version: 66.11
glider: 190
mission: 6
dive: 408
start: 1 18 113 18 49 0
data:
$ID,190
$MISSION,6
$DIVE,408
$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,-13428.946
$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,14
$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
$GPS1,180113,183353,2443.989,-3752.135,36,0.8,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-64.2
$GPS2,180113,184830,2443.927,-3752.125,18,0.9,19,-13.9
$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,60.0,10653,-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,23,begin dive
$GC,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-10.70,0.000,2,0.000,0.000,135,1512,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.3,0.0,1,149,11.38,2.03,-86.53,0.000,4,0.358,0.132,2608,2580,3625,0,0,0,0,0,0,14.14,14.23,14.67
$GC,199,-0.84,-155.7,6.9,-8.4,17,209,0.00,2.08,0.00,0.000,6,0.000,0.115,2607,1520,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,510,-0.84,-155.7,35.2,-9.4,48,518,0.00,2.00,0.00,0.000,4,0.000,0.107,2605,2572,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,589,-0.84,-155.7,42.7,-9.3,56,598,0.00,2.08,0.00,0.000,6,0.000,0.124,2605,1526,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,899,-0.84,-155.7,73.6,-10.2,87,908,0.00,2.08,0.00,0.000,4,0.000,0.134,2605,462,3626,0,0,0,0,0,0,28.83,14.05,28.83
$GC,972,-0.84,-155.7,81.3,-11.2,94,979,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1519,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1281,-0.87,-155.7,108.2,-6.7,125,1289,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,456,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1339,-0.87,-155.7,112.4,-7.1,131,1348,0.00,1.88,0.00,0.000,6,0.000,0.082,2605,1492,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1650,-0.90,-155.7,133.4,-7.5,162,1658,0.00,2.05,0.00,0.000,4,0.000,0.142,2605,459,3626,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1810,-0.90,-155.7,147.2,-8.9,178,1818,0.00,1.83,0.00,0.000,6,0.000,0.084,2605,1470,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2121,-0.94,-155.7,175.6,-8.7,209,2129,0.00,1.95,0.00,0.000,4,0.000,0.139,2605,458,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2252,-0.94,-155.7,187.5,-9.3,222,2258,0.00,1.75,0.00,0.000,6,0.000,0.083,2605,1457,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2560,-0.97,-155.7,214.8,-8.8,253,2568,0.00,1.98,0.00,0.000,4,0.000,0.139,2606,456,3627,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2651,-0.97,-155.7,223.2,-9.5,262,2658,0.00,1.75,0.00,0.000,6,0.000,0.083,2605,1437,3622,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2983,-1.02,-155.7,252.7,-8.9,293,2990,0.12,1.90,0.00,0.000,4,0.136,0.137,2543,453,3626,0,0,0,0,0,0,14.54,14.16,28.83
$GC,3058,-1.02,-155.7,258.7,-9.5,295,3062,0.00,1.77,0.00,0.000,6,0.000,0.086,2540,1428,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3360,-0.99,-155.7,289.5,-9.6,305,3367,0.12,2.15,0.00,0.000,4,0.269,0.106,2560,2577,3625,0,0,0,0,0,0,14.29,14.22,28.83
$GC,3470,-0.99,-155.7,298.2,-9.7,308,3478,0.00,2.20,0.00,0.000,6,0.000,0.118,2560,1440,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3779,-0.99,-155.7,335.5,-11.9,319,3787,0.00,1.90,0.00,0.000,4,0.000,0.139,2560,462,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3819,-0.99,-155.7,339.3,-12.2,320,3827,0.00,1.77,0.00,0.000,6,0.000,0.086,2554,1437,3624,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4139,-0.99,-155.7,378.1,-11.1,331,4147,0.00,2.12,0.00,0.000,4,0.000,0.109,2553,2570,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4208,-0.99,-155.7,384.2,-10.4,333,4215,0.00,2.20,0.00,0.000,6,0.000,0.121,2553,1439,3623,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4530,-0.99,-155.7,416.0,-9.5,344,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1440,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.99,-155.7,442.7,-8.8,354,4837,0.00,2.15,0.00,0.000,4,0.000,0.110,2552,2575,3621,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4890,-0.99,-155.7,448.0,-8.7,356,4896,0.00,2.17,0.00,0.000,6,0.000,0.115,2552,1445,3620,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5219,-0.99,-155.7,479.3,-9.9,367,5227,0.00,1.90,0.00,0.000,4,0.000,0.131,2552,462,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5310,-0.99,-155.7,489.1,-10.7,370,5316,0.00,1.75,0.00,0.000,6,0.000,0.083,2552,1432,3620,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5640,-0.99,-155.7,523.2,-10.1,381,5646,0.00,2.12,0.00,0.000,4,0.000,0.109,2552,2568,3619,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5678,-0.99,-155.7,526.1,-10.0,382,5685,0.00,2.25,0.00,0.000,6,0.000,0.122,2552,1418,3619,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6000,-0.99,-155.7,555.5,-8.5,393,6006,0.00,1.88,0.00,0.000,4,0.000,0.138,2553,461,3618,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6128,-0.97,-155.7,565.4,-8.3,397,6136,0.00,1.75,0.00,0.000,6,0.000,0.087,2550,1417,3618,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6453,-0.97,-155.7,589.1,-6.9,408,6459,0.00,2.17,0.00,0.000,4,0.000,0.112,2549,2575,3616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6519,-0.97,-155.7,592.9,-6.8,410,6526,0.00,2.25,0.00,0.000,6,0.000,0.119,2549,1419,3615,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6839,-0.97,-155.7,617.8,-8.3,421,6846,0.00,1.88,0.00,0.000,4,0.000,0.133,2549,457,3615,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6960,-0.97,-155.7,629.8,-10.0,425,6966,0.00,1.73,0.00,0.000,6,0.000,0.086,2549,1404,3616,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7289,-0.97,-155.7,668.7,-12.7,436,7296,0.00,2.22,0.00,0.000,4,0.000,0.112,2549,2574,3613,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7328,-0.97,-155.7,672.5,-12.7,437,7335,0.00,2.30,0.00,0.000,6,0.000,0.118,2549,1397,3613,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7650,-0.97,-155.7,713.8,-12.3,448,7656,0.00,1.83,0.00,0.000,4,0.000,0.135,2549,465,3612,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7690,-0.97,-155.7,717.6,-12.3,449,7696,0.00,1.70,0.00,0.000,6,0.000,0.083,2549,1408,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8010,-0.97,-155.7,752.8,-10.0,460,8017,0.00,1.88,0.00,0.000,4,0.000,0.135,2549,460,3611,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8078,-0.97,-155.7,758.8,-9.8,462,8082,0.00,1.73,0.00,0.000,6,0.000,0.083,2548,1406,3610,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8392,-0.97,-155.7,786.8,-8.6,473,8397,0.00,1.83,0.00,0.000,4,0.000,0.135,2549,458,3609,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8489,-0.97,-155.7,795.0,-9.0,476,8492,0.00,1.70,0.00,0.000,6,0.000,0.083,2549,1389,3609,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8801,-0.97,-155.7,823.2,-8.8,487,8808,0.00,1.83,0.00,0.000,4,0.000,0.136,2549,470,3607,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8912,-0.97,-155.7,831.6,-9.2,490,8920,0.00,1.62,0.00,0.000,6,0.000,0.084,2549,1363,3607,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9221,-0.97,-155.7,860.7,-8.8,501,9229,0.00,1.80,0.00,0.000,4,0.000,0.138,2549,459,3605,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9342,-0.97,-155.7,872.1,-9.5,505,9349,0.00,1.60,0.00,0.000,6,0.000,0.085,2549,1343,3605,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9672,-0.97,-155.7,902.1,-9.2,516,9678,0.00,2.38,0.00,0.000,4,0.000,0.113,2548,2577,3604,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9731,-0.99,-155.7,907.7,-9.2,518,9738,0.00,2.45,0.00,0.000,6,0.000,0.130,2548,1342,3604,0,0,0,0,0,0,28.83,13.98,28.83
$GC,10065,-1.01,-155.7,942.1,-10.9,529,10071,0.00,1.73,0.00,0.000,4,0.000,0.144,2548,456,3603,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10152,-1.01,-155.7,952.7,-11.6,532,10158,0.00,1.60,0.00,0.000,6,0.000,0.090,2548,1330,3602,0,0,0,0,0,0,28.83,14.18,28.83
$STATE,10478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10482,begin apogee
$GC,10489,-0.23,0.0,991.4,-11.9,543,10649,0.93,0.00,154.85,1.841,4,0.205,0.000,2807,1520,2988,0,0,0,0,0,0,13.81,28.83,13.05
$STATE,10653,end apogee,CONTROL_FINISHED_OK
$STATE,10653,begin climb
$GC,10656,0.84,155.7,1004.7,0.0,548,10828,1.10,2.05,161.38,1.834,4,0.116,0.122,3160,2579,2355,0,0,0,0,0,0,14.12,14.09,13.09
$GC,11058,0.81,188.9,999.7,6.1,562,11098,0.00,2.08,34.95,1.773,6,0.000,0.145,3166,1522,2220,0,0,0,0,0,0,28.83,14.26,13.31
$GC,11397,0.77,188.9,970.7,8.9,573,11403,0.00,2.17,0.00,0.000,4,0.000,0.177,3173,464,2207,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11627,0.72,188.9,950.0,10.0,580,11636,0.15,1.98,0.00,0.000,6,0.265,0.104,3132,1520,2206,0,0,0,0,0,0,14.09,14.39,28.83
$GC,11939,0.72,188.9,921.7,8.1,591,11945,0.00,1.98,0.00,0.000,4,0.000,0.119,3132,2577,2203,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12096,0.72,188.9,910.6,7.3,596,12105,0.00,2.10,0.00,0.000,6,0.000,0.139,3140,1527,2202,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12419,0.76,244.1,891.2,5.4,607,12484,0.00,2.05,59.00,1.753,4,0.000,0.125,3140,2580,1987,0,0,0,0,0,0,28.83,14.21,13.29
$GC,12627,0.77,260.8,878.0,6.6,614,12656,0.00,2.05,18.73,1.672,6,0.000,0.140,3148,1556,1918,0,0,0,0,0,0,28.83,14.16,13.35
$GC,12959,0.77,260.8,854.9,7.2,625,12964,0.00,1.95,0.00,0.000,4,0.000,0.123,3147,2583,1910,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13037,0.77,260.8,850.1,7.5,627,13045,0.00,2.03,0.00,0.000,6,0.000,0.140,3155,1565,1909,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13347,0.77,260.8,823.2,8.4,638,13353,0.00,1.98,0.00,0.000,4,0.000,0.124,3154,2577,1908,0,0,0,0,0,0,28.83,14.24,28.83
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$STATE,22435,end climb,SURFACE_DEPTH_REACHED
$STATE,22435,begin surface coast
$FINISH,1.5,1.023394
$STATE,22467,end surface coast,CONTROL_FINISHED_OK
$STATE,22467,begin surface
$SM_CCo,22492,5.05,0.138,0,0,1561,350.04
$SM_GC,2.92,8.77,0.32,5.05,0.060,0.140,0.138,130,1510,1561,-8.55,0.20,350.04,0,0,0,0,0,0,14.40,14.23,14.22
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$TT8_MAMPS,0.024717,0.024717
$HUMID,60.04
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7613984
$TM_FREEKB,3854496
$24V_AH,13.1,173.599
$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,23.325,195.225,507.150,5.050,0.000,0.000,0.000,487.375,0.000,0.000,20.317,3184.630,15794.918,929.206,2721.047,729.101,0.000,2586.304,0.000,2128.906,0.000,0.540,0.000
$DEVICE_MAMPS,358.020,176.715,1841.355,138.465,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22517.000,5482.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.727,13.197,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,40006,1107
$CAP_FILE_SIZE,239183,0
$CFSIZE,260034560,193859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,137.7,1
$GPS,190113,010523,2444.893,-3750.550,39,0.8,39,-13.9