version: 66.11
glider: 190
mission: 6
dive: 396
start: 1 15 113 12 30 4
data:
$ID,190
$MISSION,6
$DIVE,396
$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,-13413.846
$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,21
$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
$GPS1,150113,121452,2428.436,-3808.640,38,0.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-62.3
$GPS2,150113,122934,2428.447,-3808.544,35,1.2,36,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,47.7,15075,-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,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-10.88,0.000,2,0.000,0.000,136,1511,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.1,0.0,1,141,10.98,2.05,-81.57,0.000,4,0.343,0.129,2605,2581,3629,0,0,0,0,0,0,14.10,14.28,14.67
$GC,374,-0.84,-155.7,22.8,-7.2,34,380,0.00,2.03,0.00,0.000,6,0.000,0.113,2605,1520,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,680,-0.84,-155.7,52.1,-11.5,65,689,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,462,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,781,-0.81,-155.7,62.2,-10.4,75,788,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1512,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1092,-0.81,-155.7,90.8,-10.6,106,1098,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,458,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1170,-0.81,-155.7,100.4,-12.6,114,1178,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1510,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1480,-0.84,-155.7,133.0,-9.1,145,1490,0.00,2.05,0.00,0.000,4,0.000,0.136,2605,465,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1541,-0.84,-155.7,138.6,-9.4,151,1549,0.00,1.83,0.00,0.000,6,0.000,0.078,2605,1489,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1854,-0.88,-155.7,161.2,-7.2,182,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1489,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.92,-155.7,188.7,-10.1,213,2169,0.00,2.00,0.00,0.000,4,0.000,0.132,2605,466,3627,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2330,-0.92,-155.7,206.0,-10.1,230,2338,0.00,1.83,0.00,0.000,6,0.000,0.077,2605,1493,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2641,-0.96,-155.7,236.0,-9.6,261,2649,0.00,2.00,0.00,0.000,4,0.000,0.103,2605,2572,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2710,-1.01,-155.7,242.4,-9.1,268,2719,0.10,2.05,0.00,0.000,6,0.078,0.111,2548,1498,3627,0,0,0,0,0,0,14.31,14.17,28.83
$GC,3030,-1.01,-155.7,272.3,-9.0,284,3037,0.00,2.00,0.00,0.000,4,0.000,0.134,2550,462,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3171,-0.97,-155.7,284.1,-9.9,288,3179,0.10,1.85,0.00,0.000,6,0.241,0.083,2570,1490,3626,0,0,0,0,0,0,14.06,14.33,28.83
$GC,3482,-0.97,-155.7,311.4,-8.1,299,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1491,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3781,-0.97,-155.7,338.3,-9.3,309,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1492,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4080,-0.97,-155.7,368.7,-10.2,319,4088,0.00,2.00,0.00,0.000,4,0.000,0.134,2570,465,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4160,-0.97,-155.7,375.2,-10.5,321,4170,0.00,1.83,0.00,0.000,6,0.000,0.083,2564,1490,3624,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4471,-0.97,-155.7,408.6,-9.8,332,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1490,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4770,-0.97,-155.7,436.4,-9.1,342,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1489,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5071,-0.97,-155.7,464.2,-9.4,352,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1489,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,-0.97,-155.7,495.7,-11.0,362,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1489,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5670,-0.97,-155.7,528.3,-10.6,372,5677,0.00,2.03,0.00,0.000,4,0.000,0.133,2565,447,3620,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5740,-0.97,-155.7,534.7,-10.6,374,5747,0.00,1.88,0.00,0.000,6,0.000,0.083,2560,1484,3619,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6060,-0.97,-155.7,564.6,-8.3,385,6067,0.00,2.03,0.00,0.000,4,0.000,0.139,2560,457,3619,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6109,-0.97,-155.7,567.1,-8.2,386,6112,0.00,1.85,0.00,0.000,6,0.000,0.085,2553,1477,3618,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6412,-0.97,-155.7,591.9,-7.6,396,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1476,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6710,-0.97,-155.7,617.5,-8.9,406,6717,0.00,2.03,0.00,0.000,4,0.000,0.138,2553,455,3616,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6750,-0.97,-155.7,620.3,-9.1,407,6757,0.00,1.85,0.00,0.000,6,0.000,0.086,2553,1469,3615,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7070,-0.97,-155.7,654.9,-11.0,418,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1472,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7370,-0.97,-155.7,687.3,-10.5,428,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1472,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,-0.97,-155.7,717.6,-9.6,438,7677,0.00,2.00,0.00,0.000,4,0.000,0.144,2552,462,3612,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7731,-0.97,-155.7,723.6,-9.8,440,7737,0.00,1.83,0.00,0.000,6,0.000,0.090,2553,1465,3612,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8061,-0.97,-155.7,754.7,-9.5,451,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1465,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8360,-0.97,-155.7,783.9,-9.8,461,8368,0.00,2.03,0.00,0.000,4,0.000,0.146,2552,460,3610,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8410,-0.97,-155.7,786.9,-9.8,462,8418,0.00,1.85,0.00,0.000,6,0.000,0.091,2552,1460,3609,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8721,-0.97,-155.7,822.1,-10.7,473,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1460,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9020,-0.97,-155.7,854.3,-10.6,483,9027,0.00,2.12,0.00,0.000,4,0.000,0.118,2552,2570,3606,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9059,-0.97,-155.7,857.3,-10.6,484,9066,0.00,2.17,0.00,0.000,6,0.000,0.122,2552,1464,3607,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9384,-1.00,-155.7,891.4,-10.0,495,9389,0.00,2.00,0.00,0.000,4,0.000,0.148,2554,459,3605,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9429,-1.00,-155.7,894.4,-10.0,496,9432,0.00,1.88,0.00,0.000,6,0.000,0.093,2552,1466,3605,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9732,-1.00,-155.7,922.3,-8.1,506,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1465,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10030,-1.02,-155.7,945.3,-7.5,516,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1466,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10332,-1.02,-155.7,966.1,-6.7,526,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1466,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10630,-1.04,-155.7,988.2,-7.7,536,10637,0.00,2.03,0.00,0.000,4,0.000,0.149,2552,463,3600,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,10657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10657,begin apogee
$GC,10666,-0.23,0.0,990.6,-8.0,537,10828,0.93,0.00,154.82,1.847,4,0.216,0.000,2806,1519,2987,0,0,0,0,0,0,13.79,28.83,13.06
$STATE,10833,end apogee,CONTROL_FINISHED_OK
$STATE,10833,begin climb
$GC,10836,0.84,155.7,999.1,0.0,542,11008,1.10,2.05,161.43,1.834,4,0.105,0.122,3166,2579,2350,0,0,0,0,0,0,14.14,14.08,13.10
$GC,11243,0.84,235.9,993.6,4.6,556,11333,0.00,2.08,84.65,1.799,6,0.000,0.142,3173,1514,2028,0,0,0,0,0,0,28.83,14.31,13.19
$GC,11642,0.81,235.9,967.5,7.2,570,11649,0.00,2.10,0.00,0.000,4,0.000,0.159,3182,457,2010,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11800,0.77,235.9,954.8,8.6,575,11809,0.17,1.98,0.00,0.000,6,0.276,0.094,3141,1529,2009,0,0,0,0,0,0,14.19,14.43,28.83
$GC,12124,0.77,235.9,928.4,8.3,586,12130,0.00,1.98,0.00,0.000,4,0.000,0.121,3142,2577,2007,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12280,0.77,235.9,914.7,9.2,591,12288,0.00,2.08,0.00,0.000,6,0.000,0.143,3149,1536,2006,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12604,0.77,235.9,882.5,9.7,602,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1536,2006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12901,0.77,235.9,856.0,8.4,612,12908,0.00,2.00,0.00,0.000,4,0.000,0.125,3149,2568,2005,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12970,0.77,235.9,851.2,8.2,614,12978,0.00,2.05,0.00,0.000,6,0.000,0.142,3156,1546,2005,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13293,0.78,255.2,827.7,6.6,625,13320,0.00,2.17,19.35,1.673,4,0.000,0.170,3164,456,1942,0,0,0,0,0,0,28.83,14.43,13.45
$GC,13381,0.79,266.9,821.5,6.8,628,13400,0.00,2.00,13.93,1.626,6,0.000,0.097,3165,1539,1901,0,0,0,0,0,0,28.83,14.40,13.45
$GC,13705,0.80,285.1,799.9,6.6,638,13732,0.00,2.03,20.25,1.651,4,0.000,0.123,3164,2591,1820,0,0,0,0,0,0,28.83,14.41,13.47
$GC,13800,0.80,288.9,793.5,7.1,641,13808,0.00,2.10,0.00,0.000,6,0.000,0.140,3172,1546,1815,0,0,0,0,0,0,28.83,14.24,28.83
$GC,14122,0.80,288.9,767.9,8.3,652,14129,0.00,2.20,0.00,0.000,4,0.000,0.169,3179,464,1813,0,0,0,0,0,0,28.83,14.09,28.83
$GC,14151,0.80,288.9,765.3,8.5,653,14159,0.12,2.05,0.00,0.000,6,0.289,0.098,3153,1564,1813,0,0,0,0,0,0,14.10,14.35,28.83
$GC,14485,0.80,288.9,735.6,9.4,664,14491,0.00,1.92,0.00,0.000,4,0.000,0.117,3153,2584,1812,0,0,0,0,0,0,28.83,14.30,28.83
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$STATE,22989,end climb,SURFACE_DEPTH_REACHED
$STATE,22989,begin surface coast
$FINISH,1.4,1.019970
$STATE,23034,end surface coast,CONTROL_FINISHED_OK
$STATE,23035,begin surface
$SM_CCo,23058,29.05,0.125,0,0,1562,350.04
$SM_GC,2.31,9.00,0.12,29.05,0.087,0.155,0.125,143,1517,1562,-8.53,0.45,350.04,0,0,0,0,0,0,14.20,14.38,14.28
$IRIDIUM_FIX,2415.74,-3810.76,150113,060635
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.83
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7618592
$TM_FREEKB,3958944
$24V_AH,13.1,168.357
$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,22.975,160.600,470.700,29.050,0.000,0.000,0.000,483.300,0.500,0.000,37.160,3180.106,16518.414,863.821,2690.662,702.933,0.000,2475.345,0.000,2093.011,0.000,0.541,0.000
$DEVICE_MAMPS,342.720,169.830,1847.475,125.460,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.884,13.228,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,43302,1145
$CAP_FILE_SIZE,233454,0
$CFSIZE,260034560,195461120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,113.0,1
$GPS,150113,185606,2429.728,-3807.020,28,1.7,28,-14.0