version: 66.11
glider: 190
mission: 6
dive: 425
start: 1 23 113 10 49 44
data:
$ID,190
$MISSION,6
$DIVE,425
$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,-13450.334
$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,16
$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
$GPS1,230113,103758,2435.745,-3744.738,39,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-61.0
$GPS2,230113,104911,2435.749,-3744.731,18,0.8,19,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,203.6,28537,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,36,0.00,0.00,-11.45,0.000,2,0.000,0.000,140,1513,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.6,0.0,1,146,10.95,2.10,-84.00,0.000,4,0.340,0.161,2614,462,3625,0,0,0,0,0,0,14.07,14.16,14.64
$GC,236,-0.84,-155.7,11.6,-8.6,21,246,0.00,1.95,0.00,0.000,6,0.000,0.083,2608,1524,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,546,-0.84,-155.7,44.4,-9.8,52,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1524,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,847,-0.84,-155.7,74.2,-9.5,82,855,0.00,1.98,0.00,0.000,4,0.000,0.104,2605,2577,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,876,-0.84,-155.7,77.2,-10.0,85,886,0.00,2.05,0.00,0.000,6,0.000,0.112,2605,1520,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1187,-0.86,-155.7,106.4,-9.4,116,1195,0.00,2.08,0.00,0.000,4,0.000,0.132,2605,459,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1259,-0.86,-155.7,113.4,-10.1,123,1265,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1515,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1569,-0.90,-155.7,141.3,-8.7,154,1575,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,458,3626,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1656,-0.90,-155.7,148.9,-8.8,163,1665,0.00,1.88,0.00,0.000,6,0.000,0.078,2605,1494,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1968,-0.93,-155.7,174.1,-8.5,194,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1493,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,-0.97,-155.7,205.8,-10.9,225,2285,0.00,2.03,0.00,0.000,4,0.000,0.131,2605,460,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2368,-0.97,-155.7,215.8,-11.1,234,2375,0.00,1.80,0.00,0.000,6,0.000,0.076,2603,1480,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2678,-1.01,-155.7,243.8,-7.9,265,2687,0.12,2.00,0.00,0.000,4,0.138,0.129,2546,456,3627,0,0,0,0,0,0,14.45,14.09,28.83
$GC,2829,-0.97,-155.7,259.0,-10.6,275,2835,0.15,1.77,0.00,0.000,6,0.266,0.079,2573,1460,3627,0,0,0,0,0,0,14.05,14.34,28.83
$GC,3160,-0.97,-155.7,292.7,-10.7,286,3166,0.00,2.05,0.00,0.000,4,0.000,0.100,2566,2582,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3225,-0.97,-155.7,299.3,-10.8,288,3232,0.00,2.17,0.00,0.000,6,0.000,0.111,2566,1455,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3546,-0.97,-155.7,336.4,-11.2,299,3553,0.00,1.90,0.00,0.000,4,0.000,0.129,2566,463,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3698,-0.95,-155.7,353.2,-11.2,304,3703,0.00,1.75,0.00,0.000,6,0.000,0.077,2562,1444,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4026,-0.95,-155.7,383.7,-8.7,315,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1445,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.95,-155.7,407.9,-8.0,325,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1445,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4626,-0.95,-155.7,433.1,-8.8,335,4633,0.00,1.92,0.00,0.000,4,0.000,0.129,2563,459,3622,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4676,-0.95,-155.7,435.9,-8.9,336,4687,0.00,1.77,0.00,0.000,6,0.000,0.077,2556,1445,3623,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4986,-0.95,-155.7,467.9,-9.9,347,4993,0.00,1.92,0.00,0.000,4,0.000,0.132,2556,456,3621,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5055,-0.95,-155.7,474.4,-10.3,349,5063,0.12,1.75,0.00,0.000,6,0.269,0.080,2580,1425,3621,0,0,0,0,0,0,14.10,14.37,28.83
$GC,5380,-0.98,-155.7,507.6,-10.3,360,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1425,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5677,-1.01,-155.7,538.8,-10.4,370,5684,0.00,2.12,0.00,0.000,4,0.000,0.103,2579,2573,3619,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5747,-1.05,-155.7,544.8,-10.2,372,5753,0.00,2.22,0.00,0.000,6,0.000,0.115,2579,1421,3619,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6069,-1.08,-155.7,576.4,-9.2,383,6071,0.12,0.00,0.00,0.000,6,0.138,0.000,2530,1420,3618,0,0,0,0,0,0,14.59,28.83,28.83
$GC,6368,-1.08,-155.7,605.5,-9.7,393,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1421,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6666,-1.08,-155.7,635.6,-10.3,403,6673,0.00,1.90,0.00,0.000,4,0.000,0.137,2529,458,3615,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6796,-1.05,-155.7,650.1,-12.1,407,6805,0.12,1.80,0.00,0.000,6,0.285,0.086,2549,1438,3615,0,0,0,0,0,0,14.00,14.31,28.83
$GC,7120,-1.05,-155.7,688.0,-11.7,418,7127,0.00,2.15,0.00,0.000,4,0.000,0.113,2549,2578,3613,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7185,-1.05,-155.7,694.9,-11.6,420,7193,0.00,2.25,0.00,0.000,6,0.000,0.119,2549,1430,3613,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7508,-1.05,-155.7,730.8,-10.2,431,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1430,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7807,-1.05,-155.7,759.9,-9.6,441,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1430,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8107,-1.05,-155.7,786.7,-8.7,451,8113,0.00,2.17,0.00,0.000,4,0.000,0.111,2549,2567,3608,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8155,-1.05,-155.7,789.2,-8.6,452,8165,0.00,2.22,0.00,0.000,6,0.000,0.121,2549,1436,3608,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8466,-1.05,-155.7,815.8,-7.8,463,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1435,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8768,-1.07,-155.7,838.8,-7.8,473,8774,0.00,2.17,0.00,0.000,4,0.000,0.114,2549,2572,3606,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8816,-1.09,-155.7,841.1,-7.8,474,8824,0.00,2.25,0.00,0.000,6,0.000,0.123,2549,1437,3606,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9129,-1.09,-155.7,868.5,-8.6,485,9134,0.00,2.20,0.00,0.000,4,0.000,0.116,2549,2575,3605,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9196,-1.11,-155.7,873.7,-8.7,487,9204,0.00,2.25,0.00,0.000,6,0.000,0.123,2549,1443,3605,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9519,-1.13,-155.7,904.8,-9.7,498,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1443,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9818,-1.15,-155.7,934.1,-9.9,508,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1447,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10117,-1.18,-155.7,964.4,-10.1,518,10125,0.12,2.20,0.00,0.000,4,0.155,0.119,2503,2564,3600,0,0,0,0,0,0,14.48,13.94,28.83
$GC,10186,-1.18,-155.7,970.9,-10.6,520,10193,0.00,2.20,0.00,0.000,6,0.000,0.125,2504,1456,3600,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,10353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10353,begin apogee
$GC,10361,-0.23,0.0,991.5,-11.4,526,10545,1.15,0.00,173.02,2.142,4,0.232,0.000,2807,1518,2990,0,0,0,0,1,0,13.67,28.83,12.72
$STATE,10550,end apogee,CONTROL_FINISHED_OK
$STATE,10550,begin climb
$GC,10553,0.84,155.7,1005.4,0.0,532,10738,1.08,2.08,169.75,2.538,4,0.097,0.122,3159,2580,2355,0,0,0,0,1,0,14.09,14.02,12.69
$GC,10968,0.81,195.2,1000.3,5.9,545,11022,0.00,2.08,47.35,1.822,6,0.000,0.142,3169,1516,2190,0,0,0,0,0,0,28.83,14.29,13.20
$GC,11338,0.77,195.2,971.6,7.6,558,11343,0.00,2.15,0.00,0.000,4,0.000,0.172,3178,457,2184,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11406,0.73,195.2,966.8,7.7,560,11414,0.20,1.98,0.00,0.000,6,0.277,0.101,3132,1515,2183,0,0,0,0,0,0,14.14,14.40,28.83
$GC,11729,0.75,234.6,946.0,5.9,571,11776,0.00,2.08,41.58,1.821,4,0.000,0.122,3132,2582,2030,0,0,0,0,0,0,28.83,14.29,13.29
$GC,11868,0.77,252.7,936.8,6.6,575,11896,0.00,2.10,21.05,1.767,6,0.000,0.141,3139,1531,1954,0,0,0,0,0,0,28.83,14.12,13.30
$GC,12200,0.77,252.7,913.5,7.2,586,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1531,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12496,0.77,252.7,891.7,7.2,596,12504,0.00,2.03,0.00,0.000,4,0.000,0.124,3139,2577,1946,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12616,0.77,252.7,882.6,7.5,600,12623,0.00,2.10,0.00,0.000,6,0.000,0.142,3146,1533,1946,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12950,0.77,252.7,857.2,7.8,611,12956,0.00,1.98,0.00,0.000,4,0.000,0.124,3146,2576,1945,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13135,0.77,252.7,842.5,8.1,617,13142,0.00,2.05,0.00,0.000,6,0.000,0.140,3154,1555,1944,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13457,0.77,252.7,816.1,8.0,628,13463,0.00,1.98,0.00,0.000,4,0.000,0.122,3154,2572,1944,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13505,0.77,252.7,813.7,8.0,629,13515,0.00,2.05,0.00,0.000,6,0.000,0.139,3161,1553,1943,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13817,0.77,252.7,786.4,8.5,640,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1553,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14117,0.77,252.7,760.9,8.3,650,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1553,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14417,0.77,254.0,738.7,7.1,660,14423,0.00,2.00,0.00,0.000,4,0.000,0.120,3161,2577,1942,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,23215,end climb,SURFACE_DEPTH_REACHED
$STATE,23215,begin surface coast
$FINISH,1.6,1.025640
$STATE,23235,end surface coast,CONTROL_FINISHED_OK
$STATE,23235,begin surface
$SM_CCo,23263,20.67,0.129,0,0,1561,350.04
$SM_GC,2.25,8.88,1.95,20.67,0.070,0.080,0.129,139,1527,1561,-8.53,-0.45,350.04,0,0,0,0,0,0,14.36,14.29,14.26
$IRIDIUM_FIX,2427.58,-3748.13,230113,030317
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.71
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.10
$XPDR_PINGS,3
$SC_FREEKB,7607456
$TM_FREEKB,1098039475
$24V_AH,12.7,180.927
$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,23.575,160.350,518.475,20.675,0.000,0.000,0.000,367.500,0.750,0.000,20.021,3215.854,16589.289,903.597,2563.009,670.560,0.000,2421.350,0.000,2132.220,0.000,0.542,0.000
$DEVICE_MAMPS,339.660,172.125,2538.270,128.520,0.000,0.000,0.000,166.770,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23285.000,5774.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.820,21.853,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43289,1157
$CAP_FILE_SIZE,235936,0
$CFSIZE,260034560,191643648
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.097, 30.1,1
$GPS,230113,171904,2434.994,-3744.197,29,0.8,29,-13.9