version: 66.11
glider: 190
mission: 6
dive: 431
start: 1 25 113 1 48 40
data:
$ID,190
$MISSION,6
$DIVE,431
$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,-13457.877
$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,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
$GPS1,250113,013428,2431.993,-3745.211,63,0.8,63,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-64.5
$GPS2,250113,014809,2432.103,-3745.261,19,0.7,20,-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,194.8,21726,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.84,-155.7,0.0,0.0,0,35,0.00,0.00,-10.25,0.000,2,0.000,0.000,148,1509,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.2,0.0,1,145,11.25,2.10,-83.90,0.000,4,0.353,0.155,2611,455,3624,0,0,0,0,0,0,14.00,14.16,14.64
$GC,277,-0.82,-155.7,14.0,-9.4,25,285,0.00,1.95,0.00,0.000,6,0.000,0.084,2605,1515,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,587,-0.82,-155.7,37.4,-7.0,56,594,0.00,2.00,0.00,0.000,4,0.000,0.107,2605,2574,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,675,-0.82,-155.7,44.9,-8.8,65,686,0.00,2.05,0.00,0.000,6,0.000,0.113,2605,1518,3624,0,0,0,0,0,0,28.83,14.11,28.83
$GC,986,-0.82,-155.7,71.5,-6.7,96,994,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,462,3624,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1035,-0.82,-155.7,75.6,-8.6,101,1046,0.00,1.98,0.00,0.000,6,0.000,0.087,2605,1529,3624,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1345,-0.82,-155.7,107.5,-11.1,132,1354,0.00,1.95,0.00,0.000,4,0.000,0.106,2605,2571,3624,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1387,-0.84,-155.7,112.0,-11.2,136,1394,0.00,2.03,0.00,0.000,6,0.000,0.116,2605,1518,3624,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1697,-0.88,-155.7,147.4,-10.5,167,1704,0.00,2.10,0.00,0.000,4,0.000,0.139,2605,457,3624,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1755,-0.88,-155.7,153.3,-9.9,173,1766,0.00,1.98,0.00,0.000,6,0.000,0.085,2605,1530,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2067,-0.91,-155.7,180.4,-7.9,204,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1530,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,-0.95,-155.7,203.0,-8.1,235,2384,0.00,1.95,0.00,0.000,4,0.000,0.104,2605,2569,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2416,-0.99,-155.7,206.4,-8.4,239,2424,0.00,2.03,0.00,0.000,6,0.000,0.112,2605,1524,3625,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2727,-1.03,-155.7,235.4,-10.3,270,2736,0.15,2.08,0.00,0.000,4,0.121,0.137,2543,456,3625,0,0,0,0,0,0,14.45,14.07,28.83
$GC,2865,-0.99,-155.7,250.7,-11.9,283,2874,0.12,1.90,0.00,0.000,6,0.283,0.085,2566,1502,3625,0,0,0,0,0,0,14.07,14.34,28.83
$GC,3179,-0.99,-155.7,281.0,-8.8,294,3184,0.00,2.03,0.00,0.000,4,0.000,0.137,2566,460,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3255,-0.99,-155.7,286.5,-8.9,296,3264,0.00,1.88,0.00,0.000,6,0.000,0.085,2565,1495,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3566,-0.99,-155.7,314.1,-8.2,307,3572,0.00,2.03,0.00,0.000,4,0.000,0.137,2565,460,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3606,-0.99,-155.7,316.8,-8.4,308,3612,0.00,1.85,0.00,0.000,6,0.000,0.086,2556,1482,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3927,-0.99,-155.7,347.5,-9.8,319,3933,0.00,2.03,0.00,0.000,4,0.000,0.109,2553,2583,3623,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4005,-0.99,-155.7,353.3,-9.8,321,4014,0.00,2.15,0.00,0.000,6,0.000,0.119,2553,1479,3623,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4317,-0.99,-155.7,384.2,-9.1,332,4323,0.00,2.00,0.00,0.000,4,0.000,0.138,2553,460,3622,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4498,-0.96,-155.7,402.5,-10.5,338,4504,0.12,1.80,0.00,0.000,6,0.278,0.090,2579,1461,3622,0,0,0,0,0,0,14.02,14.26,28.83
$GC,4829,-0.99,-155.7,433.9,-10.0,349,4835,0.00,1.98,0.00,0.000,4,0.000,0.143,2579,458,3620,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4955,-0.99,-155.7,446.5,-10.5,353,4963,0.00,1.80,0.00,0.000,6,0.000,0.087,2574,1441,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5280,-1.01,-155.7,481.6,-10.5,364,5286,0.00,2.12,0.00,0.000,4,0.000,0.109,2566,2581,3617,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5336,-1.04,-155.7,487.7,-10.4,366,5342,0.00,2.20,0.00,0.000,6,0.000,0.119,2566,1443,3619,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5668,-1.06,-155.7,519.9,-9.1,377,5673,0.00,1.92,0.00,0.000,4,0.000,0.139,2566,457,3618,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5786,-1.06,-155.7,530.7,-9.0,381,5792,0.00,1.77,0.00,0.000,6,0.000,0.090,2565,1433,3617,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6118,-1.08,-155.7,557.4,-8.2,392,6125,0.00,2.12,0.00,0.000,4,0.000,0.111,2557,2577,3616,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6208,-1.11,-155.7,565.0,-8.4,395,6213,0.00,2.15,0.00,0.000,6,0.000,0.118,2557,1446,3615,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6538,-1.13,-155.7,595.9,-10.0,406,6543,0.00,1.90,0.00,0.000,4,0.000,0.133,2557,466,3614,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6596,-1.13,-155.7,602.3,-10.5,408,6603,0.00,1.77,0.00,0.000,6,0.000,0.083,2553,1444,3613,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6926,-1.13,-155.7,638.1,-11.0,419,6932,0.00,2.15,0.00,0.000,4,0.000,0.114,2552,2575,3612,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6965,-1.13,-155.7,641.4,-11.0,420,6972,0.00,2.20,0.00,0.000,6,0.000,0.113,2552,1440,3612,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7287,-1.13,-155.7,677.4,-10.7,431,7292,0.00,1.88,0.00,0.000,4,0.000,0.134,2552,460,3612,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7435,-1.13,-155.7,694.2,-11.2,436,7444,0.00,1.77,0.00,0.000,6,0.000,0.083,2552,1431,3610,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7767,-1.13,-155.7,725.9,-9.1,447,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1436,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,-1.13,-155.7,751.9,-8.5,457,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1431,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8367,-1.13,-155.7,777.9,-9.0,467,8373,0.00,2.15,0.00,0.000,4,0.000,0.106,2552,2577,3606,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8435,-1.16,-155.7,783.5,-9.3,469,8443,0.00,2.30,0.00,0.000,6,0.000,0.124,2552,1418,3606,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8758,-1.18,-155.7,816.7,-10.2,480,8766,0.12,2.22,0.00,0.000,4,0.148,0.114,2497,2578,3605,0,0,0,0,0,0,14.47,14.12,28.83
$GC,8825,-1.18,-155.7,823.2,-10.5,482,8833,0.00,2.22,0.00,0.000,6,0.000,0.115,2496,1433,3605,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9148,-1.14,-155.7,860.3,-10.9,493,9154,0.00,2.17,0.00,0.000,4,0.000,0.112,2488,2575,3604,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9256,-1.10,-155.7,869.9,-10.6,496,9264,0.15,2.25,0.00,0.000,6,0.226,0.129,2530,1450,3603,0,0,0,0,0,0,13.76,13.92,28.83
$GC,9568,-1.10,-155.7,900.6,-9.0,507,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1450,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,-1.10,-155.7,927.1,-8.8,517,9873,0.00,1.98,0.00,0.000,4,0.000,0.142,2530,465,3601,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9934,-1.10,-155.7,932.9,-9.2,519,9938,0.00,1.83,0.00,0.000,6,0.000,0.094,2524,1435,3600,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10247,-1.10,-155.7,963.5,-9.7,530,10253,0.00,2.20,0.00,0.000,4,0.000,0.115,2520,2575,3599,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10307,-1.10,-155.7,969.4,-9.7,532,10313,0.00,2.28,0.00,0.000,6,0.000,0.131,2520,1440,3599,0,0,0,0,0,0,28.83,13.87,28.83
$STATE,10513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10513,begin apogee
$GC,10521,-0.23,0.0,990.9,-10.4,539,10680,1.08,0.00,154.25,1.838,4,0.220,0.000,2815,1525,2989,0,0,0,0,0,0,13.72,28.83,13.06
$STATE,10685,end apogee,CONTROL_FINISHED_OK
$STATE,10685,begin climb
$GC,10688,0.84,155.7,1002.2,0.0,544,10858,1.10,2.03,160.45,1.824,4,0.116,0.124,3163,2576,2354,0,0,0,0,0,0,14.14,14.10,13.10
$GC,10937,0.87,307.8,1005.3,2.4,552,11106,0.00,2.15,159.75,1.785,6,0.000,0.146,3165,1521,1727,0,0,0,0,0,0,28.83,14.21,13.14
$GC,11428,0.87,307.8,960.1,10.2,569,11434,0.00,2.17,0.00,0.000,4,0.000,0.176,3174,461,1715,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11477,0.87,307.8,956.7,10.3,570,11485,0.00,1.95,0.00,0.000,6,0.000,0.103,3173,1509,1714,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11788,0.87,307.8,922.2,10.4,581,11794,0.00,2.05,0.00,0.000,4,0.000,0.126,3174,2569,1711,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11837,0.87,307.8,919.0,10.5,582,11845,0.00,2.12,0.00,0.000,6,0.000,0.151,3179,1518,1712,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12148,0.87,307.8,885.8,9.9,593,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1518,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12447,0.87,307.8,857.5,9.2,603,12454,0.00,2.08,0.00,0.000,4,0.000,0.127,3179,2579,1710,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12508,0.87,307.8,851.8,9.3,605,12514,0.00,2.15,0.00,0.000,6,0.000,0.149,3187,1515,1710,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12840,0.87,307.8,821.0,9.5,616,12845,0.00,2.03,0.00,0.000,4,0.000,0.126,3187,2578,1710,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12889,0.87,307.8,817.9,9.7,617,12896,0.00,2.10,0.00,0.000,6,0.000,0.147,3194,1527,1709,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13197,0.87,307.8,785.2,9.8,628,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1527,1709,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21814,end climb,SURFACE_DEPTH_REACHED
$STATE,21814,begin surface coast
$FINISH,1.5,1.004041
$STATE,21835,end surface coast,CONTROL_FINISHED_OK
$STATE,21835,begin surface
$SM_CCo,21860,19.17,0.127,0,0,1561,350.04
$SM_GC,2.30,8.95,0.28,19.17,0.076,0.164,0.127,142,1514,1561,-8.54,0.20,350.04,0,0,0,0,0,0,14.26,14.12,14.21
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.23
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,4
$SC_FREEKB,7605280
$TM_FREEKB,1495744223
$24V_AH,13.1,183.538
$10V_AH,12.4,0.000
$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,23.575,190.650,474.450,19.175,0.000,0.000,0.000,452.925,1.000,0.000,21.073,3113.533,15383.233,915.970,2583.805,688.194,0.000,2509.784,0.000,2059.560,0.000,0.542,0.000
$DEVICE_MAMPS,353.430,175.950,1838.295,126.990,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21885.000,5607.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.917,21.854,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,40003,1100
$CAP_FILE_SIZE,232191,0
$CFSIZE,260034560,191004672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,345.8,1
$GPS,250113,075435,2431.291,-3745.231,29,0.8,29,-13.9