version: 66.11
glider: 190
mission: 6
dive: 411
start: 1 19 113 14 24 36
data:
$ID,190
$MISSION,6
$DIVE,411
$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,-13432.721
$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,12
$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
$GPS1,190113,140935,2447.307,-3747.621,23,0.8,23,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-63.0
$GPS2,190113,142406,2447.356,-3747.667,18,0.9,19,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-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,202.8,49745,-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,-10.98,0.000,2,0.000,0.000,134,1509,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.5,0.0,1,149,10.90,2.10,-83.97,0.000,4,0.336,0.161,2616,456,3625,0,0,0,0,0,0,14.14,14.18,14.66
$GC,299,-0.84,-155.7,17.5,-9.3,27,307,0.00,1.95,0.00,0.000,6,0.000,0.084,2611,1521,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,610,-0.84,-155.7,45.2,-8.5,58,618,0.00,1.98,0.00,0.000,4,0.000,0.104,2608,2576,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,661,-0.86,-155.7,49.2,-8.0,63,668,0.00,2.05,0.00,0.000,6,0.000,0.116,2608,1521,3625,0,0,0,0,0,0,28.83,14.06,28.83
$GC,971,-0.86,-155.7,75.9,-8.3,94,978,0.00,2.05,0.00,0.000,4,0.000,0.138,2608,453,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1050,-0.86,-155.7,83.3,-9.2,102,1058,0.00,1.92,0.00,0.000,6,0.000,0.087,2605,1508,3625,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1361,-0.89,-155.7,109.1,-7.5,133,1369,0.00,2.05,0.00,0.000,4,0.000,0.138,2607,458,3626,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1469,-0.89,-155.7,118.1,-8.5,144,1478,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1499,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1780,-0.92,-155.7,144.4,-9.2,175,1788,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,462,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1859,-0.92,-155.7,152.2,-10.1,183,1868,0.00,1.85,0.00,0.000,6,0.000,0.081,2609,1476,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2172,-0.96,-155.7,183.2,-10.5,214,2178,0.00,1.98,0.00,0.000,4,0.000,0.137,2605,459,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2259,-0.96,-155.7,192.7,-10.7,223,2267,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1463,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2570,-0.99,-155.7,222.7,-9.6,254,2578,0.12,1.98,0.00,0.000,4,0.138,0.137,2549,459,3626,0,0,0,0,0,0,14.52,14.04,28.83
$GC,2694,-0.95,-155.7,236.0,-11.2,266,2701,0.12,1.75,0.00,0.000,6,0.269,0.083,2576,1431,3624,0,0,0,0,0,0,13.96,14.20,28.83
$GC,3021,-0.95,-155.7,266.6,-9.3,287,3026,0.00,2.10,0.00,0.000,4,0.000,0.103,2568,2568,3625,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3068,-0.95,-155.7,269.3,-9.3,288,3077,0.00,2.20,0.00,0.000,6,0.000,0.117,2568,1433,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3380,-0.95,-155.7,300.2,-9.2,299,3386,0.00,2.12,0.00,0.000,4,0.000,0.102,2563,2572,3623,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3480,-0.95,-155.7,308.3,-9.0,302,3487,0.00,2.15,0.00,0.000,6,0.000,0.116,2563,1452,3624,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3800,-0.95,-155.7,339.9,-9.9,313,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1453,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.95,-155.7,368.9,-9.5,323,4106,0.00,1.92,0.00,0.000,4,0.000,0.135,2564,459,3623,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4160,-0.95,-155.7,375.0,-9.8,325,4168,0.00,1.80,0.00,0.000,6,0.000,0.081,2556,1458,3623,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4491,-0.95,-155.7,406.0,-9.1,336,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1458,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-0.95,-155.7,429.8,-7.2,346,4796,0.00,1.98,0.00,0.000,4,0.000,0.138,2556,456,3622,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4869,-0.95,-155.7,434.1,-7.0,348,4877,0.00,1.80,0.00,0.000,6,0.000,0.085,2553,1448,3621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5181,-0.95,-155.7,458.5,-8.0,359,5187,0.00,2.10,0.00,0.000,4,0.000,0.109,2553,2573,3620,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5258,-0.95,-155.7,463.7,-8.4,361,5267,0.00,2.17,0.00,0.000,6,0.000,0.116,2553,1451,3620,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5570,-0.95,-155.7,497.9,-11.4,372,5576,0.00,1.95,0.00,0.000,4,0.000,0.139,2553,457,3620,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5710,-0.95,-155.7,512.9,-12.5,376,5718,0.08,1.77,0.00,0.000,6,0.242,0.085,2572,1440,3619,0,0,0,0,0,0,14.05,14.34,28.83
$GC,6024,-0.98,-155.7,548.0,-9.7,387,6029,0.00,2.12,0.00,0.000,4,0.000,0.111,2568,2574,3618,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6111,-1.00,-155.7,556.5,-9.6,390,6116,0.00,2.17,0.00,0.000,6,0.000,0.117,2568,1439,3618,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6442,-1.03,-155.7,583.4,-7.5,401,6449,0.00,1.92,0.00,0.000,4,0.000,0.141,2568,456,3617,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6610,-1.03,-155.7,596.1,-8.6,406,6618,0.00,1.77,0.00,0.000,6,0.000,0.086,2565,1432,3617,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6922,-1.05,-155.7,626.5,-9.7,417,6929,0.00,2.15,0.00,0.000,4,0.000,0.111,2560,2577,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6959,-1.08,-155.7,629.4,-9.9,418,6967,0.00,2.22,0.00,0.000,6,0.000,0.118,2560,1436,3615,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7283,-1.10,-155.7,664.7,-10.8,429,7289,0.00,1.92,0.00,0.000,4,0.000,0.143,2560,456,3614,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7370,-1.10,-155.7,674.6,-11.0,432,7376,0.00,1.75,0.00,0.000,6,0.000,0.086,2556,1422,3613,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7701,-1.10,-155.7,705.4,-8.6,443,7707,0.00,2.17,0.00,0.000,4,0.000,0.113,2553,2575,3612,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7748,-1.10,-155.7,707.6,-8.3,444,7757,0.00,2.25,0.00,0.000,6,0.000,0.119,2553,1429,3612,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8061,-1.10,-155.7,731.1,-6.7,455,8066,0.00,1.90,0.00,0.000,4,0.000,0.144,2554,459,3611,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8139,-1.10,-155.7,735.6,-7.1,457,8147,0.00,1.77,0.00,0.000,6,0.000,0.088,2553,1424,3610,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8451,-1.10,-155.7,761.2,-8.4,468,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1425,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8751,-1.10,-155.7,793.0,-11.4,478,8757,0.00,2.20,0.00,0.000,4,0.000,0.114,2553,2572,3607,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8789,-1.12,-155.7,796.5,-11.7,479,8796,0.00,2.28,0.00,0.000,6,0.000,0.120,2553,1414,3607,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9114,-1.14,-155.7,838.0,-12.6,490,9119,0.00,1.90,0.00,0.000,4,0.000,0.145,2552,454,3606,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9188,-1.14,-155.7,845.6,-12.6,492,9192,0.00,1.77,0.00,0.000,6,0.000,0.088,2553,1415,3606,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9490,-1.14,-155.7,879.9,-9.7,502,9496,0.00,2.22,0.00,0.000,4,0.000,0.117,2553,2565,3604,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9531,-1.16,-155.7,882.5,-9.4,503,9537,0.08,2.25,0.00,0.000,6,0.109,0.123,2513,1422,3604,0,0,0,0,0,0,14.06,13.97,28.83
$GC,9853,-1.13,-155.7,911.5,-8.4,514,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1422,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10151,-1.10,-155.7,937.7,-9.0,524,10157,0.00,2.22,0.00,0.000,4,0.000,0.116,2510,2574,3602,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10289,-1.08,-155.7,948.2,-8.7,528,10299,0.10,2.25,0.00,0.000,6,0.224,0.121,2537,1429,3601,0,0,0,0,0,0,13.80,13.97,28.83
$GC,10603,-1.08,-155.7,977.0,-8.8,539,10609,0.00,2.22,0.00,0.000,4,0.000,0.116,2536,2573,3600,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10668,-1.08,-155.7,982.2,-8.8,541,10676,0.00,2.25,0.00,0.000,6,0.000,0.122,2536,1440,3600,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,10746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10746,begin apogee
$GC,10754,-0.23,0.0,990.4,-9.1,544,10916,1.00,0.00,154.60,1.857,4,0.220,0.000,2805,1519,2985,0,0,0,0,0,0,13.69,28.83,13.05
$STATE,10921,end apogee,CONTROL_FINISHED_OK
$STATE,10921,begin climb
$GC,10925,0.84,155.7,999.2,0.0,549,11095,1.10,2.03,161.07,1.825,4,0.108,0.116,3163,2574,2355,0,0,0,0,0,0,14.14,14.10,13.09
$GC,11154,0.85,282.0,1000.3,3.2,557,11292,0.00,2.12,133.40,1.794,6,0.000,0.138,3170,1520,1839,0,0,0,0,0,0,28.83,14.19,13.13
$GC,11605,0.85,282.0,959.5,9.2,573,11611,0.00,2.03,0.00,0.000,4,0.000,0.121,3167,2570,1821,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11694,0.85,282.0,951.2,9.1,576,11702,0.00,2.08,0.00,0.000,6,0.000,0.143,3177,1534,1820,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12027,0.85,282.0,923.7,7.9,587,12032,0.00,2.17,0.00,0.000,4,0.000,0.175,3179,460,1818,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12074,0.85,282.0,921.4,8.0,588,12082,0.00,1.98,0.00,0.000,6,0.000,0.097,3179,1527,1818,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12385,0.85,282.0,896.0,7.4,599,12391,0.00,2.03,0.00,0.000,4,0.000,0.122,3179,2577,1816,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12453,0.85,282.0,891.4,7.5,601,12461,0.00,2.08,0.00,0.000,6,0.000,0.140,3187,1537,1816,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12774,0.85,282.0,863.7,9.0,612,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1537,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13074,0.85,282.0,834.5,10.0,622,13081,0.00,2.00,0.00,0.000,4,0.000,0.122,3187,2570,1815,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,22171,end climb,SURFACE_DEPTH_REACHED
$STATE,22171,begin surface coast
$FINISH,1.5,1.025714
$STATE,22202,end surface coast,CONTROL_FINISHED_OK
$STATE,22203,begin surface
$SM_CCo,22227,25.42,0.128,0,0,1562,350.04
$SM_GC,2.32,8.80,1.98,25.42,0.067,0.090,0.128,143,1524,1562,-8.53,-0.45,350.04,0,0,0,0,0,0,14.31,14.20,14.26
$IRIDIUM_FIX,2437.06,-3747.71,190113,070720
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.37
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.30
$XPDR_PINGS,1
$SC_FREEKB,7612832
$TM_FREEKB,3827904
$24V_AH,11.1,174.914
$10V_AH,12.0,0.000
$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,22.875,182.525,466.750,25.425,0.000,0.000,0.000,481.300,0.250,0.000,20.472,3134.681,15735.511,888.716,2629.834,721.595,0.000,2491.665,0.000,2046.968,0.000,0.541,0.000
$DEVICE_MAMPS,335.835,175.185,1856.655,127.755,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22251.000,5638.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.921,13.193,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,40042,1111
$CAP_FILE_SIZE,233968,0
$CFSIZE,260034560,193462272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,  8.0,1
$GPS,190113,203653,2446.497,-3747.568,36,0.8,36,-13.9