version: 66.11
glider: 190
mission: 6
dive: 347
start: 1 2 113 7 15 35
data:
$ID,190
$MISSION,6
$DIVE,347
$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,-13352.019
$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,12
$R_STBD_OVSHOOT,13
$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
$GPS1,020113,070134,2500.910,-3812.896,37,0.7,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-67.0
$GPS2,020113,071505,2500.882,-3812.919,16,1.1,17,-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,232.2,68530,-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,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.88,0.000,2,0.000,0.000,145,1508,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.2,0.0,1,148,11.18,2.03,-85.62,0.000,4,0.356,0.155,2614,463,3625,0,0,0,0,0,0,14.11,14.16,14.70
$GC,218,-0.84,-155.7,10.3,-10.3,19,226,0.00,1.92,0.00,0.000,6,0.000,0.076,2608,1529,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,529,-0.84,-155.7,37.8,-9.8,50,537,0.00,1.95,0.00,0.000,4,0.000,0.106,2604,2569,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,598,-0.84,-155.7,43.7,-9.2,57,608,0.00,2.05,0.00,0.000,6,0.000,0.116,2605,1519,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,908,-0.84,-155.7,74.6,-10.4,88,917,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,457,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,959,-0.84,-155.7,80.2,-11.5,93,969,0.00,1.92,0.00,0.000,6,0.000,0.085,2603,1521,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1269,-0.84,-155.7,108.7,-8.6,124,1277,0.00,1.98,0.00,0.000,4,0.000,0.107,2605,2578,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1358,-0.86,-155.7,116.7,-9.2,133,1368,0.00,2.03,0.00,0.000,6,0.000,0.117,2604,1533,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1669,-0.90,-155.7,147.2,-9.7,164,1677,0.00,2.10,0.00,0.000,4,0.000,0.137,2604,458,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1789,-0.90,-155.7,159.2,-9.9,176,1797,0.00,1.92,0.00,0.000,6,0.000,0.083,2604,1526,3627,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2100,-0.94,-155.7,185.9,-8.7,207,2107,0.00,1.92,0.00,0.000,4,0.000,0.103,2604,2582,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2129,-0.98,-155.7,188.5,-8.5,210,2137,0.00,2.03,0.00,0.000,6,0.000,0.111,2605,1522,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2440,-1.02,-155.7,216.0,-9.6,241,2448,0.12,2.03,0.00,0.000,4,0.132,0.126,2548,451,3627,0,0,0,0,0,0,14.57,14.26,28.83
$GC,2579,-0.97,-155.7,231.9,-11.5,255,2587,0.10,1.90,0.00,0.000,6,0.242,0.076,2570,1516,3626,0,0,0,0,0,0,14.10,14.35,28.83
$GC,2909,-0.97,-155.7,264.5,-9.6,278,2915,0.00,1.95,0.00,0.000,4,0.000,0.104,2565,2571,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3038,-0.97,-155.7,275.5,-9.1,282,3045,0.00,2.00,0.00,0.000,6,0.000,0.114,2565,1520,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3358,-0.97,-155.7,304.4,-8.6,293,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1520,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3659,-0.97,-155.7,331.8,-9.3,303,3666,0.00,1.98,0.00,0.000,4,0.000,0.105,2558,2579,3625,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3707,-0.97,-155.7,334.6,-9.3,304,3716,0.00,2.05,0.00,0.000,6,0.000,0.116,2559,1515,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4018,-0.97,-155.7,365.6,-9.4,315,4026,0.00,2.00,0.00,0.000,4,0.000,0.106,2552,2578,3624,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4068,-0.97,-155.7,368.4,-9.4,316,4077,0.00,2.00,0.00,0.000,6,0.000,0.114,2553,1532,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4378,-0.97,-155.7,400.5,-9.9,327,4386,0.00,1.98,0.00,0.000,4,0.000,0.106,2549,2578,3623,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4499,-0.97,-155.7,412.6,-10.1,331,4506,0.00,1.98,0.00,0.000,6,0.000,0.113,2549,1544,3623,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4829,-0.97,-155.7,448.5,-11.0,342,4835,0.00,1.92,0.00,0.000,4,0.000,0.108,2549,2570,3622,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4888,-0.97,-155.7,454.8,-10.7,344,4895,0.00,1.98,0.00,0.000,6,0.000,0.114,2549,1543,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5222,-0.95,-155.7,487.7,-9.5,355,5229,0.12,1.95,0.00,0.000,4,0.250,0.106,2577,2583,3621,0,0,0,0,0,0,14.34,14.38,28.83
$GC,5268,-0.95,-155.7,490.4,-9.3,356,5276,0.00,1.98,0.00,0.000,6,0.000,0.113,2577,1558,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5581,-0.98,-155.7,518.8,-9.0,367,5588,0.00,2.10,0.00,0.000,4,0.000,0.131,2577,459,3620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5698,-0.98,-155.7,531.0,-10.1,371,5706,0.00,1.95,0.00,0.000,6,0.000,0.080,2570,1543,3619,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6032,-1.01,-155.7,564.1,-10.6,382,6038,0.00,2.10,0.00,0.000,4,0.000,0.138,2570,460,3619,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6109,-1.01,-155.7,571.0,-11.0,384,6117,0.00,1.95,0.00,0.000,6,0.000,0.088,2564,1530,3618,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6418,-1.01,-155.7,605.4,-9.6,395,6427,0.00,1.98,0.00,0.000,4,0.000,0.103,2556,2585,3616,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6528,-1.01,-155.7,613.5,-9.1,398,6536,0.00,2.00,0.00,0.000,6,0.000,0.107,2556,1539,3617,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6838,-1.01,-155.7,641.7,-8.5,409,6845,0.00,2.10,0.00,0.000,4,0.000,0.130,2556,459,3616,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6918,-1.01,-155.7,647.3,-8.9,411,6926,0.00,1.98,0.00,0.000,6,0.000,0.082,2553,1543,3616,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7229,-1.01,-155.7,677.6,-9.6,422,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1543,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7528,-1.01,-155.7,710.6,-11.6,432,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1544,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7830,-1.01,-155.7,749.2,-12.9,442,7835,0.00,1.95,0.00,0.000,4,0.000,0.113,2549,2586,3611,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7858,-1.01,-155.7,752.9,-12.7,443,7866,0.00,2.03,0.00,0.000,6,0.000,0.112,2549,1534,3611,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8190,-1.01,-155.7,789.0,-9.6,454,8195,0.00,2.05,0.00,0.000,4,0.000,0.133,2549,458,3608,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8338,-0.98,-155.7,802.2,-8.9,459,8348,0.12,1.95,0.00,0.000,6,0.275,0.084,2569,1525,3610,0,0,0,0,0,0,14.14,14.39,28.83
$GC,8674,-1.01,-155.7,821.9,-5.7,470,8679,0.00,2.05,0.00,0.000,4,0.000,0.134,2570,460,3608,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8767,-1.01,-155.7,827.8,-6.4,473,8774,0.00,1.92,0.00,0.000,6,0.000,0.084,2565,1512,3608,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9092,-1.04,-155.7,851.9,-8.0,484,9097,0.00,2.05,0.00,0.000,4,0.000,0.135,2565,460,3606,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9228,-1.04,-155.7,863.1,-9.3,488,9236,0.00,1.88,0.00,0.000,6,0.000,0.084,2560,1484,3606,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9541,-1.07,-155.7,895.8,-10.2,499,9547,0.00,2.03,0.00,0.000,4,0.000,0.138,2559,454,3604,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9648,-1.07,-155.7,905.7,-10.9,502,9656,0.00,1.88,0.00,0.000,6,0.000,0.088,2552,1470,3604,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9960,-1.09,-155.7,940.1,-10.3,513,9966,0.00,2.00,0.00,0.000,4,0.000,0.140,2553,457,3602,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10008,-1.09,-155.7,943.5,-10.5,514,10016,0.00,1.83,0.00,0.000,6,0.000,0.087,2549,1447,3602,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10318,-1.09,-155.7,978.5,-10.6,525,10325,0.00,2.15,0.00,0.000,4,0.000,0.119,2549,2567,3601,0,0,0,0,0,0,28.83,14.14,28.83
$STATE,10435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10435,begin apogee
$GC,10445,-0.23,0.0,990.9,-10.3,529,10601,0.93,0.00,151.70,1.881,4,0.214,0.000,2807,1515,2991,0,0,0,0,0,0,13.93,28.83,13.12
$STATE,10605,end apogee,CONTROL_FINISHED_OK
$STATE,10605,begin climb
$GC,10608,0.84,155.7,1002.1,0.0,534,10778,1.10,2.08,160.27,1.845,4,0.120,0.126,3157,2575,2354,0,0,0,0,0,0,14.09,14.06,13.13
$GC,10908,0.83,206.8,1001.6,5.6,545,10967,0.00,2.12,54.33,1.800,6,0.000,0.142,3164,1520,2145,0,0,0,0,0,0,28.83,14.26,13.27
$GC,11288,0.80,206.8,973.5,8.1,558,11295,0.00,2.12,0.00,0.000,4,0.000,0.158,3172,459,2131,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11388,0.76,206.8,965.2,9.0,561,11396,0.15,1.98,0.00,0.000,6,0.282,0.098,3139,1520,2130,0,0,0,0,0,0,14.25,14.46,28.83
$GC,11712,0.76,206.8,935.4,9.1,572,11717,0.00,2.03,0.00,0.000,4,0.000,0.129,3139,2579,2128,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11768,0.76,206.8,929.8,9.1,574,11775,0.00,2.12,0.00,0.000,6,0.000,0.135,3146,1506,2127,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12101,0.76,206.8,902.3,7.8,585,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1505,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12398,0.78,231.3,881.7,6.4,595,12429,0.00,2.12,24.23,1.743,4,0.000,0.168,3154,462,2041,0,0,0,0,0,0,28.83,14.42,13.55
$GC,12498,0.77,249.9,875.7,6.6,598,12526,0.00,2.00,20.98,1.717,6,0.000,0.104,3155,1524,1967,0,0,0,0,0,0,28.83,14.41,13.47
$GC,12848,0.77,249.9,850.3,7.2,610,12855,0.00,2.05,0.00,0.000,4,0.000,0.127,3154,2580,1959,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12910,0.77,249.9,845.5,7.7,612,12915,0.00,2.12,0.00,0.000,6,0.000,0.145,3162,1527,1958,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13241,0.77,249.9,816.3,9.3,623,13246,0.00,2.15,0.00,0.000,4,0.000,0.174,3170,457,1957,0,0,0,0,0,0,28.83,14.22,28.83
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$STATE,22159,end climb,SURFACE_DEPTH_REACHED
$STATE,22159,begin surface coast
$FINISH,1.4,1.024266
$STATE,22180,end surface coast,CONTROL_FINISHED_OK
$STATE,22180,begin surface
$SM_CCo,22204,0.30,0.341,0,0,1560,350.04
$SM_GC,2.83,8.93,1.95,0.30,0.073,0.086,0.341,140,1528,1560,-8.54,-0.40,350.04,0,0,0,0,0,0,14.43,14.35,14.37
$IRIDIUM_FIX,2453.69,-3810.24,020113,000042
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.66
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,1
$SC_FREEKB,7637024
$TM_FREEKB,4389728
$24V_AH,13.1,146.941
$10V_AH,11.8,0.000
$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,23.150,197.575,512.375,0.300,0.000,0.000,0.000,448.800,0.250,0.000,18.341,3113.314,15698.386,944.226,2606.141,640.721,0.000,2524.554,0.000,2047.015,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,173.655,1881.135,341.190,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22227.000,5265.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.963,13.187,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,40008,1084
$CAP_FILE_SIZE,237712,0
$CFSIZE,260034560,201904128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,265.8,1
$GPS,020113,132705,2459.371,-3814.605,38,0.9,38,-14.0