version: 66.11
glider: 190
mission: 6
dive: 353
start: 1 3 113 22 19 48
data:
$ID,190
$MISSION,6
$DIVE,353
$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,-13359.662
$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,17
$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
$GPS1,030113,220504,2451.339,-3823.437,35,0.9,35,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-68.5
$GPS2,030113,221918,2451.230,-3823.460,19,0.9,19,-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,251.3,43340,-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,-10.95,0.000,2,0.000,0.000,143,1517,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,139,11.30,2.12,-80.57,0.000,4,0.359,0.162,2618,457,3625,0,0,0,0,0,0,14.17,14.17,14.70
$GC,209,-0.82,-155.7,10.4,-10.2,18,217,0.00,1.92,0.00,0.000,6,0.000,0.083,2618,1517,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,518,-0.82,-155.7,39.4,-9.7,49,528,0.00,1.98,0.00,0.000,4,0.000,0.104,2617,2573,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,610,-0.84,-155.7,47.9,-9.3,58,617,0.00,2.00,0.00,0.000,6,0.000,0.116,2617,1528,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,919,-0.88,-155.7,77.3,-9.5,89,928,0.00,2.10,0.00,0.000,4,0.000,0.142,2618,458,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,969,-0.88,-155.7,82.4,-10.3,94,977,0.00,1.95,0.00,0.000,6,0.000,0.085,2617,1533,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1279,-0.91,-155.7,109.0,-7.6,125,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1533,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1589,-0.95,-155.7,134.9,-8.5,156,1597,0.12,2.10,0.00,0.000,4,0.139,0.139,2563,463,3627,0,0,0,0,0,0,14.54,14.15,28.83
$GC,1649,-0.91,-155.7,140.6,-9.8,162,1657,0.12,1.92,0.00,0.000,6,0.230,0.084,2592,1524,3627,0,0,0,0,0,0,14.09,14.33,28.83
$GC,1958,-0.91,-155.7,164.9,-7.8,193,1967,0.00,1.95,0.00,0.000,4,0.000,0.106,2585,2572,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2010,-0.91,-155.7,169.1,-8.5,198,2017,0.00,2.03,0.00,0.000,6,0.000,0.115,2585,1520,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2318,-0.91,-155.7,199.6,-9.9,229,2327,0.00,2.08,0.00,0.000,4,0.000,0.137,2585,459,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2370,-0.91,-155.7,204.6,-10.6,234,2377,0.00,1.90,0.00,0.000,6,0.000,0.086,2579,1519,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2679,-0.91,-155.7,231.1,-7.6,265,2688,0.00,1.98,0.00,0.000,4,0.000,0.105,2577,2581,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2718,-0.91,-155.7,234.1,-7.6,269,2728,0.00,2.08,0.00,0.000,6,0.000,0.116,2577,1511,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3049,-0.91,-155.7,261.2,-8.7,294,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1510,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3348,-0.91,-155.7,291.1,-10.2,304,3355,0.00,1.98,0.00,0.000,4,0.000,0.103,2571,2573,3626,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3388,-0.91,-155.7,294.1,-10.2,305,3395,0.00,2.05,0.00,0.000,6,0.000,0.118,2572,1513,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3708,-0.91,-155.7,323.0,-8.2,316,3715,0.00,2.05,0.00,0.000,4,0.000,0.138,2571,460,3625,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3757,-0.91,-155.7,325.5,-8.1,317,3761,0.12,1.92,0.00,0.000,6,0.269,0.086,2594,1518,3625,0,0,0,0,0,0,14.23,14.45,28.83
$GC,4062,-0.93,-155.7,350.6,-8.1,327,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1518,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4358,-0.97,-155.7,378.9,-10.0,337,4366,0.00,2.05,0.00,0.000,4,0.000,0.138,2594,463,3624,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4409,-1.00,-155.7,382.1,-10.3,338,4417,0.00,1.88,0.00,0.000,6,0.000,0.086,2592,1506,3623,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4721,-1.03,-155.7,415.7,-10.0,349,4727,0.12,2.05,0.00,0.000,4,0.144,0.138,2534,453,3622,0,0,0,0,0,0,14.64,14.26,28.83
$GC,4787,-1.03,-155.7,422.6,-10.7,351,4791,0.12,1.90,0.00,0.000,6,0.285,0.086,2553,1496,3622,0,0,0,0,0,0,14.20,14.47,28.83
$GC,5103,-1.03,-155.7,454.7,-9.6,362,5108,0.00,2.00,0.00,0.000,4,0.000,0.109,2549,2575,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5179,-1.03,-155.7,460.3,-9.3,364,5183,0.00,2.08,0.00,0.000,6,0.000,0.116,2549,1499,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5481,-1.03,-155.7,490.7,-9.6,374,5488,0.00,2.03,0.00,0.000,4,0.000,0.141,2548,462,3620,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5610,-1.00,-155.7,503.2,-10.4,378,5617,0.00,1.88,0.00,0.000,6,0.000,0.085,2541,1496,3620,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5934,-0.98,-155.7,535.4,-9.4,389,5940,0.00,2.00,0.00,0.000,4,0.000,0.110,2537,2577,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6020,-0.98,-155.7,543.8,-9.2,392,6028,0.10,2.05,0.00,0.000,6,0.216,0.116,2566,1503,3618,0,0,0,0,0,0,14.13,14.28,28.83
$GC,6353,-0.98,-155.7,572.0,-8.5,403,6358,0.00,2.03,0.00,0.000,4,0.000,0.140,2566,460,3618,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6419,-0.98,-155.7,577.5,-8.8,405,6423,0.00,1.90,0.00,0.000,6,0.000,0.086,2559,1501,3617,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6731,-0.98,-155.7,604.9,-8.4,416,6738,0.00,2.03,0.00,0.000,4,0.000,0.110,2553,2572,3615,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6792,-0.98,-155.7,610.2,-8.8,418,6798,0.00,2.08,0.00,0.000,6,0.000,0.116,2553,1496,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7121,-0.98,-155.7,641.2,-9.5,429,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1496,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.98,-155.7,669.1,-9.1,439,7428,0.00,2.05,0.00,0.000,4,0.000,0.143,2552,458,3613,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7500,-0.98,-155.7,674.7,-9.1,441,7509,0.00,1.90,0.00,0.000,6,0.000,0.089,2549,1491,3612,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7811,-0.98,-155.7,705.2,-9.2,452,7818,0.00,2.05,0.00,0.000,4,0.000,0.113,2541,2576,3611,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7842,-0.98,-155.7,707.9,-9.2,453,7849,0.08,2.10,0.00,0.000,6,0.220,0.119,2564,1490,3611,0,0,0,0,0,0,14.07,14.20,28.83
$GC,8173,-0.98,-155.7,736.5,-8.7,464,8179,0.00,2.03,0.00,0.000,4,0.000,0.143,2565,458,3609,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8240,-0.98,-155.7,742.1,-9.1,466,8243,0.00,1.90,0.00,0.000,6,0.000,0.087,2558,1494,3609,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8553,-0.98,-155.7,774.8,-10.6,477,8559,0.00,2.05,0.00,0.000,4,0.000,0.114,2553,2574,3608,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8612,-0.98,-155.7,781.1,-10.6,479,8619,0.00,2.10,0.00,0.000,6,0.000,0.117,2553,1491,3607,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8943,-0.98,-155.7,818.1,-11.3,490,8949,0.00,2.05,0.00,0.000,4,0.000,0.145,2553,462,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9002,-0.98,-155.7,825.4,-11.6,492,9010,0.00,1.92,0.00,0.000,6,0.000,0.090,2549,1499,3606,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9333,-0.98,-155.7,862.2,-10.9,503,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1498,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9632,-0.98,-155.7,893.5,-10.2,513,9639,0.00,2.08,0.00,0.000,4,0.000,0.117,2542,2573,3604,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9711,-0.98,-155.7,899.6,-10.2,515,9720,0.12,2.15,0.00,0.000,6,0.251,0.121,2570,1482,3607,0,0,0,0,0,0,14.06,14.17,28.83
$GC,10025,-1.02,-155.7,928.9,-8.4,526,10031,0.00,2.05,0.00,0.000,4,0.000,0.151,2571,454,3602,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10082,-1.04,-155.7,934.1,-8.5,528,10090,0.00,1.92,0.00,0.000,6,0.000,0.090,2565,1489,3602,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10416,-1.07,-155.7,958.9,-7.2,539,10421,0.00,2.05,0.00,0.000,4,0.000,0.146,2565,460,3601,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10452,-1.09,-155.7,961.0,-7.1,540,10459,0.00,1.90,0.00,0.000,6,0.000,0.088,2560,1485,3601,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10776,-1.12,-155.7,982.9,-6.5,551,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1485,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10889,begin apogee
$GC,10896,-0.23,0.0,991.1,-6.8,555,11053,0.88,0.00,152.68,1.834,4,0.210,0.000,2806,1524,2989,0,0,0,0,0,0,13.94,28.83,13.11
$STATE,11058,end apogee,CONTROL_FINISHED_OK
$STATE,11058,begin climb
$GC,11061,0.84,155.7,997.6,0.0,560,11233,1.10,2.03,158.62,1.823,4,0.109,0.115,3162,2577,2349,0,0,0,0,0,0,14.12,14.07,13.12
$GC,11465,0.79,161.7,982.9,7.0,574,11470,0.00,2.10,0.00,0.000,6,0.000,0.143,3169,1516,2338,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11785,0.76,193.4,961.9,6.2,585,11826,0.15,0.00,38.97,1.784,6,0.306,0.000,3137,1515,2200,0,0,0,0,0,0,14.23,28.83,13.42
$GC,12116,0.78,216.7,940.7,6.4,596,12150,0.00,2.10,24.88,1.750,4,0.000,0.127,3137,2576,2098,0,0,0,0,0,0,28.83,14.37,13.47
$GC,12283,0.78,218.5,930.0,7.1,601,12290,0.00,2.10,0.00,0.000,6,0.000,0.138,3145,1521,2092,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12594,0.79,236.4,907.2,6.6,612,12621,0.00,2.00,20.80,1.730,4,0.000,0.122,3145,2582,2020,0,0,0,0,0,0,28.83,14.45,13.52
$GC,12682,0.79,243.3,900.9,7.0,615,12690,0.00,2.10,2.00,0.163,6,0.000,0.136,3152,1529,1996,0,0,0,0,0,0,28.83,14.31,12.13
$GC,13015,0.80,256.7,878.6,6.7,626,13042,0.00,2.05,22.20,1.727,4,0.000,0.125,3152,2576,1938,0,0,0,0,0,0,28.83,14.43,13.52
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$STATE,23041,end climb,SURFACE_DEPTH_REACHED
$STATE,23042,begin surface coast
$FINISH,1.4,1.020620
$STATE,23074,end surface coast,CONTROL_FINISHED_OK
$STATE,23074,begin surface
$SM_CCo,23096,12.12,0.132,0,0,1561,350.04
$SM_GC,2.88,8.77,0.00,12.12,0.075,0.000,0.132,138,1531,1561,-8.55,0.31,350.04,0,0,0,0,0,0,14.41,28.83,14.33
$IRIDIUM_FIX,2444.18,-3822.90,030113,151523
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.38
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.00
$XPDR_PINGS,0
$SC_FREEKB,7634848
$TM_FREEKB,4336896
$24V_AH,12.1,149.505
$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,23.650,186.100,490.250,12.125,0.000,0.000,0.000,486.125,0.000,0.000,21.366,3246.238,16402.053,911.464,2695.530,693.635,0.000,2548.854,0.000,2090.384,0.000,0.541,0.000
$DEVICE_MAMPS,358.785,201.195,1833.705,131.580,0.000,0.000,0.000,172.125,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23122.000,5721.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.890,13.219,0.000,0.000
$MEM,345532
$DATA_FILE_SIZE,43333,1144
$CAP_FILE_SIZE,244967,0
$CFSIZE,260034560,201109504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,161.7,1
$GPS,040113,044623,2449.415,-3824.836,40,1.1,40,-14.1