version: 66.11
glider: 190
mission: 6
dive: 361
start: 1 6 113 1 49 48
data:
$ID,190
$MISSION,6
$DIVE,361
$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,-13369.727
$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,15
$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
$GPS1,060113,013506,2439.614,-3835.997,27,1.1,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.7
$GPS2,060113,014918,2439.553,-3835.944,18,1.1,19,-14.2
$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,264.7,13234,-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,-11.48,0.000,2,0.000,0.000,140,1513,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.6,0.0,1,139,11.07,2.05,-79.32,0.000,4,0.348,0.127,2606,2585,3625,0,0,0,0,0,0,14.17,14.17,14.68
$GC,350,-0.84,-155.7,24.0,-8.7,32,358,0.00,2.05,0.00,0.000,6,0.000,0.114,2606,1517,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,659,-0.84,-155.7,54.3,-9.4,63,668,0.00,2.08,0.00,0.000,4,0.000,0.138,2606,460,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,720,-0.82,-155.7,60.5,-10.4,69,729,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1517,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1030,-0.82,-155.7,90.5,-10.1,100,1038,0.00,1.98,0.00,0.000,4,0.000,0.106,2605,2573,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1130,-0.84,-155.7,100.1,-9.7,110,1138,0.00,2.00,0.00,0.000,6,0.000,0.113,2605,1530,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1440,-0.87,-155.7,129.7,-9.4,141,1449,0.00,2.10,0.00,0.000,4,0.000,0.140,2605,454,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1659,-0.87,-155.7,150.7,-9.3,163,1667,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1512,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1971,-0.91,-155.7,175.0,-7.8,194,1978,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,454,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2130,-0.91,-155.7,188.2,-8.4,210,2138,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1480,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2440,-0.94,-155.7,211.7,-7.2,241,2449,0.00,1.98,0.00,0.000,4,0.000,0.136,2610,471,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2500,-0.94,-155.7,216.5,-7.9,247,2508,0.00,1.80,0.00,0.000,6,0.000,0.084,2605,1467,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2810,-0.98,-155.7,241.9,-8.7,278,2818,0.00,1.98,0.00,0.000,4,0.000,0.139,2605,464,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2950,-0.98,-155.7,253.5,-9.9,288,2958,0.00,1.77,0.00,0.000,6,0.000,0.084,2604,1449,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3262,-1.02,-155.7,285.2,-9.7,299,3268,0.12,1.92,0.00,0.000,4,0.139,0.136,2542,454,3625,0,0,0,0,0,0,14.61,14.21,28.83
$GC,3369,-1.02,-155.7,295.4,-10.9,302,3378,0.00,1.77,0.00,0.000,6,0.000,0.090,2540,1428,3624,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3683,-0.99,-155.7,329.7,-10.0,313,3690,0.12,2.10,0.00,0.000,4,0.267,0.106,2565,2576,3623,0,0,0,0,0,0,14.31,14.31,28.83
$GC,3788,-0.99,-155.7,337.8,-9.2,316,3797,0.00,2.20,0.00,0.000,6,0.000,0.119,2561,1437,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4100,-0.99,-155.7,368.9,-9.5,327,4106,0.00,2.12,0.00,0.000,4,0.000,0.109,2560,2570,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4159,-0.99,-155.7,374.6,-9.5,329,4167,0.00,2.17,0.00,0.000,6,0.000,0.118,2559,1441,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4490,-0.99,-155.7,405.4,-9.1,340,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1441,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-0.99,-155.7,433.1,-9.4,350,4796,0.00,1.90,0.00,0.000,4,0.000,0.139,2560,462,3621,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4959,-0.96,-155.7,448.4,-10.4,355,4969,0.00,1.77,0.00,0.000,6,0.000,0.086,2554,1442,3620,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5270,-0.96,-155.7,480.5,-9.4,366,5276,0.00,2.10,0.00,0.000,4,0.000,0.109,2552,2572,3619,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5378,-0.96,-155.7,488.5,-9.0,369,5387,0.12,2.15,0.00,0.000,6,0.226,0.117,2582,1450,3619,0,0,0,0,0,0,14.25,14.32,28.83
$GC,5693,-0.99,-155.7,514.9,-7.8,380,5698,0.00,1.92,0.00,0.000,4,0.000,0.141,2583,458,3618,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5818,-0.99,-155.7,524.8,-8.2,384,5822,0.00,1.77,0.00,0.000,6,0.000,0.086,2579,1432,3617,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6134,-1.02,-155.7,549.6,-7.8,395,6139,0.00,1.90,0.00,0.000,4,0.000,0.141,2580,457,3617,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6250,-1.02,-155.7,559.9,-8.6,399,6257,0.00,1.73,0.00,0.000,6,0.000,0.086,2577,1403,3616,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6584,-1.04,-155.7,588.2,-8.7,410,6589,0.00,1.85,0.00,0.000,4,0.000,0.142,2577,459,3614,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6749,-1.04,-155.7,602.5,-9.6,415,6752,0.00,1.70,0.00,0.000,6,0.000,0.087,2575,1390,3614,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7053,-1.07,-155.7,631.9,-9.2,425,7058,0.00,1.83,0.00,0.000,4,0.000,0.142,2571,459,3613,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7171,-1.07,-155.7,643.1,-9.4,429,7177,0.00,1.65,0.00,0.000,6,0.000,0.088,2566,1361,3612,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7503,-1.09,-155.7,674.3,-9.8,440,7508,0.00,1.77,0.00,0.000,4,0.000,0.144,2566,457,3611,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7579,-1.09,-155.7,680.5,-10.1,442,7582,0.00,1.62,0.00,0.000,6,0.000,0.086,2560,1350,3610,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7880,-1.09,-155.7,714.7,-10.8,452,7888,0.00,1.77,0.00,0.000,4,0.000,0.144,2560,461,3609,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7950,-1.09,-155.7,721.6,-11.1,454,7957,0.00,1.60,0.00,0.000,6,0.000,0.085,2555,1338,3608,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8270,-1.09,-155.7,757.5,-10.7,465,8277,0.00,1.77,0.00,0.000,4,0.000,0.146,2554,455,3607,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8309,-1.09,-155.7,760.9,-10.9,466,8312,0.00,1.60,0.00,0.000,6,0.000,0.089,2553,1326,3608,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8622,-1.09,-155.7,794.3,-10.1,477,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1325,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,-1.09,-155.7,821.4,-8.7,487,8928,0.00,1.75,0.00,0.000,4,0.000,0.146,2553,457,3606,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9061,-1.09,-155.7,832.1,-8.9,491,9069,0.00,1.58,0.00,0.000,6,0.000,0.089,2552,1314,3605,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9371,-1.09,-155.7,861.2,-8.9,502,9378,0.00,2.40,0.00,0.000,4,0.000,0.117,2552,2566,3603,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9439,-1.09,-155.7,866.6,-9.1,504,9449,0.00,2.47,0.00,0.000,6,0.000,0.124,2552,1310,3603,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9762,-1.09,-155.7,897.6,-9.6,515,9769,0.00,1.70,0.00,0.000,4,0.000,0.149,2552,465,3602,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9920,-1.09,-155.7,913.0,-10.4,520,9923,0.00,1.55,0.00,0.000,6,0.000,0.090,2552,1298,3601,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10232,-1.09,-155.7,944.8,-9.7,531,10238,0.00,1.70,0.00,0.000,4,0.000,0.151,2552,460,3600,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10300,-1.09,-155.7,950.9,-9.9,533,10303,0.00,1.52,0.00,0.000,6,0.000,0.092,2552,1283,3599,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10616,-1.11,-155.7,980.0,-8.8,544,10621,0.00,2.47,0.00,0.000,4,0.000,0.117,2552,2579,3597,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10661,-1.13,-155.7,982.3,-8.5,545,10670,0.00,2.58,0.00,0.000,6,0.000,0.130,2553,1285,3597,0,0,0,0,0,0,28.83,14.11,28.83
$STATE,10759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10759,begin apogee
$GC,10766,-0.23,0.0,991.9,-8.0,549,10987,0.93,0.00,212.95,1.517,4,0.209,0.000,2811,1520,2991,0,0,0,0,0,0,13.92,28.83,13.28
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10989,begin climb
$GC,10992,0.84,155.7,1002.8,0.0,556,11163,1.08,2.05,160.02,1.805,4,0.112,0.119,3158,2580,2355,0,0,0,0,0,0,14.13,14.09,13.13
$GC,11293,0.79,160.4,995.4,7.0,566,11299,0.00,2.12,0.00,0.000,6,0.000,0.139,3166,1520,2338,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11615,0.76,195.1,974.2,6.1,577,11660,0.00,2.10,40.72,1.759,4,0.000,0.129,3166,2576,2192,0,0,0,0,0,0,28.83,14.28,13.39
$GC,11724,0.74,223.4,967.1,6.3,580,11762,0.20,2.08,30.80,1.737,6,0.312,0.138,3130,1524,2075,0,0,0,0,0,0,14.07,14.25,13.32
$GC,12083,0.76,258.4,945.1,6.1,592,12129,0.00,2.08,37.65,1.751,4,0.000,0.118,3130,2582,1928,0,0,0,0,0,0,28.83,14.29,13.40
$GC,12211,0.77,271.5,936.9,6.8,596,12232,0.00,2.12,14.05,1.654,6,0.000,0.148,3138,1538,1878,0,0,0,0,0,0,28.83,14.25,13.40
$GC,12535,0.77,271.5,911.9,7.8,607,12540,0.00,2.20,0.00,0.000,4,0.000,0.174,3146,455,1868,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12610,0.77,271.5,906.9,8.1,609,12614,0.00,2.03,0.00,0.000,6,0.000,0.099,3145,1541,1867,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12913,0.77,271.5,879.8,8.5,619,12919,0.00,1.98,0.00,0.000,4,0.000,0.124,3145,2572,1865,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12981,0.77,271.5,874.5,8.8,621,12985,0.00,2.05,0.00,0.000,6,0.000,0.146,3153,1549,1864,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13295,0.77,271.5,847.1,8.2,632,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1550,1864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13594,0.77,271.5,822.6,8.3,642,13601,0.00,2.20,0.00,0.000,4,0.000,0.162,3161,463,1862,0,0,0,0,0,0,28.83,14.19,28.83
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$STATE,23493,end climb,SURFACE_DEPTH_REACHED
$STATE,23493,begin surface coast
$FINISH,1.4,1.001455
$STATE,23525,end surface coast,CONTROL_FINISHED_OK
$STATE,23525,begin surface
$SM_CCo,23548,1.50,0.161,0,0,1560,350.04
$SM_GC,3.04,9.00,0.17,1.50,0.081,0.156,0.161,141,1509,1560,-8.54,0.17,350.04,0,0,0,0,0,0,14.40,14.35,14.31
$IRIDIUM_FIX,2432.32,-3835.14,050113,191918
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.79
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7631776
$TM_FREEKB,4266784
$24V_AH,13.1,152.920
$10V_AH,12.6,0.000
$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,23.250,182.425,585.275,1.500,0.000,0.000,0.000,482.925,0.500,0.000,20.110,3363.240,16598.217,958.547,2790.966,677.135,0.000,2632.782,0.000,2191.545,0.000,0.542,0.000
$DEVICE_MAMPS,348.075,174.420,1804.635,160.650,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23576.000,6007.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.907,13.256,0.000,0.000
$MEM,345560
$DATA_FILE_SIZE,43318,1177
$CAP_FILE_SIZE,251542,0
$CFSIZE,260034560,200052736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030, 35.9,1
$GPS,060113,082334,2439.077,-3837.297,30,0.8,30,-14.2