version: 66.11
glider: 190
mission: 6
dive: 362
start: 1 6 113 8 37 54
data:
$ID,190
$MISSION,6
$DIVE,362
$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,-13370.984
$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,19
$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
$GPS1,060113,082334,2439.077,-3837.297,30,0.8,30,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-67.3
$GPS2,060113,083724,2439.029,-3837.294,13,0.8,15,-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,238.5,10886,-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,-11.20,0.000,2,0.000,0.000,140,1506,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,141,11.48,2.05,-79.05,0.000,4,0.366,0.125,2605,2581,3625,0,0,0,0,0,0,14.14,14.18,14.68
$GC,341,-0.84,-155.7,25.7,-9.8,31,349,0.00,2.05,0.00,0.000,6,0.000,0.116,2605,1524,3625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,650,-0.84,-155.7,53.4,-9.0,62,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1524,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,949,-0.84,-155.7,83.7,-10.3,92,958,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2580,3625,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1010,-0.84,-155.7,89.4,-9.2,98,1020,0.00,2.03,0.00,0.000,6,0.000,0.115,2605,1521,3625,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1320,-0.84,-155.7,118.8,-9.6,129,1328,0.00,1.98,0.00,0.000,4,0.000,0.104,2605,2580,3625,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1390,-0.87,-155.7,125.1,-9.0,136,1399,0.00,2.03,0.00,0.000,6,0.000,0.113,2605,1522,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1702,-0.90,-155.7,152.1,-8.9,167,1708,0.00,2.08,0.00,0.000,4,0.000,0.142,2605,452,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1901,-0.90,-155.7,171.6,-10.4,187,1909,0.00,1.90,0.00,0.000,6,0.000,0.082,2605,1509,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2211,-0.94,-155.7,203.7,-10.1,218,2219,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,463,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2269,-0.94,-155.7,210.0,-10.4,224,2278,0.00,1.88,0.00,0.000,6,0.000,0.080,2605,1503,3626,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2582,-0.98,-155.7,237.0,-7.5,255,2589,0.00,2.03,0.00,0.000,4,0.000,0.136,2605,458,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2750,-0.98,-155.7,250.1,-8.3,271,2758,0.00,1.83,0.00,0.000,6,0.000,0.080,2604,1476,3626,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3062,-1.02,-155.7,277.0,-9.1,282,3068,0.12,1.95,0.00,0.000,4,0.138,0.135,2544,459,3626,0,0,0,0,0,0,14.61,14.26,28.83
$GC,3223,-0.97,-155.7,294.9,-12.3,287,3229,0.15,1.75,0.00,0.000,6,0.265,0.086,2574,1447,3625,0,0,0,0,0,0,14.19,14.45,28.83
$GC,3542,-0.97,-155.7,330.4,-10.3,298,3547,0.00,2.05,0.00,0.000,4,0.000,0.103,2566,2573,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3662,-0.97,-155.7,341.8,-9.5,302,3667,0.00,2.12,0.00,0.000,6,0.000,0.118,2566,1452,3624,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3990,-0.97,-155.7,372.6,-9.4,313,3997,0.00,1.95,0.00,0.000,4,0.000,0.138,2566,453,3623,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4070,-0.97,-155.7,378.7,-9.9,315,4078,0.00,1.83,0.00,0.000,6,0.000,0.086,2558,1459,3623,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4381,-0.97,-155.7,411.1,-9.7,326,4387,0.00,2.08,0.00,0.000,4,0.000,0.109,2553,2570,3621,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4508,-0.97,-155.7,423.1,-10.0,330,4516,0.00,2.12,0.00,0.000,6,0.000,0.116,2553,1466,3622,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4831,-0.97,-155.7,455.7,-9.9,341,4837,0.00,2.08,0.00,0.000,4,0.000,0.108,2549,2569,3621,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4889,-0.97,-155.7,461.6,-9.8,343,4898,0.00,2.12,0.00,0.000,6,0.000,0.117,2549,1466,3618,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5221,-0.97,-155.7,495.3,-10.5,354,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1466,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5520,-0.97,-155.7,526.8,-10.4,364,5527,0.00,2.08,0.00,0.000,4,0.000,0.109,2545,2565,3618,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5659,-0.97,-155.7,538.8,-10.0,368,5669,0.12,2.10,0.00,0.000,6,0.225,0.116,2576,1478,3618,0,0,0,0,0,0,14.23,14.30,28.83
$GC,5973,-1.01,-155.7,569.9,-9.4,379,5979,0.00,1.95,0.00,0.000,4,0.000,0.145,2576,462,3617,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6068,-1.01,-155.7,578.7,-9.7,382,6072,0.00,1.83,0.00,0.000,6,0.000,0.087,2570,1467,3616,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6382,-1.01,-155.7,609.5,-9.7,393,6388,0.00,2.05,0.00,0.000,4,0.000,0.112,2565,2572,3615,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6411,-1.03,-155.7,612.3,-9.6,394,6419,0.00,2.12,0.00,0.000,6,0.000,0.119,2565,1468,3614,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6744,-1.05,-155.7,644.0,-9.4,405,6750,0.00,1.95,0.00,0.000,4,0.000,0.142,2565,462,3614,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6962,-1.03,-155.7,665.0,-10.1,412,6968,0.00,1.77,0.00,0.000,6,0.000,0.087,2560,1437,3613,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7281,-1.03,-155.7,697.6,-10.1,423,7287,0.00,2.12,0.00,0.000,4,0.000,0.111,2552,2565,3611,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7380,-1.05,-155.7,706.7,-10.1,426,7387,0.00,2.17,0.00,0.000,6,0.000,0.119,2553,1449,3611,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7701,-1.05,-155.7,741.0,-10.3,437,7707,0.00,1.95,0.00,0.000,4,0.000,0.144,2553,460,3609,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7884,-1.03,-155.7,760.4,-10.7,443,7889,0.00,1.77,0.00,0.000,6,0.000,0.088,2549,1438,3608,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8211,-1.03,-155.7,792.2,-9.7,454,8218,0.00,2.15,0.00,0.000,4,0.000,0.115,2543,2568,3607,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8301,-1.03,-155.7,800.9,-9.6,457,8307,0.00,2.20,0.00,0.000,6,0.000,0.121,2543,1438,3607,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8630,-1.03,-155.7,835.8,-10.8,468,8637,0.00,2.17,0.00,0.000,4,0.000,0.113,2540,2569,3606,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8730,-1.03,-155.7,845.4,-10.6,471,8739,0.00,2.17,0.00,0.000,6,0.000,0.119,2539,1456,3605,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9050,-1.03,-155.7,879.8,-10.2,482,9058,0.00,2.15,0.00,0.000,4,0.000,0.116,2536,2571,3604,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9110,-1.03,-155.7,885.8,-10.1,484,9117,0.00,2.17,0.00,0.000,6,0.000,0.120,2536,1463,3604,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9441,-1.03,-155.7,918.3,-9.9,495,9447,0.00,2.15,0.00,0.000,4,0.000,0.117,2536,2570,3602,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9509,-1.03,-155.7,923.9,-9.6,497,9513,0.00,2.15,0.00,0.000,6,0.000,0.120,2536,1474,3602,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9823,-1.03,-155.7,954.7,-9.6,508,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1474,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10122,-1.03,-155.7,982.9,-9.3,518,10129,0.00,2.12,0.00,0.000,4,0.000,0.120,2536,2566,3599,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10190,-1.03,-155.7,988.2,-9.1,520,10198,0.00,2.15,0.00,0.000,6,0.000,0.122,2536,1477,3599,0,0,0,0,0,0,28.83,14.15,28.83
$STATE,10208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10209,begin apogee
$GC,10217,-0.23,0.0,991.3,-9.2,521,10382,1.00,0.00,155.77,2.524,4,0.222,0.000,2809,1524,2991,0,0,0,0,1,0,13.88,28.83,12.72
$STATE,10386,end apogee,CONTROL_FINISHED_OK
$STATE,10386,begin climb
$GC,10389,0.84,155.7,1000.2,0.0,526,10573,1.10,2.08,168.85,2.530,4,0.112,0.119,3162,2582,2355,0,0,0,0,1,0,14.02,13.99,12.74
$GC,10804,0.79,166.6,990.0,6.8,540,10829,0.00,2.08,17.00,1.764,6,0.000,0.134,3170,1516,2306,0,0,0,0,0,0,28.83,14.35,13.42
$GC,11152,0.75,166.6,963.2,7.5,552,11160,0.15,2.10,0.00,0.000,4,0.308,0.159,3145,466,2301,0,0,0,0,0,0,14.25,14.30,28.83
$GC,11344,0.71,166.6,950.1,7.3,558,11349,0.00,1.92,0.00,0.000,6,0.000,0.099,3145,1525,2300,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11665,0.69,190.9,927.9,6.4,569,11700,0.12,2.03,26.33,1.792,4,0.312,0.119,3115,2582,2205,0,0,0,0,0,0,14.23,14.45,13.50
$GC,11817,0.70,207.0,917.9,6.7,574,11841,0.00,2.08,17.92,1.761,6,0.000,0.143,3122,1531,2146,0,0,0,0,0,0,28.83,14.32,13.47
$GC,12144,0.71,219.3,895.1,6.8,585,12163,0.00,2.05,14.15,1.746,4,0.000,0.128,3122,2579,2091,0,0,0,0,0,0,28.83,14.47,13.52
$GC,12212,0.72,227.8,891.6,6.9,586,12230,0.00,2.08,10.38,1.693,6,0.000,0.144,3130,1543,2057,0,0,0,0,0,0,28.83,14.30,13.46
$GC,12552,0.72,227.8,864.6,7.8,598,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1542,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12854,0.72,227.8,840.9,7.8,608,12859,0.00,1.98,0.00,0.000,4,0.000,0.126,3130,2582,2051,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12951,0.72,227.8,833.8,8.0,611,12955,0.00,2.08,0.00,0.000,6,0.000,0.143,3138,1545,2050,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13266,0.72,237.1,810.6,6.9,622,13281,0.00,2.00,10.43,1.674,4,0.000,0.128,3137,2576,2020,0,0,0,0,0,0,28.83,14.56,13.55
$GC,13342,0.73,247.8,806.3,6.8,624,13361,0.00,2.05,13.05,1.680,6,0.000,0.145,3145,1554,1977,0,0,0,0,0,0,28.83,14.36,13.54
$GC,13686,0.76,294.3,784.1,5.7,636,13743,0.00,2.05,50.47,1.688,4,0.000,0.126,3145,2583,1785,0,0,0,0,0,0,28.83,14.25,13.43
$GC,13782,0.78,332.0,778.7,6.0,639,13833,0.00,2.08,41.95,1.639,6,0.000,0.144,3152,1564,1629,0,0,0,0,0,0,28.83,14.19,13.31
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$STATE,21965,end climb,SURFACE_DEPTH_REACHED
$STATE,21965,begin surface coast
$FINISH,1.4,1.005365
$STATE,21996,end surface coast,CONTROL_FINISHED_OK
$STATE,21996,begin surface
$SM_CCo,22023,6.82,0.136,0,0,1562,350.04
$SM_GC,3.47,8.85,0.22,6.82,0.075,0.150,0.136,140,1516,1562,-8.54,0.31,350.04,0,0,0,0,0,0,14.38,14.31,14.26
$IRIDIUM_FIX,2429.95,-3840.33,060113,010112
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.66
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,7631392
$TM_FREEKB,4258240
$24V_AH,12.7,153.420
$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,23.500,184.650,526.300,6.825,0.000,0.000,0.000,458.000,0.250,0.000,16.301,3138.813,15492.992,920.742,2641.798,647.854,0.000,2512.725,0.000,2079.183,0.000,0.542,0.000
$DEVICE_MAMPS,366.435,162.945,2529.855,136.170,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22034.000,5433.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.808,13.253,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,40024,1090
$CAP_FILE_SIZE,234476,0
$CFSIZE,260034560,199933952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.055,184.7,1
$GPS,060113,144628,2437.198,-3838.546,38,0.8,38,-14.2