version: 66.11
glider: 190
mission: 6
dive: 405
start: 1 17 113 22 53 13
data:
$ID,190
$MISSION,6
$DIVE,405
$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,-13425.171
$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,13
$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
$GPS1,170113,223841,2439.608,-3755.941,38,1.2,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-64.9
$GPS2,170113,225243,2439.673,-3755.903,16,1.7,17,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$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,44.3,20644,-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,-10.85,0.000,2,0.000,0.000,136,1509,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.5,0.0,1,148,11.25,2.03,-85.70,0.000,4,0.355,0.126,2605,2574,3625,0,0,0,0,0,0,14.11,14.22,14.67
$GC,338,-0.84,-155.7,18.1,-7.8,31,347,0.00,2.08,0.00,0.000,6,0.000,0.119,2604,1522,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,649,-0.84,-155.7,44.6,-6.9,62,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1521,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.84,-155.7,79.0,-11.9,93,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1521,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1259,-0.87,-155.7,109.3,-9.1,123,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1521,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.90,-155.7,134.1,-7.6,153,1568,0.00,2.05,0.00,0.000,4,0.000,0.132,2604,464,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1678,-0.90,-155.7,143.1,-7.6,165,1688,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1529,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1989,-0.93,-155.7,164.1,-7.2,196,1997,0.00,2.10,0.00,0.000,4,0.000,0.133,2605,459,3628,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2069,-0.93,-155.7,170.3,-7.9,204,2077,0.00,1.90,0.00,0.000,6,0.000,0.082,2605,1512,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2380,-0.97,-155.7,196.3,-9.2,235,2387,0.00,2.05,0.00,0.000,4,0.000,0.135,2604,459,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2438,-0.97,-155.7,201.9,-9.6,241,2448,0.00,1.90,0.00,0.000,6,0.000,0.082,2604,1504,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2749,-1.00,-155.7,229.8,-9.1,272,2757,0.12,2.05,0.00,0.000,4,0.138,0.135,2548,456,3627,0,0,0,0,0,0,14.55,14.08,28.83
$GC,2929,-0.96,-155.7,249.6,-11.3,290,2939,0.10,1.83,0.00,0.000,6,0.231,0.083,2571,1468,3626,0,0,0,0,0,0,14.02,14.24,28.83
$GC,3241,-0.96,-155.7,280.9,-10.2,301,3247,0.00,2.03,0.00,0.000,4,0.000,0.106,2565,2577,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3330,-0.96,-155.7,290.0,-10.2,304,3336,0.00,2.08,0.00,0.000,6,0.000,0.116,2565,1481,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3661,-0.96,-155.7,324.9,-10.5,315,3666,0.00,1.98,0.00,0.000,4,0.000,0.138,2565,458,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3779,-0.96,-155.7,337.8,-10.8,319,3786,0.00,1.83,0.00,0.000,6,0.000,0.086,2561,1467,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4109,-0.96,-155.7,367.4,-8.3,330,4116,0.00,2.08,0.00,0.000,4,0.000,0.109,2553,2572,3624,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4138,-0.96,-155.7,369.7,-8.0,331,4145,0.00,2.15,0.00,0.000,6,0.000,0.117,2553,1464,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4469,-0.96,-155.7,395.7,-7.9,342,4475,0.00,1.95,0.00,0.000,4,0.000,0.139,2553,466,3623,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4507,-0.96,-155.7,398.3,-8.1,343,4511,0.00,1.83,0.00,0.000,6,0.000,0.088,2552,1465,3623,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4821,-0.96,-155.7,427.0,-9.5,354,4826,0.00,2.05,0.00,0.000,4,0.000,0.111,2552,2577,3622,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4889,-0.96,-155.7,432.6,-9.5,356,4896,0.00,2.15,0.00,0.000,6,0.000,0.116,2552,1467,3621,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5210,-0.96,-155.7,463.3,-8.8,367,5216,0.00,2.10,0.00,0.000,4,0.000,0.113,2552,2569,3621,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5260,-0.96,-155.7,465.7,-8.7,368,5268,0.00,2.12,0.00,0.000,6,0.000,0.120,2552,1476,3621,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5571,-0.96,-155.7,491.8,-7.7,379,5576,0.00,1.95,0.00,0.000,4,0.000,0.132,2552,456,3621,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5649,-0.96,-155.7,497.0,-8.1,381,5657,0.00,1.83,0.00,0.000,6,0.000,0.081,2553,1464,3620,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5961,-0.96,-155.7,525.2,-9.1,392,5968,0.00,1.95,0.00,0.000,4,0.000,0.138,2552,452,3617,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6058,-0.96,-155.7,534.7,-10.3,395,6062,0.00,1.80,0.00,0.000,6,0.000,0.086,2552,1438,3619,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6372,-0.96,-155.7,568.1,-10.5,406,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1440,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-0.96,-155.7,600.2,-10.6,416,6677,0.00,1.98,0.00,0.000,4,0.000,0.140,2552,450,3616,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6780,-0.96,-155.7,610.2,-10.9,419,6789,0.00,1.83,0.00,0.000,6,0.000,0.090,2552,1442,3615,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7091,-0.96,-155.7,642.2,-9.5,430,7097,0.00,1.98,0.00,0.000,4,0.000,0.145,2552,456,3614,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7150,-0.96,-155.7,648.1,-9.6,432,7157,0.00,1.80,0.00,0.000,6,0.000,0.091,2552,1428,3614,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7480,-0.96,-155.7,681.1,-10.4,443,7488,0.00,1.92,0.00,0.000,4,0.000,0.143,2552,463,3613,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7530,-0.96,-155.7,684.1,-10.5,444,7538,0.00,1.77,0.00,0.000,6,0.000,0.091,2552,1422,3613,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7841,-0.96,-155.7,719.3,-10.8,455,7848,0.00,1.92,0.00,0.000,4,0.000,0.145,2552,459,3612,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7890,-0.96,-155.7,722.7,-10.9,456,7898,0.00,1.75,0.00,0.000,6,0.000,0.091,2552,1404,3611,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8201,-0.96,-155.7,759.8,-11.3,467,8208,0.00,2.22,0.00,0.000,4,0.000,0.112,2549,2575,3611,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8340,-0.96,-155.7,772.9,-10.9,471,8349,0.00,2.25,0.00,0.000,6,0.000,0.116,2549,1415,3609,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8651,-0.96,-155.7,808.7,-10.7,482,8657,0.00,1.88,0.00,0.000,4,0.000,0.135,2549,457,3608,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8759,-0.96,-155.7,818.5,-10.8,485,8770,0.12,1.75,0.00,0.000,6,0.274,0.085,2577,1409,3607,0,0,0,0,0,0,14.01,14.29,28.83
$GC,9074,-1.00,-155.7,850.0,-9.3,496,9080,0.00,1.90,0.00,0.000,4,0.000,0.147,2577,457,3608,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9222,-1.02,-155.7,864.7,-9.9,501,9227,0.00,1.70,0.00,0.000,6,0.000,0.093,2577,1375,3606,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9553,-1.06,-155.7,893.4,-8.3,512,9558,0.00,1.85,0.00,0.000,4,0.000,0.149,2577,456,3605,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9670,-1.06,-155.7,903.6,-8.5,516,9677,0.00,1.67,0.00,0.000,6,0.000,0.093,2577,1355,3604,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10004,-1.10,-155.7,929.0,-7.5,527,10011,0.12,1.77,0.00,0.000,4,0.158,0.138,2530,458,3603,0,0,0,0,0,0,14.34,13.98,28.83
$GC,10162,-1.06,-155.7,942.9,-9.4,532,10169,0.00,1.60,0.00,0.000,6,0.000,0.087,2524,1331,3602,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10484,-1.04,-155.7,973.5,-9.5,543,10491,0.12,2.40,0.00,0.000,4,0.273,0.115,2553,2575,3600,0,0,0,0,0,0,13.99,14.04,28.83
$GC,10634,-1.06,-155.7,987.1,-9.0,548,10639,0.00,2.42,0.00,0.000,6,0.000,0.129,2553,1340,3600,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,10687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10687,begin apogee
$GC,10695,-0.23,0.0,992.8,-9.3,550,10858,0.90,0.00,155.40,1.841,4,0.203,0.000,2806,1518,2985,0,0,0,0,0,0,13.83,28.83,13.05
$STATE,10862,end apogee,CONTROL_FINISHED_OK
$STATE,10862,begin climb
$GC,10866,0.84,155.7,1003.2,0.0,555,11038,1.10,2.05,161.10,1.833,4,0.106,0.122,3165,2578,2350,0,0,0,0,0,0,14.14,14.09,13.09
$GC,11109,0.83,247.3,1004.5,4.3,564,11211,0.00,2.15,96.62,1.808,6,0.000,0.144,3172,1520,1980,0,0,0,0,0,0,28.83,14.19,13.13
$GC,11521,0.81,247.3,972.1,8.4,578,11527,0.00,2.05,0.00,0.000,4,0.000,0.127,3172,2572,1963,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11560,0.79,247.3,969.5,8.5,579,11568,0.15,2.12,0.00,0.000,6,0.302,0.148,3147,1520,1962,0,0,0,0,0,0,14.16,14.29,28.83
$GC,11884,0.79,247.3,942.8,7.9,590,11889,0.00,2.03,0.00,0.000,4,0.000,0.129,3147,2584,1961,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11959,0.79,247.3,937.6,8.1,592,11968,0.00,2.10,0.00,0.000,6,0.000,0.138,3154,1528,1960,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12272,0.79,247.3,911.9,7.6,603,12277,0.00,2.00,0.00,0.000,4,0.000,0.122,3154,2582,1959,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12361,0.79,247.3,904.9,7.7,606,12367,0.00,2.05,0.00,0.000,6,0.000,0.140,3161,1555,1957,0,0,0,0,0,0,28.83,14.17,28.83
$GC,12694,0.79,247.3,879.8,7.7,617,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1555,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12991,0.79,247.3,857.1,7.5,627,12997,0.00,2.00,0.00,0.000,4,0.000,0.125,3162,2574,1956,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13089,0.79,247.3,850.3,7.5,630,13096,0.00,2.08,0.00,0.000,6,0.000,0.142,3169,1548,1955,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13411,0.79,247.3,825.6,7.7,641,13413,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1548,1955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13711,0.79,247.3,801.3,8.3,651,13717,0.00,2.00,0.00,0.000,4,0.000,0.123,3169,2571,1955,0,0,0,0,0,0,28.83,14.08,28.83
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$STATE,22740,end climb,SURFACE_DEPTH_REACHED
$STATE,22740,begin surface coast
$FINISH,1.4,1.005993
$STATE,22772,end surface coast,CONTROL_FINISHED_OK
$STATE,22772,begin surface
$SM_CCo,22857,0.00,0.000,0,0,1516,361.57
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$IRIDIUM_FIX,2429.95,-3756.66,170113,161600
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.49
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7615136
$TM_FREEKB,3881376
$24V_AH,13.1,172.325
$10V_AH,12.4,0.000
$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,23.575,196.575,527.150,0.000,0.000,0.000,0.000,457.625,0.000,0.000,17.713,3237.848,16051.786,941.923,2708.368,739.506,0.000,2589.659,0.000,2137.638,0.000,0.540,0.000
$DEVICE_MAMPS,354.960,197.370,1841.355,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.805,13.205,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,43329,1121
$CAP_FILE_SIZE,241536,0
$CFSIZE,260034560,194260992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040, 55.0,1
$GPS,180113,051535,2441.434,-3754.728,42,0.8,42,-14.0