version: 66.11
glider: 190
mission: 6
dive: 354
start: 1 4 113 5 0 48
data:
$ID,190
$MISSION,6
$DIVE,354
$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,-13360.92
$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,18
$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
$GPS1,040113,044623,2449.415,-3824.836,40,1.1,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-68.7
$GPS2,040113,050018,2449.303,-3824.865,19,1.1,20,-14.1
$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,264.4,39173,-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,-11.68,0.000,2,0.000,0.000,138,1527,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,140,11.38,2.12,-80.25,0.000,4,0.363,0.160,2613,465,3626,0,0,0,0,0,0,14.18,14.23,14.69
$GC,239,-0.82,-155.7,14.2,-10.3,21,249,0.00,1.95,0.00,0.000,6,0.000,0.086,2607,1519,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,549,-0.82,-155.7,43.9,-9.7,52,557,0.00,2.00,0.00,0.000,4,0.000,0.108,2605,2576,3629,0,0,0,0,0,0,28.83,14.28,28.83
$GC,660,-0.82,-155.7,54.9,-10.0,63,668,0.00,2.03,0.00,0.000,6,0.000,0.116,2605,1527,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,971,-0.84,-155.7,88.8,-10.7,94,978,0.00,2.08,0.00,0.000,4,0.000,0.139,2605,455,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1039,-0.84,-155.7,96.1,-10.5,101,1049,0.00,1.95,0.00,0.000,6,0.000,0.087,2605,1515,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1350,-0.84,-155.7,121.1,-7.4,132,1358,0.00,1.98,0.00,0.000,4,0.000,0.103,2605,2578,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1481,-0.88,-155.7,131.6,-8.7,145,1489,0.00,2.00,0.00,0.000,6,0.000,0.112,2605,1525,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1790,-0.91,-155.7,160.5,-9.5,176,1798,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,462,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1969,-0.91,-155.7,178.7,-9.9,194,1978,0.00,1.90,0.00,0.000,6,0.000,0.082,2604,1515,3627,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2279,-0.95,-155.7,208.6,-9.7,225,2289,0.00,1.98,0.00,0.000,4,0.000,0.103,2603,2579,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2319,-0.99,-155.7,212.3,-9.5,229,2329,0.08,2.05,0.00,0.000,6,0.089,0.109,2553,1505,3627,0,0,0,0,0,0,14.36,14.25,28.83
$GC,2632,-0.96,-155.7,237.4,-6.5,260,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1504,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,-0.96,-155.7,262.5,-8.4,283,2966,0.00,2.03,0.00,0.000,4,0.000,0.102,2549,2583,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3089,-0.96,-155.7,273.4,-9.0,287,3097,0.12,2.05,0.00,0.000,6,0.238,0.112,2578,1516,3627,0,0,0,0,0,0,14.23,14.32,28.83
$GC,3411,-0.96,-155.7,304.5,-9.7,298,3416,0.00,2.03,0.00,0.000,4,0.000,0.138,2579,457,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3458,-0.96,-155.7,307.6,-9.7,299,3462,0.00,1.92,0.00,0.000,6,0.000,0.083,2572,1518,3628,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3760,-0.96,-155.7,338.1,-9.4,309,3766,0.00,1.98,0.00,0.000,4,0.000,0.106,2565,2580,3628,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3808,-0.96,-155.7,341.0,-9.4,310,3812,0.00,2.05,0.00,0.000,6,0.000,0.113,2565,1515,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4111,-0.96,-155.7,374.0,-10.9,320,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1514,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.96,-155.7,405.9,-10.2,330,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1514,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.96,-155.7,434.7,-9.5,340,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1514,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5010,-0.96,-155.7,463.4,-9.6,350,5016,0.00,2.00,0.00,0.000,4,0.000,0.103,2560,2579,3621,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5058,-0.96,-155.7,466.4,-9.7,351,5062,0.00,2.05,0.00,0.000,6,0.000,0.112,2560,1514,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5360,-0.96,-155.7,497.0,-9.5,361,5366,0.00,2.05,0.00,0.000,4,0.000,0.142,2560,463,3620,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5419,-0.96,-155.7,503.1,-9.8,363,5427,0.00,1.92,0.00,0.000,6,0.000,0.090,2553,1516,3620,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5750,-0.96,-155.7,534.9,-9.4,374,5756,0.00,2.00,0.00,0.000,4,0.000,0.112,2549,2574,3619,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5819,-0.96,-155.7,540.5,-9.3,376,5828,0.12,2.05,0.00,0.000,6,0.234,0.116,2579,1514,3619,0,0,0,0,0,0,14.22,14.31,28.83
$GC,6142,-0.99,-155.7,569.5,-8.8,387,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1514,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6440,-1.03,-155.7,596.6,-9.2,397,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1514,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6739,-1.06,-155.7,626.7,-10.3,407,6747,0.00,2.03,0.00,0.000,4,0.000,0.109,2575,2577,3615,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6778,-1.09,-155.7,629.6,-10.2,408,6787,0.12,2.05,0.00,0.000,6,0.135,0.117,2523,1524,3615,0,0,0,0,0,0,14.45,14.28,28.83
$GC,7102,-1.06,-155.7,665.6,-10.4,419,7109,0.00,2.08,0.00,0.000,4,0.000,0.142,2523,462,3614,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7149,-1.03,-155.7,668.7,-10.3,420,7158,0.15,1.98,0.00,0.000,6,0.291,0.093,2549,1528,3614,0,0,0,0,0,0,14.05,14.37,28.83
$GC,7462,-1.03,-155.7,697.2,-8.1,431,7469,0.00,2.00,0.00,0.000,4,0.000,0.117,2549,2587,3613,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7538,-1.03,-155.7,701.7,-7.8,433,7542,0.00,2.08,0.00,0.000,6,0.000,0.120,2549,1525,3612,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7840,-1.03,-155.7,724.9,-7.2,443,7846,0.00,2.10,0.00,0.000,4,0.000,0.147,2549,466,3611,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7909,-1.03,-155.7,730.0,-8.0,445,7916,0.00,1.98,0.00,0.000,6,0.000,0.093,2543,1529,3611,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8230,-1.03,-155.7,757.2,-8.3,456,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1530,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,-1.03,-155.7,783.5,-9.1,466,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1530,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,-1.03,-155.7,813.6,-10.3,476,8836,0.00,2.15,0.00,0.000,4,0.000,0.146,2543,459,3604,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8920,-1.03,-155.7,823.9,-11.3,479,8926,0.00,1.95,0.00,0.000,6,0.000,0.095,2538,1515,3606,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9249,-1.03,-155.7,861.6,-11.5,490,9256,0.00,2.08,0.00,0.000,4,0.000,0.121,2536,2585,3605,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9298,-1.03,-155.7,864.9,-11.4,491,9302,0.00,2.08,0.00,0.000,6,0.000,0.115,2536,1520,3605,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9600,-1.03,-155.7,901.4,-11.5,501,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1519,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9899,-1.03,-155.7,934.9,-10.8,511,9907,0.00,2.10,0.00,0.000,4,0.000,0.138,2536,461,3602,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9978,-1.03,-155.7,941.8,-11.1,513,9982,0.00,2.00,0.00,0.000,6,0.000,0.092,2536,1531,3601,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10280,-1.03,-155.7,974.6,-9.8,523,10286,0.00,2.00,0.00,0.000,4,0.000,0.120,2536,2572,3601,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10349,-1.03,-155.7,980.4,-9.6,525,10356,0.00,2.05,0.00,0.000,6,0.000,0.116,2536,1526,3601,0,0,0,0,0,0,28.83,14.14,28.83
$STATE,10456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10456,begin apogee
$GC,10464,-0.23,0.0,991.6,-9.3,529,10621,0.98,0.00,152.57,1.841,4,0.214,0.000,2805,1526,2989,0,0,0,0,0,0,13.93,28.83,13.12
$STATE,10624,end apogee,CONTROL_FINISHED_OK
$STATE,10624,begin climb
$GC,10627,0.84,155.7,1000.2,0.0,534,10796,1.10,2.05,158.62,1.824,4,0.106,0.116,3163,2584,2354,0,0,0,0,0,0,14.12,14.07,13.13
$GC,10913,0.80,175.8,996.1,6.5,544,10942,0.00,2.12,20.58,1.720,6,0.000,0.132,3171,1521,2269,0,0,0,0,0,0,28.83,14.26,13.35
$GC,11255,0.75,175.8,969.1,7.8,556,11262,0.15,2.12,0.00,0.000,4,0.309,0.164,3146,461,2261,0,0,0,0,0,0,14.21,14.25,28.83
$GC,11334,0.71,175.8,964.5,7.7,558,11343,0.00,1.98,0.00,0.000,6,0.000,0.103,3147,1517,2261,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11649,0.68,176.7,940.9,7.1,569,11651,0.15,0.00,0.00,0.000,6,0.304,0.000,3114,1519,2259,0,0,0,0,0,0,14.22,28.83,28.83
$GC,11945,0.70,203.8,921.9,6.3,579,11983,0.00,2.03,30.02,1.763,4,0.000,0.120,3114,2574,2152,0,0,0,0,0,0,28.83,14.42,13.50
$GC,12085,0.71,212.8,913.6,6.9,583,12095,0.00,2.10,3.00,0.897,6,0.000,0.147,3122,1528,2122,0,0,0,0,0,0,28.83,14.25,13.21
$GC,12397,0.71,219.5,890.8,7.0,594,12417,0.00,2.05,15.27,1.696,4,0.000,0.129,3121,2576,2090,0,0,0,0,0,0,28.83,14.48,13.52
$GC,12547,0.71,221.9,880.9,7.1,598,12553,0.00,2.05,0.00,0.000,6,0.000,0.146,3130,1541,2084,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12867,0.71,221.9,857.4,7.2,609,12873,0.00,2.00,0.00,0.000,4,0.000,0.126,3129,2579,2084,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12935,0.71,221.9,852.7,7.4,611,12943,0.00,2.10,0.00,0.000,6,0.000,0.144,3136,1540,2082,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13258,0.71,224.3,828.8,7.1,622,13263,0.00,2.20,0.00,0.000,4,0.000,0.171,3144,459,2082,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13315,0.71,224.3,824.3,7.4,624,13323,0.00,2.03,0.00,0.000,6,0.000,0.096,3144,1545,2082,0,0,0,0,0,0,28.83,14.41,28.83
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$STATE,22688,end climb,SURFACE_DEPTH_REACHED
$STATE,22688,begin surface coast
$FINISH,1.4,1.003118
$STATE,22721,end surface coast,CONTROL_FINISHED_OK
$STATE,22721,begin surface
$SM_CCo,22803,0.00,0.000,0,0,1549,353.23
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$IRIDIUM_FIX,2441.81,-3822.90,030113,222255
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.79
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7634464
$TM_FREEKB,4328032
$24V_AH,13.1,149.922
$10V_AH,12.0,0.000
$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,23.450,179.625,518.525,0.000,0.000,0.000,0.000,467.250,0.250,0.000,20.986,3158.097,16281.259,888.427,2626.454,664.945,0.000,2479.551,0.000,2042.964,0.000,0.541,0.000
$DEVICE_MAMPS,363.375,170.595,1841.355,0.000,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.780,13.237,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,40037,1122
$CAP_FILE_SIZE,239733,0
$CFSIZE,260034560,200982528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080,180.0,1
$GPS,040113,112204,2447.736,-3826.712,31,0.9,31,-14.1