version: 66.11
glider: 190
mission: 6
dive: 437
start: 1 26 113 15 57 45
data:
$ID,190
$MISSION,6
$DIVE,437
$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,-13465.425
$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,28
$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
$GPS1,260113,154634,2428.920,-3744.859,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-63.0
$GPS2,260113,155712,2428.954,-3744.938,17,0.9,18,-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,190.4,16100,-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,23,-0.84,-155.7,0.0,0.0,0,36,0.00,0.00,-11.20,0.000,2,0.000,0.000,139,1521,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.5,0.0,1,166,11.15,2.12,-104.22,0.000,4,0.344,0.161,2618,459,3627,0,0,0,0,0,0,14.12,14.12,14.62
$GC,298,-0.84,-155.7,16.7,-9.6,27,307,0.00,1.95,0.00,0.000,6,0.000,0.087,2618,1509,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,610,-0.87,-155.7,44.3,-9.1,58,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1510,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,919,-0.91,-155.7,74.7,-10.5,89,927,0.00,2.10,0.00,0.000,4,0.000,0.139,2618,458,3627,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1081,-0.91,-155.7,93.4,-11.7,105,1089,0.00,1.90,0.00,0.000,6,0.000,0.084,2623,1516,3627,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1390,-0.94,-155.7,127.0,-9.5,136,1397,0.00,2.08,0.00,0.000,4,0.000,0.138,2618,462,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1533,-0.97,-155.7,141.4,-10.4,150,1540,0.12,1.88,0.00,0.000,6,0.141,0.083,2571,1498,3627,0,0,0,0,0,0,14.17,14.13,28.83
$GC,1839,-0.97,-155.7,168.8,-8.1,181,1848,0.00,2.05,0.00,0.000,4,0.000,0.135,2571,457,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1910,-0.94,-155.7,175.1,-8.9,188,1917,0.00,1.88,0.00,0.000,6,0.000,0.086,2566,1480,3627,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2220,-0.94,-155.7,201.7,-9.1,219,2227,0.00,2.00,0.00,0.000,4,0.000,0.137,2565,457,3628,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2373,-0.91,-155.7,218.1,-11.0,234,2380,0.12,1.80,0.00,0.000,6,0.268,0.083,2591,1467,3627,0,0,0,0,0,0,13.90,14.15,28.83
$GC,2682,-0.94,-155.7,249.3,-10.2,265,2693,0.00,1.98,0.00,0.000,4,0.000,0.138,2591,460,3628,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2821,-0.94,-155.7,261.9,-10.3,270,2830,0.00,1.77,0.00,0.000,6,0.000,0.083,2592,1438,3630,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3135,-0.97,-155.7,292.2,-8.9,281,3140,0.00,1.92,0.00,0.000,4,0.000,0.138,2592,457,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3253,-0.97,-155.7,303.2,-9.2,285,3258,0.00,1.67,0.00,0.000,6,0.000,0.083,2591,1418,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3584,-1.01,-155.7,330.3,-7.9,296,3589,0.00,1.88,0.00,0.000,4,0.000,0.138,2591,460,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3692,-1.01,-155.7,337.2,-7.7,299,3700,0.00,1.67,0.00,0.000,6,0.000,0.083,2591,1391,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4004,-1.04,-155.7,361.5,-7.6,310,4010,0.12,1.80,0.00,0.000,4,0.142,0.135,2533,460,3625,0,0,0,0,0,0,14.54,14.14,28.83
$GC,4175,-1.00,-155.7,376.6,-10.3,315,4182,0.15,1.62,0.00,0.000,6,0.264,0.083,2561,1378,3624,0,0,0,0,0,0,14.05,14.35,28.83
$GC,4484,-1.00,-155.7,409.2,-10.1,326,4490,0.00,2.22,0.00,0.000,4,0.000,0.104,2553,2581,3623,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4550,-1.00,-155.7,415.4,-10.3,328,4558,0.00,2.35,0.00,0.000,6,0.000,0.115,2551,1366,3623,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4873,-1.00,-155.7,450.2,-10.5,339,4878,0.00,1.77,0.00,0.000,4,0.000,0.138,2553,460,3622,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4980,-1.00,-155.7,460.3,-11.0,342,4984,0.00,1.67,0.00,0.000,6,0.000,0.085,2552,1375,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5282,-1.00,-155.7,492.6,-9.9,352,5289,0.00,2.22,0.00,0.000,4,0.000,0.105,2550,2579,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5320,-1.00,-155.7,495.3,-9.7,353,5329,0.00,2.35,0.00,0.000,6,0.000,0.114,2550,1364,3621,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5643,-1.00,-155.7,523.6,-8.2,364,5649,0.00,1.75,0.00,0.000,4,0.000,0.134,2550,463,3619,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5710,-1.00,-155.7,528.9,-8.5,366,5714,0.00,1.65,0.00,0.000,6,0.000,0.083,2549,1372,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6023,-1.00,-155.7,556.3,-8.6,377,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1372,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6323,-1.00,-155.7,584.4,-9.5,387,6330,0.00,1.77,0.00,0.000,4,0.000,0.131,2549,464,3617,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6372,-1.00,-155.7,587.5,-9.7,388,6380,0.00,1.62,0.00,0.000,6,0.000,0.077,2549,1366,3617,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6682,-1.00,-155.7,620.6,-9.8,399,6690,0.00,2.25,0.00,0.000,4,0.000,0.103,2548,2573,3616,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6733,-1.00,-155.7,623.5,-9.8,400,6740,0.00,2.38,0.00,0.000,6,0.000,0.119,2549,1355,3616,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7043,-1.00,-155.7,655.8,-9.7,411,7050,0.00,1.75,0.00,0.000,4,0.000,0.141,2549,464,3614,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7163,-1.00,-155.7,668.1,-10.3,415,7170,0.00,1.60,0.00,0.000,6,0.000,0.087,2548,1345,3611,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7493,-1.00,-155.7,700.9,-9.9,426,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1345,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7794,-1.00,-155.7,728.5,-8.9,436,7799,0.00,1.73,0.00,0.000,4,0.000,0.144,2547,460,3613,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7841,-1.00,-155.7,731.2,-8.8,437,7845,0.00,1.65,0.00,0.000,6,0.000,0.088,2549,1353,3611,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8142,-1.00,-155.7,758.3,-8.5,447,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1353,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,-1.00,-155.7,786.4,-10.1,457,8451,0.00,1.80,0.00,0.000,4,0.000,0.145,2549,462,3608,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8502,-1.00,-155.7,793.1,-10.6,459,8509,0.00,1.62,0.00,0.000,6,0.000,0.088,2549,1342,3608,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8832,-1.00,-155.7,830.0,-11.5,470,8839,0.00,2.35,0.00,0.000,4,0.000,0.115,2549,2568,3606,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8872,-1.00,-155.7,833.3,-11.4,471,8879,0.00,2.42,0.00,0.000,6,0.000,0.123,2549,1338,3606,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9192,-1.00,-155.7,868.9,-10.5,482,9199,0.00,1.77,0.00,0.000,4,0.000,0.149,2549,461,3605,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9293,-1.00,-155.7,878.5,-10.6,485,9299,0.00,1.58,0.00,0.000,6,0.000,0.089,2549,1315,3605,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9613,-1.00,-155.7,909.4,-9.3,496,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1315,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-1.00,-155.7,935.7,-8.7,506,9919,0.00,2.42,0.00,0.000,4,0.000,0.116,2549,2573,3603,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9975,-1.02,-155.7,940.7,-8.6,508,9980,0.00,2.42,0.00,0.000,6,0.000,0.116,2549,1315,3602,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10305,-1.04,-155.7,967.7,-7.9,519,10310,0.00,1.65,0.00,0.000,4,0.000,0.138,2549,460,3600,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10352,-1.04,-155.7,970.2,-8.0,520,10361,0.00,1.60,0.00,0.000,6,0.000,0.084,2549,1330,3601,0,0,0,0,0,0,28.83,14.22,28.83
$STATE,10599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10599,begin apogee
$GC,10607,-0.23,0.0,992.0,-8.1,529,10770,0.93,0.00,155.45,1.839,4,0.206,0.000,2806,1524,2983,0,0,0,0,0,0,13.75,28.83,13.00
$STATE,10776,end apogee,CONTROL_FINISHED_OK
$STATE,10776,begin climb
$GC,10779,0.84,155.7,1000.3,0.0,534,10951,1.10,2.00,161.40,1.805,4,0.112,0.113,3161,2574,2349,0,0,0,0,0,0,14.14,14.11,13.07
$GC,11114,0.80,170.8,992.7,6.7,546,11134,0.00,2.05,15.55,1.685,6,0.000,0.141,3169,1526,2293,0,0,0,0,0,0,28.83,14.25,13.30
$GC,11435,0.78,209.8,972.7,5.9,556,11480,0.00,0.00,42.67,1.774,6,0.000,0.000,3168,1522,2134,0,0,0,0,0,0,28.83,28.83,13.26
$GC,11766,0.77,240.6,951.6,6.2,567,11805,0.12,2.10,32.67,1.752,4,0.300,0.127,3137,2577,2004,0,0,0,0,0,0,14.11,14.28,13.28
$GC,11895,0.79,275.1,944.8,6.1,571,11942,0.00,2.10,37.72,1.743,6,0.000,0.137,3145,1526,1860,0,0,0,0,0,0,28.83,14.20,13.23
$GC,12264,0.79,275.1,916.1,8.1,584,12270,0.00,2.03,0.00,0.000,4,0.000,0.120,3145,2575,1847,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12413,0.79,275.1,903.6,8.3,589,12421,0.00,2.05,0.00,0.000,6,0.000,0.135,3152,1544,1846,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12748,0.79,275.1,874.3,9.1,600,12753,0.00,1.98,0.00,0.000,4,0.000,0.123,3153,2574,1845,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12872,0.79,275.1,862.7,9.7,604,12880,0.00,2.03,0.00,0.000,6,0.000,0.136,3159,1561,1844,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13197,0.79,275.1,830.6,9.8,615,13202,0.00,1.92,0.00,0.000,4,0.000,0.117,3160,2573,1843,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13352,0.79,275.1,815.6,10.0,620,13360,0.00,2.00,0.00,0.000,6,0.000,0.142,3167,1585,1843,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13675,0.79,275.1,784.1,9.5,631,13680,0.00,1.92,0.00,0.000,4,0.000,0.125,3166,2569,1842,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13733,0.79,275.1,778.3,9.5,633,13741,0.00,1.92,0.00,0.000,6,0.000,0.127,3174,1599,1842,0,0,0,0,0,0,28.83,14.17,28.83
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$STATE,22698,end climb,SURFACE_DEPTH_REACHED
$STATE,22698,begin surface coast
$FINISH,1.7,1.012551
$STATE,22729,end surface coast,CONTROL_FINISHED_OK
$STATE,22731,begin surface
$SM_CCo,22756,21.23,0.126,0,0,1560,350.04
$SM_GC,2.23,8.80,1.95,21.23,0.067,0.076,0.126,140,1523,1560,-8.54,-0.59,350.04,0,0,0,0,0,0,14.28,14.26,14.22
$IRIDIUM_FIX,2420.48,-3743.36,260113,101041
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.75
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,7602976
$TM_FREEKB,1364218995
$24V_AH,13.0,186.173
$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,23.075,172.850,472.175,21.225,0.000,0.000,0.000,347.250,0.250,0.000,18.874,3226.435,16060.914,890.055,2543.128,687.534,0.000,2392.250,0.000,2124.654,0.000,0.540,0.000
$DEVICE_MAMPS,344.250,161.415,1839.060,126.225,0.000,0.000,0.000,166.005,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22775.000,5736.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.961,21.852,0.000,0.000
$MEM,344980
$DATA_FILE_SIZE,43309,1136
$CAP_FILE_SIZE,234202,0
$CFSIZE,260034560,190345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,329.4,1
$GPS,260113,221852,2428.247,-3744.931,41,0.9,41,-13.9