,1.67,0.00,0.000,6,0.000,0.109,2675,1436,3582,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1147,-0.56,-146.0,103.7,-7.8,111,1154,0.12,1.65,0.00,0.000,4,0.226,0.093,2713,2343,3584,0,0,0,0,0,0,14.35,14.45,28.83
$GC,1298,-0.61,-146.0,112.6,-5.8,125,1305,0.00,1.65,0.00,0.000,6,0.000,0.114,2713,1460,3584,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1604,-0.66,-146.0,127.2,-4.9,156,1611,0.12,1.58,0.00,0.000,4,0.130,0.092,2646,2336,3583,0,0,0,0,0,0,14.61,14.38,28.83
$GC,1842,-0.66,-146.0,143.9,-7.5,179,1848,0.12,1.70,0.00,0.000,6,0.208,0.115,2685,1422,3584,0,0,0,0,0,0,14.36,14.38,28.83
$GC,2157,-0.69,-146.0,170.9,-9.1,210,2162,0.00,1.65,0.00,0.000,4,0.000,0.135,2679,550,3583,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2322,-0.71,-146.0,186.6,-9.7,226,2327,0.00,1.52,0.00,0.000,6,0.000,0.079,2678,1405,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2635,-0.74,-146.0,213.3,-8.4,257,2640,0.00,1.62,0.00,0.000,4,0.000,0.135,2678,556,3584,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2815,-0.75,-146.0,227.2,-7.8,274,2821,0.00,1.42,0.00,0.000,6,0.000,0.080,2677,1355,3583,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3121,-0.78,-146.0,248.0,-6.0,305,3127,0.12,1.55,0.00,0.000,4,0.132,0.135,2618,553,3584,0,0,0,0,0,0,14.56,14.38,28.83
$GC,3358,-0.72,-146.0,264.8,-7.8,314,3364,0.10,1.38,0.00,0.000,6,0.225,0.083,2653,1328,3583,0,0,0,0,0,0,14.23,14.45,28.83
$GC,3674,-0.71,-146.0,287.0,-6.9,325,3680,0.00,1.80,0.00,0.000,4,0.000,0.099,2649,2323,3582,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3857,-0.71,-146.0,301.0,-7.8,331,3863,0.00,1.83,0.00,0.000,6,0.000,0.120,2649,1346,3582,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4193,-0.72,-146.0,330.4,-9.0,342,4198,0.00,1.52,0.00,0.000,4,0.000,0.138,2649,542,3581,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4345,-0.72,-146.0,344.3,-8.9,347,4352,0.00,1.40,0.00,0.000,6,0.000,0.084,2649,1325,3581,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4682,-0.74,-146.0,368.0,-6.6,358,4688,0.00,1.50,0.00,0.000,4,0.000,0.145,2649,557,3579,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4765,-0.74,-146.0,372.3,-6.4,360,4771,0.00,1.38,0.00,0.000,6,0.000,0.086,2648,1322,3579,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5082,-0.76,-146.0,393.7,-6.9,371,5088,0.00,1.50,0.00,0.000,4,0.000,0.146,2648,557,3578,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5220,-0.76,-146.0,403.8,-8.0,375,5225,0.00,1.33,0.00,0.000,6,0.000,0.088,2648,1298,3578,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5539,-0.77,-146.0,432.5,-8.7,386,5546,0.00,1.45,0.00,0.000,4,0.000,0.147,2648,559,3577,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5653,-0.77,-146.0,440.8,-8.6,389,5658,0.00,1.27,0.00,0.000,6,0.000,0.090,2649,1270,3576,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5968,-0.79,-146.0,466.5,-7.8,400,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1270,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6267,-0.81,-146.0,491.3,-8.4,410,6273,0.00,1.40,0.00,0.000,4,0.000,0.147,2648,559,3573,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6350,-0.83,-146.0,497.1,-8.7,412,6356,0.00,1.25,0.00,0.000,6,0.000,0.089,2649,1257,3572,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6666,-0.85,-146.0,526.1,-8.6,423,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1257,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6965,-0.87,-146.0,550.6,-8.1,433,6971,0.12,1.35,0.00,0.000,4,0.142,0.145,2589,551,3571,0,0,0,0,0,0,14.67,14.35,28.83
$GC,7043,-0.87,-146.0,556.6,-8.6,435,7049,0.00,1.27,0.00,0.000,6,0.000,0.090,2585,1259,3570,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7364,-0.81,-146.0,588.0,-9.5,446,7370,0.12,1.95,0.00,0.000,4,0.271,0.106,2618,2323,3569,0,0,0,0,0,0,14.31,14.45,28.83
$GC,7588,-0.81,-146.0,606.5,-8.5,453,7593,0.00,2.03,0.00,0.000,6,0.000,0.131,2618,1272,3568,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7912,-0.81,-146.0,636.5,-9.0,464,7918,0.00,1.40,0.00,0.000,4,0.000,0.149,2618,558,3567,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7971,-0.81,-146.0,639.7,-9.0,465,7977,0.00,1.30,0.00,0.000,6,0.000,0.092,2618,1274,3567,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8278,-0.78,-146.0,668.6,-8.8,476,8283,0.00,1.95,0.00,0.000,4,0.000,0.116,2618,2317,3565,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8456,-0.78,-146.0,681.3,-8.2,481,8463,0.00,2.00,0.00,0.000,6,0.000,0.135,2618,1289,3564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8762,-0.78,-146.0,706.9,-7.5,492,8768,0.00,1.45,0.00,0.000,4,0.000,0.153,2618,559,3563,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8888,-0.77,-146.0,716.4,-7.7,496,8894,0.00,1.33,0.00,0.000,6,0.000,0.094,2618,1278,3562,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9224,-0.77,-146.0,739.5,-6.8,507,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1278,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9523,-0.77,-146.0,761.1,-7.4,517,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1278,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9822,-0.77,-146.0,786.0,-8.5,527,9828,0.00,1.45,0.00,0.000,4,0.000,0.152,2618,556,3560,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9871,-0.77,-146.0,788.9,-8.4,528,9876,0.00,1.30,0.00,0.000,6,0.000,0.094,2618,1266,3559,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10190,-0.77,-146.0,816.7,-8.4,539,10195,0.00,1.98,0.00,0.000,4,0.000,0.116,2618,2317,3558,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10231,-0.77,-146.0,819.6,-8.4,540,10237,0.00,2.05,0.00,0.000,6,0.000,0.135,2618,1269,3557,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10557,-0.77,-146.0,847.0,-8.2,551,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1269,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10854,-0.77,-146.0,870.9,-8.0,561,10860,0.00,2.00,0.00,0.000,4,0.000,0.117,2618,2317,3555,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10902,-0.77,-146.0,873.4,-7.9,562,10907,0.00,2.03,0.00,0.000,6,0.000,0.137,2618,1280,3555,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11222,-0.77,-146.0,898.8,-7.6,573,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1279,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11520,-0.77,-146.0,923.0,-8.3,583,11525,0.00,1.98,0.00,0.000,4,0.000,0.119,2617,2316,3552,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11588,-0.78,-146.0,928.4,-8.3,585,11593,0.00,2.05,0.00,0.000,6,0.000,0.138,2618,1273,3552,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11917,-0.78,-146.0,956.6,-8.4,596,11922,0.00,2.00,0.00,0.000,4,0.000,0.121,2618,2316,3549,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11955,-0.78,-146.0,959.5,-8.4,597,11960,0.00,2.03,0.00,0.000,6,0.000,0.138,2618,1285,3551,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12285,-0.79,-146.0,986.7,-8.1,608,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1285,3550,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12341,begin apogee
$GC,12348,-0.23,0.0,991.6,-8.0,610,12546,0.65,0.00,190.77,1.561,4,0.197,0.000,2808,1639,2986,0,0,0,0,0,0,14.27,28.83,13.40
$STATE,12548,end apogee,CONTROL_FINISHED_OK
$STATE,12548,begin climb
$GC,12551,0.63,146.0,1001.3,0.0,616,12708,0.82,1.75,146.15,1.839,4,0.116,0.125,3092,2521,2387,0,0,0,0,0,0,14.12,14.08,13.25
$GC,12791,0.60,214.9,999.2,4.7,624,12869,0.00,1.75,69.93,1.798,6,0.000,0.139,3098,1639,2108,0,0,0,0,0,0,28.83,14.18,13.33
$GC,13188,0.56,214.9,965.0,8.4,638,13193,0.00,1.73,0.00,0.000,4,0.000,0.154,3105,756,2093,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13271,0.52,214.9,959.4,8.6,640,13277,0.17,1.62,0.00,0.000,6,0.269,0.103,3063,1640,2094,0,0,0,0,0,0,14.28,14.46,28.83
$GC,13587,0.52,214.9,933.9,7.3,651,13588,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1639,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13886,0.52,225.1,913.5,6.5,661,13896,0.00,1.67,2.50,0.632,4,0.000,0.122,3063,2517,2070,0,0,0,0,0,0,28.83,14.58,13.42
$GC,13968,0.53,237.8,909.3,6.5,663,13998,0.00,1.70,18.00,1.598,6,0.000,0.130,3069,1631,2018,0,0,0,0,1,0,28.83,14.47,13.80
$GC,14312,0.55,269.0,887.3,5.9,675,14354,0.00,1.70,37.60,1.740,4,0.000,0.130,3069,2522,1885,0,0,0,0,0,0,28.83,14.38,13.67
$GC,14414,0.57,295.2,881.6,6.0,678,14446,0.00,1.75,27.42,1.689,6,0.000,0.143,3071,1657,1786,0,0,0,0,0,0,28.83,14.27,13.56
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$STATE,25519,end climb,SURFACE_DEPTH_REACHED
$STATE,25519,begin surface coast
$FINISH,1.3,1.018044
$STATE,25548,end surface coast,CONTROL_FINISHED_OK
$STATE,25548,begin surface
$SM_CCo,25630,0.00,0.000,0,0,1441,379.97
$SM_GC,2.28,8.55,0.65,0.00,0.073,0.136,0.000,144,1431,1441,-8.53,0.20,379.97,0,0,0,0,0,0,14.50,14.37,28.83
$IRIDIUM_FIX,2432.32,-3837.00,051212,050521
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.52
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.00
$XPDR_PINGS,1
$SC_FREEKB,7675072
$TM_FREEKB,5288992
$24V_AH,13.2,104.402
$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,22.725,171.225,604.725,0.000,0.000,0.000,0.000,382.200,0.250,0.000,20.085,4562.458,16412.982,744.874,4018.452,574.838,0.000,2946.965,0.000,3428.656,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,170.595,1839.060,0.000,0.000,0.000,0.000,188.190,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25599.000,6426.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.621,13.317,0.000,0.000
$MEM,344560
$DATA_FILE_SIZE,46686,1255
$CAP_FILE_SIZE,306466,0
$CFSIZE,260034560,215797760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.058,359.3,1
$GPS,051212,200804,2437.074,-3835.315,23,1.2,24,-14.2