version: 66.11
glider: 190
mission: 6
dive: 366
start: 1 7 113 9 46 41
data:
$ID,190
$MISSION,6
$DIVE,366
$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,-13376.017
$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,16
$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
$GPS1,070113,093152,2434.615,-3840.026,35,0.8,35,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-64.1
$GPS2,070113,094612,2434.594,-3840.048,14,1.7,14,-14.2
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,151.4,97170,-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,-11.57,0.000,2,0.000,0.000,141,1526,1830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,142,11.25,2.12,-82.55,0.000,4,0.356,0.161,2615,457,3626,0,0,0,0,0,0,14.17,14.19,14.66
$GC,243,-0.82,-155.7,13.9,-12.9,21,251,0.00,1.92,0.00,0.000,6,0.000,0.084,2609,1529,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,551,-0.82,-155.7,43.5,-10.0,52,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1530,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-0.82,-155.7,74.6,-10.8,82,860,0.00,1.95,0.00,0.000,4,0.000,0.104,2605,2575,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,921,-0.82,-155.7,82.2,-10.8,89,931,0.00,2.05,0.00,0.000,6,0.000,0.114,2606,1514,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1231,-0.82,-155.7,113.5,-9.3,120,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1514,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1532,-0.82,-155.7,135.3,-6.5,150,1540,0.00,1.98,0.00,0.000,4,0.000,0.103,2605,2575,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1692,-0.84,-155.7,147.1,-7.9,166,1700,0.00,2.00,0.00,0.000,6,0.000,0.112,2605,1526,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2003,-0.87,-155.7,176.6,-10.6,197,2011,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,461,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2153,-0.87,-155.7,193.0,-10.6,212,2160,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1519,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2462,-0.91,-155.7,222.4,-9.2,243,2470,0.00,2.05,0.00,0.000,4,0.000,0.132,2605,462,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2573,-0.91,-155.7,232.9,-9.6,254,2580,0.00,1.85,0.00,0.000,6,0.000,0.077,2605,1502,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2883,-0.94,-155.7,261.7,-9.3,277,2889,0.00,2.03,0.00,0.000,4,0.000,0.133,2602,451,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3020,-0.97,-155.7,273.6,-10.0,281,3029,0.00,1.85,0.00,0.000,6,0.000,0.076,2605,1488,3626,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3335,-1.01,-155.7,302.7,-8.6,292,3341,0.12,1.98,0.00,0.000,4,0.135,0.130,2542,457,3625,0,0,0,0,0,0,14.64,14.28,28.83
$GC,3460,-0.97,-155.7,315.2,-10.5,296,3468,0.15,1.80,0.00,0.000,6,0.268,0.079,2574,1461,3625,0,0,0,0,0,0,14.18,14.46,28.83
$GC,3784,-0.97,-155.7,341.8,-7.7,307,3789,0.00,2.03,0.00,0.000,4,0.000,0.103,2566,2573,3622,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3871,-0.97,-155.7,348.8,-7.8,310,3878,0.00,2.12,0.00,0.000,6,0.000,0.112,2566,1458,3624,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4202,-0.97,-155.7,376.4,-8.6,321,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1459,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4501,-0.97,-155.7,401.9,-8.5,331,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1459,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-0.97,-155.7,426.5,-8.0,341,4809,0.00,1.92,0.00,0.000,4,0.000,0.129,2566,457,3621,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4952,-0.95,-155.7,439.8,-9.0,346,4958,0.00,1.75,0.00,0.000,6,0.000,0.079,2559,1441,3621,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5281,-0.95,-155.7,472.0,-10.5,357,5289,0.00,2.08,0.00,0.000,4,0.000,0.103,2552,2565,3619,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5380,-0.95,-155.7,482.0,-11.1,360,5388,0.12,2.12,0.00,0.000,6,0.228,0.112,2583,1453,3619,0,0,0,0,0,0,14.22,14.30,28.83
$GC,5704,-0.98,-155.7,519.0,-11.0,371,5709,0.00,1.90,0.00,0.000,4,0.000,0.137,2583,460,3619,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5792,-0.98,-155.7,528.9,-10.9,374,5798,0.00,1.75,0.00,0.000,6,0.000,0.083,2578,1439,3617,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6124,-1.01,-155.7,557.7,-7.9,385,6130,0.00,1.90,0.00,0.000,4,0.000,0.140,2578,459,3616,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6252,-1.01,-155.7,566.5,-7.4,389,6258,0.00,1.73,0.00,0.000,6,0.000,0.085,2571,1415,3615,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6576,-1.03,-155.7,588.1,-6.4,400,6581,0.00,2.12,0.00,0.000,4,0.000,0.110,2566,2570,3614,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6632,-1.05,-155.7,591.8,-6.2,402,6638,0.00,2.22,0.00,0.000,6,0.000,0.119,2566,1415,3614,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6962,-1.05,-155.7,615.8,-7.9,413,6969,0.00,1.88,0.00,0.000,4,0.000,0.142,2565,460,3613,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7060,-1.05,-155.7,624.2,-9.1,416,7064,0.00,1.75,0.00,0.000,6,0.000,0.089,2561,1411,3612,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7374,-1.05,-155.7,657.2,-11.0,427,7379,0.00,2.17,0.00,0.000,4,0.000,0.113,2555,2578,3611,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7501,-1.05,-155.7,670.9,-11.5,431,7508,0.00,2.25,0.00,0.000,6,0.000,0.121,2554,1422,3610,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7823,-1.05,-155.7,709.6,-11.4,442,7829,0.00,2.20,0.00,0.000,4,0.000,0.113,2549,2572,3608,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7871,-1.05,-155.7,713.1,-11.3,443,7881,0.00,2.22,0.00,0.000,6,0.000,0.121,2549,1431,3608,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8182,-1.05,-155.7,747.4,-9.9,454,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1431,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8483,-1.05,-155.7,774.8,-8.6,464,8490,0.00,2.17,0.00,0.000,4,0.000,0.115,2549,2564,3606,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8521,-1.05,-155.7,777.3,-8.6,465,8529,0.00,2.22,0.00,0.000,6,0.000,0.122,2549,1432,3606,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8843,-1.05,-155.7,803.5,-7.7,476,8850,0.00,1.92,0.00,0.000,4,0.000,0.149,2549,463,3605,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8951,-1.05,-155.7,811.1,-8.2,479,8954,0.00,1.77,0.00,0.000,6,0.000,0.093,2544,1417,3607,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9252,-1.05,-155.7,838.1,-8.5,489,9259,0.00,2.20,0.00,0.000,4,0.000,0.118,2540,2565,3604,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9362,-1.05,-155.7,846.2,-8.7,492,9372,0.00,2.22,0.00,0.000,6,0.000,0.125,2540,1440,3604,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9672,-1.05,-155.7,878.8,-10.5,503,9679,0.00,1.98,0.00,0.000,4,0.000,0.153,2540,460,3602,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9874,-1.02,-155.7,900.8,-12.4,509,9881,0.00,1.73,0.00,0.000,6,0.000,0.096,2540,1413,3600,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10182,-1.02,-155.7,942.1,-12.6,520,10189,0.00,2.22,0.00,0.000,4,0.000,0.121,2540,2565,3599,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10231,-1.02,-155.7,945.8,-12.5,521,10240,0.00,2.30,0.00,0.000,6,0.000,0.129,2539,1411,3598,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10543,-1.02,-155.7,984.0,-10.9,532,10549,0.00,2.25,0.00,0.000,4,0.000,0.122,2540,2561,3597,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10602,-1.02,-155.7,990.0,-10.4,534,10610,0.00,2.28,0.00,0.000,6,0.000,0.129,2540,1419,3597,0,0,0,0,0,0,28.83,14.07,28.83
$STATE,10629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10629,begin apogee
$GC,10638,-0.23,0.0,993.0,-10.1,535,10794,0.98,0.00,152.38,1.818,4,0.224,0.000,2805,1520,2988,0,0,0,0,0,0,13.88,28.83,13.12
$STATE,10798,end apogee,CONTROL_FINISHED_OK
$STATE,10798,begin climb
$GC,10801,0.84,155.7,1001.9,0.0,540,10972,1.10,2.03,158.12,1.811,4,0.113,0.121,3159,2577,2350,0,0,0,0,0,0,14.12,14.07,13.13
$GC,11000,0.86,310.4,1001.9,2.3,547,11170,0.00,2.12,159.98,1.779,6,0.000,0.132,3167,1521,1720,0,0,0,0,0,0,28.83,14.13,13.15
$GC,11493,0.86,310.4,943.2,12.2,564,11499,0.00,2.03,0.00,0.000,4,0.000,0.123,3167,2570,1706,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11693,0.86,310.4,921.8,11.7,570,11701,0.00,2.05,0.00,0.000,6,0.000,0.132,3175,1523,1704,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12003,0.86,310.4,890.4,8.5,581,12009,0.00,2.12,0.00,0.000,4,0.000,0.162,3184,464,1703,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12032,0.86,310.4,888.0,8.3,582,12039,0.00,1.95,0.00,0.000,6,0.000,0.102,3183,1522,1703,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12365,0.87,324.3,865.1,6.7,593,12384,0.00,2.03,14.15,1.655,4,0.000,0.116,3183,2588,1662,0,0,0,0,0,0,28.83,14.55,13.53
$GC,12512,0.87,324.3,854.9,7.3,597,12519,0.00,2.08,0.00,0.000,6,0.000,0.132,3191,1536,1654,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12834,0.87,324.3,828.4,8.7,608,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1536,1653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13132,0.87,324.3,797.9,10.9,618,13140,0.00,2.17,0.00,0.000,4,0.000,0.158,3199,458,1652,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13181,0.87,324.3,794.4,11.1,619,13185,0.00,2.00,0.00,0.000,6,0.000,0.091,3199,1539,1652,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13484,0.87,324.3,758.4,11.1,629,13490,0.00,1.95,0.00,0.000,4,0.000,0.111,3199,2575,1652,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13552,0.87,324.3,751.7,10.9,631,13560,0.15,2.05,0.00,0.000,6,0.310,0.129,3175,1540,1651,0,0,0,0,0,0,14.04,14.27,28.83
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$STATE,21561,end climb,SURFACE_DEPTH_REACHED
$STATE,21561,begin surface coast
$FINISH,1.4,1.021098
$STATE,21593,end surface coast,CONTROL_FINISHED_OK
$STATE,21593,begin surface
$SM_CCo,21617,9.32,0.131,0,0,1561,350.04
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$IRIDIUM_FIX,2425.21,-3842.18,070113,030349
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.01
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7629856
$TM_FREEKB,4223072
$24V_AH,13.1,155.119
$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,23.050,165.725,501.450,9.325,0.000,0.000,0.000,494.850,0.250,0.000,16.240,3086.631,15248.915,865.523,2620.542,650.984,0.000,2462.210,0.000,2029.543,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,179.010,1818.405,130.815,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.880,13.250,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,40062,1081
$CAP_FILE_SIZE,227788,0
$CFSIZE,260034560,199417856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.069,194.4,1
$GPS,070113,154837,2432.771,-3838.914,42,0.9,42,-14.2