version: 66.11
glider: 190
mission: 6
dive: 455
start: 1 31 113 14 22 54
data:
$ID,190
$MISSION,6
$DIVE,455
$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,-13488.259
$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,19
$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
$GPS1,310113,141129,2423.281,-3750.987,40,0.8,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-64.8
$GPS2,310113,142224,2423.280,-3750.982,20,0.9,20,-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,320.0,27176,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,35,0.00,0.00,-11.12,0.000,2,0.000,0.000,135,1514,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,145,11.45,2.10,-87.75,0.000,4,0.360,0.162,2614,459,3625,0,0,0,0,0,0,14.16,14.11,14.68
$GC,295,-0.84,-155.7,15.5,-8.8,27,304,0.00,1.98,0.00,0.000,6,0.000,0.084,2608,1526,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,607,-0.86,-155.7,43.1,-10.5,58,614,0.00,1.95,0.00,0.000,4,0.000,0.104,2608,2583,3625,0,0,0,0,0,0,28.83,14.15,28.83
$GC,637,-0.89,-155.7,45.9,-9.4,61,645,0.00,2.05,0.00,0.000,6,0.000,0.116,2608,1515,3625,0,0,0,0,0,0,28.83,14.05,28.83
$GC,947,-0.92,-155.7,75.4,-9.8,92,954,0.00,2.03,0.00,0.000,4,0.000,0.136,2608,459,3625,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1155,-0.92,-155.7,97.1,-10.4,113,1165,0.00,1.90,0.00,0.000,6,0.000,0.081,2603,1490,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1466,-0.95,-155.7,127.3,-9.9,144,1474,0.00,2.03,0.00,0.000,4,0.000,0.136,2605,462,3627,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1546,-0.95,-155.7,135.8,-10.8,152,1554,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1470,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1856,-0.99,-155.7,165.7,-8.8,183,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1472,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-1.02,-155.7,190.9,-7.8,214,2174,0.12,0.00,0.00,0.000,6,0.138,0.000,2544,1472,3626,0,0,0,0,0,0,14.52,28.83,28.83
$GC,2477,-1.00,-155.7,221.7,-9.9,245,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1472,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,-1.00,-155.7,253.5,-9.1,276,2812,0.00,2.03,0.00,0.000,4,0.000,0.096,2540,2581,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2856,-1.00,-155.7,256.1,-8.9,277,2865,0.00,2.15,0.00,0.000,6,0.000,0.110,2540,1460,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3168,-0.97,-155.7,286.9,-9.8,288,3174,0.12,2.05,0.00,0.000,4,0.242,0.097,2567,2581,3626,0,0,0,0,0,0,14.23,14.24,28.83
$GC,3228,-0.97,-155.7,292.2,-9.3,290,3233,0.00,2.12,0.00,0.000,6,0.000,0.112,2567,1462,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3555,-0.97,-155.7,323.2,-9.5,301,3562,0.00,1.95,0.00,0.000,4,0.000,0.132,2567,455,3625,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3604,-0.97,-155.7,326.2,-9.5,302,3613,0.00,1.83,0.00,0.000,6,0.000,0.080,2565,1472,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3917,-0.97,-155.7,355.9,-8.4,313,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1472,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-0.97,-155.7,379.1,-7.6,323,4223,0.00,1.98,0.00,0.000,4,0.000,0.133,2565,457,3624,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4296,-0.97,-155.7,384.0,-7.9,325,4305,0.00,1.80,0.00,0.000,6,0.000,0.081,2560,1460,3624,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4605,-0.97,-155.7,414.0,-9.7,336,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1460,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,-0.97,-155.7,445.0,-10.6,346,4913,0.00,2.08,0.00,0.000,4,0.000,0.103,2553,2574,3622,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4986,-0.97,-155.7,451.3,-10.7,348,4994,0.00,2.12,0.00,0.000,6,0.000,0.112,2553,1470,3622,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5295,-0.97,-155.7,486.4,-10.3,359,5303,0.00,1.95,0.00,0.000,4,0.000,0.134,2553,466,3621,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5355,-0.97,-155.7,492.7,-10.3,361,5362,0.00,1.80,0.00,0.000,6,0.000,0.084,2553,1466,3620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5685,-0.97,-155.7,523.8,-9.1,372,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1465,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5986,-0.97,-155.7,550.3,-8.8,382,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1466,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6286,-0.97,-155.7,577.7,-9.5,392,6292,0.00,2.08,0.00,0.000,4,0.000,0.107,2552,2565,3616,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6334,-0.97,-155.7,580.5,-9.5,393,6344,0.00,2.12,0.00,0.000,6,0.000,0.116,2553,1473,3616,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6647,-0.97,-155.7,613.8,-10.3,404,6652,0.00,1.98,0.00,0.000,4,0.000,0.141,2552,461,3615,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6684,-0.97,-155.7,617.0,-10.4,405,6691,0.00,1.85,0.00,0.000,6,0.000,0.086,2550,1472,3615,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7006,-0.97,-155.7,651.1,-10.2,416,7012,0.00,2.03,0.00,0.000,4,0.000,0.141,2549,462,3613,0,0,0,0,0,0,28.83,13.94,28.83
$GC,7068,-0.97,-155.7,657.6,-10.4,418,7073,0.00,1.83,0.00,0.000,6,0.000,0.090,2550,1468,3613,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7396,-0.97,-155.7,689.0,-9.1,429,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1468,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7697,-0.97,-155.7,715.2,-8.6,439,7703,0.00,2.00,0.00,0.000,4,0.000,0.141,2549,457,3610,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7745,-0.97,-155.7,718.2,-8.9,440,7754,0.12,1.85,0.00,0.000,6,0.266,0.086,2572,1465,3610,0,0,0,0,0,0,13.99,14.23,28.83
$GC,8058,-1.01,-155.7,750.7,-10.6,451,8065,0.00,2.10,0.00,0.000,4,0.000,0.115,2566,2582,3608,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8126,-1.04,-155.7,757.4,-10.9,453,8132,0.00,2.17,0.00,0.000,6,0.000,0.119,2566,1468,3608,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8449,-1.07,-155.7,795.6,-11.7,464,8454,0.00,2.00,0.00,0.000,4,0.000,0.144,2566,460,3610,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8496,-1.09,-155.7,799.3,-11.8,465,8505,0.00,1.88,0.00,0.000,6,0.000,0.090,2565,1476,3607,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8808,-1.12,-155.7,835.0,-10.4,476,8814,0.12,2.08,0.00,0.000,4,0.155,0.114,2514,2578,3606,0,0,0,0,0,0,14.43,14.08,28.83
$GC,8836,-1.15,-155.7,838.1,-10.5,477,8842,0.00,2.15,0.00,0.000,6,0.000,0.120,2514,1478,3605,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9169,-1.15,-155.7,873.3,-10.5,488,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1478,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9466,-1.15,-155.7,904.4,-10.4,498,9472,0.00,2.05,0.00,0.000,4,0.000,0.147,2514,463,3603,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9566,-1.12,-155.7,914.3,-11.0,501,9572,0.00,1.85,0.00,0.000,6,0.000,0.090,2510,1468,3603,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9886,-1.12,-155.7,948.4,-10.3,512,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1468,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10188,-1.12,-155.7,979.3,-10.3,522,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1467,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10303,begin apogee
$GC,10311,-0.23,0.0,991.7,-10.3,526,10473,1.12,0.00,155.95,1.838,4,0.224,0.000,2810,1526,2986,0,0,0,0,0,0,13.66,28.83,13.01
$STATE,10478,end apogee,CONTROL_FINISHED_OK
$STATE,10478,begin climb
$GC,10482,0.84,155.7,1002.0,0.0,531,10654,1.08,2.00,161.85,1.829,4,0.110,0.114,3159,2576,2352,0,0,0,0,0,0,14.16,14.12,13.08
$GC,10889,0.83,214.9,995.9,5.3,545,10956,0.00,2.05,62.72,1.797,6,0.000,0.137,3167,1518,2114,0,0,0,0,0,0,28.83,14.28,13.19
$GC,11256,0.81,240.3,972.5,6.4,557,11288,0.00,2.15,26.95,1.750,4,0.000,0.156,3175,451,2008,0,0,0,0,0,0,28.83,14.30,13.35
$GC,11477,0.77,240.3,957.1,7.9,564,11486,0.12,2.00,0.00,0.000,6,0.291,0.098,3144,1528,1997,0,0,0,0,0,0,14.12,14.37,28.83
$GC,11789,0.77,240.3,931.1,8.2,575,11795,0.00,1.95,0.00,0.000,4,0.000,0.116,3144,2581,1995,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11938,0.77,240.3,917.5,9.3,580,11943,0.00,2.05,0.00,0.000,6,0.000,0.140,3151,1552,1994,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12269,0.77,240.3,883.9,10.6,591,12275,0.00,1.98,0.00,0.000,4,0.000,0.125,3152,2583,1993,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12347,0.77,240.3,877.4,10.8,593,12356,0.00,2.05,0.00,0.000,6,0.000,0.142,3158,1561,1991,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12657,0.77,240.3,842.2,10.4,604,12663,0.00,1.98,0.00,0.000,4,0.000,0.122,3159,2574,1991,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12737,0.77,240.3,836.0,10.4,606,12745,0.00,1.98,0.00,0.000,6,0.000,0.141,3166,1585,1991,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13047,0.77,240.3,805.9,8.6,617,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1585,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13347,0.78,251.8,783.9,6.8,627,13364,0.00,1.88,11.25,1.578,4,0.000,0.124,3165,2577,1958,0,0,0,0,0,0,28.83,14.48,13.35
$GC,13457,0.77,266.3,777.8,6.7,630,13480,0.10,1.98,17.05,1.616,6,0.266,0.140,3146,1584,1906,0,0,0,0,0,0,14.09,14.22,13.40
$GC,13790,0.78,284.4,755.3,6.6,642,13818,0.00,1.88,20.55,1.613,4,0.000,0.120,3147,2577,1823,0,0,0,0,0,0,28.83,14.41,13.42
$GC,13898,0.78,287.5,748.8,7.1,645,13906,0.00,1.98,0.00,0.000,6,0.000,0.134,3153,1590,1817,0,0,0,0,0,0,28.83,14.18,28.83
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$STATE,22777,end climb,SURFACE_DEPTH_REACHED
$STATE,22777,begin surface coast
$FINISH,1.5,1.025272
$STATE,22808,end surface coast,CONTROL_FINISHED_OK
$STATE,22809,begin surface
$SM_CCo,22833,7.55,0.132,0,0,1561,350.04
$SM_GC,3.09,8.65,1.98,7.55,0.057,0.089,0.132,136,1526,1561,-8.54,-0.42,350.04,0,0,0,0,0,0,14.38,14.23,14.23
$IRIDIUM_FIX,2413.38,-3748.97,310113,070702
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.50
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.10
$XPDR_PINGS,3
$SC_FREEKB,7596064
$24V_AH,13.0,193.698
$10V_AH,11.7,0.000
$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,23.450,170.975,514.650,7.550,0.000,0.000,0.000,367.200,0.750,0.000,20.971,3174.964,16178.147,918.286,2523.972,687.312,0.000,2437.817,0.000,2106.495,0.000,0.541,0.000
$DEVICE_MAMPS,359.550,176.715,1838.295,132.345,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22859.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.098,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43331,1142
$CAP_FILE_SIZE,236666,0
$CFSIZE,260034560,188354560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042, 58.1,1
$GPS,310113,204503,2424.365,-3752.171,40,1.4,43,-14.0