version: 66.11
glider: 190
mission: 6
dive: 453
start: 1 31 113 1 19 15
data:
$ID,190
$MISSION,6
$DIVE,453
$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,-13485.745
$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,1
$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
$GPS1,310113,010552,2421.217,-3747.822,39,0.8,39,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-66.1
$GPS2,310113,011842,2421.277,-3747.815,18,0.8,19,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$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,314.4,33557,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,33,0.00,0.00,-10.10,0.000,2,0.000,0.000,139,1508,1784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.4,0.0,1,143,11.20,2.10,-83.80,0.000,4,0.350,0.160,2618,459,3625,0,0,0,0,0,0,14.09,14.02,14.71
$GC,265,-0.84,-155.7,14.5,-9.1,24,273,0.00,1.92,0.00,0.000,6,0.000,0.081,2617,1522,3624,0,0,0,0,0,0,28.83,14.19,28.83
$GC,576,-0.87,-155.7,42.5,-8.7,55,583,0.00,2.10,0.00,0.000,4,0.000,0.138,2618,455,3625,0,0,0,0,0,0,28.83,14.05,28.83
$GC,634,-0.87,-155.7,48.0,-9.3,61,645,0.00,1.92,0.00,0.000,6,0.000,0.080,2618,1504,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,946,-0.91,-155.7,77.4,-9.4,92,953,0.00,2.05,0.00,0.000,4,0.000,0.138,2618,457,3626,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1097,-0.91,-155.7,92.3,-10.2,107,1103,0.00,1.83,0.00,0.000,6,0.000,0.080,2617,1481,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1405,-0.95,-155.7,120.8,-9.0,138,1413,0.00,2.03,0.00,0.000,4,0.000,0.137,2618,457,3625,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1496,-0.97,-155.7,128.9,-9.0,147,1503,0.08,1.83,0.00,0.000,6,0.097,0.080,2564,1467,3626,0,0,0,0,0,0,14.28,14.23,28.83
$GC,1807,-0.97,-155.7,155.9,-8.3,178,1813,0.00,1.98,0.00,0.000,4,0.000,0.135,2565,457,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1846,-0.95,-155.7,159.3,-8.5,182,1853,0.00,1.80,0.00,0.000,6,0.000,0.080,2565,1456,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2154,-0.95,-155.7,185.9,-9.0,213,2164,0.00,2.08,0.00,0.000,4,0.000,0.103,2561,2568,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2224,-0.95,-155.7,192.1,-9.1,220,2233,0.00,2.15,0.00,0.000,6,0.000,0.114,2562,1451,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2535,-0.95,-155.7,221.4,-9.8,251,2543,0.00,1.95,0.00,0.000,4,0.000,0.133,2562,457,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2606,-0.95,-155.7,228.5,-10.4,258,2613,0.00,1.75,0.00,0.000,6,0.000,0.080,2557,1449,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2916,-0.95,-155.7,258.8,-9.6,283,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1449,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3214,-0.95,-155.7,285.6,-8.6,293,3223,0.00,1.95,0.00,0.000,4,0.000,0.135,2557,463,3626,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3344,-0.95,-155.7,296.2,-8.9,297,3352,0.12,1.80,0.00,0.000,6,0.254,0.082,2581,1447,3625,0,0,0,0,0,0,14.09,14.31,28.83
$GC,3669,-0.98,-155.7,322.9,-8.3,308,3675,0.00,1.92,0.00,0.000,4,0.000,0.138,2582,458,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3763,-0.98,-155.7,331.1,-8.9,311,3767,0.00,1.75,0.00,0.000,6,0.000,0.082,2579,1421,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4080,-1.00,-155.7,361.2,-9.5,322,4085,0.00,1.88,0.00,0.000,4,0.000,0.138,2579,459,3624,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4135,-1.00,-155.7,367.3,-9.8,324,4143,0.00,1.75,0.00,0.000,6,0.000,0.083,2579,1420,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4470,-1.03,-155.7,398.2,-9.1,335,4475,0.00,1.90,0.00,0.000,4,0.000,0.138,2579,453,3622,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4604,-1.03,-155.7,409.7,-9.7,339,4608,0.00,1.73,0.00,0.000,6,0.000,0.085,2578,1393,3622,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4908,-1.05,-155.7,438.7,-8.9,349,4913,0.00,1.88,0.00,0.000,4,0.000,0.141,2578,459,3621,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5026,-1.05,-155.7,450.0,-9.5,353,5032,0.00,1.62,0.00,0.000,6,0.000,0.086,2579,1355,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5358,-1.08,-155.7,481.3,-9.6,364,5364,0.12,1.77,0.00,0.000,4,0.138,0.138,2517,454,3619,0,0,0,0,0,0,14.57,14.09,28.83
$GC,5416,-1.08,-155.7,487.9,-10.3,366,5424,0.00,1.62,0.00,0.000,6,0.000,0.085,2512,1350,3619,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5749,-1.05,-155.7,524.3,-10.9,377,5755,0.12,2.28,0.00,0.000,4,0.265,0.101,2538,2578,3618,0,0,0,0,0,0,14.19,14.21,28.83
$GC,5875,-1.05,-155.7,536.8,-10.4,381,5883,0.00,2.35,0.00,0.000,6,0.000,0.117,2538,1361,3618,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6196,-1.05,-155.7,571.5,-10.2,392,6203,0.00,1.75,0.00,0.000,4,0.000,0.132,2538,461,3616,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6316,-1.05,-155.7,584.0,-10.4,396,6322,0.00,1.60,0.00,0.000,6,0.000,0.085,2536,1342,3616,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6645,-1.05,-155.7,613.5,-8.7,407,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1342,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6947,-1.05,-155.7,639.2,-8.7,417,6953,0.00,1.77,0.00,0.000,4,0.000,0.145,2536,463,3613,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7014,-1.05,-155.7,644.8,-9.2,419,7018,0.00,1.60,0.00,0.000,6,0.000,0.087,2536,1334,3612,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7328,-1.05,-155.7,677.5,-10.6,430,7334,0.00,1.75,0.00,0.000,4,0.000,0.145,2536,461,3612,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7458,-1.05,-155.7,691.6,-11.8,434,7465,0.00,1.55,0.00,0.000,6,0.000,0.088,2536,1313,3611,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7778,-1.05,-155.7,730.0,-11.7,445,7785,0.00,2.38,0.00,0.000,4,0.000,0.106,2536,2570,3610,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7838,-1.05,-155.7,736.9,-11.7,447,7844,0.00,2.45,0.00,0.000,6,0.000,0.116,2540,1314,3609,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8169,-1.05,-155.7,774.1,-10.9,458,8174,0.00,1.67,0.00,0.000,4,0.000,0.135,2536,463,3608,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8257,-1.05,-155.7,784.1,-11.0,461,8265,0.00,1.55,0.00,0.000,6,0.000,0.080,2536,1317,3608,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8589,-1.05,-155.7,817.1,-9.9,472,8594,0.00,1.70,0.00,0.000,4,0.000,0.145,2536,459,3606,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8726,-1.05,-155.7,829.7,-10.5,476,8730,0.00,1.55,0.00,0.000,6,0.000,0.090,2540,1296,3606,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9030,-1.05,-155.7,861.3,-9.9,486,9035,0.00,1.65,0.00,0.000,4,0.000,0.138,2536,460,3605,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9096,-1.05,-155.7,867.5,-10.1,488,9100,0.00,1.50,0.00,0.000,6,0.000,0.083,2535,1279,3605,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9410,-1.05,-155.7,900.1,-10.1,499,9415,0.00,2.42,0.00,0.000,4,0.000,0.107,2536,2578,3603,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9477,-1.05,-155.7,905.8,-9.8,501,9485,0.00,2.62,0.00,0.000,6,0.000,0.127,2536,1270,3603,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9798,-1.05,-155.7,936.4,-9.0,512,9805,0.00,2.53,0.00,0.000,4,0.000,0.114,2535,2571,3601,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9838,-1.05,-155.7,939.1,-9.0,513,9845,0.00,2.60,0.00,0.000,6,0.000,0.129,2536,1277,3601,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10158,-1.05,-155.7,968.1,-8.8,524,10165,0.00,2.53,0.00,0.000,4,0.000,0.114,2536,2570,3600,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10257,-1.05,-155.7,975.8,-8.5,527,10266,0.00,2.58,0.00,0.000,6,0.000,0.129,2536,1294,3599,0,0,0,0,0,0,28.83,13.91,28.83
$STATE,10425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10425,begin apogee
$GC,10434,-0.23,0.0,991.9,-9.1,533,10617,1.00,0.00,173.35,2.129,4,0.214,0.000,2808,1525,2990,0,0,0,0,1,0,13.71,28.83,12.74
$STATE,10621,end apogee,CONTROL_FINISHED_OK
$STATE,10621,begin climb
$GC,10626,0.84,155.7,1004.0,0.0,539,10810,1.10,2.03,169.27,2.510,4,0.109,0.119,3164,2579,2355,0,0,0,0,1,0,14.10,14.06,12.75
$GC,11041,0.81,200.4,997.9,5.8,554,11099,0.00,2.05,53.33,1.809,6,0.000,0.135,3171,1520,2173,0,0,0,0,0,0,28.83,14.31,13.19
$GC,11419,0.77,200.4,969.7,8.1,567,11427,0.12,2.12,0.00,0.000,4,0.302,0.159,3158,460,2161,0,0,0,0,0,0,14.21,14.21,28.83
$GC,11582,0.74,200.4,957.5,8.2,572,11588,0.00,1.92,0.00,0.000,6,0.000,0.096,3153,1522,2161,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11902,0.71,200.4,930.7,8.3,583,11908,0.12,2.00,0.00,0.000,4,0.308,0.112,3122,2586,2158,0,0,0,0,0,0,14.17,14.34,28.83
$GC,12030,0.71,200.4,921.0,8.0,587,12036,0.00,2.10,0.00,0.000,6,0.000,0.141,3129,1536,2157,0,0,0,0,0,0,28.83,14.17,28.83
$GC,12352,0.72,214.6,897.2,6.7,598,12372,0.00,2.03,14.68,1.756,4,0.000,0.124,3129,2580,2110,0,0,0,0,0,0,28.83,14.50,13.37
$GC,12533,0.73,236.5,886.0,6.5,603,12563,0.00,2.03,24.52,1.760,6,0.000,0.142,3137,1549,2025,0,0,0,0,0,0,28.83,14.26,13.38
$GC,12873,0.75,260.8,863.7,6.4,615,12909,0.00,2.03,27.38,1.742,4,0.000,0.123,3137,2584,1920,0,0,0,0,0,0,28.83,14.35,13.37
$GC,13033,0.75,260.8,852.8,7.3,620,13039,0.00,2.00,0.00,0.000,6,0.000,0.143,3144,1571,1915,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13353,0.75,260.8,825.3,8.8,631,13358,0.00,1.92,0.00,0.000,4,0.000,0.124,3144,2582,1914,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13472,0.75,260.8,814.3,9.1,635,13478,0.00,1.95,0.00,0.000,6,0.000,0.142,3151,1601,1913,0,0,0,0,0,0,28.83,14.13,28.83
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$STATE,22902,end climb,SURFACE_DEPTH_REACHED
$STATE,22902,begin surface coast
$FINISH,1.5,1.011624
$STATE,22924,end surface coast,CONTROL_FINISHED_OK
$STATE,22924,begin surface
$SM_CCo,22947,20.20,0.128,0,0,1561,350.04
$SM_GC,2.36,8.90,0.45,20.20,0.074,0.143,0.128,136,1519,1561,-8.55,0.48,350.04,0,0,0,0,0,0,14.31,14.14,14.26
$IRIDIUM_FIX,2411.01,-3748.97,310113,010134
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.21
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7596832
$24V_AH,12.7,192.926
$10V_AH,12.2,0.000
$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,23.325,196.775,526.900,20.200,0.000,0.000,0.000,422.825,0.500,0.000,19.967,3322.041,16047.602,929.643,2715.778,712.962,0.000,2564.987,0.000,2232.843,0.000,0.541,0.000
$DEVICE_MAMPS,350.370,159.885,2509.965,127.755,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.046,0.000,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,43338,1140
$CAP_FILE_SIZE,244058,0
$CFSIZE,260034560,188567552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.030, 20.5,1
$GPS,310113,074328,2422.060,-3749.229,40,0.9,40,-14.0