version: 66.11
glider: 190
mission: 6
dive: 368
start: 1 7 113 22 44 30
data:
$ID,190
$MISSION,6
$DIVE,368
$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,-13378.533
$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,9
$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
$GPS1,070113,223004,2432.211,-3837.153,36,0.8,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-65.0
$GPS2,070113,224400,2432.186,-3837.137,14,1.1,15,-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,144.8,90539,-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,-11.10,0.000,2,0.000,0.000,137,1515,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.5,0.0,1,140,11.02,2.10,-81.35,0.000,4,0.346,0.160,2614,458,3625,0,0,0,0,0,0,14.20,14.21,14.69
$GC,269,-0.84,-155.7,18.6,-11.8,24,278,0.00,1.95,0.00,0.000,6,0.000,0.085,2608,1523,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,579,-0.84,-155.7,52.0,-8.7,55,588,0.00,1.98,0.00,0.000,4,0.000,0.105,2605,2578,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,680,-0.84,-155.7,60.9,-8.6,65,689,0.00,2.03,0.00,0.000,6,0.000,0.112,2605,1520,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,990,-0.84,-155.7,91.1,-10.6,96,998,0.00,2.00,0.00,0.000,4,0.000,0.108,2605,2583,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1079,-0.84,-155.7,99.5,-9.2,105,1089,0.00,2.03,0.00,0.000,6,0.000,0.115,2605,1538,3627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1390,-0.87,-155.7,123.9,-7.5,136,1398,0.00,2.10,0.00,0.000,4,0.000,0.139,2608,459,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1429,-0.87,-155.7,127.2,-8.0,140,1437,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1536,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1740,-0.90,-155.7,152.7,-8.7,171,1748,0.00,2.12,0.00,0.000,4,0.000,0.137,2605,456,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1771,-0.92,-155.7,155.6,-9.2,174,1778,0.00,1.90,0.00,0.000,6,0.000,0.084,2604,1527,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2080,-0.95,-155.7,182.1,-7.7,205,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1527,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.99,-155.7,205.6,-7.3,236,2398,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,456,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2459,-0.99,-155.7,211.3,-8.3,243,2468,0.10,1.92,0.00,0.000,6,0.166,0.083,2565,1519,3627,0,0,0,0,0,0,14.40,14.39,28.83
$GC,2771,-0.99,-155.7,238.3,-8.9,274,2779,0.00,1.98,0.00,0.000,4,0.000,0.109,2559,2570,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2850,-0.99,-155.7,245.4,-8.8,282,2858,0.00,2.03,0.00,0.000,6,0.000,0.119,2558,1521,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3172,-0.99,-155.7,277.7,-10.7,296,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1520,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.99,-155.7,312.0,-11.7,306,3476,0.00,1.98,0.00,0.000,4,0.000,0.106,2553,2575,3625,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3530,-0.99,-155.7,318.8,-11.4,308,3536,0.00,2.03,0.00,0.000,6,0.000,0.119,2553,1521,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3861,-0.99,-155.7,353.2,-9.6,319,3867,0.00,1.95,0.00,0.000,4,0.000,0.110,2549,2578,3624,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3938,-0.99,-155.7,358.6,-9.1,321,3942,0.00,2.03,0.00,0.000,6,0.000,0.119,2549,1531,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4243,-0.97,-155.7,385.1,-8.1,331,4248,0.00,1.95,0.00,0.000,4,0.000,0.112,2545,2578,3623,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4329,-0.97,-155.7,392.6,-8.3,334,4337,0.12,2.00,0.00,0.000,6,0.236,0.118,2574,1542,3623,0,0,0,0,0,0,14.24,14.31,28.83
$GC,4663,-1.00,-155.7,422.4,-9.9,345,4669,0.00,2.12,0.00,0.000,4,0.000,0.144,2575,454,3619,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4779,-1.00,-155.7,436.1,-11.5,349,4788,0.00,1.98,0.00,0.000,6,0.000,0.090,2568,1535,3621,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5113,-1.00,-155.7,472.5,-10.6,360,5118,0.00,1.95,0.00,0.000,4,0.000,0.115,2560,2580,3622,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5149,-1.00,-155.7,475.5,-10.5,361,5156,0.00,2.03,0.00,0.000,6,0.000,0.120,2560,1538,3620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5470,-1.00,-155.7,503.8,-7.7,372,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1538,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-1.00,-155.7,523.5,-6.3,382,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1538,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-1.00,-155.7,544.8,-7.5,392,6076,0.00,2.10,0.00,0.000,4,0.000,0.137,2560,460,3617,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6253,-0.97,-155.7,561.5,-9.5,398,6258,0.00,1.95,0.00,0.000,6,0.000,0.088,2553,1543,3614,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6579,-0.97,-155.7,595.2,-10.9,409,6587,0.00,1.98,0.00,0.000,4,0.000,0.111,2549,2585,3614,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6630,-0.97,-155.7,598.6,-11.1,410,6638,0.00,1.98,0.00,0.000,6,0.000,0.116,2549,1552,3615,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6939,-0.97,-155.7,635.9,-11.1,421,6947,0.00,2.12,0.00,0.000,4,0.000,0.138,2549,462,3613,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7110,-0.93,-155.7,654.1,-12.1,426,7118,0.12,1.95,0.00,0.000,6,0.243,0.091,2579,1527,3612,0,0,0,0,0,0,14.00,14.29,28.83
$GC,7422,-0.97,-155.7,687.3,-9.6,437,7428,0.00,2.12,0.00,0.000,4,0.000,0.149,2579,457,3612,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7518,-0.97,-155.7,695.9,-9.5,440,7522,0.00,1.95,0.00,0.000,6,0.000,0.090,2573,1514,3611,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7834,-1.00,-155.7,722.3,-8.0,451,7840,0.00,2.08,0.00,0.000,4,0.000,0.145,2573,460,3609,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7870,-1.03,-155.7,724.7,-7.9,452,7877,0.00,1.95,0.00,0.000,6,0.000,0.095,2566,1511,3608,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8195,-1.06,-155.7,751.6,-8.4,463,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1511,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8490,-1.09,-155.7,776.1,-8.1,473,8497,0.00,2.10,0.00,0.000,4,0.000,0.148,2566,463,3607,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8591,-1.09,-155.7,784.3,-9.0,476,8597,0.00,1.88,0.00,0.000,6,0.000,0.086,2559,1493,3606,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8914,-1.11,-155.7,815.6,-9.9,487,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1493,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9212,-1.14,-155.7,847.4,-10.8,497,9218,0.12,2.05,0.00,0.000,4,0.148,0.143,2510,457,3604,0,0,0,0,0,0,14.56,14.02,28.83
$GC,9289,-1.14,-155.7,854.9,-11.5,499,9293,0.00,1.95,0.00,0.000,6,0.000,0.099,2509,1493,3604,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9592,-1.11,-155.7,893.5,-11.6,509,9597,0.00,2.05,0.00,0.000,4,0.000,0.115,2509,2586,3603,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9690,-1.09,-155.7,903.5,-11.3,512,9698,0.08,2.12,0.00,0.000,6,0.235,0.116,2531,1493,3602,0,0,0,0,0,0,13.94,14.09,28.83
$GC,10012,-1.09,-155.7,934.6,-8.7,523,10017,0.00,2.10,0.00,0.000,4,0.000,0.125,2523,2575,3600,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10090,-1.09,-155.7,939.6,-8.3,525,10099,0.00,2.15,0.00,0.000,6,0.000,0.129,2523,1498,3600,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10400,-1.09,-155.7,965.3,-7.7,536,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1498,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10698,begin apogee
$GC,10705,-0.23,0.0,990.2,-8.7,546,10861,1.05,0.00,151.55,1.874,4,0.224,0.000,2808,1498,2991,0,0,0,0,0,0,13.85,28.83,13.11
$STATE,10865,end apogee,CONTROL_FINISHED_OK
$STATE,10865,begin climb
$GC,10868,0.84,155.7,998.6,0.0,551,11042,1.10,2.10,160.07,1.828,4,0.112,0.116,3162,2581,2349,0,0,0,0,0,0,14.11,14.08,13.13
$GC,11272,0.82,211.0,990.2,5.4,565,11339,0.00,2.08,58.12,1.790,6,0.000,0.136,3170,1520,2122,0,0,0,0,0,0,28.83,14.33,13.28
$GC,11651,0.81,238.6,965.5,6.3,578,11688,0.00,2.17,28.65,1.760,4,0.000,0.166,3178,460,2010,0,0,0,0,0,0,28.83,14.28,13.43
$GC,11833,0.77,238.6,952.5,7.5,584,11839,0.15,2.00,0.00,0.000,6,0.298,0.109,3145,1531,2004,0,0,0,0,0,0,14.16,14.36,28.83
$GC,12163,0.78,255.1,930.8,6.6,595,12190,0.00,2.00,18.00,1.730,4,0.000,0.123,3145,2574,1942,0,0,0,0,0,0,28.83,14.45,13.52
$GC,12370,0.78,255.1,915.6,7.4,602,12378,0.00,2.05,0.00,0.000,6,0.000,0.145,3152,1553,1937,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12703,0.78,255.1,891.6,7.4,613,12708,0.00,1.98,0.00,0.000,4,0.000,0.132,3152,2579,1936,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12739,0.78,255.1,889.3,7.5,614,12747,0.00,2.08,0.00,0.000,6,0.000,0.150,3159,1555,1935,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13062,0.78,255.1,862.9,8.3,625,13067,0.00,1.98,0.00,0.000,4,0.000,0.131,3159,2580,1935,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13139,0.78,255.1,857.7,8.5,627,13148,0.00,2.05,0.00,0.000,6,0.000,0.148,3166,1568,1934,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13451,0.78,255.1,828.3,9.2,638,13458,0.00,2.30,0.00,0.000,4,0.000,0.179,3173,463,1934,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13489,0.78,255.1,825.3,9.4,639,13498,0.12,2.08,0.00,0.000,6,0.280,0.104,3147,1574,1933,0,0,0,0,0,0,14.15,14.38,28.83
$GC,13813,0.78,255.1,795.1,9.1,650,13819,0.00,1.90,0.00,0.000,4,0.000,0.117,3147,2582,1933,0,0,0,0,0,0,28.83,14.33,28.83
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$STATE,22860,end climb,SURFACE_DEPTH_REACHED
$STATE,22860,begin surface coast
$FINISH,1.4,1.025522
$STATE,22893,end surface coast,CONTROL_FINISHED_OK
$STATE,22893,begin surface
$SM_CCo,22916,0.52,0.247,0,0,1561,350.04
$SM_GC,3.03,8.55,0.25,0.52,0.054,0.159,0.247,143,1514,1561,-8.53,0.23,350.04,0,0,0,0,0,0,14.41,14.29,14.36
$IRIDIUM_FIX,2425.21,-3838.85,070113,151539
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.09
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,7629088
$TM_FREEKB,4204832
$24V_AH,13.1,156.030
$10V_AH,12.3,0.000
$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,23.100,186.850,498.450,0.525,0.000,0.000,0.000,468.225,0.000,0.000,16.115,3290.948,16132.259,896.988,2727.645,689.715,0.000,2542.294,0.000,2153.522,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,179.010,1874.250,247.095,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22941.000,5832.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.887,13.264,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43327,1145
$CAP_FILE_SIZE,244068,0
$CFSIZE,260034560,199135232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,217.1,1
$GPS,080113,050752,2430.594,-3836.094,39,0.9,39,-14.2