version: 66.11
glider: 190
mission: 6
dive: 360
start: 1 5 113 19 13 36
data:
$ID,190
$MISSION,6
$DIVE,360
$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,-13368.469
$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
$GPS1,050113,185934,2441.487,-3834.719,25,0.9,25,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-69.2
$GPS2,050113,191306,2441.442,-3834.659,19,1.3,20,-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,244.3,17181,-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,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.12,0.000,2,0.000,0.000,145,1508,1787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,141,11.30,2.08,-82.12,0.000,4,0.360,0.159,2612,462,3626,0,0,0,0,0,0,14.19,14.21,14.68
$GC,310,-0.82,-155.7,21.5,-10.8,28,319,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1527,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,620,-0.82,-155.7,53.3,-10.2,59,629,0.00,1.95,0.00,0.000,4,0.000,0.103,2605,2576,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,800,-0.82,-155.7,70.8,-10.2,77,809,0.00,2.03,0.00,0.000,6,0.000,0.112,2605,1530,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1111,-0.82,-155.7,100.6,-9.3,108,1119,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,457,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1171,-0.82,-155.7,106.8,-10.5,114,1179,0.00,1.92,0.00,0.000,6,0.000,0.084,2605,1524,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1480,-0.82,-155.7,132.7,-7.7,145,1489,0.00,1.98,0.00,0.000,4,0.000,0.102,2604,2578,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1561,-0.84,-155.7,138.5,-7.5,153,1570,0.00,2.00,0.00,0.000,6,0.000,0.112,2604,1533,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1871,-0.84,-155.7,160.9,-7.2,184,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1531,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2181,-0.88,-155.7,184.9,-8.3,215,2189,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,455,3628,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2240,-0.88,-155.7,190.4,-9.4,221,2250,0.00,1.98,0.00,0.000,6,0.000,0.083,2605,1539,3628,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2551,-0.92,-155.7,216.1,-7.9,252,2559,0.00,2.12,0.00,0.000,4,0.000,0.135,2605,457,3628,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2670,-0.92,-155.7,226.0,-8.0,264,2678,0.00,1.90,0.00,0.000,6,0.000,0.079,2604,1512,3628,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2991,-0.96,-155.7,252.8,-8.9,294,2997,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,458,3628,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3112,-0.99,-155.7,264.6,-9.9,298,3117,0.00,1.83,0.00,0.000,6,0.000,0.080,2605,1493,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3443,-1.03,-155.7,296.6,-9.6,309,3448,0.12,1.98,0.00,0.000,4,0.138,0.132,2540,454,3627,0,0,0,0,0,0,14.62,14.28,28.83
$GC,3551,-1.03,-155.7,306.7,-10.9,312,3559,0.00,1.83,0.00,0.000,6,0.000,0.083,2538,1473,3626,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3863,-1.00,-155.7,339.5,-9.4,323,3870,0.12,2.00,0.00,0.000,4,0.260,0.102,2565,2577,3626,0,0,0,0,0,0,14.35,14.40,28.83
$GC,3930,-1.00,-155.7,344.5,-8.8,325,3937,0.00,2.12,0.00,0.000,6,0.000,0.114,2565,1469,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4250,-1.00,-155.7,372.9,-8.8,336,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1469,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4551,-1.00,-155.7,399.4,-8.8,346,4557,0.00,2.08,0.00,0.000,4,0.000,0.104,2557,2580,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4680,-1.00,-155.7,410.2,-9.0,350,4687,0.00,2.12,0.00,0.000,6,0.000,0.115,2557,1473,3623,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5000,-1.00,-155.7,442.5,-10.0,361,5007,0.00,2.08,0.00,0.000,4,0.000,0.108,2553,2575,3621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5100,-1.00,-155.7,451.8,-10.3,364,5108,0.00,2.08,0.00,0.000,6,0.000,0.116,2553,1498,3621,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5420,-1.00,-155.7,486.7,-10.7,375,5428,0.00,2.05,0.00,0.000,4,0.000,0.110,2552,2575,3620,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5512,-1.00,-155.7,496.0,-10.5,378,5517,0.00,2.05,0.00,0.000,6,0.000,0.119,2552,1509,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5840,-1.00,-155.7,530.6,-10.6,389,5847,0.00,2.03,0.00,0.000,4,0.000,0.110,2549,2575,3619,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5889,-1.00,-155.7,533.5,-10.4,390,5893,0.00,2.08,0.00,0.000,6,0.000,0.117,2549,1504,3618,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6192,-1.00,-155.7,564.1,-9.1,400,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1503,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-1.00,-155.7,590.7,-8.9,410,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1503,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-1.00,-155.7,617.2,-8.9,420,6797,0.00,2.03,0.00,0.000,4,0.000,0.113,2549,2575,3615,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6911,-1.00,-155.7,628.2,-9.2,424,6917,0.00,2.05,0.00,0.000,6,0.000,0.119,2548,1514,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7243,-1.00,-155.7,662.1,-10.6,435,7248,0.00,2.08,0.00,0.000,4,0.000,0.144,2549,455,3614,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7360,-0.97,-155.7,676.0,-11.6,439,7368,0.08,1.92,0.00,0.000,6,0.243,0.090,2565,1506,3613,0,0,0,0,0,0,14.09,14.35,28.83
$GC,7695,-1.00,-155.7,710.2,-10.1,450,7700,0.00,2.03,0.00,0.000,4,0.000,0.117,2565,2578,3612,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7729,-1.03,-155.7,713.0,-9.9,451,7737,0.00,2.12,0.00,0.000,6,0.000,0.122,2566,1492,3611,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8053,-1.06,-155.7,740.9,-7.9,462,8058,0.00,2.03,0.00,0.000,4,0.000,0.146,2565,454,3610,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8100,-1.08,-155.7,743.2,-7.9,463,8111,0.00,1.90,0.00,0.000,6,0.000,0.090,2558,1496,3610,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8413,-1.10,-155.7,768.2,-7.4,474,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1496,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,-1.12,-155.7,791.9,-8.1,484,8717,0.00,2.05,0.00,0.000,4,0.000,0.145,2558,460,3607,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8809,-1.12,-155.7,800.0,-8.8,487,8813,0.00,1.90,0.00,0.000,6,0.000,0.091,2554,1486,3607,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9121,-1.12,-155.7,830.6,-10.0,498,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1484,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9423,-1.15,-155.7,863.7,-11.3,508,9429,0.00,2.03,0.00,0.000,4,0.000,0.146,2554,460,3605,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9481,-1.15,-155.7,870.9,-11.6,510,9488,0.00,1.90,0.00,0.000,6,0.000,0.093,2553,1480,3605,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9812,-1.15,-155.7,906.9,-10.5,521,9818,0.00,2.10,0.00,0.000,4,0.000,0.121,2553,2574,3603,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9860,-1.17,-155.7,910.0,-10.4,522,9871,0.12,2.17,0.00,0.000,6,0.158,0.122,2512,1469,3602,0,0,0,0,0,0,14.28,14.16,28.83
$GC,10173,-1.17,-155.7,942.1,-9.0,533,10178,0.00,2.00,0.00,0.000,4,0.000,0.148,2511,460,3601,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10262,-1.13,-155.7,950.6,-9.2,536,10270,0.00,1.88,0.00,0.000,6,0.000,0.096,2510,1465,3601,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10594,-1.09,-155.7,977.2,-7.8,547,10599,0.00,2.10,0.00,0.000,4,0.000,0.123,2509,2571,3599,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,10768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10772,begin apogee
$GC,10780,-0.23,0.0,990.6,-7.5,553,10939,1.12,0.00,152.75,1.838,4,0.236,0.000,2808,1519,2985,0,0,0,0,0,0,13.82,28.83,13.12
$STATE,10944,end apogee,CONTROL_FINISHED_OK
$STATE,10944,begin climb
$GC,10947,0.84,155.7,995.7,0.0,558,11115,1.08,2.08,159.12,1.807,4,0.108,0.119,3158,2582,2354,0,0,0,0,0,0,14.13,14.08,13.14
$GC,11347,0.80,155.7,978.5,7.7,572,11352,0.00,2.10,0.00,0.000,6,0.000,0.142,3165,1518,2335,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11667,0.77,197.2,957.0,5.9,583,11715,0.00,2.20,42.80,1.760,4,0.000,0.174,3173,460,2181,0,0,0,0,0,0,28.83,14.23,13.40
$GC,11944,0.74,217.1,940.0,6.5,591,11972,0.15,1.98,21.30,1.706,6,0.294,0.100,3137,1516,2101,0,0,0,0,0,0,14.14,14.40,13.46
$GC,12285,0.77,258.6,918.9,5.9,603,12335,0.00,2.20,45.22,1.736,4,0.000,0.166,3145,457,1929,0,0,0,0,0,0,28.83,14.18,13.39
$GC,12403,0.78,274.5,911.3,6.7,606,12425,0.00,2.00,17.00,1.655,6,0.000,0.096,3145,1521,1868,0,0,0,0,0,0,28.83,14.33,13.38
$GC,12727,0.78,274.5,884.6,8.4,617,12732,0.00,2.00,0.00,0.000,4,0.000,0.126,3145,2578,1852,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12784,0.78,274.5,879.0,8.9,619,12791,0.00,2.08,0.00,0.000,6,0.000,0.138,3152,1532,1852,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13113,0.78,274.5,847.2,9.8,630,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1532,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13415,0.78,274.5,816.6,10.4,640,13422,0.00,2.03,0.00,0.000,4,0.000,0.122,3152,2573,1847,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13452,0.78,274.5,813.3,10.4,641,13456,0.00,2.08,0.00,0.000,6,0.000,0.134,3157,1527,1847,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13768,0.78,274.5,780.3,9.9,652,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1527,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14066,0.78,274.5,752.1,9.2,662,14072,0.00,2.03,0.00,0.000,4,0.000,0.116,3162,2580,1847,0,0,0,0,0,0,28.83,14.29,28.83
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$STATE,22734,end climb,SURFACE_DEPTH_REACHED
$STATE,22735,begin surface coast
$FINISH,1.5,1.025500
$STATE,22770,end surface coast,CONTROL_FINISHED_OK
$STATE,22770,begin surface
$SM_CCo,22793,23.00,0.128,0,0,1561,350.04
$SM_GC,2.22,8.88,0.20,23.00,0.078,0.155,0.128,140,1515,1561,-8.54,0.31,350.04,0,0,0,0,0,0,14.40,14.32,14.33
$IRIDIUM_FIX,2434.69,-3831.81,050113,121217
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.15
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,7632160
$TM_FREEKB,4276192
$24V_AH,12.8,152.490
$10V_AH,12.4,0.000
$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,23.500,186.375,473.875,23.000,0.000,0.000,0.000,445.125,0.000,0.000,21.121,3295.417,16067.966,883.473,2705.970,663.114,0.000,2492.390,0.000,2150.826,0.000,0.542,0.000
$DEVICE_MAMPS,359.550,174.420,1838.295,127.755,0.000,0.000,0.000,174.420,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.965,13.236,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43318,1143
$CAP_FILE_SIZE,243226,0
$CFSIZE,260034560,200196096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,179.3,1
$GPS,060113,013506,2439.614,-3835.997,27,1.1,27,-14.2