version: 66.11
glider: 190
mission: 6
dive: 417
start: 1 21 113 6 7 14
data:
$ID,190
$MISSION,6
$DIVE,417
$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,-13440.276
$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
$GPS1,210113,055154,2442.547,-3745.894,37,0.8,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-63.9
$GPS2,210113,060644,2442.502,-3745.850,16,1.1,16,-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,203.0,40807,-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,-10.98,0.000,2,0.000,0.000,139,1516,1793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,149,11.32,2.03,-87.47,0.000,4,0.356,0.148,2614,460,3625,0,0,0,0,0,0,14.14,14.17,14.65
$GC,309,-0.84,-155.7,16.2,-8.4,28,318,0.00,1.95,0.00,0.000,6,0.000,0.080,2607,1529,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,620,-0.84,-155.7,41.9,-8.6,59,628,0.00,1.92,0.00,0.000,4,0.000,0.096,2605,2571,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,720,-0.84,-155.7,50.2,-9.1,69,728,0.00,1.98,0.00,0.000,6,0.000,0.104,2604,1532,3625,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1031,-0.84,-155.7,74.2,-7.8,100,1038,0.00,1.98,0.00,0.000,4,0.000,0.103,2605,2580,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1069,-0.84,-155.7,77.6,-8.3,104,1078,0.00,2.03,0.00,0.000,6,0.000,0.107,2605,1529,3625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1380,-0.84,-155.7,107.3,-10.3,135,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1529,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-0.87,-155.7,137.1,-9.8,166,1699,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,462,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1779,-0.87,-155.7,146.5,-10.6,175,1788,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1529,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2090,-0.91,-155.7,175.7,-8.9,206,2098,0.00,1.95,0.00,0.000,4,0.000,0.100,2602,2581,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2151,-0.94,-155.7,180.5,-7.7,212,2158,0.00,2.00,0.00,0.000,6,0.000,0.107,2605,1532,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2461,-0.98,-155.7,204.6,-8.1,243,2468,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,460,3626,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2539,-0.98,-155.7,211.3,-8.6,251,2547,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1520,3625,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2850,-1.02,-155.7,237.8,-8.9,282,2859,0.15,2.08,0.00,0.000,4,0.122,0.137,2541,464,3625,0,0,0,0,0,0,14.52,14.04,28.83
$GC,2909,-0.98,-155.7,244.1,-10.7,288,2919,0.10,1.90,0.00,0.000,6,0.236,0.086,2567,1513,3625,0,0,0,0,0,0,13.98,14.25,28.83
$GC,3219,-0.98,-155.7,273.4,-9.2,303,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1518,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.98,-155.7,300.4,-9.2,313,3527,0.00,2.08,0.00,0.000,4,0.000,0.138,2568,458,3624,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3588,-0.98,-155.7,306.5,-9.7,315,3595,0.00,1.90,0.00,0.000,6,0.000,0.083,2562,1510,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3909,-0.98,-155.7,341.1,-10.8,326,3916,0.00,1.98,0.00,0.000,4,0.000,0.106,2555,2571,3623,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4030,-0.98,-155.7,354.2,-10.9,330,4037,0.00,2.03,0.00,0.000,6,0.000,0.113,2555,1515,3623,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4359,-0.98,-155.7,389.3,-10.2,341,4368,0.00,2.05,0.00,0.000,4,0.000,0.138,2555,463,3622,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4398,-0.98,-155.7,392.4,-10.2,342,4407,0.00,1.92,0.00,0.000,6,0.000,0.088,2553,1516,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4720,-0.98,-155.7,421.2,-8.2,353,4727,0.00,2.08,0.00,0.000,4,0.000,0.140,2553,464,3621,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4779,-0.98,-155.7,426.5,-8.4,355,4786,0.00,1.90,0.00,0.000,6,0.000,0.088,2552,1506,3621,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5113,-0.98,-155.7,455.3,-9.1,366,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1505,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-0.98,-155.7,481.2,-8.5,376,5416,0.00,2.05,0.00,0.000,4,0.000,0.139,2552,464,3619,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5478,-0.98,-155.7,486.5,-8.5,378,5487,0.00,1.90,0.00,0.000,6,0.000,0.090,2549,1498,3619,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5800,-0.98,-155.7,513.4,-8.3,389,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1499,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6099,-0.98,-155.7,539.7,-8.9,399,6106,0.00,2.03,0.00,0.000,4,0.000,0.112,2552,2577,3617,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6131,-0.98,-155.7,542.5,-9.0,400,6136,0.00,2.03,0.00,0.000,6,0.000,0.112,2552,1492,3616,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6462,-0.98,-155.7,574.4,-9.8,411,6467,0.00,1.98,0.00,0.000,4,0.000,0.130,2552,462,3615,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6580,-0.98,-155.7,586.6,-10.2,415,6586,0.00,1.83,0.00,0.000,6,0.000,0.084,2552,1476,3615,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6909,-0.98,-155.7,616.8,-9.1,426,6916,0.00,2.00,0.00,0.000,4,0.000,0.135,2552,459,3614,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6988,-0.98,-155.7,622.7,-9.5,428,6992,0.00,1.85,0.00,0.000,6,0.000,0.083,2552,1473,3614,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7291,-0.98,-155.7,654.1,-10.1,438,7296,0.00,1.98,0.00,0.000,4,0.000,0.132,2552,459,3613,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7358,-0.98,-155.7,660.8,-10.8,440,7362,0.00,1.83,0.00,0.000,6,0.000,0.085,2552,1459,3612,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7671,-0.98,-155.7,696.3,-11.1,451,7677,0.00,1.95,0.00,0.000,4,0.000,0.135,2552,464,3611,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7731,-0.98,-155.7,703.3,-11.3,453,7737,0.00,1.77,0.00,0.000,6,0.000,0.085,2552,1442,3610,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8060,-0.98,-155.7,737.9,-9.9,464,8067,0.00,1.92,0.00,0.000,4,0.000,0.134,2552,465,3609,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8131,-0.98,-155.7,743.9,-9.8,466,8137,0.00,1.75,0.00,0.000,6,0.000,0.084,2552,1424,3609,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8451,-0.98,-155.7,770.7,-7.5,477,8457,0.00,1.90,0.00,0.000,4,0.000,0.135,2552,463,3607,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8530,-0.98,-155.7,775.4,-7.6,479,8538,0.00,1.75,0.00,0.000,6,0.000,0.085,2552,1418,3607,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8842,-0.98,-155.7,798.5,-7.0,490,8848,0.00,1.85,0.00,0.000,4,0.000,0.135,2552,462,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8931,-0.98,-155.7,805.3,-7.4,493,8937,0.00,1.70,0.00,0.000,6,0.000,0.084,2552,1398,3606,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9262,-0.98,-155.7,829.3,-7.5,504,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1399,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9561,-0.98,-155.7,854.6,-8.8,514,9568,0.00,1.85,0.00,0.000,4,0.000,0.136,2552,463,3604,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9640,-0.98,-155.7,860.4,-9.1,516,9650,0.00,1.73,0.00,0.000,6,0.000,0.085,2552,1403,3603,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9950,-0.98,-155.7,894.0,-10.6,527,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1403,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10251,-1.00,-155.7,926.4,-10.6,537,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1403,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10552,-1.02,-155.7,955.2,-9.1,547,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1403,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10851,-1.05,-155.7,979.5,-7.7,557,10858,0.00,1.88,0.00,0.000,4,0.000,0.137,2552,462,3598,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10900,-1.05,-155.7,981.7,-7.6,558,10909,0.00,1.75,0.00,0.000,6,0.000,0.089,2552,1403,3598,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,10997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10997,begin apogee
$GC,11005,-0.23,0.0,990.5,-7.3,562,11163,0.93,0.00,153.70,1.851,4,0.204,0.000,2810,1524,2989,0,0,0,0,0,0,13.79,28.83,13.04
$STATE,11168,end apogee,CONTROL_FINISHED_OK
$STATE,11168,begin climb
$GC,11171,0.84,155.7,997.1,0.0,567,11338,1.05,0.00,161.12,1.854,6,0.115,0.000,3155,1525,2350,0,0,0,0,0,0,14.09,28.83,13.05
$GC,11652,0.83,209.3,978.8,5.5,584,11711,0.00,0.00,56.88,1.830,6,0.000,0.000,3154,1524,2135,0,0,0,0,0,0,28.83,28.83,13.19
$GC,12013,0.86,251.8,958.2,5.8,596,12063,0.00,2.05,45.10,1.769,4,0.000,0.121,3154,2573,1957,0,0,0,0,0,0,28.83,14.24,13.30
$GC,12165,0.87,268.8,948.8,6.6,600,12189,0.00,2.08,18.73,1.709,6,0.000,0.148,3162,1525,1890,0,0,0,0,0,0,28.83,14.16,13.33
$GC,12511,0.87,268.8,918.7,8.9,612,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1527,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12813,0.87,268.8,889.0,10.4,622,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1525,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13111,0.87,268.8,858.8,10.0,632,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1525,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13411,0.87,268.8,830.9,9.1,642,13418,0.00,2.05,0.00,0.000,4,0.000,0.129,3162,2572,1871,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13472,0.87,268.8,825.6,8.8,644,13479,0.00,2.10,0.00,0.000,6,0.000,0.151,3170,1537,1870,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13804,0.87,268.8,799.0,7.8,655,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1537,1870,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23158,end climb,SURFACE_DEPTH_REACHED
$STATE,23158,begin surface coast
$FINISH,1.4,1.002147
$STATE,23192,end surface coast,CONTROL_FINISHED_OK
$STATE,23192,begin surface
$SM_CCo,23215,12.48,0.132,0,0,1562,350.04
$SM_GC,3.13,8.77,0.20,12.48,0.071,0.166,0.132,139,1518,1562,-8.54,0.34,350.04,0,0,0,0,0,0,14.35,14.25,14.24
$IRIDIUM_FIX,2434.69,-3744.38,200113,232317
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.66
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7610528
$TM_FREEKB,3773536
$24V_AH,13.0,177.458
$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,22.975,170.950,489.150,12.475,0.000,0.000,0.000,497.525,0.500,0.000,17.852,3257.595,16523.721,894.289,2700.167,728.208,0.000,2538.363,0.000,2101.369,0.000,0.541,0.000
$DEVICE_MAMPS,356.490,166.005,1854.360,132.345,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23244.000,6053.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.061,13.225,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,43268,1170
$CAP_FILE_SIZE,241643,0
$CFSIZE,260034560,192638976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068, 43.5,1
$GPS,210113,123535,2441.299,-3745.306,26,0.8,26,-13.9