version: 66.11
glider: 190
mission: 6
dive: 399
start: 1 16 113 8 2 18
data:
$ID,190
$MISSION,6
$DIVE,399
$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,-13417.621
$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,11
$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,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
$GPS1,160113,074735,2432.135,-3803.599,24,0.9,24,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-64.7
$GPS2,160113,080148,2432.019,-3803.444,25,0.9,26,-14.0
$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,11.8,4402,-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,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.40,0.000,2,0.000,0.000,131,1513,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,149,11.82,2.10,-84.32,0.000,4,0.377,0.165,2614,459,3626,0,0,0,0,0,0,14.07,14.14,14.67
$GC,349,-0.84,-155.7,22.5,-9.1,32,358,0.00,1.95,0.00,0.000,6,0.000,0.087,2609,1522,3629,0,0,0,0,0,0,28.83,14.24,28.83
$GC,659,-0.84,-155.7,51.5,-10.0,63,667,0.00,2.00,0.00,0.000,4,0.000,0.109,2606,2578,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,720,-0.84,-155.7,57.6,-10.4,69,729,0.00,2.05,0.00,0.000,6,0.000,0.119,2606,1522,3629,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1031,-0.84,-155.7,90.6,-11.0,100,1038,0.00,2.08,0.00,0.000,4,0.000,0.144,2605,459,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1079,-0.84,-155.7,96.6,-12.1,105,1089,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1521,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1391,-0.87,-155.7,128.1,-9.4,136,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1520,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1701,-0.90,-155.7,156.6,-8.0,167,1708,0.00,2.10,0.00,0.000,4,0.000,0.137,2605,459,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1749,-0.90,-155.7,160.7,-8.4,172,1758,0.00,1.92,0.00,0.000,6,0.000,0.080,2604,1519,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2062,-0.94,-155.7,180.7,-6.1,203,2069,0.00,1.92,0.00,0.000,4,0.000,0.104,2605,2578,3627,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2100,-0.97,-155.7,183.0,-5.8,207,2108,0.00,2.05,0.00,0.000,6,0.000,0.114,2605,1516,3630,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2413,-1.01,-155.7,202.8,-7.1,238,2420,0.12,2.05,0.00,0.000,4,0.134,0.135,2545,459,3626,0,0,0,0,0,0,14.51,14.00,28.83
$GC,2481,-0.97,-155.7,209.3,-9.7,245,2490,0.15,1.85,0.00,0.000,6,0.259,0.084,2575,1508,3626,0,0,0,0,0,0,14.07,14.31,28.83
$GC,2789,-0.97,-155.7,236.0,-8.5,276,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1508,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3111,-0.97,-155.7,263.2,-8.8,298,3116,0.00,2.03,0.00,0.000,4,0.000,0.135,2574,457,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3199,-0.97,-155.7,271.9,-9.5,301,3206,0.00,1.90,0.00,0.000,6,0.000,0.083,2568,1507,3626,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3529,-0.97,-155.7,305.2,-10.5,312,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1507,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-0.99,-155.7,337.3,-10.7,322,3837,0.00,2.05,0.00,0.000,4,0.000,0.138,2568,453,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3909,-0.99,-155.7,344.0,-11.0,324,3917,0.00,1.90,0.00,0.000,6,0.000,0.087,2565,1496,3624,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4221,-0.99,-155.7,380.0,-10.9,335,4227,0.00,2.03,0.00,0.000,4,0.000,0.144,2565,459,3624,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4298,-0.99,-155.7,386.9,-11.1,337,4302,0.00,1.88,0.00,0.000,6,0.000,0.091,2561,1482,3624,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4599,-0.99,-155.7,419.8,-9.8,347,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1483,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.99,-155.7,446.4,-8.6,357,4907,0.00,2.03,0.00,0.000,4,0.000,0.142,2561,460,3622,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4998,-0.99,-155.7,454.9,-9.2,360,5002,0.00,1.88,0.00,0.000,6,0.000,0.091,2554,1482,3621,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5312,-0.99,-155.7,484.9,-9.7,371,5317,0.00,2.05,0.00,0.000,4,0.000,0.116,2553,2575,3621,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5400,-0.99,-155.7,493.4,-9.5,374,5407,0.00,2.12,0.00,0.000,6,0.000,0.122,2553,1487,3621,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5731,-0.99,-155.7,524.6,-9.1,385,5737,0.00,2.08,0.00,0.000,4,0.000,0.116,2553,2569,3620,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5779,-0.99,-155.7,527.3,-9.2,386,5789,0.00,2.10,0.00,0.000,6,0.000,0.122,2553,1492,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6090,-0.99,-155.7,556.7,-8.6,397,6097,0.00,2.05,0.00,0.000,4,0.000,0.146,2552,458,3618,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6221,-0.97,-155.7,567.9,-9.4,401,6229,0.00,1.85,0.00,0.000,6,0.000,0.095,2552,1467,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6540,-0.97,-155.7,596.6,-8.7,412,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1468,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,-0.97,-155.7,624.6,-9.6,422,6847,0.00,2.03,0.00,0.000,4,0.000,0.147,2552,458,3615,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6900,-0.97,-155.7,630.9,-10.1,424,6909,0.00,1.88,0.00,0.000,6,0.000,0.096,2552,1470,3615,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7234,-0.97,-155.7,665.6,-11.0,435,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1472,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7532,-0.97,-155.7,698.7,-10.8,445,7537,0.00,2.03,0.00,0.000,4,0.000,0.152,2552,456,3614,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7620,-0.97,-155.7,708.6,-10.9,448,7628,0.00,1.90,0.00,0.000,6,0.000,0.098,2552,1471,3612,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7952,-0.97,-155.7,739.1,-8.6,459,7957,0.00,2.08,0.00,0.000,4,0.000,0.114,2552,2582,3611,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8089,-0.97,-155.7,748.0,-7.5,463,8098,0.00,2.15,0.00,0.000,6,0.000,0.117,2552,1475,3610,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8402,-0.97,-155.7,771.9,-7.2,474,8407,0.00,1.98,0.00,0.000,4,0.000,0.139,2552,460,3609,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8439,-0.97,-155.7,774.2,-7.4,475,8443,0.00,1.88,0.00,0.000,6,0.000,0.087,2552,1479,3609,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8753,-0.97,-155.7,801.6,-9.3,486,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1479,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9053,-0.99,-155.7,834.1,-11.4,496,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1479,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9352,-0.99,-155.7,869.9,-11.9,506,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1479,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9653,-0.99,-155.7,904.2,-11.1,516,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1479,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9953,-1.01,-155.7,934.8,-9.6,526,9959,0.00,2.10,0.00,0.000,4,0.000,0.116,2552,2573,3603,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10012,-1.03,-155.7,940.2,-9.3,528,10019,0.00,2.20,0.00,0.000,6,0.000,0.129,2552,1463,3603,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10346,-1.05,-155.7,968.0,-8.2,539,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1463,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10639,begin apogee
$GC,10647,-0.23,0.0,992.3,-8.2,549,10824,0.93,0.00,173.20,1.755,4,0.203,0.000,2811,1526,2990,0,0,0,0,0,0,13.81,28.83,13.03
$STATE,10829,end apogee,CONTROL_FINISHED_OK
$STATE,10830,begin climb
$GC,10833,0.84,155.7,1003.8,0.0,555,11001,1.08,0.00,163.93,1.930,6,0.120,0.000,3158,1525,2355,0,0,0,0,0,0,14.07,28.83,13.05
$GC,11314,0.86,266.9,996.5,3.7,572,11441,0.00,2.20,119.75,1.898,4,0.000,0.161,3166,463,1895,0,0,0,0,0,0,28.83,13.97,13.09
$GC,11486,0.87,331.2,989.1,5.1,577,11561,0.00,1.95,70.40,1.870,6,0.000,0.106,3166,1517,1639,0,0,0,0,0,0,28.83,14.21,13.12
$GC,11883,0.87,331.2,956.9,9.0,591,11890,0.00,2.08,0.00,0.000,4,0.000,0.136,3166,2581,1621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12004,0.87,331.2,944.4,10.4,595,12010,0.00,2.10,0.00,0.000,6,0.000,0.146,3174,1528,1620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12336,0.87,331.2,906.2,12.1,606,12342,0.00,2.03,0.00,0.000,4,0.000,0.132,3174,2580,1619,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12402,0.87,331.2,898.5,12.6,608,12409,0.00,2.10,0.00,0.000,6,0.000,0.148,3179,1538,1619,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12723,0.87,331.2,855.9,12.8,619,12730,0.00,2.03,0.00,0.000,4,0.000,0.129,3179,2581,1618,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12792,0.87,331.2,848.1,12.8,621,12799,0.00,2.05,0.00,0.000,6,0.000,0.140,3186,1554,1617,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13114,0.87,331.2,808.7,11.5,632,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1553,1617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13413,0.87,331.2,777.0,10.4,642,13421,0.00,2.00,0.00,0.000,4,0.000,0.123,3186,2581,1616,0,0,0,0,0,0,28.83,14.34,28.83
$GC,13483,0.87,331.2,770.9,10.3,644,13490,0.00,2.00,0.00,0.000,6,0.000,0.131,3194,1568,1616,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13803,0.87,331.2,739.2,9.4,655,13810,0.00,1.98,0.00,0.000,4,0.000,0.116,3194,2597,1615,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13852,0.87,331.2,736.3,9.5,656,13862,0.12,2.03,0.00,0.000,6,0.314,0.130,3176,1574,1616,0,0,0,0,0,0,14.02,14.22,28.83
$GC,14166,0.87,331.2,708.3,8.2,667,14167,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1573,1615,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21352,end climb,SURFACE_DEPTH_REACHED
$STATE,21352,begin surface coast
$FINISH,1.4,1.014609
$STATE,21374,end surface coast,CONTROL_FINISHED_OK
$STATE,21374,begin surface
$SM_CCo,21397,6.85,0.135,0,0,1561,350.04
$SM_GC,3.29,8.82,0.20,6.85,0.071,0.161,0.135,146,1508,1561,-8.53,0.14,350.04,0,0,0,0,0,0,14.31,14.25,14.20
$IRIDIUM_FIX,2422.84,-3803.71,160113,010111
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.68
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,2
$SC_FREEKB,7617440
$TM_FREEKB,3932832
$24V_AH,13.0,169.699
$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,23.550,163.775,527.275,6.850,0.000,0.000,0.000,460.600,0.500,0.000,27.369,2954.272,15194.828,914.407,2521.581,658.300,0.000,2447.750,0.000,1941.541,0.000,0.541,0.000
$DEVICE_MAMPS,377.145,165.240,1930.095,135.405,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21424.000,5571.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.837,13.218,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,39937,1079
$CAP_FILE_SIZE,221684,0
$CFSIZE,260034560,195072000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,163.9,1
$GPS,160113,140029,2433.471,-3803.401,36,0.8,36,-14.0