version: 66.11
glider: 190
mission: 6
dive: 441
start: 1 27 113 18 24 57
data:
$ID,190
$MISSION,6
$DIVE,441
$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,-13470.459
$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,20
$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
$GPS1,270113,181334,2427.152,-3743.884,40,1.1,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-67.4
$GPS2,270113,182424,2427.202,-3743.908,15,0.8,17,-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,205.6,13570,-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,-155.7,0.0,0.0,0,35,0.00,0.00,-10.93,0.000,2,0.000,0.000,142,1508,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.5,0.0,1,146,11.32,2.08,-85.95,0.000,4,0.355,0.161,2612,464,3625,0,0,0,0,0,0,14.04,14.07,14.61
$GC,276,-0.84,-155.7,14.9,-9.7,25,286,0.00,1.95,0.00,0.000,6,0.000,0.084,2606,1518,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,587,-0.87,-155.7,44.8,-9.9,56,595,0.00,2.12,0.00,0.000,4,0.000,0.142,2607,462,3626,0,0,0,0,0,0,28.83,13.95,28.83
$GC,697,-0.87,-155.7,56.2,-10.3,67,705,0.00,1.90,0.00,0.000,6,0.000,0.085,2605,1494,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1009,-0.89,-155.7,86.7,-10.1,98,1015,0.00,2.05,0.00,0.000,4,0.000,0.139,2605,462,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1116,-0.89,-155.7,98.4,-10.8,109,1126,0.00,1.88,0.00,0.000,6,0.000,0.084,2604,1482,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1427,-0.92,-155.7,129.4,-9.6,140,1435,0.00,2.03,0.00,0.000,4,0.000,0.138,2605,465,3627,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1528,-0.92,-155.7,139.4,-10.0,150,1535,0.00,1.80,0.00,0.000,6,0.000,0.083,2604,1460,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1838,-0.96,-155.7,167.4,-8.4,181,1846,0.00,1.98,0.00,0.000,4,0.000,0.138,2605,461,3627,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1876,-0.96,-155.7,171.0,-8.9,185,1887,0.00,1.83,0.00,0.000,6,0.000,0.083,2604,1455,3628,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2187,-0.99,-155.7,197.3,-8.2,216,2195,0.00,1.98,0.00,0.000,4,0.000,0.138,2604,461,3627,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2287,-0.99,-155.7,206.1,-9.0,226,2296,0.08,1.77,0.00,0.000,6,0.100,0.084,2564,1434,3627,0,0,0,0,0,0,14.15,14.16,28.83
$GC,2596,-0.99,-155.7,231.6,-7.7,257,2605,0.00,2.12,0.00,0.000,4,0.000,0.103,2557,2572,3627,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2657,-0.99,-155.7,236.4,-8.1,263,2665,0.00,2.20,0.00,0.000,6,0.000,0.116,2561,1438,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2978,-0.99,-155.7,264.1,-9.0,285,2984,0.00,2.12,0.00,0.000,4,0.000,0.105,2551,2583,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3026,-0.99,-155.7,266.8,-9.1,286,3034,0.00,2.22,0.00,0.000,6,0.000,0.113,2551,1434,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3336,-0.99,-155.7,300.6,-10.6,297,3344,0.00,1.90,0.00,0.000,4,0.000,0.142,2551,465,3626,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3397,-0.99,-155.7,307.5,-11.1,299,3403,0.00,1.77,0.00,0.000,6,0.000,0.090,2554,1438,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3726,-0.99,-155.7,342.6,-10.2,310,3733,0.00,2.12,0.00,0.000,4,0.000,0.106,2541,2573,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3775,-0.99,-155.7,345.5,-10.0,311,3785,0.00,2.20,0.00,0.000,6,0.000,0.117,2541,1439,3625,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4088,-0.99,-155.7,376.9,-9.3,322,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1438,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4387,-0.99,-155.7,405.3,-9.6,332,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1441,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4687,-0.99,-155.7,434.5,-9.6,342,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1438,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.99,-155.7,462.4,-9.3,352,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1439,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.99,-155.7,489.9,-9.1,362,5293,0.00,2.12,0.00,0.000,4,0.000,0.103,2536,2571,3622,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5326,-0.99,-155.7,492.6,-9.1,363,5334,0.08,2.17,0.00,0.000,6,0.210,0.112,2563,1439,3622,0,0,0,0,0,0,14.00,14.10,28.83
$GC,5649,-0.99,-155.7,523.0,-9.3,374,5654,0.00,1.90,0.00,0.000,4,0.000,0.142,2563,462,3621,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5696,-0.99,-155.7,525.9,-9.4,375,5706,0.00,1.80,0.00,0.000,6,0.000,0.088,2556,1445,3620,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6007,-0.99,-155.7,558.3,-9.9,386,6013,0.00,1.95,0.00,0.000,4,0.000,0.142,2556,465,3620,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6045,-0.99,-155.7,561.7,-10.2,387,6053,0.00,1.80,0.00,0.000,6,0.000,0.090,2553,1440,3620,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6368,-0.99,-155.7,596.9,-10.6,398,6373,0.00,1.95,0.00,0.000,4,0.000,0.145,2554,465,3619,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6445,-0.99,-155.7,603.5,-10.8,400,6454,0.00,1.77,0.00,0.000,6,0.000,0.091,2551,1424,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6756,-0.99,-155.7,636.0,-9.4,411,6763,0.00,2.17,0.00,0.000,4,0.000,0.112,2549,2568,3616,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6796,-0.99,-155.7,638.7,-9.2,412,6803,0.00,2.22,0.00,0.000,6,0.000,0.116,2549,1428,3616,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7116,-0.99,-155.7,666.3,-8.0,423,7123,0.00,1.88,0.00,0.000,4,0.000,0.135,2549,466,3615,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7268,-0.99,-155.7,679.0,-8.5,428,7274,0.00,1.73,0.00,0.000,6,0.000,0.083,2549,1409,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7596,-0.99,-155.7,705.3,-8.3,439,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1409,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7897,-0.99,-155.7,733.7,-9.9,449,7904,0.00,1.90,0.00,0.000,4,0.000,0.141,2549,460,3613,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8036,-0.99,-155.7,746.8,-11.0,453,8044,0.00,1.75,0.00,0.000,6,0.000,0.085,2549,1410,3611,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8347,-0.99,-155.7,783.3,-11.0,464,8354,0.00,1.92,0.00,0.000,4,0.000,0.146,2549,460,3610,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8486,-0.99,-155.7,797.2,-11.6,468,8495,0.00,1.73,0.00,0.000,6,0.000,0.093,2549,1380,3609,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8796,-0.99,-155.7,832.5,-10.6,479,8803,0.00,1.88,0.00,0.000,4,0.000,0.148,2549,459,3608,0,0,0,0,0,0,28.83,13.89,28.83
$GC,8876,-0.99,-155.7,839.2,-10.7,481,8885,0.00,1.70,0.00,0.000,6,0.000,0.096,2548,1365,3608,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9187,-0.99,-155.7,874.3,-10.6,492,9193,0.00,1.83,0.00,0.000,4,0.000,0.151,2548,469,3607,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9235,-0.99,-155.7,877.5,-10.6,493,9239,0.00,1.65,0.00,0.000,6,0.000,0.096,2548,1349,3606,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9538,-1.01,-155.7,910.8,-10.2,503,9544,0.00,1.83,0.00,0.000,4,0.000,0.151,2548,462,3606,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9586,-1.01,-155.7,913.9,-10.2,504,9594,0.00,1.65,0.00,0.000,6,0.000,0.095,2549,1338,3606,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9900,-1.04,-155.7,947.0,-10.0,515,9907,0.00,1.75,0.00,0.000,4,0.000,0.151,2549,462,3604,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9956,-1.04,-155.7,953.2,-10.0,517,9963,0.00,1.62,0.00,0.000,6,0.000,0.095,2548,1326,3604,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10291,-1.06,-155.7,985.5,-9.9,528,10296,0.00,1.73,0.00,0.000,4,0.000,0.150,2549,462,3602,0,0,0,0,0,0,28.83,13.87,28.83
$STATE,10344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10344,begin apogee
$GC,10354,-0.23,0.0,991.5,-10.0,530,10514,0.95,0.00,154.77,1.832,4,0.213,0.000,2808,1521,2988,0,0,0,0,0,0,13.64,28.83,13.05
$STATE,10518,end apogee,CONTROL_FINISHED_OK
$STATE,10518,begin climb
$GC,10523,0.84,155.7,1001.7,0.0,535,10695,1.08,2.05,160.70,1.815,4,0.105,0.121,3160,2587,2351,0,0,0,0,0,0,14.16,14.09,13.10
$GC,10875,0.81,188.4,996.9,6.1,547,10916,0.00,2.17,34.50,1.750,6,0.000,0.146,3167,1515,2218,0,0,0,0,0,0,28.83,14.23,13.28
$GC,11217,0.77,188.4,971.8,7.2,559,11223,0.00,2.15,0.00,0.000,4,0.000,0.173,3174,464,2208,0,0,0,0,0,0,28.83,14.18,28.83
$GC,11457,0.72,188.4,953.9,7.5,567,11464,0.15,1.98,0.00,0.000,6,0.267,0.103,3134,1531,2207,0,0,0,0,0,0,14.05,14.33,28.83
$GC,11789,0.73,200.3,932.0,6.8,578,11806,0.00,2.00,12.60,1.681,4,0.000,0.121,3134,2575,2168,0,0,0,0,0,0,28.83,14.51,13.39
$GC,11975,0.73,200.3,919.6,7.4,583,11984,0.00,2.05,0.00,0.000,6,0.000,0.137,3141,1544,2162,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12287,0.73,200.3,894.8,7.5,594,12293,0.00,2.00,0.00,0.000,4,0.000,0.124,3141,2571,2161,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12447,0.73,200.3,883.5,7.5,599,12453,0.00,2.00,0.00,0.000,6,0.000,0.137,3148,1568,2160,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12767,0.73,200.3,858.9,7.3,610,12773,0.00,1.95,0.00,0.000,4,0.000,0.125,3148,2570,2159,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12959,0.71,200.3,845.6,7.2,616,12966,0.15,1.92,0.00,0.000,6,0.295,0.140,3124,1593,2158,0,0,0,0,0,0,13.95,14.14,28.83
$GC,13279,0.72,210.2,823.0,6.9,627,13287,0.00,1.92,3.20,0.992,4,0.000,0.122,3123,2580,2134,0,0,0,0,0,0,28.83,14.42,13.33
$GC,13455,0.72,217.8,811.3,6.9,633,13477,0.00,1.90,16.65,1.649,6,0.000,0.129,3130,1617,2103,0,0,0,0,0,0,28.83,14.23,13.43
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$STATE,23468,end climb,SURFACE_DEPTH_REACHED
$STATE,23468,begin surface coast
$FINISH,1.6,1.004626
$STATE,23498,end surface coast,CONTROL_FINISHED_OK
$STATE,23502,begin surface
$SM_CCo,23526,13.52,0.129,0,0,1562,350.04
$SM_GC,2.93,8.68,0.43,13.52,0.061,0.146,0.129,140,1512,1562,-8.54,0.20,350.04,0,0,0,0,0,0,14.31,14.14,14.23
$IRIDIUM_FIX,2418.11,-3747.10,270113,111107
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.54
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,7601440
$TM_FREEKB,382710259
$24V_AH,12.6,187.880
$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
$DEVICE_SECS,23.000,202.375,542.000,13.525,0.000,0.000,0.000,347.775,0.750,0.000,17.493,3381.147,16433.953,948.609,2675.640,737.637,0.000,2523.896,0.000,2251.287,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23551.000,5572.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.751,21.835,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,43306,1151
$CAP_FILE_SIZE,252737,0
$CFSIZE,260034560,189882368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,346.5,1
$GPS,280113,005835,2426.646,-3744.103,31,1.0,31,-13.9