version: 66.11
glider: 190
mission: 6
dive: 445
start: 1 28 113 20 59 33
data:
$ID,190
$MISSION,6
$DIVE,445
$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,-13475.49
$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,10
$R_STBD_OVSHOOT,14
$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
$GPS1,280113,204804,2425.087,-3743.462,28,0.8,28,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-66.7
$GPS2,280113,205900,2425.150,-3743.429,19,1.0,20,-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,225.2,10668,-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,-10.93,0.000,2,0.000,0.000,143,1517,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.5,0.0,1,146,11.35,2.10,-84.62,0.000,4,0.356,0.161,2616,462,3626,0,0,0,0,0,0,14.09,14.04,14.61
$GC,207,-0.84,-155.7,8.5,-8.7,18,215,0.00,1.95,0.00,0.000,6,0.000,0.086,2611,1524,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,517,-0.87,-155.7,36.4,-9.5,49,526,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2579,3626,0,0,0,0,0,0,28.83,14.03,28.83
$GC,548,-0.90,-155.7,39.4,-9.7,52,555,0.00,2.10,0.00,0.000,6,0.000,0.119,2605,1511,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,858,-0.93,-155.7,68.9,-9.7,83,865,0.00,2.05,0.00,0.000,4,0.000,0.140,2605,459,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,936,-0.93,-155.7,76.6,-9.7,91,945,0.00,1.95,0.00,0.000,6,0.000,0.086,2605,1511,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1249,-0.96,-155.7,104.0,-8.6,122,1255,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,459,3626,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1287,-0.96,-155.7,107.6,-8.9,126,1295,0.00,1.90,0.00,0.000,6,0.000,0.085,2605,1496,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1597,-0.99,-155.7,134.0,-8.6,157,1606,0.12,2.08,0.00,0.000,4,0.138,0.137,2551,456,3626,0,0,0,0,0,0,14.41,13.94,28.83
$GC,1710,-0.94,-155.7,145.3,-10.8,168,1718,0.15,1.85,0.00,0.000,6,0.255,0.084,2583,1485,3626,0,0,0,0,0,0,13.93,14.18,28.83
$GC,2020,-0.96,-155.7,175.2,-9.8,199,2027,0.00,2.00,0.00,0.000,4,0.000,0.136,2584,459,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2106,-0.96,-155.7,184.6,-10.7,208,2115,0.00,1.83,0.00,0.000,6,0.000,0.082,2579,1458,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2417,-0.98,-155.7,213.8,-9.0,239,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1458,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,-0.98,-155.7,239.6,-8.2,270,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1458,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3047,-1.00,-155.7,266.6,-9.2,290,3054,0.00,1.95,0.00,0.000,4,0.000,0.132,2579,460,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3167,-1.00,-155.7,278.5,-10.0,294,3173,0.00,1.77,0.00,0.000,6,0.000,0.082,2579,1447,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3500,-1.02,-155.7,310.5,-9.6,305,3505,0.00,1.90,0.00,0.000,4,0.000,0.135,2579,459,3628,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3575,-1.02,-155.7,316.4,-9.8,307,3579,0.00,1.77,0.00,0.000,6,0.000,0.083,2579,1438,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3877,-1.05,-155.7,344.6,-8.3,317,3884,0.00,1.92,0.00,0.000,4,0.000,0.137,2579,463,3625,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3916,-1.05,-155.7,347.1,-8.3,318,3924,0.00,1.77,0.00,0.000,6,0.000,0.085,2579,1434,3625,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4239,-1.07,-155.7,372.5,-7.6,329,4246,0.12,1.90,0.00,0.000,4,0.142,0.138,2519,457,3624,0,0,0,0,0,0,14.55,14.09,28.83
$GC,4316,-1.07,-155.7,378.1,-8.5,331,4327,0.12,1.75,0.00,0.000,6,0.271,0.085,2541,1419,3623,0,0,0,0,0,0,14.07,14.32,28.83
$GC,4629,-1.05,-155.7,406.8,-8.7,342,4634,0.00,2.15,0.00,0.000,4,0.000,0.109,2536,2576,3623,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4705,-1.05,-155.7,411.9,-8.6,344,4714,0.00,2.25,0.00,0.000,6,0.000,0.117,2537,1421,3623,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5018,-1.05,-155.7,443.1,-9.7,355,5023,0.00,2.15,0.00,0.000,4,0.000,0.106,2536,2580,3622,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5065,-1.05,-155.7,446.0,-9.8,356,5076,0.00,2.25,0.00,0.000,6,0.000,0.118,2536,1432,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5380,-1.03,-155.7,480.6,-10.7,367,5385,0.00,2.15,0.00,0.000,4,0.000,0.108,2537,2581,3621,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5455,-1.03,-155.7,486.8,-10.6,369,5464,0.00,2.22,0.00,0.000,6,0.000,0.118,2536,1444,3621,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5768,-1.03,-155.7,520.5,-10.0,380,5773,0.00,1.92,0.00,0.000,4,0.000,0.138,2536,457,3620,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5917,-1.00,-155.7,535.7,-10.2,385,5925,0.08,1.77,0.00,0.000,6,0.239,0.088,2558,1425,3619,0,0,0,0,0,0,13.95,14.21,28.83
$GC,6250,-1.00,-155.7,564.1,-8.6,396,6255,0.00,1.90,0.00,0.000,4,0.000,0.138,2558,459,3618,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6345,-1.00,-155.7,572.8,-9.5,399,6349,0.00,1.77,0.00,0.000,6,0.000,0.087,2553,1422,3616,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6657,-1.00,-155.7,606.0,-10.6,410,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1423,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,-1.00,-155.7,638.7,-10.7,420,6965,0.00,1.92,0.00,0.000,4,0.000,0.141,2553,461,3614,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7048,-1.00,-155.7,648.9,-11.1,423,7054,0.00,1.75,0.00,0.000,6,0.000,0.092,2552,1413,3615,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7379,-1.00,-155.7,681.2,-9.3,434,7384,0.00,1.92,0.00,0.000,4,0.000,0.145,2552,459,3614,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7447,-1.00,-155.7,686.8,-9.3,436,7454,0.00,1.75,0.00,0.000,6,0.000,0.092,2553,1399,3614,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7768,-1.00,-155.7,716.1,-8.9,447,7774,0.00,1.88,0.00,0.000,4,0.000,0.145,2553,463,3612,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7848,-1.00,-155.7,721.7,-9.1,449,7856,0.00,1.70,0.00,0.000,6,0.000,0.092,2553,1380,3611,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8157,-1.00,-155.7,752.8,-9.5,460,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1380,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8458,-1.00,-155.7,781.1,-9.3,470,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1380,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8758,-1.02,-155.7,807.0,-8.4,480,8765,0.00,1.83,0.00,0.000,4,0.000,0.145,2554,469,3607,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8887,-1.02,-155.7,818.1,-9.3,484,8894,0.00,1.70,0.00,0.000,6,0.000,0.093,2553,1379,3607,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9209,-1.02,-155.7,848.3,-9.4,495,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1379,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9508,-1.04,-155.7,879.9,-10.8,505,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1379,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9809,-1.07,-155.7,913.7,-11.3,515,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1379,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10108,-1.09,-155.7,945.3,-10.0,525,10114,0.00,1.85,0.00,0.000,4,0.000,0.140,2553,460,3602,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10157,-1.09,-155.7,948.3,-10.0,526,10167,0.00,1.70,0.00,0.000,6,0.000,0.088,2553,1376,3600,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10470,-1.11,-155.7,975.3,-7.4,537,10475,0.00,2.28,0.00,0.000,4,0.000,0.110,2552,2574,3601,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10529,-1.14,-155.7,979.3,-7.0,539,10534,0.00,2.38,0.00,0.000,6,0.000,0.129,2552,1372,3600,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,10705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10705,begin apogee
$GC,10714,-0.23,0.0,991.4,-6.8,545,10938,0.90,0.00,217.38,1.502,4,0.197,0.000,2806,1523,2990,0,0,0,0,0,0,13.75,28.83,13.22
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10944,0.84,155.7,1000.9,0.0,552,11116,1.10,2.05,161.77,1.792,4,0.109,0.122,3160,2583,2352,0,0,0,0,0,0,14.16,14.12,13.07
$GC,11176,0.84,261.4,999.9,3.8,560,11296,0.00,2.15,111.95,1.768,6,0.000,0.139,3170,1522,1918,0,0,0,0,0,0,28.83,14.18,13.10
$GC,11607,0.84,261.4,962.5,7.9,575,11615,0.00,2.17,0.00,0.000,4,0.000,0.171,3178,458,1904,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11748,0.81,261.4,952.6,8.3,579,11756,0.00,1.98,0.00,0.000,6,0.000,0.103,3179,1521,1905,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12061,0.78,261.4,926.2,8.0,590,12067,0.12,2.00,0.00,0.000,4,0.280,0.116,3146,2581,1903,0,0,0,0,0,0,14.22,14.38,28.83
$GC,12197,0.78,261.4,917.0,7.7,594,12206,0.00,2.05,0.00,0.000,6,0.000,0.134,3153,1542,1902,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12507,0.78,261.4,888.8,9.0,605,12514,0.00,2.00,0.00,0.000,4,0.000,0.119,3154,2578,1905,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12697,0.78,261.4,871.5,9.7,611,12704,0.00,2.03,0.00,0.000,6,0.000,0.141,3161,1569,1897,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13020,0.78,261.4,839.7,9.7,622,13026,0.00,1.92,0.00,0.000,4,0.000,0.125,3161,2579,1897,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13126,0.78,261.4,831.1,9.6,625,13136,0.00,1.98,0.00,0.000,6,0.000,0.129,3168,1589,1896,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13439,0.78,261.4,802.0,8.5,636,13444,0.00,1.92,0.00,0.000,4,0.000,0.115,3168,2578,1900,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13537,0.78,261.4,794.4,8.4,639,13545,0.12,1.92,0.00,0.000,6,0.303,0.127,3148,1608,1895,0,0,0,0,0,0,13.93,14.14,28.83
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$STATE,22705,end climb,SURFACE_DEPTH_REACHED
$STATE,22706,begin surface coast
$FINISH,1.5,1.025720
$STATE,22737,end surface coast,CONTROL_FINISHED_OK
$STATE,22737,begin surface
$SM_CCo,22760,7.18,0.132,0,0,1560,350.04
$SM_GC,3.32,9.02,0.52,7.18,0.083,0.132,0.132,141,1518,1560,-8.54,0.40,350.04,0,0,0,0,0,0,14.26,14.13,14.17
$IRIDIUM_FIX,2413.38,-3730.51,280113,141456
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.52
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,7599904
$TM_FREEKB,2043592883
$24V_AH,13.1,189.565
$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,23.650,183.850,562.000,7.175,0.000,0.000,0.000,345.475,0.000,0.000,20.966,3212.652,15995.083,961.233,2547.322,693.227,0.000,2477.606,0.000,2111.436,0.000,0.541,0.000
$DEVICE_MAMPS,356.490,171.360,1792.395,132.345,0.000,0.000,0.000,170.595,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22791.000,5503.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.065,21.854,0.000,0.000
$MEM,344988
$DATA_FILE_SIZE,40064,1121
$CAP_FILE_SIZE,237275,0
$CFSIZE,260034560,189456384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,348.4,1
$GPS,290113,032028,2424.742,-3744.215,39,1.1,39,-14.0