version: 66.11
glider: 190
mission: 6
dive: 409
start: 1 19 113 1 19 24
data:
$ID,190
$MISSION,6
$DIVE,409
$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,-13430.204
$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,17
$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
$GPS1,190113,010523,2444.893,-3750.550,39,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-66.1
$GPS2,190113,011854,2444.905,-3750.500,19,0.8,20,-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,42.4,7391,-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,-11.38,0.000,2,0.000,0.000,129,1507,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,149,11.32,2.03,-85.05,0.000,4,0.355,0.129,2605,2574,3625,0,0,0,0,0,0,14.15,14.21,14.66
$GC,250,-0.84,-155.7,12.5,-10.6,22,258,0.00,2.05,0.00,0.000,6,0.000,0.117,2605,1522,3626,0,0,0,0,0,0,28.83,14.05,28.83
$GC,559,-0.84,-155.7,41.2,-9.2,53,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1522,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-0.86,-155.7,66.0,-9.0,83,867,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,462,3625,0,0,0,0,0,0,28.83,14.07,28.83
$GC,919,-0.86,-155.7,72.2,-10.2,89,929,0.00,1.95,0.00,0.000,6,0.000,0.079,2605,1534,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1230,-0.89,-155.7,104.4,-10.3,120,1238,0.00,2.12,0.00,0.000,4,0.000,0.137,2605,456,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1291,-0.89,-155.7,110.8,-10.5,126,1298,0.00,1.90,0.00,0.000,6,0.000,0.077,2605,1531,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1601,-0.93,-155.7,136.8,-7.9,157,1609,0.00,2.10,0.00,0.000,4,0.000,0.135,2605,452,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1699,-0.93,-155.7,145.2,-8.2,167,1708,0.00,1.90,0.00,0.000,6,0.000,0.074,2605,1506,3627,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2010,-0.96,-155.7,171.2,-8.6,198,2018,0.00,2.05,0.00,0.000,4,0.000,0.133,2605,458,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2170,-0.96,-155.7,185.1,-8.5,214,2178,0.00,1.80,0.00,0.000,6,0.000,0.072,2605,1478,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2481,-1.00,-155.7,209.2,-7.9,245,2489,0.12,2.00,0.00,0.000,4,0.138,0.131,2545,452,3627,0,0,0,0,0,0,14.49,14.13,28.83
$GC,2602,-0.95,-155.7,220.8,-9.8,257,2611,0.12,1.80,0.00,0.000,6,0.229,0.078,2586,1449,3627,0,0,0,0,0,0,13.99,14.28,28.83
$GC,2912,-0.98,-155.7,246.6,-8.5,288,2919,0.00,1.92,0.00,0.000,4,0.000,0.132,2585,456,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3039,-0.98,-155.7,257.8,-9.6,295,3047,0.00,1.75,0.00,0.000,6,0.000,0.072,2583,1439,3629,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3362,-1.00,-155.7,290.3,-10.4,306,3368,0.00,1.90,0.00,0.000,4,0.000,0.131,2583,454,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3419,-1.00,-155.7,297.2,-11.1,308,3426,0.00,1.73,0.00,0.000,6,0.000,0.075,2579,1422,3625,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3753,-1.02,-155.7,335.3,-11.7,319,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1422,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,-1.05,-155.7,369.6,-11.2,329,4056,0.00,1.88,0.00,0.000,4,0.000,0.132,2579,457,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4210,-1.05,-155.7,386.3,-11.1,334,4216,0.00,1.70,0.00,0.000,6,0.000,0.076,2577,1415,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4533,-1.07,-155.7,417.0,-8.9,345,4538,0.00,1.85,0.00,0.000,4,0.000,0.135,2577,453,3623,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4620,-1.07,-155.7,425.2,-9.0,348,4626,0.00,1.70,0.00,0.000,6,0.000,0.078,2572,1408,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4952,-1.10,-155.7,451.8,-7.8,359,4958,0.12,1.83,0.00,0.000,4,0.141,0.132,2512,456,3622,0,0,0,0,0,0,14.57,14.17,28.83
$GC,4989,-1.10,-155.7,454.4,-8.0,360,4996,0.00,1.73,0.00,0.000,6,0.000,0.080,2509,1411,3622,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5312,-1.05,-155.7,486.0,-9.6,371,5318,0.12,2.12,0.00,0.000,4,0.280,0.102,2536,2570,3621,0,0,0,0,0,0,14.20,14.27,28.83
$GC,5460,-1.05,-155.7,499.0,-8.6,376,5466,0.00,2.22,0.00,0.000,6,0.000,0.118,2536,1413,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5789,-1.05,-155.7,528.4,-9.0,387,5796,0.00,2.17,0.00,0.000,4,0.000,0.106,2536,2568,3620,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5858,-1.05,-155.7,533.7,-8.9,389,5865,0.00,2.25,0.00,0.000,6,0.000,0.120,2536,1415,3619,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6180,-1.05,-155.7,564.0,-9.4,400,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1416,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6479,-1.05,-155.7,593.1,-9.8,410,6488,0.00,2.17,0.00,0.000,4,0.000,0.109,2536,2565,3617,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6571,-1.05,-155.7,601.5,-9.4,413,6576,0.00,2.20,0.00,0.000,6,0.000,0.124,2536,1433,3616,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6899,-1.05,-155.7,632.4,-9.2,424,6906,0.00,2.17,0.00,0.000,4,0.000,0.111,2536,2569,3615,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6940,-1.05,-155.7,635.1,-9.2,425,6946,0.00,2.22,0.00,0.000,6,0.000,0.124,2536,1433,3615,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7261,-1.05,-155.7,664.4,-8.8,436,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1433,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7559,-1.05,-155.7,691.3,-9.0,446,7567,0.00,1.95,0.00,0.000,4,0.000,0.145,2536,454,3613,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7669,-1.05,-155.7,700.5,-9.8,449,7678,0.00,1.77,0.00,0.000,6,0.000,0.091,2536,1414,3612,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7979,-1.05,-155.7,734.8,-10.9,460,7986,0.00,1.92,0.00,0.000,4,0.000,0.148,2535,456,3611,0,0,0,0,0,0,28.83,13.99,28.83
$GC,8039,-1.05,-155.7,742.0,-11.4,462,8047,0.00,1.75,0.00,0.000,6,0.000,0.091,2535,1402,3611,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8371,-1.05,-155.7,780.6,-11.8,473,8376,0.00,1.85,0.00,0.000,4,0.000,0.146,2535,457,3610,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8418,-1.05,-155.7,784.3,-12.0,474,8422,0.00,1.73,0.00,0.000,6,0.000,0.088,2535,1393,3609,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8721,-1.05,-155.7,822.0,-11.5,484,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1393,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9019,-1.05,-155.7,854.1,-10.1,494,9026,0.00,1.90,0.00,0.000,4,0.000,0.147,2535,456,3606,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9089,-1.05,-155.7,860.3,-10.1,496,9096,0.00,1.70,0.00,0.000,6,0.000,0.090,2535,1380,3606,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9411,-1.05,-155.7,891.0,-9.0,507,9416,0.00,2.28,0.00,0.000,4,0.000,0.119,2536,2571,3605,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9569,-1.05,-155.7,903.6,-8.4,512,9576,0.00,2.35,0.00,0.000,6,0.000,0.126,2536,1388,3603,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9891,-1.05,-155.7,932.2,-8.8,523,9896,0.00,2.25,0.00,0.000,4,0.000,0.117,2535,2569,3604,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9969,-1.05,-155.7,937.4,-8.8,525,9978,0.00,2.35,0.00,0.000,6,0.000,0.126,2536,1388,3603,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10279,-1.05,-155.7,969.5,-10.2,536,10287,0.00,2.30,0.00,0.000,4,0.000,0.116,2536,2565,3601,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10349,-1.05,-155.7,975.6,-10.2,538,10356,0.00,2.30,0.00,0.000,6,0.000,0.126,2536,1404,3602,0,0,0,0,0,0,28.83,13.93,28.83
$STATE,10487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10487,begin apogee
$GC,10495,-0.23,0.0,991.4,-10.5,543,10662,1.00,0.00,158.07,2.505,4,0.220,0.000,2807,1519,2990,0,0,0,0,1,0,13.77,28.83,12.71
$STATE,10667,end apogee,CONTROL_FINISHED_OK
$STATE,10667,begin climb
$GC,10670,0.84,155.7,1002.9,0.0,548,10854,1.10,2.08,169.27,2.519,4,0.106,0.119,3163,2583,2355,0,0,0,0,1,0,14.06,14.01,12.72
$GC,11085,0.83,230.3,1001.6,4.8,562,11174,0.00,2.08,84.43,1.818,6,0.000,0.138,3170,1518,2050,0,0,0,0,0,0,28.83,14.33,13.16
$GC,11484,0.80,230.3,972.2,7.8,576,11490,0.00,2.10,0.00,0.000,4,0.000,0.158,3179,457,2037,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11685,0.76,230.3,956.7,8.7,582,11692,0.17,1.95,0.00,0.000,6,0.283,0.096,3138,1533,2036,0,0,0,0,0,0,14.19,14.45,28.83
$GC,11996,0.76,230.3,930.2,8.0,593,12002,0.00,1.95,0.00,0.000,4,0.000,0.113,3140,2579,2033,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12102,0.76,230.3,922.6,8.3,596,12111,0.00,2.08,0.00,0.000,6,0.000,0.140,3146,1539,2033,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12413,0.76,230.3,894.9,8.4,607,12421,0.00,2.00,0.00,0.000,4,0.000,0.123,3146,2573,2032,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12482,0.76,230.3,889.5,8.6,609,12489,0.00,2.05,0.00,0.000,6,0.000,0.144,3153,1551,2032,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12805,0.76,230.3,861.9,8.1,620,12810,0.00,1.95,0.00,0.000,4,0.000,0.125,3153,2576,2032,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12873,0.76,230.3,857.0,8.0,622,12880,0.00,2.03,0.00,0.000,6,0.000,0.143,3160,1562,2031,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13193,0.76,230.3,832.9,7.2,633,13200,0.00,2.25,0.00,0.000,4,0.000,0.169,3169,463,2031,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13242,0.76,230.3,830.6,7.2,634,13251,0.12,2.05,0.00,0.000,6,0.286,0.096,3142,1566,2031,0,0,0,0,0,0,14.11,14.36,28.83
$GC,13556,0.76,230.3,807.3,7.3,645,13562,0.00,1.90,0.00,0.000,4,0.000,0.116,3142,2576,2031,0,0,0,0,0,0,28.83,14.28,28.83
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$STATE,23110,end climb,SURFACE_DEPTH_REACHED
$STATE,23110,begin surface coast
$FINISH,1.6,1.025361
$STATE,23141,end surface coast,CONTROL_FINISHED_OK
$STATE,23141,begin surface
$SM_CCo,23166,9.00,0.134,0,0,1562,350.04
$SM_GC,3.16,8.77,0.20,9.00,0.070,0.161,0.134,133,1515,1562,-8.55,0.28,350.04,0,0,0,0,0,0,14.41,14.28,14.26
$IRIDIUM_FIX,2434.69,-3751.04,180113,181805
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.09
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,7613600
$TM_FREEKB,3845536
$24V_AH,12.7,174.087
$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,23.500,193.650,513.825,9.000,0.000,0.000,0.000,421.650,0.000,0.000,21.335,3293.092,16260.994,940.591,2747.880,727.429,0.000,2568.908,0.000,2213.445,0.000,0.540,0.000
$DEVICE_MAMPS,354.960,169.065,2519.145,133.875,0.000,0.000,0.000,174.420,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23182.000,5719.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.766,13.190,0.000,0.000
$MEM,344984
$DATA_FILE_SIZE,43244,1147
$CAP_FILE_SIZE,243515,0
$CFSIZE,260034560,193720320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.035, 82.2,1
$GPS,190113,074706,2446.406,-3749.421,40,0.8,40,-13.9