version: 66.11
glider: 190
mission: 6
dive: 355
start: 1 4 113 11 36 29
data:
$ID,190
$MISSION,6
$DIVE,355
$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,-13362.18
$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,13
$R_STBD_OVSHOOT,21
$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
$GPS1,040113,112204,2447.736,-3826.712,31,0.9,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.5
$GPS2,040113,113559,2447.622,-3826.768,15,1.1,16,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,268.8,34706,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.23,0.000,2,0.000,0.000,141,1508,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,140,11.43,2.08,-81.20,0.000,4,0.365,0.160,2616,461,3627,0,0,0,0,0,0,14.21,14.23,14.69
$GC,250,-0.81,-155.7,14.8,-10.9,22,258,0.00,1.90,0.00,0.000,6,0.000,0.084,2611,1511,3628,0,0,0,0,0,0,28.83,14.23,28.83
$GC,559,-0.81,-155.7,43.6,-8.5,53,569,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2578,3628,0,0,0,0,0,0,28.83,14.29,28.83
$GC,749,-0.81,-155.7,58.6,-7.7,72,758,0.00,2.03,0.00,0.000,6,0.000,0.114,2605,1533,3628,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1060,-0.81,-155.7,82.9,-8.7,103,1068,0.00,1.98,0.00,0.000,4,0.000,0.108,2605,2579,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1109,-0.81,-155.7,87.1,-8.5,108,1118,0.00,2.03,0.00,0.000,6,0.000,0.116,2605,1535,3628,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1419,-0.81,-155.7,118.0,-11.3,139,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1535,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1720,-0.85,-155.7,148.7,-8.6,169,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1540,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.88,-155.7,171.2,-7.7,199,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1535,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,-0.92,-155.7,197.2,-9.1,229,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1535,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2630,-0.96,-155.7,224.7,-8.3,260,2638,0.00,2.08,0.00,0.000,4,0.000,0.132,2605,463,3629,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2699,-0.96,-155.7,230.9,-9.0,267,2708,0.00,1.98,0.00,0.000,6,0.000,0.081,2605,1555,3628,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3010,-0.99,-155.7,255.1,-7.6,294,3012,0.10,0.00,0.00,0.000,6,0.160,0.000,2558,1556,3628,0,0,0,0,0,0,14.64,28.83,28.83
$GC,3310,-0.99,-155.7,278.1,-7.6,304,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1556,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3610,-0.99,-155.7,302.4,-8.4,314,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1556,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3909,-0.99,-155.7,328.1,-8.4,324,3916,0.00,1.88,0.00,0.000,4,0.000,0.099,2553,2576,3626,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3989,-0.99,-155.7,333.2,-8.4,326,3998,0.00,1.95,0.00,0.000,6,0.000,0.109,2552,1546,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4300,-0.99,-155.7,357.4,-6.8,337,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1546,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-0.99,-155.7,378.8,-7.6,347,4607,0.00,1.90,0.00,0.000,4,0.000,0.101,2549,2569,3624,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4698,-0.99,-155.7,386.4,-8.3,350,4702,0.00,1.95,0.00,0.000,6,0.000,0.109,2549,1546,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5011,-0.99,-155.7,421.0,-12.2,361,5017,0.00,2.10,0.00,0.000,4,0.000,0.135,2549,459,3623,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5091,-0.97,-155.7,429.3,-13.3,363,5099,0.10,1.95,0.00,0.000,6,0.242,0.085,2570,1538,3622,0,0,0,0,0,0,14.12,14.37,28.83
$GC,5402,-0.97,-155.7,472.0,-12.5,374,5408,0.00,1.92,0.00,0.000,4,0.000,0.107,2565,2582,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5461,-0.97,-155.7,479.3,-12.2,376,5467,0.00,1.95,0.00,0.000,6,0.000,0.112,2565,1553,3621,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5790,-0.97,-155.7,515.0,-10.0,387,5797,0.00,2.12,0.00,0.000,4,0.000,0.138,2565,460,3621,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5851,-0.97,-155.7,520.7,-9.5,389,5857,0.00,1.95,0.00,0.000,6,0.000,0.087,2559,1540,3620,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6181,-0.97,-155.7,546.8,-7.4,400,6187,0.00,1.95,0.00,0.000,4,0.000,0.112,2553,2578,3619,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6259,-0.97,-155.7,551.3,-7.4,402,6263,0.00,1.98,0.00,0.000,6,0.000,0.114,2553,1546,3618,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6561,-0.97,-155.7,577.4,-8.7,412,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1546,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6860,-0.97,-155.7,605.1,-9.4,422,6867,0.00,1.98,0.00,0.000,4,0.000,0.112,2550,2579,3617,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6909,-0.97,-155.7,607.9,-9.3,423,6913,0.00,2.00,0.00,0.000,6,0.000,0.116,2550,1550,3616,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7212,-0.97,-155.7,636.3,-8.7,433,7217,0.00,2.12,0.00,0.000,4,0.000,0.143,2550,457,3615,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7279,-0.97,-155.7,641.9,-9.1,435,7283,0.00,2.03,0.00,0.000,6,0.000,0.092,2550,1551,3615,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7592,-0.97,-155.7,670.7,-8.9,446,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1553,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,-0.97,-155.7,698.2,-9.4,456,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1552,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8191,-0.97,-155.7,727.2,-9.7,466,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1553,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,-0.97,-155.7,756.8,-9.9,476,8499,0.00,1.95,0.00,0.000,4,0.000,0.116,2545,2572,3609,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8540,-0.97,-155.7,759.8,-9.9,477,8545,0.12,2.00,0.00,0.000,6,0.234,0.119,2574,1547,3609,0,0,0,0,0,0,14.14,14.21,28.83
$GC,8845,-1.01,-155.7,790.3,-9.5,487,8851,0.00,2.15,0.00,0.000,4,0.000,0.148,2574,460,3608,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8910,-1.01,-155.7,796.2,-9.7,489,8914,0.00,2.03,0.00,0.000,6,0.000,0.093,2567,1550,3608,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9224,-1.03,-155.7,828.1,-10.1,500,9230,0.00,1.95,0.00,0.000,4,0.000,0.119,2564,2578,3607,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9293,-1.06,-155.7,834.3,-10.3,502,9299,0.00,2.00,0.00,0.000,6,0.000,0.121,2564,1548,3607,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9615,-1.10,-155.7,867.8,-10.0,513,9620,0.00,2.15,0.00,0.000,4,0.000,0.149,2564,456,3605,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9793,-1.10,-155.7,887.3,-11.0,519,9799,0.00,2.00,0.00,0.000,6,0.000,0.092,2557,1529,3604,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10122,-1.10,-155.7,923.3,-11.0,530,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1529,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,-1.10,-155.7,956.3,-11.0,540,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1530,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10722,-1.10,-155.7,987.2,-9.9,550,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1530,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10750,begin apogee
$GC,10756,-0.23,0.0,990.0,-9.7,551,10913,0.90,0.00,152.43,1.845,4,0.210,0.000,2809,1531,2990,0,0,0,0,0,0,13.91,28.83,13.12
$STATE,10917,end apogee,CONTROL_FINISHED_OK
$STATE,10918,begin climb
$GC,10920,0.84,155.7,999.4,0.0,556,11090,1.08,2.05,158.62,1.822,4,0.105,0.119,3159,2586,2351,0,0,0,0,0,0,14.12,14.07,13.12
$GC,11325,0.79,155.7,981.0,9.0,570,11330,0.00,2.10,0.00,0.000,6,0.000,0.142,3168,1513,2338,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11646,0.75,155.7,949.4,9.4,581,11652,0.12,2.10,0.00,0.000,4,0.317,0.162,3145,455,2336,0,0,0,0,0,0,14.22,14.31,28.83
$GC,11883,0.71,155.7,929.2,8.2,589,11889,0.00,1.98,0.00,0.000,6,0.000,0.101,3146,1522,2334,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12216,0.71,206.1,908.2,5.6,600,12272,0.00,2.20,51.47,1.769,4,0.000,0.168,3153,460,2143,0,0,0,0,0,0,28.83,14.24,13.40
$GC,12302,0.70,253.5,903.0,5.7,603,12363,0.12,2.00,50.75,1.732,6,0.275,0.099,3120,1529,1948,0,0,0,0,0,0,14.08,14.26,13.25
$GC,12662,0.74,318.6,883.1,5.1,615,12735,0.00,2.08,67.68,1.721,4,0.000,0.119,3120,2580,1685,0,0,0,0,0,0,28.83,14.14,13.30
$GC,12885,0.79,345.4,871.4,6.3,622,12925,0.00,2.05,29.33,1.665,6,0.000,0.132,3127,1543,1571,0,0,0,0,0,0,28.83,14.23,13.38
$GC,13226,0.83,345.4,846.6,7.4,634,13231,0.00,2.00,0.00,0.000,4,0.000,0.125,3127,2582,1562,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13353,0.87,345.4,837.0,8.1,638,13363,0.08,2.00,0.00,0.000,6,0.112,0.136,3171,1568,1561,0,0,0,0,0,0,14.40,14.31,28.83
$GC,13675,0.87,345.4,806.4,9.5,649,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1568,1560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13974,0.87,345.4,778.1,9.5,659,13975,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1568,1559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14273,0.87,345.4,750.1,9.2,669,14281,0.00,1.98,0.00,0.000,4,0.000,0.122,3171,2580,1559,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14342,0.87,345.4,744.3,9.4,671,14346,0.00,2.05,0.00,0.000,6,0.000,0.142,3179,1561,1558,0,0,0,0,0,0,28.83,14.27,28.83
$GC,14655,0.87,345.4,712.5,10.2,682,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1561,1558,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21733,end climb,SURFACE_DEPTH_REACHED
$STATE,21733,begin surface coast
$FINISH,1.3,1.000541
$STATE,21756,end surface coast,CONTROL_FINISHED_OK
$STATE,21757,begin surface
$SM_CCo,21781,-0.12,0.000,0,0,1563,350.04
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$IRIDIUM_FIX,2441.81,-3822.90,040113,040412
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.86
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7634080
$TM_FREEKB,4319264
$24V_AH,13.1,150.349
$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
$DEVICE_SECS,23.425,158.600,510.275,0.000,0.000,0.000,0.000,474.575,0.250,0.000,16.457,3070.918,15477.043,845.931,2579.798,629.105,0.000,2405.146,0.000,1999.109,0.000,0.541,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.907,13.239,0.000,0.000
$MEM,345560
$DATA_FILE_SIZE,40017,1091
$CAP_FILE_SIZE,226581,0
$CFSIZE,260034560,200859648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,178.3,1
$GPS,040113,174058,2446.667,-3828.615,40,0.8,40,-14.1