version: 66.11
glider: 190
mission: 6
dive: 358
start: 1 5 113 6 13 30
data:
$ID,190
$MISSION,6
$DIVE,358
$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,-13365.952
$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,17
$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
$GPS1,050113,060004,2443.999,-3831.500,39,0.7,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.0
$GPS2,050113,061300,2443.874,-3831.507,19,1.3,20,-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,262.3,24133,-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,24,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.43,0.000,2,0.000,0.000,143,1513,1654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.3,0.0,1,148,11.27,2.10,-89.07,0.000,4,0.357,0.160,2614,454,3626,0,0,0,0,0,0,14.17,14.19,14.66
$GC,338,-0.84,-155.7,24.0,-10.3,31,347,0.00,1.92,0.00,0.000,6,0.000,0.084,2608,1516,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,648,-0.84,-155.7,55.0,-10.3,62,658,0.00,2.03,0.00,0.000,4,0.000,0.107,2605,2582,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,729,-0.84,-155.7,63.3,-10.3,70,738,0.00,2.05,0.00,0.000,6,0.000,0.118,2605,1527,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1038,-0.84,-155.7,94.1,-9.8,101,1047,0.00,2.03,0.00,0.000,4,0.000,0.107,2604,2585,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1139,-0.84,-155.7,103.1,-8.7,111,1147,0.00,2.03,0.00,0.000,6,0.000,0.117,2605,1537,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1450,-0.87,-155.7,128.0,-7.7,142,1457,0.00,2.08,0.00,0.000,4,0.000,0.142,2605,459,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1590,-0.87,-155.7,140.1,-8.6,156,1597,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1528,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1899,-0.90,-155.7,165.2,-8.0,187,1907,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,466,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1980,-0.90,-155.7,171.5,-8.0,195,1987,0.00,1.88,0.00,0.000,6,0.000,0.083,2605,1512,3628,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2290,-0.93,-155.7,197.4,-8.8,226,2297,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,444,3628,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2339,-0.93,-155.7,202.2,-9.7,231,2347,0.00,1.90,0.00,0.000,6,0.000,0.082,2605,1496,3628,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2648,-0.97,-155.7,227.6,-7.3,262,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1496,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-1.01,-155.7,249.4,-7.8,292,2960,0.12,2.03,0.00,0.000,4,0.139,0.138,2548,462,3628,0,0,0,0,0,0,14.56,14.14,28.83
$GC,3081,-0.98,-155.7,262.0,-10.6,297,3087,0.12,1.85,0.00,0.000,6,0.264,0.087,2570,1502,3627,0,0,0,0,0,0,14.22,14.42,28.83
$GC,3401,-0.98,-155.7,294.8,-10.0,308,3406,0.00,1.98,0.00,0.000,4,0.000,0.108,2565,2584,3627,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3549,-0.98,-155.7,309.9,-10.1,313,3556,0.00,2.08,0.00,0.000,6,0.000,0.119,2565,1508,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3878,-0.98,-155.7,344.1,-10.3,324,3886,0.00,2.03,0.00,0.000,4,0.000,0.106,2559,2578,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3957,-0.98,-155.7,350.0,-10.0,326,3961,0.00,2.05,0.00,0.000,6,0.000,0.118,2559,1520,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4260,-0.98,-155.7,378.8,-8.4,336,4265,0.00,2.00,0.00,0.000,4,0.000,0.110,2553,2574,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4288,-0.98,-155.7,381.3,-8.4,337,4296,0.00,2.05,0.00,0.000,6,0.000,0.118,2553,1517,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4620,-0.98,-155.7,411.9,-9.9,348,4625,0.00,1.95,0.00,0.000,4,0.000,0.109,2549,2577,3623,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4667,-0.98,-155.7,415.0,-10.0,349,4676,0.00,2.03,0.00,0.000,6,0.000,0.116,2549,1529,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4983,-0.96,-155.7,446.3,-8.9,360,4985,0.12,0.00,0.00,0.000,6,0.251,0.000,2579,1529,3622,0,0,0,0,0,0,14.38,28.83,28.83
$GC,5280,-0.96,-155.7,467.5,-6.6,370,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1529,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5580,-0.99,-155.7,489.1,-7.9,380,5585,0.00,2.08,0.00,0.000,4,0.000,0.138,2579,456,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5688,-0.99,-155.7,497.2,-8.7,383,5699,0.00,1.95,0.00,0.000,6,0.000,0.083,2573,1531,3620,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6001,-1.02,-155.7,528.3,-9.9,394,6006,0.00,2.10,0.00,0.000,4,0.000,0.142,2573,457,3619,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6047,-1.02,-155.7,531.6,-10.1,395,6051,0.00,1.95,0.00,0.000,6,0.000,0.088,2566,1521,3618,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6350,-1.02,-155.7,568.5,-11.9,405,6355,0.00,1.98,0.00,0.000,4,0.000,0.110,2560,2572,3617,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6427,-1.02,-155.7,575.7,-12.0,407,6431,0.00,2.03,0.00,0.000,6,0.000,0.116,2559,1525,3617,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6729,-1.02,-155.7,614.5,-11.8,417,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1525,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7028,-1.02,-155.7,647.8,-10.5,427,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1525,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7330,-1.04,-155.7,674.9,-8.4,437,7336,0.00,2.08,0.00,0.000,4,0.000,0.142,2559,459,3614,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7479,-1.01,-155.7,687.4,-8.4,442,7485,0.00,1.95,0.00,0.000,6,0.000,0.091,2554,1524,3612,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7808,-1.01,-155.7,713.0,-8.0,453,7816,0.00,2.03,0.00,0.000,4,0.000,0.115,2552,2577,3612,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7859,-1.01,-155.7,715.3,-7.9,454,7867,0.00,2.08,0.00,0.000,6,0.000,0.119,2552,1511,3611,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8169,-1.01,-155.7,746.8,-10.5,465,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1511,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8469,-1.01,-155.7,780.6,-11.3,475,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1511,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8768,-1.01,-155.7,813.2,-10.7,485,8776,0.00,2.10,0.00,0.000,4,0.000,0.144,2552,458,3607,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8877,-1.01,-155.7,823.0,-10.8,488,8881,0.00,1.95,0.00,0.000,6,0.000,0.093,2549,1509,3607,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9181,-1.01,-155.7,854.6,-9.4,498,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1509,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9478,-1.01,-155.7,878.0,-7.3,508,9486,0.00,2.12,0.00,0.000,4,0.000,0.149,2549,460,3605,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9630,-0.99,-155.7,888.9,-7.3,513,9636,0.00,1.92,0.00,0.000,6,0.000,0.096,2549,1494,3604,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9960,-0.99,-155.7,911.4,-7.2,524,9966,0.00,2.08,0.00,0.000,4,0.000,0.150,2546,459,3603,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10008,-0.99,-155.7,913.9,-7.5,525,10019,0.00,1.95,0.00,0.000,6,0.000,0.096,2549,1499,3603,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10321,-1.01,-155.7,942.0,-8.8,536,10326,0.00,2.10,0.00,0.000,4,0.000,0.151,2549,456,3601,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10408,-1.01,-155.7,950.7,-9.4,539,10416,0.00,1.90,0.00,0.000,6,0.000,0.094,2549,1474,3601,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10743,-1.03,-155.7,981.3,-9.4,550,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1474,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10856,begin apogee
$GC,10863,-0.23,0.0,992.6,-9.4,554,11020,0.93,0.00,152.75,1.831,4,0.206,0.000,2808,1527,2991,0,0,0,0,0,0,13.86,28.83,13.12
$STATE,11025,end apogee,CONTROL_FINISHED_OK
$STATE,11025,begin climb
$GC,11028,0.84,155.7,1002.5,0.0,559,11197,1.10,2.05,159.38,1.811,4,0.114,0.122,3161,2577,2352,0,0,0,0,0,0,14.11,14.07,13.12
$GC,11431,0.80,174.3,992.3,6.6,573,11456,0.00,2.08,18.98,1.714,6,0.000,0.140,3169,1518,2275,0,0,0,0,0,0,28.83,14.32,13.43
$GC,11780,0.77,183.9,967.6,6.9,585,11788,0.12,2.08,2.78,0.769,4,0.310,0.124,3143,2586,2240,0,0,0,0,0,0,14.25,14.45,13.14
$GC,11839,0.74,201.2,963.7,6.6,587,11870,0.00,2.10,21.60,1.625,6,0.000,0.142,3150,1525,2167,0,0,0,0,1,0,28.83,14.31,13.35
$GC,12190,0.74,240.9,942.1,5.9,599,12239,0.00,0.00,42.58,2.078,6,0.000,0.000,3150,1526,2007,0,0,0,0,1,0,28.83,28.83,13.07
$GC,12521,0.76,264.1,920.9,6.4,610,12558,0.00,0.00,34.55,1.754,6,0.000,0.000,3151,1526,1913,0,0,0,0,0,0,28.83,28.83,13.42
$GC,12852,0.76,264.1,896.8,7.6,621,12857,0.00,2.17,0.00,0.000,4,0.000,0.176,3159,457,1899,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12917,0.76,264.1,891.8,8.1,623,12921,0.00,1.98,0.00,0.000,6,0.000,0.099,3158,1516,1898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13230,0.76,264.1,861.7,9.9,634,13237,0.00,2.17,0.00,0.000,4,0.000,0.173,3166,465,1896,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13278,0.76,264.1,858.4,10.3,635,13283,0.15,1.95,0.00,0.000,6,0.279,0.098,3132,1514,1896,0,0,0,0,0,0,14.21,14.44,28.83
$GC,13582,0.76,264.1,824.2,10.8,645,13587,0.00,1.98,0.00,0.000,4,0.000,0.116,3132,2578,1896,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13719,0.76,264.1,811.2,10.9,649,13729,0.00,2.10,0.00,0.000,6,0.000,0.135,3140,1522,1894,0,0,0,0,0,0,28.83,14.30,28.83
$GC,14029,0.76,264.1,778.2,9.4,660,14037,0.00,2.08,0.00,0.000,4,0.000,0.128,3140,2576,1894,0,0,0,0,0,0,28.83,14.33,28.83
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$STATE,22527,end climb,SURFACE_DEPTH_REACHED
$STATE,22527,begin surface coast
$FINISH,1.4,1.000272
$STATE,22558,end surface coast,CONTROL_FINISHED_OK
$STATE,22558,begin surface
$SM_CCo,22582,6.80,0.135,0,0,1560,350.04
$SM_GC,3.45,8.75,0.12,6.80,0.064,0.168,0.135,143,1519,1560,-8.52,0.51,350.04,0,0,0,0,0,0,14.42,14.38,14.28
$IRIDIUM_FIX,2437.06,-3821.43,040113,232308
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.17
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,7632928
$TM_FREEKB,4294048
$24V_AH,13.1,151.640
$10V_AH,12.4,0.000
$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,23.200,192.325,505.625,6.800,0.000,0.000,0.000,423.650,0.000,0.000,21.153,3185.687,15956.690,930.761,2623.846,657.395,0.000,2500.413,0.000,2080.705,0.000,0.540,0.000
$DEVICE_MAMPS,357.255,186.660,2077.740,135.405,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22603.000,5605.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.773,13.257,0.000,0.000
$MEM,345576
$DATA_FILE_SIZE,39992,1118
$CAP_FILE_SIZE,240104,0
$CFSIZE,260034560,200474624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.068,180.9,1
$GPS,050113,123122,2442.339,-3833.160,37,0.8,37,-14.1