version: 66.11
glider: 190
mission: 6
dive: 414
start: 1 20 113 10 5 7
data:
$ID,190
$MISSION,6
$DIVE,414
$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,-13436.497
$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,19
$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
$GPS1,200113,095005,2444.981,-3746.468,27,0.8,27,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-60.7
$GPS2,200113,100437,2444.965,-3746.463,19,1.0,20,-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,206.3,45324,-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,-10.88,0.000,2,0.000,0.000,136,1508,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.5,0.0,1,149,11.35,2.10,-84.50,0.000,4,0.357,0.164,2616,461,3626,0,0,0,0,0,0,14.09,14.13,14.66
$GC,330,-0.84,-155.7,22.0,-10.5,30,338,0.00,1.90,0.00,0.000,6,0.000,0.080,2610,1514,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,640,-0.87,-155.7,50.8,-8.7,61,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1514,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.90,-155.7,74.8,-8.1,91,948,0.00,2.08,0.00,0.000,4,0.000,0.135,2610,460,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1102,-0.90,-155.7,88.2,-8.5,107,1109,0.00,1.88,0.00,0.000,6,0.000,0.080,2603,1510,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1412,-0.93,-155.7,114.0,-9.9,138,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1511,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1721,-0.97,-155.7,151.0,-12.5,169,1729,0.00,2.05,0.00,0.000,4,0.000,0.133,2605,452,3628,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1861,-0.97,-155.7,168.8,-12.3,183,1868,0.00,1.85,0.00,0.000,6,0.000,0.075,2605,1500,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2171,-1.00,-155.7,200.9,-8.7,214,2177,0.12,0.00,0.00,0.000,6,0.139,0.000,2550,1501,3627,0,0,0,0,0,0,14.51,28.83,28.83
$GC,2479,-1.00,-155.7,227.2,-8.3,245,2489,0.00,2.03,0.00,0.000,4,0.000,0.129,2550,459,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2532,-0.97,-155.7,231.6,-9.1,250,2539,0.12,1.85,0.00,0.000,6,0.272,0.076,2577,1504,3627,0,0,0,0,0,0,14.07,14.33,28.83
$GC,2860,-0.97,-155.7,257.5,-8.0,277,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1504,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,-0.99,-155.7,281.5,-8.1,287,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1505,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-1.01,-155.7,307.1,-8.8,297,3467,0.00,1.95,0.00,0.000,4,0.000,0.097,2569,2570,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3510,-1.04,-155.7,309.8,-8.9,298,3518,0.00,2.05,0.00,0.000,6,0.000,0.109,2569,1490,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3819,-1.04,-155.7,341.2,-9.9,309,3827,0.00,1.98,0.00,0.000,4,0.000,0.129,2569,458,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3879,-1.04,-155.7,347.7,-10.4,311,3886,0.00,1.85,0.00,0.000,6,0.000,0.075,2565,1494,3625,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4210,-1.04,-155.7,384.5,-11.9,322,4216,0.00,2.00,0.00,0.000,4,0.000,0.131,2566,465,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4299,-1.04,-155.7,396.3,-13.0,325,4307,0.00,1.83,0.00,0.000,6,0.000,0.077,2560,1483,3624,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4631,-1.04,-155.7,435.3,-11.0,336,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1483,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-1.04,-155.7,462.9,-8.5,346,4936,0.00,2.00,0.00,0.000,4,0.000,0.132,2560,457,3622,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5111,-1.04,-155.7,478.8,-8.8,352,5116,0.00,1.80,0.00,0.000,6,0.000,0.081,2555,1472,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5442,-1.04,-155.7,505.8,-8.3,363,5447,0.00,1.98,0.00,0.000,4,0.000,0.135,2556,458,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5509,-1.04,-155.7,511.3,-8.7,365,5516,0.00,1.83,0.00,0.000,6,0.000,0.083,2553,1463,3621,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5831,-1.04,-155.7,541.9,-9.7,376,5836,0.00,1.95,0.00,0.000,4,0.000,0.139,2553,454,3620,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5909,-1.04,-155.7,548.0,-10.0,378,5917,0.00,1.80,0.00,0.000,6,0.000,0.086,2552,1441,3619,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6220,-1.04,-155.7,583.6,-11.1,389,6227,0.00,2.12,0.00,0.000,4,0.000,0.109,2550,2574,3618,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6318,-1.04,-155.7,593.3,-10.9,392,6325,0.00,2.20,0.00,0.000,6,0.000,0.115,2549,1440,3617,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6640,-1.04,-155.7,628.4,-10.4,403,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1439,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,-1.04,-155.7,657.2,-9.2,413,6947,0.00,1.92,0.00,0.000,4,0.000,0.140,2549,460,3616,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7008,-1.04,-155.7,663.0,-9.3,415,7012,0.00,1.77,0.00,0.000,6,0.000,0.084,2549,1432,3615,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7322,-1.04,-155.7,690.5,-8.5,426,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1433,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7620,-1.04,-155.7,717.3,-9.2,436,7628,0.00,1.95,0.00,0.000,4,0.000,0.141,2549,460,3613,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7712,-1.04,-155.7,726.1,-9.7,439,7717,0.00,1.73,0.00,0.000,6,0.000,0.086,2549,1418,3612,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8040,-1.04,-155.7,757.8,-9.6,450,8047,0.00,2.20,0.00,0.000,4,0.000,0.113,2549,2576,3611,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8089,-1.04,-155.7,760.7,-9.6,451,8098,0.00,2.28,0.00,0.000,6,0.000,0.120,2549,1417,3610,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8402,-1.04,-155.7,792.5,-9.7,462,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1417,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8701,-1.06,-155.7,821.4,-9.8,472,8709,0.00,1.90,0.00,0.000,4,0.000,0.143,2549,460,3608,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8810,-1.06,-155.7,830.6,-10.2,475,8819,0.00,1.75,0.00,0.000,6,0.000,0.090,2548,1404,3608,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9120,-1.06,-155.7,864.9,-10.6,486,9127,0.00,2.22,0.00,0.000,4,0.000,0.116,2549,2565,3606,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9180,-1.06,-155.7,871.2,-10.4,488,9188,0.00,2.25,0.00,0.000,6,0.000,0.124,2549,1419,3606,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9512,-1.06,-155.7,905.3,-10.1,499,9518,0.00,2.22,0.00,0.000,4,0.000,0.117,2549,2572,3605,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9590,-1.06,-155.7,911.0,-9.8,501,9599,0.00,2.28,0.00,0.000,6,0.000,0.124,2549,1427,3605,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9902,-1.06,-155.7,941.9,-9.2,512,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1427,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10201,-1.08,-155.7,969.4,-9.2,522,10208,0.00,1.95,0.00,0.000,4,0.000,0.148,2549,461,3603,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10249,-1.08,-155.7,972.3,-9.2,523,10253,0.00,1.80,0.00,0.000,6,0.000,0.088,2549,1431,3602,0,0,0,0,0,0,28.83,14.20,28.83
$STATE,10428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10428,begin apogee
$GC,10437,-0.23,0.0,991.1,-9.4,529,10598,0.93,0.00,154.68,1.847,4,0.202,0.000,2808,1528,2986,0,0,0,0,0,0,13.81,28.83,13.05
$STATE,10602,end apogee,CONTROL_FINISHED_OK
$STATE,10602,begin climb
$GC,10605,0.84,155.7,1001.9,0.0,534,10776,1.08,2.00,160.82,1.828,4,0.104,0.117,3160,2573,2355,0,0,0,0,0,0,14.14,14.09,13.09
$GC,11008,0.81,182.4,993.5,6.3,548,11044,0.00,2.05,28.33,1.760,6,0.000,0.143,3168,1522,2241,0,0,0,0,0,0,28.83,14.27,13.31
$GC,11356,0.77,182.4,967.9,7.4,560,11363,0.12,2.12,0.00,0.000,4,0.304,0.161,3150,466,2233,0,0,0,0,0,0,14.22,14.21,28.83
$GC,11405,0.73,182.4,965.7,7.4,561,11414,0.00,1.95,0.00,0.000,6,0.000,0.096,3149,1518,2233,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11719,0.70,182.4,941.3,7.4,572,11726,0.12,2.00,0.00,0.000,4,0.307,0.118,3119,2577,2231,0,0,0,0,0,0,14.14,14.35,28.83
$GC,11854,0.70,182.4,932.4,7.3,576,11863,0.00,2.10,0.00,0.000,6,0.000,0.135,3127,1522,2229,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12170,0.70,183.7,908.9,7.1,587,12175,0.00,2.03,0.00,0.000,4,0.000,0.122,3127,2578,2231,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12286,0.70,183.7,900.2,7.3,591,12292,0.00,2.05,0.00,0.000,6,0.000,0.137,3134,1546,2227,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12619,0.71,199.4,877.8,6.7,602,12645,0.00,1.95,17.83,1.712,4,0.000,0.124,3134,2577,2172,0,0,0,0,0,0,28.83,14.46,13.45
$GC,12777,0.72,203.0,867.2,7.1,607,12782,0.00,1.98,0.00,0.000,6,0.000,0.131,3142,1559,2165,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13099,0.72,203.0,843.3,7.5,618,13104,0.00,1.92,0.00,0.000,4,0.000,0.116,3142,2584,2164,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13165,0.72,203.0,838.5,7.7,620,13172,0.00,2.05,0.00,0.000,6,0.000,0.141,3149,1568,2162,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13487,0.72,203.0,813.8,7.2,631,13492,0.00,2.20,0.00,0.000,4,0.000,0.151,3155,460,2162,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13595,0.69,203.0,807.3,7.2,634,13606,0.17,2.05,0.00,0.000,6,0.275,0.090,3118,1570,2162,0,0,0,0,0,0,14.00,14.33,28.83
$GC,13909,0.72,254.2,787.3,5.6,645,13973,0.00,1.88,58.05,1.675,4,0.000,0.114,3118,2578,1948,0,0,0,0,0,0,28.83,14.26,13.31
$GC,14125,0.73,276.6,774.3,6.5,652,14154,0.00,1.98,24.17,1.616,6,0.000,0.135,3125,1589,1862,0,0,0,0,0,0,28.83,14.19,13.35
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$STATE,22962,end climb,SURFACE_DEPTH_REACHED
$STATE,22962,begin surface coast
$FINISH,1.5,1.017664
$STATE,22994,end surface coast,CONTROL_FINISHED_OK
$STATE,22994,begin surface
$SM_CCo,23017,13.75,0.131,0,0,1561,350.04
$SM_GC,2.77,8.75,0.15,13.75,0.071,0.168,0.131,143,1510,1561,-8.53,0.23,350.04,0,0,0,0,0,0,14.35,14.31,14.26
$IRIDIUM_FIX,2437.06,-3745.84,200113,030348
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.54
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,2
$SC_FREEKB,7611680
$TM_FREEKB,3801408
$24V_AH,13.0,176.215
$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,23.200,181.850,485.600,13.750,0.000,0.000,0.000,478.425,0.500,0.000,21.239,3264.840,16211.311,905.235,2762.871,743.880,0.000,2562.857,0.000,2188.465,0.000,0.541,0.000
$DEVICE_MAMPS,357.255,167.535,1846.710,130.815,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23045.000,5679.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.822,13.203,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,43240,1139
$CAP_FILE_SIZE,240728,0
$CFSIZE,260034560,193048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064, 32.8,1
$GPS,200113,163023,2444.028,-3746.133,38,0.8,38,-13.9