version: 66.11
glider: 190
mission: 6
dive: 394
start: 1 14 113 23 26 17
data:
$ID,190
$MISSION,6
$DIVE,394
$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,-13411.328
$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,14
$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
$GPS1,140113,231306,2426.105,-3810.885,27,1.1,27,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-59.6
$GPS2,140113,232544,2426.209,-3810.776,21,1.1,22,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,C_NE
$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,49.2,20657,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.02,0.000,2,0.000,0.000,139,1504,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.2,0.0,1,143,11.02,2.05,-82.88,0.000,4,0.345,0.124,2605,2585,3623,0,0,0,0,0,0,14.07,14.28,14.66
$GC,333,-0.84,-155.7,19.4,-9.3,30,341,0.00,2.05,0.00,0.000,6,0.000,0.114,2605,1526,3622,0,0,0,0,0,0,28.83,14.02,28.83
$GC,642,-0.84,-155.7,49.6,-9.9,61,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1526,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-0.84,-155.7,76.4,-8.1,91,951,0.00,2.12,0.00,0.000,4,0.000,0.137,2605,450,3624,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1014,-0.82,-155.7,83.1,-9.6,98,1021,0.00,1.98,0.00,0.000,6,0.000,0.086,2604,1528,3624,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1323,-0.82,-155.7,109.8,-9.5,129,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1528,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1623,-0.85,-155.7,137.8,-10.2,159,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1529,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1923,-0.88,-155.7,169.3,-10.2,189,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1529,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,-0.92,-155.7,196.8,-8.2,219,2231,0.00,2.08,0.00,0.000,4,0.000,0.131,2605,459,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2382,-0.92,-155.7,209.8,-8.0,235,2391,0.00,1.92,0.00,0.000,6,0.000,0.077,2605,1532,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2694,-0.96,-155.7,233.6,-7.8,266,2701,0.00,1.92,0.00,0.000,4,0.000,0.100,2605,2574,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2743,-1.00,-155.7,237.4,-7.6,271,2752,0.08,2.03,0.00,0.000,6,0.088,0.109,2556,1515,3625,0,0,0,0,0,0,14.17,14.09,28.83
$GC,3063,-1.00,-155.7,268.5,-10.1,291,3069,0.00,2.05,0.00,0.000,4,0.000,0.134,2555,456,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3232,-0.96,-155.7,285.2,-11.3,296,3240,0.00,1.90,0.00,0.000,6,0.000,0.082,2553,1509,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3543,-0.96,-155.7,320.0,-10.3,307,3549,0.00,1.98,0.00,0.000,4,0.000,0.103,2549,2575,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3602,-0.96,-155.7,326.2,-10.2,309,3611,0.12,2.05,0.00,0.000,6,0.237,0.112,2578,1504,3624,0,0,0,0,0,0,14.17,14.26,28.83
$GC,3937,-0.99,-155.7,356.0,-8.8,320,3942,0.00,2.00,0.00,0.000,4,0.000,0.135,2578,462,3623,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4031,-0.99,-155.7,364.5,-9.2,323,4035,0.00,1.88,0.00,0.000,6,0.000,0.082,2571,1501,3623,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4343,-0.99,-155.7,393.0,-9.0,334,4350,0.00,2.00,0.00,0.000,4,0.000,0.105,2566,2578,3622,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4383,-0.99,-155.7,395.7,-9.1,335,4390,0.00,2.08,0.00,0.000,6,0.000,0.116,2565,1503,3622,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4703,-0.99,-155.7,427.3,-9.9,346,4710,0.00,2.03,0.00,0.000,4,0.000,0.136,2565,462,3621,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4855,-0.96,-155.7,443.3,-10.8,351,4861,0.00,1.85,0.00,0.000,6,0.000,0.085,2559,1497,3621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5183,-0.96,-155.7,476.3,-9.6,362,5190,0.00,2.03,0.00,0.000,4,0.000,0.136,2559,460,3620,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5273,-0.96,-155.7,485.3,-9.9,365,5280,0.00,1.88,0.00,0.000,6,0.000,0.084,2553,1493,3620,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5604,-0.96,-155.7,516.4,-9.6,376,5611,0.00,2.03,0.00,0.000,4,0.000,0.109,2549,2571,3619,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5642,-0.96,-155.7,519.3,-9.7,377,5651,0.12,2.10,0.00,0.000,6,0.238,0.116,2578,1485,3618,0,0,0,0,0,0,14.15,14.25,28.83
$GC,5967,-0.99,-155.7,553.0,-10.6,388,5973,0.00,1.98,0.00,0.000,4,0.000,0.137,2579,462,3617,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6002,-1.02,-155.7,556.5,-10.8,389,6011,0.00,1.88,0.00,0.000,6,0.000,0.084,2572,1494,3616,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6327,-1.05,-155.7,593.5,-11.2,400,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1494,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6624,-1.08,-155.7,625.0,-10.3,410,6630,0.00,2.03,0.00,0.000,4,0.000,0.138,2572,463,3614,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6702,-1.08,-155.7,631.2,-10.2,412,6706,0.00,1.88,0.00,0.000,6,0.000,0.086,2566,1490,3614,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7005,-1.10,-155.7,661.2,-9.0,422,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1490,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,-1.13,-155.7,687.0,-8.7,432,7311,0.12,2.03,0.00,0.000,4,0.144,0.139,2514,466,3609,0,0,0,0,0,0,14.62,14.06,28.83
$GC,7343,-1.13,-155.7,689.9,-8.8,433,7350,0.00,1.85,0.00,0.000,6,0.000,0.089,2508,1479,3611,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7664,-1.09,-155.7,721.0,-9.1,444,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1479,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-1.06,-155.7,746.7,-8.4,454,7972,0.15,2.08,0.00,0.000,4,0.273,0.113,2536,2567,3608,0,0,0,0,0,0,14.09,14.14,28.83
$GC,8073,-1.06,-155.7,753.7,-8.0,457,8082,0.00,2.12,0.00,0.000,6,0.000,0.120,2536,1484,3608,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8383,-1.06,-155.7,780.6,-8.6,468,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1483,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8684,-1.06,-155.7,810.0,-10.5,478,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1483,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8983,-1.06,-155.7,845.7,-12.1,488,8990,0.00,2.12,0.00,0.000,4,0.000,0.116,2536,2578,3605,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9043,-1.06,-155.7,852.8,-12.0,490,9051,0.00,2.15,0.00,0.000,6,0.000,0.121,2536,1489,3605,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9375,-1.06,-155.7,892.0,-11.7,501,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1489,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,-1.06,-155.7,924.3,-10.3,511,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1489,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9975,-1.06,-155.7,953.1,-9.3,521,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1489,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10273,-1.06,-155.7,979.4,-8.6,531,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1489,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10421,begin apogee
$GC,10429,-0.23,0.0,992.0,-8.4,536,10595,1.02,0.00,155.95,2.505,4,0.228,0.000,2810,1520,2990,0,0,0,0,1,0,13.74,28.83,12.68
$STATE,10598,end apogee,CONTROL_FINISHED_OK
$STATE,10599,begin climb
$GC,10602,0.84,155.7,1000.3,0.0,541,10786,1.10,2.08,168.32,2.517,4,0.117,0.122,3161,2576,2356,0,0,0,0,1,0,14.03,14.00,12.74
$GC,11016,0.80,182.9,991.2,6.3,555,11056,0.00,2.03,34.45,1.805,6,0.000,0.134,3169,1522,2244,0,0,0,0,0,0,28.83,14.32,13.30
$GC,11355,0.77,195.4,967.3,6.8,566,11374,0.00,2.12,14.30,1.756,4,0.000,0.160,3177,461,2190,0,0,0,0,0,0,28.83,14.38,13.43
$GC,11605,0.72,195.4,950.6,7.3,573,11614,0.17,1.92,0.00,0.000,6,0.275,0.098,3130,1511,2186,0,0,0,0,0,0,14.14,14.41,28.83
$GC,11917,0.73,215.4,929.3,6.5,584,11945,0.00,2.05,22.65,1.798,4,0.000,0.118,3130,2578,2106,0,0,0,0,0,0,28.83,14.45,13.47
$GC,12015,0.73,221.9,922.8,7.0,587,12023,0.00,2.08,2.12,0.384,6,0.000,0.144,3137,1535,2085,0,0,0,0,0,0,28.83,14.27,12.87
$GC,12337,0.73,221.9,897.4,7.9,598,12340,0.00,0.00,1.25,0.201,6,0.000,0.000,3137,1536,2084,0,0,0,0,0,0,28.83,28.83,14.28
$GC,12635,0.73,221.9,874.6,7.4,608,12641,0.00,2.03,0.00,0.000,4,0.000,0.131,3137,2571,2093,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12763,0.73,221.9,865.2,7.8,612,12771,0.00,2.10,0.00,0.000,6,0.000,0.148,3145,1530,2093,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13087,0.74,224.9,841.1,7.1,623,13095,0.00,2.05,3.35,1.224,4,0.000,0.129,3145,2579,2074,0,0,0,0,0,0,28.83,14.49,13.33
$GC,13134,0.74,227.0,837.4,7.1,625,13152,0.00,2.08,10.18,1.734,6,0.000,0.148,3153,1540,2060,0,0,0,0,0,0,28.83,14.34,13.47
$GC,13469,0.75,244.3,814.9,6.6,636,13494,0.00,2.03,20.27,1.733,4,0.000,0.130,3153,2572,1990,0,0,0,0,0,0,28.83,14.45,13.51
$GC,13534,0.75,257.0,810.7,6.8,638,13554,0.00,2.08,15.38,1.695,6,0.000,0.148,3160,1546,1941,0,0,0,0,0,0,28.83,14.28,13.43
$GC,13857,0.76,258.6,787.5,7.1,649,13863,0.00,1.98,0.00,0.000,4,0.000,0.131,3160,2577,1933,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13934,0.76,258.6,782.9,7.4,651,13945,0.15,2.05,0.00,0.000,6,0.294,0.148,3135,1565,1931,0,0,0,0,0,0,14.08,14.21,28.83
$GC,14247,0.76,258.6,759.0,7.5,662,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1565,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14546,0.76,258.6,735.6,7.9,672,14552,0.00,1.95,0.00,0.000,4,0.000,0.126,3135,2572,1928,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,23257,end climb,SURFACE_DEPTH_REACHED
$STATE,23257,begin surface coast
$FINISH,1.3,1.025700
$STATE,23292,end surface coast,CONTROL_FINISHED_OK
$STATE,23292,begin surface
$SM_CCo,23315,7.60,0.135,0,0,1561,350.04
$SM_GC,3.34,8.88,0.28,7.60,0.077,0.158,0.135,147,1519,1561,-8.52,0.37,350.04,0,0,0,0,0,0,14.34,14.24,14.28
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.26
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7619360
$TM_FREEKB,3976544
$24V_AH,12.7,167.518
$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
$DEVICE_SECS,23.375,170.375,529.775,7.600,0.000,0.000,0.000,397.725,0.500,0.000,23.489,3258.129,16575.414,898.406,2641.951,696.665,0.000,2456.224,0.000,2150.094,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.791,13.237,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43245,1152
$CAP_FILE_SIZE,240977,0
$CFSIZE,260034560,195719168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.033,142.2,1
$GPS,150113,055624,2427.368,-3809.487,37,0.8,37,-14.1