version: 66.11
glider: 190
mission: 6
dive: 351
start: 1 3 113 8 59 49
data:
$ID,190
$MISSION,6
$DIVE,351
$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,-13357.145
$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,10
$R_STBD_OVSHOOT,15
$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
$GPS1,030113,084658,2454.361,-3819.777,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-66.3
$GPS2,030113,085917,2454.318,-3819.844,17,1.0,18,-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,256.7,51695,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.45,0.000,2,0.000,0.000,146,1512,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.4,0.0,1,141,11.38,2.10,-82.18,0.000,4,0.363,0.161,2616,458,3628,0,0,0,0,0,0,14.21,14.23,14.68
$GC,290,-0.84,-155.7,17.5,-8.0,26,299,0.00,1.95,0.00,0.000,6,0.000,0.088,2609,1525,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,600,-0.84,-155.7,45.4,-8.7,57,610,0.00,2.00,0.00,0.000,4,0.000,0.110,2605,2579,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,670,-0.84,-155.7,51.9,-9.4,64,678,0.00,2.08,0.00,0.000,6,0.000,0.118,2605,1518,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,980,-0.84,-155.7,82.8,-10.7,95,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1519,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1280,-0.84,-155.7,109.4,-8.8,125,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1519,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1580,-0.87,-155.7,136.1,-8.2,155,1589,0.00,2.08,0.00,0.000,4,0.000,0.139,2605,458,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1734,-0.87,-155.7,149.5,-8.9,170,1740,0.00,1.95,0.00,0.000,6,0.000,0.089,2605,1530,3627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2042,-0.90,-155.7,175.2,-8.6,201,2050,0.00,2.12,0.00,0.000,4,0.000,0.142,2605,460,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2091,-0.90,-155.7,179.7,-9.2,206,2099,0.00,1.92,0.00,0.000,6,0.000,0.088,2605,1515,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2402,-0.94,-155.7,205.2,-8.0,237,2409,0.00,2.08,0.00,0.000,4,0.000,0.141,2604,463,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2500,-0.94,-155.7,213.8,-8.6,247,2508,0.00,1.88,0.00,0.000,6,0.000,0.088,2604,1491,3627,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2812,-0.98,-155.7,240.7,-9.6,278,2819,0.00,2.03,0.00,0.000,4,0.000,0.142,2605,455,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2914,-0.98,-155.7,250.7,-10.0,288,2919,0.00,1.85,0.00,0.000,6,0.000,0.089,2605,1477,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3233,-1.02,-155.7,279.5,-8.6,299,3239,0.12,2.00,0.00,0.000,4,0.140,0.138,2540,453,3626,0,0,0,0,0,0,14.61,14.16,28.83
$GC,3402,-0.97,-155.7,295.0,-10.5,304,3411,0.10,1.80,0.00,0.000,6,0.242,0.091,2576,1443,3626,0,0,0,0,0,0,14.14,14.38,28.83
$GC,3712,-0.97,-155.7,321.6,-7.7,315,3717,0.00,2.10,0.00,0.000,4,0.000,0.110,2568,2577,3628,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3831,-0.97,-155.7,330.8,-7.7,319,3838,0.00,2.15,0.00,0.000,6,0.000,0.120,2568,1460,3625,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4160,-0.97,-155.7,355.9,-7.6,330,4168,0.00,2.12,0.00,0.000,4,0.000,0.110,2565,2577,3624,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4221,-0.97,-155.7,360.5,-7.9,332,4228,0.00,2.15,0.00,0.000,6,0.000,0.122,2565,1467,3624,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4550,-0.97,-155.7,391.6,-10.3,343,4558,0.00,2.12,0.00,0.000,4,0.000,0.112,2559,2579,3623,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4640,-0.97,-155.7,401.6,-10.9,346,4648,0.00,2.15,0.00,0.000,6,0.000,0.122,2558,1474,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4972,-0.97,-155.7,441.5,-12.2,357,4977,0.00,2.10,0.00,0.000,4,0.000,0.113,2553,2577,3621,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5120,-0.97,-155.7,458.8,-11.5,362,5129,0.00,2.12,0.00,0.000,6,0.000,0.121,2553,1486,3621,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5454,-0.97,-155.7,491.1,-8.9,373,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1487,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5750,-0.97,-155.7,515.7,-8.1,383,5757,0.00,2.10,0.00,0.000,4,0.000,0.115,2549,2579,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5860,-0.97,-155.7,523.0,-8.1,386,5869,0.00,2.12,0.00,0.000,6,0.000,0.123,2549,1492,3619,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6171,-0.97,-155.7,550.3,-8.6,397,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1492,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6471,-0.97,-155.7,578.7,-9.8,407,6477,0.00,2.08,0.00,0.000,4,0.000,0.116,2545,2571,3617,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6579,-0.97,-155.7,587.5,-9.8,410,6584,0.12,2.10,0.00,0.000,6,0.231,0.123,2575,1497,3617,0,0,0,0,0,0,14.22,14.28,28.83
$GC,6882,-0.97,-155.7,616.7,-9.1,420,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1497,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7181,-0.99,-155.7,644.3,-9.2,430,7188,0.00,2.05,0.00,0.000,4,0.000,0.148,2575,463,3615,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7259,-0.99,-155.7,650.1,-9.4,432,7268,0.00,1.92,0.00,0.000,6,0.000,0.096,2568,1501,3614,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7574,-1.02,-155.7,679.4,-8.6,443,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1501,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,-1.05,-155.7,704.7,-8.4,453,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1502,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,-1.07,-155.7,730.6,-8.8,463,8178,0.00,2.08,0.00,0.000,4,0.000,0.149,2568,459,3613,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8219,-1.07,-155.7,733.5,-9.0,464,8223,0.00,1.92,0.00,0.000,6,0.000,0.092,2563,1497,3611,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8521,-1.10,-155.7,763.2,-9.2,474,8528,0.00,2.05,0.00,0.000,4,0.000,0.145,2563,466,3609,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8560,-1.10,-155.7,766.2,-9.4,475,8568,0.00,1.90,0.00,0.000,6,0.000,0.090,2556,1492,3609,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8883,-1.12,-155.7,796.8,-9.1,486,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1493,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,-1.12,-155.7,823.2,-8.5,496,9187,0.00,2.08,0.00,0.000,4,0.000,0.151,2556,463,3606,0,0,0,0,0,0,28.83,14.05,28.83
$GC,9240,-1.12,-155.7,828.5,-8.7,498,9248,0.00,1.90,0.00,0.000,6,0.000,0.092,2553,1490,3606,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9574,-1.14,-155.7,854.7,-7.9,509,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1490,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9871,-1.14,-155.7,878.0,-7.8,519,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1490,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10171,-1.14,-155.7,903.1,-8.5,529,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1490,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10471,-1.16,-155.7,931.0,-9.7,539,10473,0.12,0.00,0.00,0.000,6,0.165,0.000,2510,1490,3601,0,0,0,0,0,0,14.51,28.83,28.83
$GC,10771,-1.12,-155.7,964.2,-11.5,549,10777,0.00,2.10,0.00,0.000,4,0.000,0.119,2509,2572,3599,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10830,-1.10,-155.7,970.8,-11.3,551,10837,0.00,2.15,0.00,0.000,6,0.000,0.129,2509,1487,3599,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,11007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11007,begin apogee
$GC,11015,-0.23,0.0,991.7,-11.6,557,11236,1.10,0.00,213.45,1.532,4,0.233,0.000,2804,1518,2990,0,0,0,0,0,0,13.83,28.83,13.24
$STATE,11237,end apogee,CONTROL_FINISHED_OK
$STATE,11237,begin climb
$GC,11241,0.84,155.7,1007.1,0.0,564,11410,1.12,2.08,159.60,1.831,4,0.119,0.125,3162,2585,2355,0,0,0,0,0,0,14.12,14.08,13.11
$GC,11642,0.81,191.7,1000.6,6.0,577,11686,0.00,2.12,37.60,1.779,6,0.000,0.143,3170,1518,2203,0,0,0,0,0,0,28.83,14.30,13.33
$GC,12011,0.77,191.7,971.2,8.2,590,12018,0.12,2.12,0.00,0.000,4,0.306,0.164,3152,463,2193,0,0,0,0,0,0,14.25,14.25,28.83
$GC,12250,0.74,191.7,950.2,8.8,598,12257,0.00,2.00,0.00,0.000,6,0.000,0.103,3152,1527,2191,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12584,0.71,191.7,922.2,8.4,609,12585,0.12,0.00,0.00,0.000,6,0.304,0.000,3126,1528,2190,0,0,0,0,0,0,14.26,28.83,28.83
$GC,12881,0.71,191.7,899.9,7.2,619,12888,0.00,2.03,0.00,0.000,4,0.000,0.125,3125,2575,2188,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13019,0.72,204.0,891.8,6.8,623,13038,0.00,2.12,12.43,1.685,6,0.000,0.145,3133,1522,2153,0,0,0,0,0,0,28.83,14.28,13.55
$GC,13363,0.74,240.9,869.3,6.0,635,13404,0.00,0.00,39.10,1.750,6,0.000,0.000,3134,1522,2009,0,0,0,0,0,0,28.83,28.83,13.45
$GC,13693,0.77,280.5,849.5,5.9,646,13740,0.00,2.10,42.28,1.724,4,0.000,0.127,3133,2578,1841,0,0,0,0,0,0,28.83,14.25,13.40
$GC,13841,0.77,291.9,839.9,6.8,650,13860,0.00,2.12,12.93,1.609,6,0.000,0.145,3141,1528,1795,0,0,0,0,0,0,28.83,14.19,13.40
$GC,14163,0.77,291.9,811.2,9.6,661,14168,0.00,2.03,0.00,0.000,4,0.000,0.126,3141,2578,1784,0,0,0,0,0,0,28.83,14.34,28.83
$GC,14229,0.77,291.9,804.9,10.2,663,14237,0.00,2.10,0.00,0.000,6,0.000,0.144,3148,1538,1783,0,0,0,0,0,0,28.83,14.28,28.83
$GC,14551,0.77,291.9,770.2,10.2,674,14557,0.00,2.03,0.00,0.000,4,0.000,0.125,3148,2579,1782,0,0,0,0,0,0,28.83,14.31,28.83
$GC,14650,0.77,291.9,761.4,9.8,677,14657,0.00,2.05,0.00,0.000,6,0.000,0.143,3155,1559,1782,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,22782,end climb,SURFACE_DEPTH_REACHED
$STATE,22782,begin surface coast
$FINISH,1.4,1.008754
$STATE,22803,end surface coast,CONTROL_FINISHED_OK
$STATE,22803,begin surface
$SM_CCo,22891,0.00,0.000,0,0,1525,359.36
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$IRIDIUM_FIX,2448.93,-3823.99,030113,020247
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.07
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7635616
$TM_FREEKB,4355360
$24V_AH,13.1,148.675
$10V_AH,12.2,0.000
$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,23.600,168.700,592.050,0.000,0.000,0.000,0.000,403.825,0.250,0.000,19.305,3179.566,16260.828,947.357,2599.911,629.166,0.000,2498.170,0.000,2098.283,0.000,0.541,0.000
$DEVICE_MAMPS,363.375,180.540,1831.410,0.000,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.640,13.212,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,40090,1131
$CAP_FILE_SIZE,235482,0
$CFSIZE,260034560,201396224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,192.6,1
$GPS,030113,152234,2453.071,-3821.699,32,0.9,32,-14.1