version: 66.11
glider: 190
mission: 6
dive: 434
start: 1 25 113 21 5 57
data:
$ID,190
$MISSION,6
$DIVE,434
$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,-13461.648
$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
$GPS1,250113,205434,2430.318,-3744.994,24,1.1,24,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-66.9
$GPS2,250113,210524,2430.414,-3745.052,15,1.9,16,-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,189.7,18703,-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,-155.7,0.0,0.0,0,36,0.00,0.00,-11.30,0.000,2,0.000,0.000,138,1511,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.6,0.0,1,146,11.30,2.12,-83.80,0.000,4,0.354,0.163,2616,456,3625,0,0,0,0,0,0,14.16,14.13,14.62
$GC,287,-0.84,-155.7,20.4,-13.4,26,295,0.00,1.95,0.00,0.000,6,0.000,0.090,2610,1514,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,597,-0.86,-155.7,48.1,-8.2,57,607,0.00,2.03,0.00,0.000,4,0.000,0.109,2608,2579,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,628,-0.88,-155.7,50.5,-8.1,60,635,0.00,2.08,0.00,0.000,6,0.000,0.120,2608,1520,3625,0,0,0,0,0,0,28.83,14.05,28.83
$GC,938,-0.92,-155.7,77.3,-8.8,91,945,0.00,2.10,0.00,0.000,4,0.000,0.144,2608,457,3626,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1089,-0.92,-155.7,91.8,-10.2,106,1096,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1507,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1397,-0.94,-155.7,123.8,-11.5,137,1406,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,457,3625,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1427,-0.94,-155.7,127.5,-12.0,140,1435,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1496,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1738,-0.98,-155.7,163.8,-11.4,171,1745,0.00,2.05,0.00,0.000,4,0.000,0.141,2605,459,3626,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1816,-0.98,-155.7,172.8,-11.1,179,1825,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1491,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2131,-1.01,-155.7,197.8,-7.0,210,2139,0.12,2.05,0.00,0.000,4,0.138,0.139,2543,453,3626,0,0,0,0,0,0,14.42,14.04,28.83
$GC,2198,-0.97,-155.7,204.4,-9.9,217,2208,0.10,1.85,0.00,0.000,6,0.233,0.089,2568,1463,3626,0,0,0,0,0,0,13.92,14.17,28.83
$GC,2507,-0.97,-155.7,231.0,-8.7,248,2516,0.00,2.00,0.00,0.000,4,0.000,0.137,2568,454,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2570,-0.94,-155.7,236.6,-9.7,254,2576,0.00,1.80,0.00,0.000,6,0.000,0.085,2563,1456,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2898,-0.94,-155.7,269.1,-10.5,275,2904,0.00,2.08,0.00,0.000,4,0.000,0.106,2555,2567,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2957,-0.94,-155.7,275.3,-10.5,277,2965,0.08,2.15,0.00,0.000,6,0.198,0.118,2579,1452,3626,0,0,0,0,0,0,14.07,14.18,28.83
$GC,3291,-0.97,-155.7,307.6,-9.5,288,3296,0.00,1.92,0.00,0.000,4,0.000,0.137,2579,459,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3427,-0.97,-155.7,319.1,-9.6,292,3436,0.00,1.77,0.00,0.000,6,0.000,0.084,2576,1435,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3741,-1.00,-155.7,348.2,-8.9,303,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1435,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4039,-1.02,-155.7,376.7,-9.7,313,4045,0.00,1.90,0.00,0.000,4,0.000,0.142,2577,457,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4087,-1.02,-155.7,379.7,-9.9,314,4095,0.00,1.77,0.00,0.000,6,0.000,0.084,2570,1433,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4401,-1.05,-155.7,414.1,-10.5,325,4407,0.00,1.90,0.00,0.000,4,0.000,0.141,2568,455,3623,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4436,-1.05,-155.7,417.2,-10.4,326,4440,0.00,1.77,0.00,0.000,6,0.000,0.086,2566,1428,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4751,-1.07,-155.7,448.4,-9.2,337,4757,0.00,1.90,0.00,0.000,4,0.000,0.142,2566,459,3622,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4810,-1.07,-155.7,454.0,-9.2,339,4815,0.00,1.75,0.00,0.000,6,0.000,0.090,2565,1416,3621,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5141,-1.09,-155.7,481.7,-8.2,350,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1416,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5440,-1.11,-155.7,508.2,-9.3,360,5446,0.00,1.88,0.00,0.000,4,0.000,0.144,2565,453,3620,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5477,-1.11,-155.7,511.2,-9.5,361,5481,0.00,1.75,0.00,0.000,6,0.000,0.088,2560,1405,3620,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5789,-1.11,-155.7,546.0,-11.3,372,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1405,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,-1.13,-155.7,577.6,-9.9,382,6097,0.12,1.85,0.00,0.000,4,0.145,0.142,2504,459,3616,0,0,0,0,0,0,14.53,14.07,28.83
$GC,6252,-1.07,-155.7,595.3,-12.1,387,6258,0.17,1.67,0.00,0.000,6,0.277,0.091,2536,1398,3617,0,0,0,0,0,0,13.93,14.28,28.83
$GC,6574,-1.07,-155.7,627.2,-9.5,398,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1398,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-1.07,-155.7,656.1,-9.8,408,6876,0.00,1.90,0.00,0.000,4,0.000,0.143,2537,461,3615,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6979,-1.07,-155.7,665.8,-10.5,411,6987,0.00,1.73,0.00,0.000,6,0.000,0.093,2536,1387,3615,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7290,-1.07,-155.7,699.4,-9.9,422,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1387,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7589,-1.07,-155.7,726.6,-8.6,432,7596,0.00,1.90,0.00,0.000,4,0.000,0.148,2536,455,3612,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7730,-1.07,-155.7,737.6,-9.2,436,7739,0.00,1.70,0.00,0.000,6,0.000,0.093,2536,1377,3611,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8040,-1.07,-155.7,764.7,-8.0,447,8047,0.00,1.85,0.00,0.000,4,0.000,0.149,2536,459,3610,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8149,-1.07,-155.7,772.8,-8.9,450,8157,0.00,1.67,0.00,0.000,6,0.000,0.093,2536,1358,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8459,-1.07,-155.7,800.5,-8.5,461,8466,0.00,1.83,0.00,0.000,4,0.000,0.150,2536,459,3608,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8580,-1.07,-155.7,811.9,-9.5,465,8586,0.00,1.62,0.00,0.000,6,0.000,0.095,2536,1332,3607,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8909,-1.07,-155.7,844.6,-10.4,476,8916,0.00,1.80,0.00,0.000,4,0.000,0.151,2536,448,3606,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9029,-1.07,-155.7,858.1,-11.3,480,9036,0.00,1.62,0.00,0.000,6,0.000,0.095,2536,1316,3605,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9361,-1.07,-155.7,892.8,-10.4,491,9367,0.00,1.75,0.00,0.000,4,0.000,0.154,2536,457,3604,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9450,-1.07,-155.7,902.1,-10.4,494,9456,0.00,1.58,0.00,0.000,6,0.000,0.097,2536,1301,3604,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9781,-1.07,-155.7,934.6,-9.8,505,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1301,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10079,-1.07,-155.7,965.7,-10.4,515,10087,0.00,1.75,0.00,0.000,4,0.000,0.152,2536,455,3600,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10109,-1.07,-155.7,968.9,-10.4,516,10116,0.00,1.60,0.00,0.000,6,0.000,0.096,2535,1302,3601,0,0,0,0,0,0,28.83,14.15,28.83
$STATE,10316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10316,begin apogee
$GC,10325,-0.23,0.0,990.7,-10.4,523,10487,1.00,0.00,155.10,1.847,4,0.212,0.000,2810,1530,2984,0,0,0,0,0,0,13.75,28.83,13.02
$STATE,10491,end apogee,CONTROL_FINISHED_OK
$STATE,10491,begin climb
$GC,10495,0.84,155.7,1001.8,0.0,528,10662,1.05,0.00,162.07,1.825,6,0.109,0.000,3157,1527,2354,0,0,0,0,0,0,14.12,28.83,13.07
$GC,10974,0.83,212.6,992.2,5.4,545,11036,0.00,0.00,60.20,1.794,6,0.000,0.000,3157,1527,2122,0,0,0,0,0,0,28.83,28.83,13.18
$GC,11337,0.81,212.6,966.0,7.7,557,11342,0.00,2.00,0.00,0.000,4,0.000,0.122,3158,2581,2107,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11423,0.78,212.6,958.7,8.1,560,11431,0.00,2.10,0.00,0.000,6,0.000,0.144,3165,1531,2105,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11757,0.76,212.6,930.3,8.7,571,11763,0.12,2.03,0.00,0.000,4,0.301,0.125,3134,2584,2105,0,0,0,0,0,0,14.16,14.32,28.83
$GC,11843,0.76,212.6,922.7,8.5,574,11850,0.00,2.10,0.00,0.000,6,0.000,0.138,3142,1523,2104,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12176,0.76,212.6,896.9,7.7,585,12182,0.00,2.03,0.00,0.000,4,0.000,0.120,3142,2586,2102,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12293,0.76,212.6,887.5,7.9,589,12300,0.00,2.05,0.00,0.000,6,0.000,0.135,3149,1553,2101,0,0,0,0,0,0,28.83,14.18,28.83
$GC,12628,0.76,212.6,863.0,7.3,600,12634,0.00,1.95,0.00,0.000,4,0.000,0.122,3145,2581,2101,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12825,0.73,212.6,849.7,7.4,606,12833,0.12,2.00,0.00,0.000,6,0.298,0.140,3131,1569,2099,0,0,0,0,0,0,13.89,14.12,28.83
$GC,13137,0.73,213.8,826.6,7.1,617,13142,0.00,1.95,0.00,0.000,4,0.000,0.125,3131,2588,2100,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13242,0.73,213.8,819.8,7.5,620,13251,0.00,2.03,0.00,0.000,6,0.000,0.138,3138,1586,2099,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13555,0.73,213.8,794.2,7.8,631,13560,0.00,1.92,0.00,0.000,4,0.000,0.123,3139,2581,2098,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13662,0.73,213.8,787.0,8.0,634,13672,0.00,1.98,0.00,0.000,6,0.000,0.135,3145,1604,2098,0,0,0,0,0,0,28.83,14.08,28.83
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$STATE,23305,end climb,SURFACE_DEPTH_REACHED
$STATE,23305,begin surface coast
$FINISH,1.6,1.007893
$STATE,23324,end surface coast,CONTROL_FINISHED_OK
$STATE,23324,begin surface
$SM_CCo,23410,0.00,0.000,0,0,1257,425.10
$SM_GC,2.39,9.07,1.98,0.00,0.076,0.091,0.000,140,1522,1257,-8.53,-0.48,425.10,0,0,0,0,0,0,14.38,14.24,28.83
$IRIDIUM_FIX,2420.48,-3748.55,250113,141448
$TT8_MAMPS,0.02247,0.02247
$HUMID,58.15
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,7604128
$TM_FREEKB,1495744223
$24V_AH,12.2,184.853
$10V_AH,12.0,0.000
$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,23.825,168.525,605.000,0.000,0.000,0.000,0.000,347.450,0.750,0.000,16.816,3258.652,16560.305,963.079,2556.038,703.705,0.000,2482.608,0.000,2146.239,0.000,0.544,0.000
$DEVICE_MAMPS,354.195,162.945,1846.710,0.000,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23373.000,5610.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.710,21.846,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,43318,1151
$CAP_FILE_SIZE,242736,0
$CFSIZE,260034560,190656512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.092,354.8,1
$GPS,260113,033729,2429.962,-3744.710,38,1.2,38,-13.9