version: 66.11
glider: 190
mission: 6
dive: 350
start: 1 3 113 2 29 37
data:
$ID,190
$MISSION,6
$DIVE,350
$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,-13355.793
$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,11
$R_STBD_OVSHOOT,20
$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
$GPS1,030113,021604,2456.335,-3817.974,26,1.0,26,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-66.4
$GPS2,030113,022907,2456.296,-3818.001,18,0.9,18,-14.0
$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,242.7,56473,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.68,0.000,2,0.000,0.000,136,1530,1534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.3,0.0,1,159,10.88,2.08,-97.38,0.000,4,0.339,0.159,2612,457,3624,0,0,0,0,0,0,14.16,14.19,14.69
$GC,310,-0.84,-155.7,19.2,-10.6,28,319,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1518,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,621,-0.84,-155.7,51.2,-9.8,59,629,0.00,2.00,0.00,0.000,4,0.000,0.103,2605,2579,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,670,-0.84,-155.7,55.9,-9.5,64,679,0.00,2.05,0.00,0.000,6,0.000,0.112,2605,1519,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,981,-0.84,-155.7,82.4,-8.0,95,989,0.00,2.03,0.00,0.000,4,0.000,0.109,2605,2578,3628,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1041,-0.84,-155.7,87.4,-8.5,101,1051,0.00,2.03,0.00,0.000,6,0.000,0.116,2605,1532,3625,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1352,-0.86,-155.7,118.9,-9.9,132,1360,0.00,2.05,0.00,0.000,4,0.000,0.126,2604,461,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1440,-0.86,-155.7,128.3,-10.6,141,1450,0.00,1.92,0.00,0.000,6,0.000,0.076,2605,1526,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1751,-0.89,-155.7,157.6,-9.5,172,1759,0.00,1.95,0.00,0.000,4,0.000,0.101,2604,2576,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1801,-0.93,-155.7,162.3,-9.5,177,1811,0.00,2.05,0.00,0.000,6,0.000,0.114,2605,1512,3622,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2111,-0.96,-155.7,193.3,-9.8,208,2119,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,460,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2181,-0.96,-155.7,200.7,-10.5,215,2189,0.00,1.90,0.00,0.000,6,0.000,0.083,2604,1515,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2493,-1.00,-155.7,227.4,-7.7,246,2500,0.12,2.05,0.00,0.000,4,0.141,0.135,2547,460,3625,0,0,0,0,0,0,14.55,14.13,28.83
$GC,2572,-0.95,-155.7,235.0,-9.9,254,2580,0.12,1.88,0.00,0.000,6,0.234,0.085,2576,1496,3625,0,0,0,0,0,0,14.09,14.31,28.83
$GC,2881,-0.95,-155.7,260.6,-8.4,277,2889,0.00,2.03,0.00,0.000,4,0.000,0.103,2568,2583,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3000,-0.95,-155.7,270.5,-8.2,281,3009,0.00,2.08,0.00,0.000,6,0.000,0.115,2568,1502,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3332,-0.95,-155.7,300.1,-9.4,292,3338,0.00,2.03,0.00,0.000,4,0.000,0.108,2565,2574,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3451,-0.95,-155.7,312.3,-10.1,296,3458,0.00,2.03,0.00,0.000,6,0.000,0.115,2565,1517,3624,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3782,-0.95,-155.7,344.4,-9.2,307,3788,0.00,1.98,0.00,0.000,4,0.000,0.107,2559,2570,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3840,-0.95,-155.7,349.6,-8.8,309,3848,0.00,2.03,0.00,0.000,6,0.000,0.115,2559,1517,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4172,-0.95,-155.7,376.0,-7.9,320,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1517,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-0.92,-155.7,402.9,-9.4,330,4478,0.12,2.00,0.00,0.000,4,0.254,0.106,2581,2577,3621,0,0,0,0,0,0,14.38,14.33,28.83
$GC,4580,-0.92,-155.7,411.0,-9.0,333,4583,0.00,2.05,0.00,0.000,6,0.000,0.114,2581,1514,3620,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4882,-0.92,-155.7,440.9,-9.5,343,4889,0.00,2.00,0.00,0.000,4,0.000,0.110,2578,2569,3620,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4960,-0.92,-155.7,446.5,-9.4,345,4963,0.00,2.03,0.00,0.000,6,0.000,0.116,2579,1525,3619,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5262,-0.92,-155.7,475.8,-9.1,355,5268,0.00,2.08,0.00,0.000,4,0.000,0.138,2579,458,3619,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5300,-0.92,-155.7,478.6,-9.1,356,5303,0.00,1.95,0.00,0.000,6,0.000,0.087,2574,1528,3619,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5613,-0.92,-155.7,506.6,-8.3,367,5619,0.00,1.95,0.00,0.000,4,0.000,0.103,2565,2576,3618,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5733,-0.92,-155.7,516.2,-8.1,371,5739,0.00,2.00,0.00,0.000,6,0.000,0.109,2566,1528,3617,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6062,-0.92,-155.7,546.6,-9.7,382,6069,0.00,2.00,0.00,0.000,4,0.000,0.107,2560,2578,3616,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6141,-0.92,-155.7,552.4,-9.7,384,6151,0.12,2.00,0.00,0.000,6,0.231,0.110,2590,1538,3616,0,0,0,0,0,0,14.22,14.31,28.83
$GC,6455,-0.96,-155.7,586.1,-10.7,395,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1538,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6753,-1.00,-155.7,617.6,-10.2,405,6759,0.00,2.10,0.00,0.000,4,0.000,0.132,2590,462,3614,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6791,-1.03,-155.7,620.4,-10.0,406,6798,0.00,1.98,0.00,0.000,6,0.000,0.081,2583,1543,3614,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7114,-1.07,-155.7,648.0,-7.5,417,7116,0.12,0.00,0.00,0.000,6,0.141,0.000,2532,1543,3613,0,0,0,0,0,0,14.63,28.83,28.83
$GC,7414,-1.07,-155.7,673.3,-8.9,427,7419,0.00,2.10,0.00,0.000,4,0.000,0.139,2533,459,3612,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7541,-1.03,-155.7,686.7,-11.2,431,7549,0.12,2.00,0.00,0.000,6,0.295,0.093,2551,1535,3611,0,0,0,0,0,0,14.09,14.35,28.83
$GC,7865,-1.03,-155.7,724.2,-11.8,442,7870,0.00,1.95,0.00,0.000,4,0.000,0.111,2545,2579,3609,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7983,-1.03,-155.7,738.3,-11.8,446,7989,0.00,2.00,0.00,0.000,6,0.000,0.114,2544,1542,3609,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8315,-1.03,-155.7,773.3,-9.8,457,8320,0.00,2.00,0.00,0.000,4,0.000,0.119,2540,2585,3608,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8380,-1.03,-155.7,778.7,-9.3,459,8384,0.00,2.03,0.00,0.000,6,0.000,0.112,2540,1542,3608,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8695,-1.03,-155.7,810.3,-10.4,470,8700,0.00,1.98,0.00,0.000,4,0.000,0.113,2536,2582,3606,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8782,-1.03,-155.7,819.6,-10.5,473,8789,0.00,2.00,0.00,0.000,6,0.000,0.114,2536,1553,3606,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9113,-1.03,-155.7,854.4,-10.1,484,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1553,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9414,-1.03,-155.7,881.1,-8.6,494,9420,0.00,1.98,0.00,0.000,4,0.000,0.117,2536,2583,3604,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9521,-1.03,-155.7,888.5,-8.1,497,9525,0.00,2.00,0.00,0.000,6,0.000,0.116,2536,1559,3603,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9824,-1.03,-155.7,914.8,-8.5,507,9830,0.00,1.98,0.00,0.000,4,0.000,0.118,2536,2574,3602,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9861,-1.03,-155.7,917.2,-8.5,508,9865,0.00,1.98,0.00,0.000,6,0.000,0.119,2536,1565,3602,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10175,-1.03,-155.7,948.3,-10.5,519,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1566,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10474,-1.03,-155.7,983.5,-11.7,529,10481,0.00,1.98,0.00,0.000,4,0.000,0.120,2536,2578,3599,0,0,0,0,0,0,28.83,14.04,28.83
$STATE,10531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10531,begin apogee
$GC,10540,-0.23,0.0,990.5,-11.7,531,10700,1.00,0.00,152.82,1.839,4,0.224,0.000,2808,1521,2983,0,0,0,0,0,0,13.91,28.83,13.12
$STATE,10705,end apogee,CONTROL_FINISHED_OK
$STATE,10705,begin climb
$GC,10708,0.84,155.7,1002.6,0.0,536,10876,1.10,2.08,158.98,1.824,4,0.124,0.126,3155,2580,2354,0,0,0,0,0,0,14.10,14.07,13.11
$GC,11065,0.83,208.6,999.6,5.5,549,11126,0.00,2.15,55.45,1.786,6,0.000,0.142,3164,1513,2135,0,0,0,0,0,0,28.83,14.31,13.28
$GC,11426,0.80,208.6,971.9,8.2,561,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1513,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11726,0.77,208.6,945.5,9.3,571,11732,0.00,2.08,0.00,0.000,4,0.000,0.129,3164,2571,2118,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11824,0.75,208.6,936.7,9.7,574,11832,0.17,2.08,0.00,0.000,6,0.318,0.134,3134,1519,2116,0,0,0,0,0,0,14.14,14.38,28.83
$GC,12148,0.75,208.6,907.4,8.9,585,12153,0.00,2.03,0.00,0.000,4,0.000,0.120,3134,2586,2115,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12214,0.75,208.6,902.1,8.8,587,12218,0.00,2.12,0.00,0.000,6,0.000,0.143,3141,1531,2114,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12530,0.75,208.6,875.4,8.0,598,12535,0.00,2.03,0.00,0.000,4,0.000,0.129,3141,2580,2114,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12575,0.75,208.6,873.0,8.0,599,12579,0.00,2.12,0.00,0.000,6,0.000,0.147,3149,1527,2113,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12877,0.75,208.6,847.6,7.9,609,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1528,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13176,0.75,209.9,825.4,7.1,619,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1528,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13476,0.77,247.0,806.9,6.0,629,13524,0.00,2.08,38.58,1.685,4,0.000,0.128,3149,2581,1973,0,0,0,0,0,0,28.83,14.38,13.49
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$STATE,22493,end climb,SURFACE_DEPTH_REACHED
$STATE,22493,begin surface coast
$FINISH,1.3,0.000000
$STATE,22524,end surface coast,CONTROL_FINISHED_OK
$STATE,22524,begin surface
$SM_CCo,22546,10.65,0.132,0,0,1562,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.70
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7636000
$TM_FREEKB,4364256
$24V_AH,13.1,148.234
$10V_AH,11.6,0.000
$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,23.075,170.000,485.875,10.650,0.000,0.000,0.000,434.050,0.000,0.000,19.884,3072.670,16187.698,871.972,2590.659,604.613,0.000,2412.534,0.000,2040.750,0.000,0.541,0.000
$DEVICE_MAMPS,338.895,159.120,1839.060,132.345,0.000,0.000,0.000,172.125,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.737,13.201,0.000,0.000
$MEM,345564
$DATA_FILE_SIZE,40006,1113
$CAP_FILE_SIZE,233094,0
$CFSIZE,260034560,201523200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.069,194.2,1
$GPS,030113,084658,2454.361,-3819.777,39,0.9,39,-14.0