version: 66.11
glider: 190
mission: 6
dive: 346
start: 1 2 113 0 38 59
data:
$ID,190
$MISSION,6
$DIVE,346
$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,-13350.76
$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,13
$R_STBD_OVSHOOT,14
$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
$GPS1,020113,001834,2502.204,-3811.302,26,1.0,26,-14.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-67.2
$GPS2,020113,003829,2502.252,-3811.304,16,1.2,16,-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,237.6,72248,-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,-11.65,0.000,2,0.000,0.000,142,1515,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.3,0.0,1,148,11.50,2.08,-83.65,0.000,4,0.370,0.158,2611,462,3624,0,0,0,0,0,0,14.13,14.26,14.69
$GC,209,-0.81,-155.7,10.0,-10.9,18,217,0.00,1.92,0.00,0.000,6,0.000,0.081,2605,1523,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,519,-0.81,-155.7,40.6,-10.9,49,528,0.00,1.98,0.00,0.000,4,0.000,0.107,2604,2567,3625,0,0,0,0,0,0,28.83,14.25,28.83
$GC,608,-0.81,-155.7,50.4,-10.2,58,617,0.00,2.00,0.00,0.000,6,0.000,0.114,2605,1534,3625,0,0,0,0,0,0,28.83,14.20,28.83
$GC,918,-0.81,-155.7,79.6,-9.5,89,928,0.00,2.12,0.00,0.000,4,0.000,0.139,2604,459,3625,0,0,0,0,0,0,28.83,14.20,28.83
$GC,969,-0.81,-155.7,84.9,-10.3,94,977,0.00,1.92,0.00,0.000,6,0.000,0.085,2604,1525,3625,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1278,-0.84,-155.7,113.2,-8.7,125,1288,0.00,1.95,0.00,0.000,4,0.000,0.106,2605,2570,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1359,-0.87,-155.7,119.8,-7.9,133,1368,0.00,2.03,0.00,0.000,6,0.000,0.117,2605,1524,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1669,-0.91,-155.7,143.1,-7.6,164,1677,0.00,2.08,0.00,0.000,4,0.000,0.138,2604,460,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1908,-0.91,-155.7,163.0,-8.2,188,1916,0.00,1.90,0.00,0.000,6,0.000,0.084,2604,1505,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2218,-0.94,-155.7,186.6,-8.3,219,2227,0.00,2.05,0.00,0.000,4,0.000,0.138,2604,463,3625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2319,-0.94,-155.7,196.0,-9.4,229,2328,0.00,1.85,0.00,0.000,6,0.000,0.083,2602,1490,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2629,-0.98,-155.7,225.3,-9.7,260,2637,0.00,2.03,0.00,0.000,4,0.000,0.140,2604,460,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2748,-0.98,-155.7,237.2,-9.9,272,2757,0.00,1.85,0.00,0.000,6,0.000,0.084,2605,1479,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3068,-1.01,-155.7,267.6,-9.6,292,3076,0.12,2.00,0.00,0.000,4,0.139,0.139,2548,459,3625,0,0,0,0,0,0,14.63,14.22,28.83
$GC,3189,-0.99,-155.7,282.0,-12.1,296,3196,0.00,1.80,0.00,0.000,6,0.000,0.087,2542,1460,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3520,-0.96,-155.7,318.0,-10.6,307,3527,0.12,2.05,0.00,0.000,4,0.259,0.106,2569,2577,3621,0,0,0,0,0,0,14.33,14.39,28.83
$GC,3578,-0.96,-155.7,323.8,-10.1,309,3585,0.00,2.17,0.00,0.000,6,0.000,0.119,2569,1452,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3909,-0.96,-155.7,353.0,-8.8,320,3915,0.00,2.10,0.00,0.000,4,0.000,0.110,2564,2568,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3957,-0.96,-155.7,355.6,-8.7,321,3961,0.00,2.15,0.00,0.000,6,0.000,0.119,2564,1456,3622,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4259,-0.96,-155.7,385.5,-9.4,331,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1456,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4558,-0.96,-155.7,414.3,-9.6,341,4566,0.00,2.12,0.00,0.000,4,0.000,0.110,2556,2575,3620,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4618,-0.96,-155.7,420.0,-9.6,343,4625,0.00,2.15,0.00,0.000,6,0.000,0.120,2557,1466,3620,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4949,-0.96,-155.7,454.4,-10.6,354,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1465,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5249,-0.96,-155.7,485.2,-10.1,364,5255,0.00,2.10,0.00,0.000,4,0.000,0.112,2553,2572,3618,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5339,-0.96,-155.7,493.9,-9.7,367,5345,0.00,2.12,0.00,0.000,6,0.000,0.122,2553,1473,3618,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5668,-0.96,-155.7,524.9,-9.4,378,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1473,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5970,-0.96,-155.7,554.3,-9.9,388,5975,0.00,2.10,0.00,0.000,4,0.000,0.115,2549,2582,3616,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6007,-0.96,-155.7,557.2,-9.9,389,6016,0.12,2.17,0.00,0.000,6,0.232,0.123,2579,1469,3616,0,0,0,0,0,0,14.23,14.31,28.83
$GC,6331,-0.96,-155.7,589.2,-9.6,400,6336,0.00,2.10,0.00,0.000,4,0.000,0.115,2573,2581,3614,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6408,-0.96,-155.7,594.9,-9.6,402,6417,0.00,2.12,0.00,0.000,6,0.000,0.122,2573,1488,3614,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6721,-0.99,-155.7,626.9,-9.8,413,6727,0.00,1.98,0.00,0.000,4,0.000,0.142,2572,459,3614,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6828,-0.99,-155.7,636.0,-10.1,416,6836,0.00,1.85,0.00,0.000,6,0.000,0.089,2566,1470,3613,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7141,-1.01,-155.7,666.9,-9.1,427,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1470,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7438,-1.04,-155.7,692.3,-7.9,437,7446,0.00,2.00,0.00,0.000,4,0.000,0.145,2566,462,3611,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7609,-1.04,-155.7,704.1,-7.9,442,7617,0.00,1.83,0.00,0.000,6,0.000,0.095,2565,1454,3610,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7918,-1.06,-155.7,728.1,-7.5,453,7927,0.00,2.10,0.00,0.000,4,0.000,0.109,2558,2577,3609,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7949,-1.08,-155.7,730.3,-7.5,454,7956,0.00,2.15,0.00,0.000,6,0.000,0.114,2558,1456,3609,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8280,-1.11,-155.7,758.4,-9.0,465,8287,0.00,1.92,0.00,0.000,4,0.000,0.139,2558,459,3607,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8359,-1.11,-155.7,764.2,-9.4,467,8368,0.00,1.80,0.00,0.000,6,0.000,0.088,2553,1449,3607,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8668,-1.11,-155.7,796.9,-9.8,478,8675,0.00,2.17,0.00,0.000,4,0.000,0.116,2549,2592,3606,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8797,-1.11,-155.7,808.5,-9.7,482,8805,0.00,2.20,0.00,0.000,6,0.000,0.113,2549,1454,3605,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9119,-1.11,-155.7,841.1,-9.7,493,9126,0.00,2.15,0.00,0.000,4,0.000,0.114,2549,2572,3604,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9197,-1.11,-155.7,846.9,-9.7,495,9201,0.00,2.15,0.00,0.000,6,0.000,0.117,2549,1463,3603,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9499,-1.11,-155.7,877.7,-9.6,505,9505,0.00,2.12,0.00,0.000,4,0.000,0.115,2544,2567,3602,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9558,-1.11,-155.7,883.6,-9.8,507,9566,0.00,2.15,0.00,0.000,6,0.000,0.118,2544,1473,3602,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9890,-1.11,-155.7,918.6,-11.0,518,9896,0.00,2.12,0.00,0.000,4,0.000,0.117,2539,2575,3601,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9949,-1.11,-155.7,925.1,-11.0,520,9955,0.00,2.17,0.00,0.000,6,0.000,0.130,2540,1476,3600,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10280,-1.11,-155.7,961.0,-10.8,531,10286,0.00,2.00,0.00,0.000,4,0.000,0.146,2540,460,3598,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10348,-1.08,-155.7,967.7,-10.9,533,10355,0.00,1.92,0.00,0.000,6,0.000,0.101,2540,1478,3598,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,10575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10576,begin apogee
$GC,10583,-0.23,0.0,991.9,-9.8,541,10747,0.98,0.00,155.38,2.523,4,0.218,0.000,2807,1531,2990,0,0,0,0,1,0,13.85,28.83,12.78
$STATE,10752,end apogee,CONTROL_FINISHED_OK
$STATE,10752,begin climb
$GC,10755,0.84,155.7,1000.9,0.0,546,10937,1.10,2.08,167.70,2.535,4,0.116,0.122,3157,2580,2356,0,0,0,0,1,0,14.01,13.98,12.73
$GC,11171,0.80,167.4,991.1,6.8,560,11197,0.00,2.10,17.62,1.785,6,0.000,0.148,3165,1518,2303,0,0,0,0,0,0,28.83,14.33,13.43
$GC,11501,0.76,180.5,968.5,6.8,571,11521,0.12,2.15,14.80,1.775,4,0.305,0.167,3142,461,2250,0,0,0,0,0,0,14.26,14.39,13.52
$GC,11750,0.73,190.6,952.8,6.9,578,11768,0.00,2.00,12.05,1.766,6,0.000,0.107,3142,1524,2210,0,0,0,0,0,0,28.83,14.45,13.52
$GC,12090,0.73,221.3,929.9,6.2,590,12128,0.00,2.10,33.42,1.820,4,0.000,0.132,3142,2586,2084,0,0,0,0,0,0,28.83,14.35,13.48
$GC,12190,0.71,230.1,924.2,6.9,593,12207,0.00,2.10,10.68,1.727,6,0.000,0.139,3150,1530,2046,0,0,0,0,0,0,28.83,14.27,13.42
$GC,12533,0.72,234.6,898.1,7.0,605,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1530,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12830,0.73,263.6,878.9,6.3,615,12871,0.00,2.08,35.97,1.803,4,0.000,0.128,3150,2579,1911,0,0,0,0,0,0,28.83,14.35,13.48
$GC,12941,0.74,268.2,871.2,7.0,619,12949,0.08,2.10,1.33,0.178,6,0.266,0.145,3136,1534,1894,0,0,0,0,0,0,14.16,14.24,14.27
$GC,13270,0.74,268.2,846.2,7.9,630,13277,0.00,2.03,0.00,0.000,4,0.000,0.133,3136,2570,1900,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13391,0.74,268.2,835.8,8.6,634,13397,0.00,2.05,0.00,0.000,6,0.000,0.142,3143,1544,1899,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13722,0.74,268.2,805.4,9.6,645,13727,0.00,2.00,0.00,0.000,4,0.000,0.127,3143,2596,1899,0,0,0,0,0,0,28.83,14.36,28.83
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$STATE,22812,end climb,SURFACE_DEPTH_REACHED
$STATE,22812,begin surface coast
$FINISH,1.3,1.007158
$STATE,22842,end surface coast,CONTROL_FINISHED_OK
$STATE,22842,begin surface
$SM_CCo,22866,5.47,0.138,0,0,1561,350.04
$SM_GC,2.97,8.82,0.17,5.47,0.078,0.170,0.138,146,1510,1561,-8.53,0.17,350.04,0,0,0,0,0,0,14.44,14.35,14.33
$IRIDIUM_FIX,2453.69,-3808.77,020113,000024
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.23
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,3
$SC_FREEKB,7637408
$TM_FREEKB,4398016
$24V_AH,11.7,146.519
$10V_AH,12.5,0.000
$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,23.500,195.575,567.800,5.475,0.000,0.000,0.000,653.325,0.750,0.000,17.496,3244.211,16261.989,982.959,2889.484,672.820,0.000,2808.574,0.000,2129.508,0.000,0.541,0.000
$DEVICE_MAMPS,370.260,185.895,2535.210,138.465,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22874.000,5723.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.032,13.212,0.000,0.000
$MEM,345576
$DATA_FILE_SIZE,43303,1134
$CAP_FILE_SIZE,252005,0
$CFSIZE,260034560,202027008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.022,276.5,1
$GPS,020113,070134,2500.910,-3812.896,37,0.7,37,-14.0