version: 66.11
glider: 190
mission: 6
dive: 428
start: 1 24 113 5 54 56
data:
$ID,190
$MISSION,6
$DIVE,428
$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,-13454.104
$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,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
$GPS1,240113,054334,2433.326,-3744.826,41,0.9,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-61.2
$GPS2,240113,055423,2433.355,-3744.848,15,1.7,15,-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,196.0,24124,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,35,0.00,0.00,-10.55,0.000,2,0.000,0.000,146,1515,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,138,10.73,2.12,-82.78,0.000,4,0.330,0.162,2612,459,3625,0,0,0,0,0,0,14.12,14.00,14.64
$GC,257,-0.84,-155.7,13.8,-8.7,23,266,0.00,1.98,0.00,0.000,6,0.000,0.088,2605,1525,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,567,-0.84,-155.7,40.6,-8.5,54,573,0.00,2.00,0.00,0.000,4,0.000,0.109,2605,2578,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,625,-0.84,-155.7,45.8,-8.4,60,629,0.00,2.08,0.00,0.000,6,0.000,0.119,2605,1521,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,927,-0.84,-155.7,75.4,-9.3,90,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1521,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-0.84,-155.7,102.6,-9.1,120,1233,0.00,2.03,0.00,0.000,4,0.000,0.109,2605,2581,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1349,-0.86,-155.7,111.8,-6.9,132,1353,0.00,2.00,0.00,0.000,6,0.000,0.117,2605,1527,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1657,-0.89,-155.7,137.6,-8.9,163,1662,0.00,2.12,0.00,0.000,4,0.000,0.142,2605,459,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1727,-0.89,-155.7,144.6,-10.2,170,1733,0.00,1.95,0.00,0.000,6,0.000,0.087,2605,1520,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2037,-0.93,-155.7,170.0,-8.2,201,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1520,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2337,-0.97,-155.7,195.0,-8.9,231,2342,0.00,2.10,0.00,0.000,4,0.000,0.136,2606,459,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2427,-0.97,-155.7,203.5,-9.4,240,2433,0.00,1.92,0.00,0.000,6,0.000,0.084,2605,1512,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2738,-1.01,-155.7,231.9,-9.1,271,2745,0.12,2.08,0.00,0.000,4,0.137,0.137,2551,458,3627,0,0,0,0,0,0,14.49,14.02,28.83
$GC,2816,-0.97,-155.7,240.5,-10.9,279,2820,0.00,1.92,0.00,0.000,6,0.000,0.088,2549,1507,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3127,-0.97,-155.7,271.3,-10.1,296,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1507,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3427,-0.97,-155.7,302.8,-10.6,306,3431,0.00,2.08,0.00,0.000,4,0.000,0.137,2549,455,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3488,-0.97,-155.7,308.6,-10.9,308,3494,0.00,1.90,0.00,0.000,6,0.000,0.091,2549,1491,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3808,-0.97,-155.7,342.1,-9.7,319,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1490,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.97,-155.7,369.9,-9.1,329,4114,0.00,2.05,0.00,0.000,4,0.000,0.142,2549,458,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4248,-0.95,-155.7,381.4,-9.7,333,4252,0.15,1.88,0.00,0.000,6,0.268,0.092,2583,1480,3624,0,0,0,0,0,0,14.09,14.38,28.83
$GC,4552,-0.98,-155.7,406.7,-7.8,343,4555,0.00,2.00,0.00,0.000,4,0.000,0.144,2583,458,3624,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4637,-0.98,-155.7,413.5,-8.4,346,4641,0.00,1.83,0.00,0.000,6,0.000,0.090,2579,1460,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4953,-1.01,-155.7,441.4,-9.2,357,4957,0.00,1.98,0.00,0.000,4,0.000,0.143,2579,456,3622,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5037,-1.01,-155.7,449.4,-9.7,360,5041,0.00,1.80,0.00,0.000,6,0.000,0.092,2579,1438,3622,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5351,-1.04,-155.7,481.9,-10.4,371,5355,0.00,1.92,0.00,0.000,4,0.000,0.145,2579,459,3621,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5389,-1.06,-155.7,485.1,-10.3,372,5394,0.00,1.77,0.00,0.000,6,0.000,0.090,2574,1425,3620,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5711,-1.09,-155.7,519.7,-10.4,383,5715,0.12,2.15,0.00,0.000,4,0.140,0.113,2516,2580,3619,0,0,0,0,0,0,14.64,14.24,28.83
$GC,5789,-1.09,-155.7,526.2,-10.7,385,5794,0.00,2.25,0.00,0.000,6,0.000,0.123,2515,1429,3620,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6101,-1.06,-155.7,563.7,-11.1,396,6105,0.12,2.17,0.00,0.000,4,0.257,0.112,2538,2582,3618,0,0,0,0,0,0,14.31,14.21,28.83
$GC,6197,-1.06,-155.7,573.1,-10.5,399,6201,0.00,2.25,0.00,0.000,6,0.000,0.123,2538,1439,3618,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6509,-1.06,-155.7,604.8,-9.6,410,6515,0.00,1.95,0.00,0.000,4,0.000,0.145,2537,459,3616,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6608,-1.06,-155.7,613.9,-10.1,413,6611,0.00,1.80,0.00,0.000,6,0.000,0.095,2536,1430,3616,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6920,-1.06,-155.7,643.7,-9.3,424,6925,0.00,2.15,0.00,0.000,4,0.000,0.110,2535,2571,3614,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7048,-1.06,-155.7,654.8,-9.2,428,7052,0.00,2.22,0.00,0.000,6,0.000,0.122,2536,1439,3614,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7361,-1.06,-155.7,684.0,-8.9,439,7366,0.00,1.95,0.00,0.000,4,0.000,0.139,2535,459,3612,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7409,-1.06,-155.7,686.9,-9.0,440,7413,0.00,1.83,0.00,0.000,6,0.000,0.096,2535,1434,3611,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7710,-1.06,-155.7,716.7,-9.3,450,7714,0.00,2.17,0.00,0.000,4,0.000,0.111,2527,2577,3612,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7822,-1.06,-155.7,727.2,-9.4,454,7828,0.00,2.22,0.00,0.000,6,0.000,0.120,2527,1440,3611,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8151,-1.06,-155.7,761.5,-10.6,465,8155,0.00,2.20,0.00,0.000,4,0.000,0.116,2523,2577,3610,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8233,-1.06,-155.7,770.0,-10.6,468,8238,0.00,2.22,0.00,0.000,6,0.000,0.119,2523,1441,3609,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8565,-1.04,-155.7,803.2,-9.8,479,8569,0.12,2.15,0.00,0.000,4,0.260,0.111,2544,2578,3608,0,0,0,0,0,0,14.26,14.15,28.83
$GC,8642,-1.04,-155.7,808.6,-9.4,481,8648,0.00,2.22,0.00,0.000,6,0.000,0.126,2544,1460,3607,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8952,-1.04,-155.7,839.3,-9.5,492,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1460,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,-1.04,-155.7,867.7,-9.3,502,9256,0.00,2.17,0.00,0.000,4,0.000,0.116,2540,2577,3605,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9313,-1.04,-155.7,872.3,-9.1,504,9319,0.00,2.20,0.00,0.000,6,0.000,0.119,2539,1459,3605,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9633,-1.04,-155.7,900.4,-8.3,515,9636,0.00,2.00,0.00,0.000,4,0.000,0.141,2540,459,3604,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9684,-1.04,-155.7,904.8,-8.4,517,9690,0.00,1.88,0.00,0.000,6,0.000,0.089,2540,1475,3606,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10016,-1.04,-155.7,931.5,-8.1,528,10020,0.00,2.10,0.00,0.000,4,0.000,0.116,2539,2577,3600,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10103,-1.04,-155.7,938.9,-8.2,531,10107,0.00,2.22,0.00,0.000,6,0.000,0.129,2539,1467,3601,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10428,-1.04,-155.7,967.2,-9.0,542,10432,0.00,2.17,0.00,0.000,4,0.000,0.124,2539,2579,3600,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10484,-1.04,-155.7,971.9,-9.2,544,10488,0.00,2.20,0.00,0.000,6,0.000,0.125,2540,1476,3600,0,0,0,0,0,0,28.83,13.99,28.83
$STATE,10671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10671,begin apogee
$GC,10681,-0.23,0.0,991.3,-9.9,551,10848,0.98,0.00,157.62,2.512,4,0.213,0.000,2807,1520,2990,0,0,0,0,1,0,13.76,28.83,12.68
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10852,begin climb
$GC,10855,0.84,155.7,1002.8,0.0,556,11035,1.10,2.08,167.98,1.841,4,0.109,0.123,3162,2582,2350,0,0,0,0,0,0,14.06,14.01,13.07
$GC,11215,0.83,228.6,1002.4,4.9,568,11298,0.00,2.15,76.88,1.805,6,0.000,0.148,3166,1521,2058,0,0,0,0,0,0,28.83,14.28,13.16
$GC,11617,0.81,228.6,974.2,7.4,582,11623,0.00,2.17,0.00,0.000,4,0.000,0.177,3172,460,2041,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11856,0.78,228.6,954.5,8.3,590,11864,0.10,1.98,0.00,0.000,6,0.259,0.105,3145,1528,2040,0,0,0,0,0,0,14.15,14.37,28.83
$GC,12189,0.78,228.6,929.0,7.8,601,12195,0.00,2.00,0.00,0.000,4,0.000,0.131,3144,2581,2037,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12389,0.78,228.6,914.6,8.3,607,12396,0.00,2.03,0.00,0.000,6,0.000,0.139,3152,1546,2037,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12696,0.78,228.6,889.8,7.3,618,12703,0.00,2.00,0.00,0.000,4,0.000,0.127,3153,2578,2036,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12797,0.78,228.6,883.0,7.5,621,12803,0.00,2.00,0.00,0.000,6,0.000,0.140,3160,1567,2035,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13119,0.78,228.6,858.7,7.3,632,13124,0.00,1.95,0.00,0.000,4,0.000,0.129,3159,2578,2035,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13215,0.78,228.6,851.8,7.5,635,13222,0.00,2.03,0.00,0.000,6,0.000,0.145,3167,1575,2034,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13537,0.78,228.6,826.6,7.7,646,13543,0.00,1.95,0.00,0.000,4,0.000,0.129,3167,2571,2034,0,0,0,0,0,0,28.83,14.01,28.83
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$STATE,22977,end climb,SURFACE_DEPTH_REACHED
$STATE,22977,begin surface coast
$FINISH,1.6,1.012010
$STATE,22998,end surface coast,CONTROL_FINISHED_OK
$STATE,22999,begin surface
$SM_CCo,23026,17.90,0.129,0,0,1559,350.04
$SM_GC,2.15,8.88,1.95,17.90,0.072,0.084,0.129,144,1518,1559,-8.53,-0.68,350.04,0,0,0,0,0,0,14.31,14.23,14.24
$IRIDIUM_FIX,2425.21,-3746.68,230113,222237
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.19
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7606432
$TM_FREEKB,1363547251
$24V_AH,12.7,182.269
$10V_AH,12.3,0.000
$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,23.000,209.200,494.150,17.900,0.000,0.000,0.000,346.500,0.500,0.000,15.674,2266.610,17206.172,870.241,2626.796,709.046,0.000,2413.678,0.000,2208.912,0.000,0.541,0.000
$DEVICE_MAMPS,330.480,176.715,2512.260,128.520,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23041.000,5738.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.165,21.854,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43398,1149
$CAP_FILE_SIZE,246742,0
$CFSIZE,260034560,191307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.009, 77.9,1
$GPS,240113,122028,2433.112,-3744.826,39,0.9,39,-13.9