version: 66.11
glider: 190
mission: 6
dive: 436
start: 1 26 113 10 28 7
data:
$ID,190
$MISSION,6
$DIVE,436
$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,-13464.167
$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,13
$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
$GPS1,260113,101652,2429.547,-3744.787,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-64.8
$GPS2,260113,102735,2429.633,-3744.829,19,0.8,20,-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,184.5,17365,-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,-10.55,0.000,2,0.000,0.000,148,1516,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.5,0.0,1,145,11.50,2.12,-83.45,0.000,4,0.365,0.158,2614,454,3625,0,0,0,0,0,0,14.08,14.12,14.64
$GC,235,-0.84,-155.7,13.9,-12.9,21,245,0.00,1.98,0.00,0.000,6,0.000,0.083,2609,1524,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,545,-0.84,-155.7,50.2,-10.5,52,554,0.00,2.00,0.00,0.000,4,0.000,0.109,2605,2579,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,656,-0.84,-155.7,60.5,-9.6,63,664,0.00,2.05,0.00,0.000,6,0.000,0.119,2605,1531,3625,0,0,0,0,0,0,28.83,13.95,28.83
$GC,968,-0.86,-155.7,90.5,-9.2,94,974,0.00,2.10,0.00,0.000,4,0.000,0.139,2605,457,3625,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1046,-0.86,-155.7,98.8,-10.3,102,1054,0.00,1.92,0.00,0.000,6,0.000,0.085,2604,1513,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1356,-0.88,-155.7,126.9,-8.6,133,1365,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,457,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1407,-0.88,-155.7,131.8,-10.2,138,1414,0.00,1.92,0.00,0.000,6,0.000,0.086,2604,1510,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1716,-0.92,-155.7,158.8,-8.0,169,1724,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,465,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1806,-0.92,-155.7,166.1,-8.4,178,1814,0.00,1.85,0.00,0.000,6,0.000,0.084,2605,1486,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2117,-0.95,-155.7,189.0,-7.4,209,2124,0.00,2.03,0.00,0.000,4,0.000,0.138,2605,455,3626,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2248,-0.95,-155.7,199.6,-8.6,222,2255,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1465,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2556,-0.99,-155.7,227.2,-9.0,253,2565,0.00,2.00,0.00,0.000,4,0.000,0.137,2605,455,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2676,-0.99,-155.7,238.2,-9.5,265,2687,0.08,1.77,0.00,0.000,6,0.103,0.082,2564,1438,3626,0,0,0,0,0,0,14.16,14.18,28.83
$GC,2986,-0.99,-155.7,268.3,-9.6,284,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1435,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-0.99,-155.7,296.4,-9.3,294,3292,0.00,1.92,0.00,0.000,4,0.000,0.137,2564,455,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3424,-0.99,-155.7,308.2,-9.9,298,3433,0.00,1.77,0.00,0.000,6,0.000,0.084,2558,1430,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3736,-0.99,-155.7,339.7,-9.5,309,3742,0.00,2.15,0.00,0.000,4,0.000,0.108,2553,2574,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3774,-0.99,-155.7,342.5,-9.5,310,3781,0.00,2.22,0.00,0.000,6,0.000,0.119,2553,1428,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4096,-0.99,-155.7,373.8,-9.4,321,4102,0.00,1.90,0.00,0.000,4,0.000,0.137,2553,457,3624,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4216,-0.97,-155.7,386.1,-10.3,325,4223,0.00,1.73,0.00,0.000,6,0.000,0.090,2553,1404,3624,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4545,-0.97,-155.7,418.6,-9.9,336,4553,0.00,2.20,0.00,0.000,4,0.000,0.109,2549,2578,3623,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4615,-0.97,-155.7,424.4,-9.9,338,4622,0.00,2.25,0.00,0.000,6,0.000,0.116,2549,1411,3623,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4935,-0.97,-155.7,457.1,-9.9,349,4943,0.00,1.83,0.00,0.000,4,0.000,0.129,2549,460,3622,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4985,-0.97,-155.7,460.1,-9.9,350,4994,0.00,1.73,0.00,0.000,6,0.000,0.083,2549,1408,3621,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5295,-0.97,-155.7,492.9,-9.8,361,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1408,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5595,-0.97,-155.7,524.8,-10.8,371,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1408,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5896,-0.97,-155.7,557.9,-11.0,381,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1408,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6195,-0.97,-155.7,588.9,-9.9,391,6204,0.00,1.90,0.00,0.000,4,0.000,0.139,2549,450,3618,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6277,-0.97,-155.7,595.0,-10.0,393,6285,0.00,1.75,0.00,0.000,6,0.000,0.090,2549,1417,3618,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6585,-0.97,-155.7,625.1,-8.9,404,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1417,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6886,-0.97,-155.7,651.5,-8.9,414,6892,0.00,1.92,0.00,0.000,4,0.000,0.145,2549,457,3617,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6926,-0.97,-155.7,654.4,-9.1,415,6932,0.00,1.70,0.00,0.000,6,0.000,0.091,2549,1386,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7246,-0.97,-155.7,684.3,-9.0,426,7252,0.00,1.88,0.00,0.000,4,0.000,0.148,2549,456,3613,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7285,-0.97,-155.7,687.1,-9.2,427,7292,0.00,1.73,0.00,0.000,6,0.000,0.091,2549,1387,3614,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7607,-0.97,-155.7,718.7,-9.5,438,7612,0.00,1.85,0.00,0.000,4,0.000,0.147,2549,459,3619,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7674,-0.97,-155.7,724.9,-9.9,440,7678,0.00,1.70,0.00,0.000,6,0.000,0.093,2546,1376,3620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7988,-0.97,-155.7,758.4,-10.6,451,7993,0.00,1.85,0.00,0.000,4,0.000,0.148,2549,456,3617,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8086,-0.97,-155.7,768.6,-11.2,454,8093,0.00,1.67,0.00,0.000,6,0.000,0.092,2549,1356,3616,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8411,-0.99,-155.7,804.4,-10.9,465,8416,0.00,1.80,0.00,0.000,4,0.000,0.149,2549,459,3615,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8535,-0.99,-155.7,818.0,-11.3,469,8542,0.00,1.65,0.00,0.000,6,0.000,0.093,2549,1343,3616,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8857,-0.99,-155.7,851.9,-9.8,480,8863,0.00,1.77,0.00,0.000,4,0.000,0.151,2549,466,3613,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8906,-0.99,-155.7,854.8,-9.7,481,8915,0.00,1.62,0.00,0.000,6,0.000,0.093,2549,1333,3612,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9219,-1.01,-155.7,884.1,-8.5,492,9224,0.00,1.75,0.00,0.000,4,0.000,0.142,2549,454,3611,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9266,-1.01,-155.7,886.6,-8.3,493,9274,0.00,1.60,0.00,0.000,6,0.000,0.086,2549,1325,3611,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9576,-1.01,-155.7,913.4,-8.0,504,9583,0.00,1.75,0.00,0.000,4,0.000,0.146,2549,454,3610,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9666,-1.01,-155.7,921.3,-8.6,507,9673,0.00,1.60,0.00,0.000,6,0.000,0.093,2549,1308,3609,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10000,-1.03,-155.7,950.2,-8.9,518,10007,0.00,1.67,0.00,0.000,4,0.000,0.141,2549,456,3607,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10056,-1.03,-155.7,956.0,-9.3,520,10063,0.00,1.55,0.00,0.000,6,0.000,0.083,2545,1298,3607,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10390,-1.05,-155.7,988.9,-10.3,531,10395,0.00,1.67,0.00,0.000,4,0.000,0.142,2548,457,3606,0,0,0,0,0,0,28.83,13.91,28.83
$STATE,10413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10413,begin apogee
$GC,10423,-0.23,0.0,992.0,-10.3,532,10589,0.95,0.00,161.82,1.809,4,0.220,0.000,2806,1518,2989,0,0,0,0,0,0,13.73,28.83,13.02
$STATE,10594,end apogee,CONTROL_FINISHED_OK
$STATE,10594,begin climb
$GC,10597,0.84,155.7,1004.0,0.0,537,10767,1.10,2.05,160.27,1.828,4,0.116,0.115,3160,2583,2356,0,0,0,0,0,0,14.13,14.09,13.07
$GC,10774,0.96,461.7,1012.0,-2.5,543,11105,0.00,2.20,323.25,1.799,6,0.000,0.147,3166,1517,1104,0,0,0,0,0,0,28.83,14.04,13.10
$GC,11419,1.01,461.7,954.0,10.9,565,11425,0.12,2.03,0.00,0.000,4,0.155,0.122,3215,2580,1087,0,0,0,0,0,0,14.50,14.40,28.83
$GC,11487,1.05,461.7,946.4,11.8,567,11493,0.00,2.03,0.00,0.000,6,0.000,0.148,3221,1570,1086,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11809,1.05,461.7,900.7,13.9,578,11814,0.00,1.90,0.00,0.000,4,0.000,0.125,3222,2581,1085,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11957,1.05,461.7,879.1,14.4,583,11963,0.00,2.08,0.00,0.000,6,0.000,0.153,3223,1547,1084,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12289,1.05,461.7,834.5,13.2,594,12294,0.00,2.17,0.00,0.000,4,0.000,0.163,3230,452,1082,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12500,1.05,461.7,806.7,13.1,601,12507,0.00,1.92,0.00,0.000,6,0.000,0.087,3231,1527,1082,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12831,1.05,461.7,767.1,11.6,612,12836,0.00,2.12,0.00,0.000,4,0.000,0.157,3239,457,1082,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12876,1.05,461.7,763.6,11.5,613,12885,0.00,1.95,0.00,0.000,6,0.000,0.084,3239,1525,1082,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13187,1.05,461.7,725.7,11.6,624,13193,0.00,2.15,0.00,0.000,4,0.000,0.155,3247,461,1082,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13277,1.05,461.7,714.4,12.6,627,13283,0.00,1.90,0.00,0.000,6,0.000,0.086,3246,1504,1080,0,0,0,0,0,0,28.83,14.32,28.83
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$GC,15786,1.05,461.7,396.0,12.6,710,15795,0.00,1.85,0.00,0.000,6,0.000,0.076,3258,1484,1081,0,0,0,0,0,0,28.83,14.31,28.83
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$STATE,18914,end climb,SURFACE_DEPTH_REACHED
$STATE,18915,begin surface coast
$FINISH,1.4,1.013793
$STATE,18940,end surface coast,CONTROL_FINISHED_OK
$STATE,18940,begin surface
$SM_CCo,19024,0.00,0.000,0,0,1081,468.28
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.26
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,22.20
$XPDR_PINGS,2
$SC_FREEKB,7603360
$TM_FREEKB,2029780703
$24V_AH,13.0,185.762
$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,23.275,157.500,645.350,0.000,0.000,0.000,0.000,333.400,0.500,0.000,21.387,2672.015,13219.041,968.772,2188.560,599.086,0.000,2320.217,0.000,1778.290,0.000,0.542,0.000
$DEVICE_MAMPS,364.905,162.945,1828.350,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18981.000,4810.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.788,21.848,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,36732,950
$CAP_FILE_SIZE,199432,0
$CFSIZE,260034560,190488576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,348.0,1
$GPS,260113,154634,2428.920,-3744.859,38,0.8,38,-13.9