version: 66.11
glider: 190
mission: 6
dive: 357
start: 1 5 113 0 5 10
data:
$ID,190
$MISSION,6
$DIVE,357
$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,-13364.693
$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,19
$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
$GPS1,040113,235136,2444.935,-3830.003,27,1.0,27,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-65.0
$GPS2,050113,000441,2444.823,-3829.956,14,1.8,14,-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,268.2,27247,-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,-11.60,0.000,2,0.000,0.000,141,1527,1537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.5,0.0,1,153,11.15,2.12,-93.57,0.000,4,0.351,0.158,2618,456,3625,0,0,0,0,0,0,14.20,14.22,14.69
$GC,386,-0.84,-155.7,26.8,-10.3,35,393,0.00,1.92,0.00,0.000,6,0.000,0.082,2619,1518,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,695,-0.84,-155.7,54.2,-8.9,66,703,0.00,1.98,0.00,0.000,4,0.000,0.102,2619,2575,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,777,-0.87,-155.7,61.1,-8.7,74,784,0.00,2.00,0.00,0.000,6,0.000,0.109,2618,1522,3624,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1086,-0.91,-155.7,89.5,-9.4,105,1094,0.00,2.05,0.00,0.000,4,0.000,0.135,2618,468,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1215,-0.91,-155.7,102.1,-9.8,118,1223,0.00,1.88,0.00,0.000,6,0.000,0.077,2618,1508,3625,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1525,-0.95,-155.7,132.8,-11.2,149,1534,0.00,2.05,0.00,0.000,4,0.000,0.132,2618,457,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1695,-0.95,-155.7,151.7,-10.1,166,1703,0.00,1.88,0.00,0.000,6,0.000,0.078,2617,1488,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2009,-0.99,-155.7,174.4,-6.8,197,2016,0.12,1.98,0.00,0.000,4,0.135,0.132,2557,458,3626,0,0,0,0,0,0,14.53,14.17,28.83
$GC,2217,-0.95,-155.7,193.8,-9.9,218,2224,0.00,1.83,0.00,0.000,6,0.000,0.082,2553,1469,3626,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2526,-0.93,-155.7,221.9,-8.9,249,2535,0.15,2.03,0.00,0.000,4,0.246,0.103,2582,2576,3626,0,0,0,0,0,0,14.27,14.31,28.83
$GC,2615,-0.93,-155.7,229.7,-9.0,258,2623,0.00,2.12,0.00,0.000,6,0.000,0.112,2582,1475,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2925,-0.93,-155.7,259.8,-10.4,283,2932,0.00,2.08,0.00,0.000,4,0.000,0.103,2579,2579,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2974,-0.93,-155.7,263.0,-10.4,284,2977,0.00,2.12,0.00,0.000,6,0.000,0.112,2580,1478,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3276,-0.93,-155.7,298.5,-11.1,294,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1477,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3575,-0.93,-155.7,329.1,-10.0,304,3582,0.00,2.05,0.00,0.000,4,0.000,0.099,2577,2575,3624,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3614,-0.93,-155.7,331.8,-9.8,305,3618,0.00,2.10,0.00,0.000,6,0.000,0.111,2577,1479,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3927,-0.93,-155.7,358.4,-7.5,316,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1479,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4226,-0.93,-155.7,378.1,-6.3,326,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1479,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4527,-0.93,-155.7,398.5,-7.3,336,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1479,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-0.93,-155.7,425.9,-9.9,346,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1479,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5127,-0.96,-155.7,459.2,-11.4,356,5133,0.00,1.95,0.00,0.000,4,0.000,0.135,2576,466,3620,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5175,-0.96,-155.7,462.9,-11.6,357,5178,0.00,1.85,0.00,0.000,6,0.000,0.081,2570,1487,3620,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5476,-0.96,-155.7,497.7,-10.3,367,5483,0.00,2.03,0.00,0.000,4,0.000,0.107,2565,2576,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5546,-0.96,-155.7,503.7,-10.2,369,5554,0.00,2.08,0.00,0.000,6,0.000,0.114,2565,1494,3618,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5866,-0.96,-155.7,535.5,-9.7,380,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1497,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6166,-0.98,-155.7,566.6,-10.4,390,6173,0.00,2.03,0.00,0.000,4,0.000,0.139,2565,459,3617,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6216,-0.98,-155.7,569.8,-10.4,391,6224,0.00,1.90,0.00,0.000,6,0.000,0.087,2560,1496,3620,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6526,-0.98,-155.7,600.1,-8.4,402,6533,0.00,2.05,0.00,0.000,4,0.000,0.111,2553,2574,3615,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6587,-0.98,-155.7,604.6,-8.0,404,6594,0.00,2.08,0.00,0.000,6,0.000,0.116,2553,1494,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6919,-0.98,-155.7,626.4,-6.3,415,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1495,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7216,-0.98,-155.7,646.0,-6.8,425,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1495,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7517,-0.98,-155.7,671.1,-9.2,435,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1495,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7816,-0.98,-155.7,702.9,-11.0,445,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1495,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8117,-0.98,-155.7,736.7,-11.1,455,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1495,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,-0.98,-155.7,768.1,-10.4,465,8423,0.00,2.10,0.00,0.000,4,0.000,0.112,2552,2582,3607,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8455,-0.98,-155.7,771.3,-10.3,466,8459,0.00,2.12,0.00,0.000,6,0.000,0.119,2552,1496,3607,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8768,-0.98,-155.7,806.4,-11.0,477,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1497,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9067,-0.98,-155.7,838.4,-10.4,487,9075,0.00,2.08,0.00,0.000,4,0.000,0.148,2552,459,3604,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9137,-0.98,-155.7,844.9,-10.5,489,9144,0.00,1.95,0.00,0.000,6,0.000,0.096,2552,1496,3604,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9457,-0.98,-155.7,875.2,-8.7,500,9464,0.00,2.12,0.00,0.000,4,0.000,0.123,2549,2584,3602,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9506,-0.98,-155.7,877.7,-8.6,501,9516,0.00,2.17,0.00,0.000,6,0.000,0.125,2552,1488,3603,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9818,-0.98,-155.7,906.8,-9.0,512,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1488,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10117,-0.98,-155.7,935.5,-9.9,522,10124,0.00,2.12,0.00,0.000,4,0.000,0.122,2552,2573,3600,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10227,-0.98,-155.7,944.7,-10.1,525,10237,0.00,2.15,0.00,0.000,6,0.000,0.128,2552,1498,3599,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10537,-0.98,-155.7,980.0,-10.9,536,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1498,3598,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10654,begin apogee
$GC,10660,-0.23,0.0,992.7,-10.6,540,10817,0.93,0.00,152.55,1.844,4,0.218,0.000,2805,1498,2989,0,0,0,0,0,0,13.85,28.83,13.10
$STATE,10822,end apogee,CONTROL_FINISHED_OK
$STATE,10822,begin climb
$GC,10825,0.84,155.7,1003.2,0.0,545,10995,1.10,2.12,159.23,1.819,4,0.119,0.122,3156,2580,2350,0,0,0,0,0,0,14.10,14.07,13.12
$GC,11189,0.81,180.9,995.5,6.4,558,11220,0.00,2.08,26.10,1.749,6,0.000,0.138,3164,1521,2251,0,0,0,0,0,0,28.83,14.31,13.38
$GC,11540,0.77,180.9,969.5,7.6,570,11547,0.00,2.08,0.00,0.000,4,0.000,0.130,3164,2574,2235,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11618,0.74,180.9,964.9,7.6,572,11628,0.17,2.10,0.00,0.000,6,0.321,0.139,3135,1522,2235,0,0,0,0,0,0,14.14,14.35,28.83
$GC,11932,0.76,218.8,944.2,6.0,583,11977,0.00,2.03,39.92,1.769,4,0.000,0.119,3135,2580,2092,0,0,0,0,0,0,28.83,14.34,13.43
$GC,12058,0.78,247.8,936.7,6.3,587,12097,0.00,2.10,31.70,1.737,6,0.000,0.145,3142,1545,1974,0,0,0,0,0,0,28.83,14.26,13.35
$GC,12409,0.78,247.8,910.9,7.6,599,12416,0.00,2.03,0.00,0.000,4,0.000,0.126,3142,2577,1960,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12498,0.78,247.8,903.5,8.1,602,12506,0.00,2.08,0.00,0.000,6,0.000,0.146,3149,1551,1959,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12832,0.78,247.8,873.0,9.6,613,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1551,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13129,0.78,247.8,845.2,9.0,623,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1551,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13429,0.78,257.3,822.5,6.9,633,13437,0.00,1.98,2.20,0.392,4,0.000,0.125,3149,2583,1937,0,0,0,0,0,0,28.83,14.40,13.07
$GC,13479,0.79,271.0,820.5,6.7,634,13508,0.00,2.08,18.83,1.487,6,0.000,0.148,3157,1559,1883,0,0,0,0,1,0,28.83,14.28,13.36
$GC,13819,0.83,335.2,799.9,5.1,646,13899,0.00,2.05,75.70,1.658,4,0.000,0.128,3157,2579,1619,0,0,0,0,0,0,28.83,14.16,13.33
$GC,13939,0.86,384.7,793.6,5.6,649,13997,0.00,2.08,53.83,1.620,6,0.000,0.147,3164,1572,1421,0,0,0,0,0,0,28.83,14.12,13.24
$GC,14309,0.89,384.7,766.5,7.6,662,14316,0.00,1.95,0.00,0.000,4,0.000,0.126,3164,2573,1399,0,0,0,0,0,0,28.83,14.28,28.83
$GC,14370,0.92,384.7,761.3,8.1,664,14376,0.00,1.98,0.00,0.000,6,0.000,0.147,3170,1592,1398,0,0,0,0,0,0,28.83,14.21,28.83
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$GC,16757,0.98,384.7,496.1,10.7,743,16761,0.00,2.03,0.00,0.000,6,0.000,0.090,3222,1550,1393,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,21106,end climb,SURFACE_DEPTH_REACHED
$STATE,21106,begin surface coast
$FINISH,1.4,1.002955
$STATE,21127,end surface coast,CONTROL_FINISHED_OK
$STATE,21128,begin surface
$SM_CCo,21212,0.00,0.000,0,0,1397,390.76
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.52
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,3
$SC_FREEKB,7633312
$TM_FREEKB,4302848
$24V_AH,13.1,151.219
$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,23.200,160.350,560.050,0.000,0.000,0.000,0.000,436.075,0.750,0.000,15.527,2876.797,15185.270,920.084,2413.003,585.080,0.000,2390.738,0.000,1877.629,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,240.210,1844.415,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.772,13.259,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,36701,1044
$CAP_FILE_SIZE,218604,0
$CFSIZE,260034560,200622080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.047,137.4,1
$GPS,050113,060004,2443.999,-3831.500,39,0.7,39,-14.1