version: 66.11
glider: 190
mission: 6
dive: 419
start: 1 21 113 19 35 6
data:
$ID,190
$MISSION,6
$DIVE,419
$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,-13442.788
$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,9
$R_STBD_OVSHOOT,15
$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
$GPS1,210113,191953,2440.452,-3745.453,40,1.0,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-63.1
$GPS2,210113,193436,2440.499,-3745.432,15,1.0,16,-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,206.1,37153,-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,-10.77,0.000,2,0.000,0.000,142,1527,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,149,11.25,2.12,-83.90,0.000,4,0.354,0.158,2611,456,3626,0,0,0,0,0,0,14.07,14.14,14.66
$GC,339,-0.84,-155.7,20.8,-8.6,31,348,0.00,1.98,0.00,0.000,6,0.000,0.086,2604,1528,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,650,-0.84,-155.7,50.0,-8.6,62,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1528,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,950,-0.86,-155.7,76.8,-9.7,92,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1528,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1250,-0.89,-155.7,108.1,-10.9,122,1258,0.00,2.10,0.00,0.000,4,0.000,0.135,2605,460,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1350,-0.89,-155.7,118.5,-9.9,132,1358,0.00,1.92,0.00,0.000,6,0.000,0.085,2606,1522,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1661,-0.93,-155.7,146.0,-8.6,163,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1522,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1971,-0.96,-155.7,173.2,-9.4,194,1978,0.00,2.08,0.00,0.000,4,0.000,0.133,2603,451,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2069,-0.96,-155.7,182.9,-9.7,204,2078,0.00,1.95,0.00,0.000,6,0.000,0.081,2605,1524,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2381,-1.00,-155.7,211.9,-9.1,235,2388,0.12,2.05,0.00,0.000,4,0.142,0.134,2551,459,3627,0,0,0,0,0,0,14.51,14.12,28.83
$GC,2551,-0.96,-155.7,229.9,-10.6,252,2558,0.00,1.85,0.00,0.000,6,0.000,0.083,2549,1481,3627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2861,-0.96,-155.7,258.9,-9.3,277,2868,0.12,2.03,0.00,0.000,4,0.262,0.105,2570,2581,3626,0,0,0,0,0,0,14.28,14.26,28.83
$GC,2950,-0.96,-155.7,266.8,-8.9,280,2956,0.00,2.10,0.00,0.000,6,0.000,0.114,2570,1484,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3282,-0.96,-155.7,296.7,-8.9,291,3287,0.00,1.98,0.00,0.000,4,0.000,0.133,2572,456,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3449,-0.96,-155.7,311.0,-9.7,296,3458,0.00,1.85,0.00,0.000,6,0.000,0.082,2565,1481,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3759,-0.96,-155.7,340.2,-8.6,307,3766,0.00,1.98,0.00,0.000,4,0.000,0.135,2565,466,3624,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3850,-0.96,-155.7,348.6,-9.2,310,3856,0.00,1.77,0.00,0.000,6,0.000,0.084,2564,1451,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4179,-0.96,-155.7,380.3,-10.2,321,4187,0.00,2.08,0.00,0.000,4,0.000,0.107,2556,2566,3623,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4258,-0.96,-155.7,386.7,-10.6,323,4268,0.00,2.15,0.00,0.000,6,0.000,0.116,2556,1457,3623,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4571,-0.96,-155.7,424.2,-11.5,334,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1457,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-0.96,-155.7,458.7,-11.3,344,4877,0.00,1.95,0.00,0.000,4,0.000,0.138,2556,460,3621,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4961,-0.96,-155.7,469.1,-11.4,347,4966,0.00,1.80,0.00,0.000,6,0.000,0.086,2553,1458,3621,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5290,-0.96,-155.7,501.9,-9.3,358,5296,0.00,1.98,0.00,0.000,4,0.000,0.139,2553,457,3620,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5359,-0.96,-155.7,507.6,-9.2,360,5366,0.00,1.83,0.00,0.000,6,0.000,0.089,2552,1452,3620,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5679,-0.96,-155.7,533.7,-7.6,371,5686,0.00,2.12,0.00,0.000,4,0.000,0.116,2552,2574,3619,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5758,-0.96,-155.7,538.2,-7.6,373,5767,0.00,2.17,0.00,0.000,6,0.000,0.120,2553,1458,3618,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6071,-0.96,-155.7,567.7,-9.6,384,6076,0.00,1.92,0.00,0.000,4,0.000,0.142,2552,460,3617,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6138,-0.96,-155.7,574.0,-10.2,386,6142,0.00,1.83,0.00,0.000,6,0.000,0.090,2552,1450,3617,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6452,-0.96,-155.7,608.7,-11.1,397,6457,0.00,1.98,0.00,0.000,4,0.000,0.144,2552,463,3616,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6511,-0.96,-155.7,615.5,-11.0,399,6517,0.00,1.77,0.00,0.000,6,0.000,0.093,2552,1433,3616,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6841,-0.96,-155.7,648.7,-9.6,410,6847,0.00,1.92,0.00,0.000,4,0.000,0.144,2552,465,3614,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6911,-0.96,-155.7,654.7,-9.6,412,6917,0.00,1.77,0.00,0.000,6,0.000,0.094,2552,1426,3614,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7231,-0.96,-155.7,684.1,-8.6,423,7237,0.00,2.17,0.00,0.000,4,0.000,0.111,2552,2571,3612,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7261,-0.96,-155.7,686.9,-8.8,424,7268,0.00,2.20,0.00,0.000,6,0.000,0.117,2552,1435,3613,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7592,-0.96,-155.7,717.6,-9.7,435,7597,0.00,1.90,0.00,0.000,4,0.000,0.135,2552,456,3611,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7719,-0.96,-155.7,730.1,-10.4,439,7723,0.00,1.77,0.00,0.000,6,0.000,0.086,2552,1425,3611,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8034,-0.96,-155.7,759.6,-8.8,450,8039,0.00,2.17,0.00,0.000,4,0.000,0.110,2552,2583,3610,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8071,-0.96,-155.7,762.3,-8.9,451,8078,0.00,2.28,0.00,0.000,6,0.000,0.119,2552,1421,3609,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8393,-0.96,-155.7,791.8,-9.0,462,8398,0.00,1.88,0.00,0.000,4,0.000,0.136,2552,459,3607,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8490,-0.96,-155.7,800.3,-9.4,465,8494,0.00,1.75,0.00,0.000,6,0.000,0.087,2552,1412,3607,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8803,-0.96,-155.7,830.7,-9.7,476,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1413,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,-0.96,-155.7,860.1,-10.1,486,9110,0.00,2.22,0.00,0.000,4,0.000,0.113,2552,2582,3605,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9141,-0.96,-155.7,863.2,-10.2,487,9150,0.00,2.33,0.00,0.000,6,0.000,0.120,2552,1401,3605,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9464,-0.96,-155.7,897.5,-10.3,498,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1400,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9763,-0.96,-155.7,927.2,-9.7,508,9769,0.00,2.28,0.00,0.000,4,0.000,0.113,2552,2568,3602,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9862,-0.99,-155.7,935.7,-9.5,511,9870,0.00,2.30,0.00,0.000,6,0.000,0.120,2552,1405,3601,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10184,-0.99,-155.7,966.0,-9.1,522,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1406,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10480,begin apogee
$GC,10488,-0.23,0.0,991.9,-8.4,532,10650,0.93,0.00,154.30,1.825,4,0.200,0.000,2811,1519,2985,0,0,0,0,0,0,13.80,28.83,13.06
$STATE,10655,end apogee,CONTROL_FINISHED_OK
$STATE,10655,begin climb
$GC,10658,0.84,155.7,1000.2,0.0,537,10823,1.05,0.00,160.68,1.838,6,0.114,0.000,3156,1520,2355,0,0,0,0,0,0,14.12,28.83,13.07
$GC,11136,0.80,155.7,980.6,7.6,554,11141,0.00,2.00,0.00,0.000,4,0.000,0.126,3156,2576,2338,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11214,0.76,155.7,976.2,7.5,556,11222,0.00,2.12,0.00,0.000,6,0.000,0.146,3164,1524,2338,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11528,0.72,171.6,953.3,6.7,567,11555,0.12,2.15,15.77,1.711,4,0.312,0.169,3141,458,2282,0,0,0,0,0,0,14.14,14.40,13.44
$GC,11585,0.70,194.3,949.5,6.5,569,11615,0.00,1.98,25.85,1.742,6,0.000,0.106,3141,1518,2197,0,0,0,0,0,0,28.83,14.38,13.37
$GC,11935,0.71,218.7,926.4,6.4,581,11966,0.00,2.08,26.27,1.740,4,0.000,0.132,3141,2580,2091,0,0,0,0,0,0,28.83,14.36,13.39
$GC,12063,0.73,237.9,919.2,6.6,585,12092,0.00,2.12,20.88,1.707,6,0.000,0.138,3149,1518,2016,0,0,0,0,0,0,28.83,14.26,13.36
$GC,12408,0.75,283.6,896.7,5.7,597,12464,0.00,2.17,49.45,1.730,4,0.000,0.166,3156,458,1827,0,0,0,0,0,0,28.83,14.18,13.31
$GC,12635,0.76,294.9,882.8,6.8,604,12653,0.00,2.05,12.40,1.620,6,0.000,0.100,3156,1553,1787,0,0,0,0,0,0,28.83,14.28,13.38
$GC,12977,0.77,314.4,859.3,6.6,616,13004,0.00,2.00,21.90,1.675,4,0.000,0.125,3155,2586,1703,0,0,0,0,0,0,28.83,14.39,13.45
$GC,13194,0.77,314.4,843.5,7.7,623,13201,0.00,2.03,0.00,0.000,6,0.000,0.135,3163,1568,1696,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13515,0.77,314.4,814.9,9.2,634,13521,0.00,1.95,0.00,0.000,4,0.000,0.119,3163,2579,1694,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13636,0.77,314.4,802.9,10.0,638,13642,0.10,1.95,0.00,0.000,6,0.263,0.131,3144,1588,1694,0,0,0,0,0,0,14.04,14.21,28.83
$GC,13969,0.80,314.4,767.8,10.9,649,13974,0.00,2.20,0.00,0.000,4,0.000,0.152,3152,458,1693,0,0,0,0,0,0,28.83,14.19,28.83
$GC,14116,0.80,314.4,750.3,11.7,654,14122,0.00,2.12,0.00,0.000,6,0.000,0.090,3152,1632,1692,0,0,0,0,0,0,28.83,14.33,28.83
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$STATE,21852,end climb,SURFACE_DEPTH_REACHED
$STATE,21852,begin surface coast
$FINISH,1.5,1.025181
$STATE,21897,end surface coast,CONTROL_FINISHED_OK
$STATE,21897,begin surface
$SM_CCo,21981,0.00,0.000,0,0,1496,366.48
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$IRIDIUM_FIX,2434.69,-3749.59,210113,121202
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.08
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,2
$SC_FREEKB,7609760
$TM_FREEKB,3756160
$24V_AH,13.1,178.330
$10V_AH,11.7,0.000
$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,23.050,171.275,541.875,0.000,0.000,0.000,0.000,489.750,0.500,0.000,16.974,3095.897,15511.956,885.895,2642.863,707.638,0.000,2495.747,0.000,2064.995,0.000,0.541,0.000
$DEVICE_MAMPS,354.195,169.065,1838.295,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.745,13.224,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,39925,1071
$CAP_FILE_SIZE,227541,0
$CFSIZE,260034560,192385024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064, 27.8,1
$GPS,220113,014235,2439.674,-3745.312,24,0.9,24,-13.9