version: 66.11
glider: 190
mission: 6
dive: 450
start: 1 30 113 6 13 48
data:
$ID,190
$MISSION,6
$DIVE,450
$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,-13481.779
$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,1
$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
$GPS1,300113,060205,2422.051,-3745.196,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-66.0
$GPS2,300113,061318,2422.061,-3745.166,15,0.8,15,-14.0
$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,211.9,4436,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-10.80,0.000,2,0.000,0.000,137,1527,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,136,11.15,0.00,-83.47,0.000,6,0.347,0.000,2615,1528,3625,0,0,0,0,0,0,14.13,28.83,14.70
$GC,435,-0.87,-155.7,31.0,-9.6,41,444,0.00,2.12,0.00,0.000,4,0.000,0.140,2615,460,3626,0,0,0,0,0,0,28.83,13.98,28.83
$GC,545,-0.87,-155.7,41.5,-9.8,52,553,0.00,1.95,0.00,0.000,6,0.000,0.084,2611,1527,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,856,-0.91,-155.7,71.2,-9.5,83,863,0.00,2.15,0.00,0.000,4,0.000,0.142,2611,455,3626,0,0,0,0,0,0,28.83,13.98,28.83
$GC,976,-0.91,-155.7,83.4,-10.2,95,983,0.00,1.88,0.00,0.000,6,0.000,0.083,2611,1492,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1287,-0.94,-155.7,112.0,-9.2,126,1294,0.00,2.05,0.00,0.000,4,0.000,0.141,2611,455,3626,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1438,-0.94,-155.7,127.1,-10.3,141,1445,0.00,1.83,0.00,0.000,6,0.000,0.082,2611,1479,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1745,-0.98,-155.7,160.1,-10.9,172,1754,0.12,2.03,0.00,0.000,4,0.135,0.141,2555,460,3627,0,0,0,0,0,0,14.50,13.99,28.83
$GC,1915,-0.94,-155.7,181.3,-12.1,189,1924,0.00,1.80,0.00,0.000,6,0.000,0.084,2553,1449,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2226,-0.94,-155.7,212.5,-9.3,220,2234,0.12,1.92,0.00,0.000,4,0.240,0.138,2583,459,3627,0,0,0,0,0,0,14.30,14.07,28.83
$GC,2337,-0.94,-155.7,222.7,-9.5,231,2344,0.00,1.75,0.00,0.000,6,0.000,0.084,2580,1435,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2646,-0.97,-155.7,250.6,-9.2,262,2652,0.00,1.92,0.00,0.000,4,0.000,0.138,2579,454,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2807,-0.97,-155.7,265.0,-9.8,267,2812,0.00,1.67,0.00,0.000,6,0.000,0.083,2579,1404,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3128,-0.99,-155.7,294.7,-8.9,278,3134,0.00,1.85,0.00,0.000,4,0.000,0.138,2579,453,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3276,-0.99,-155.7,309.2,-9.7,283,3283,0.00,1.67,0.00,0.000,6,0.000,0.084,2579,1378,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3609,-1.01,-155.7,338.4,-8.8,294,3614,0.00,1.80,0.00,0.000,4,0.000,0.139,2579,459,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3727,-1.01,-155.7,349.2,-8.9,298,3732,0.00,1.62,0.00,0.000,6,0.000,0.086,2579,1356,3625,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4058,-1.04,-155.7,375.5,-7.7,309,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1356,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4356,-1.07,-155.7,398.7,-7.9,319,4363,0.00,1.73,0.00,0.000,4,0.000,0.140,2579,459,3623,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4405,-1.09,-155.7,401.1,-7.9,320,4414,0.10,1.65,0.00,0.000,6,0.164,0.086,2531,1365,3623,0,0,0,0,0,0,14.33,14.33,28.83
$GC,4718,-1.07,-155.7,430.8,-9.2,331,4724,0.00,2.25,0.00,0.000,4,0.000,0.108,2523,2575,3620,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4846,-1.07,-155.7,441.9,-9.3,335,4852,0.00,2.35,0.00,0.000,6,0.000,0.121,2523,1371,3622,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5169,-1.04,-155.7,475.3,-10.5,346,5175,0.12,2.25,0.00,0.000,4,0.243,0.104,2550,2575,3621,0,0,0,0,0,0,14.23,14.20,28.83
$GC,5235,-1.04,-155.7,481.2,-10.2,348,5243,0.00,2.33,0.00,0.000,6,0.000,0.122,2550,1384,3620,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5555,-1.04,-155.7,515.5,-10.5,359,5563,0.00,1.83,0.00,0.000,4,0.000,0.142,2550,462,3620,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5676,-1.04,-155.7,529.0,-11.2,363,5683,0.00,1.62,0.00,0.000,6,0.000,0.089,2549,1355,3618,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6006,-1.04,-155.7,563.8,-10.5,374,6012,0.00,1.80,0.00,0.000,4,0.000,0.144,2549,457,3618,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6045,-1.04,-155.7,567.0,-10.5,375,6051,0.00,1.65,0.00,0.000,6,0.000,0.090,2549,1354,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6367,-1.04,-155.7,600.5,-10.0,386,6372,0.00,2.30,0.00,0.000,4,0.000,0.111,2549,2582,3616,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6404,-1.04,-155.7,603.4,-9.8,387,6412,0.00,2.40,0.00,0.000,6,0.000,0.118,2549,1355,3616,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6727,-1.04,-155.7,633.9,-8.9,398,6732,0.00,1.75,0.00,0.000,4,0.000,0.135,2549,465,3615,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6854,-1.04,-155.7,644.8,-9.1,402,6857,0.00,1.60,0.00,0.000,6,0.000,0.080,2549,1343,3612,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7166,-1.04,-155.7,671.6,-8.3,413,7173,0.00,2.33,0.00,0.000,4,0.000,0.107,2549,2576,3613,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7208,-1.04,-155.7,674.0,-8.2,414,7213,0.00,2.40,0.00,0.000,6,0.000,0.122,2549,1340,3613,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7527,-1.04,-155.7,703.1,-9.1,425,7533,0.00,1.75,0.00,0.000,4,0.000,0.138,2549,457,3612,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7648,-1.04,-155.7,714.9,-9.9,429,7653,0.00,1.58,0.00,0.000,6,0.000,0.083,2549,1334,3611,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7976,-1.04,-155.7,748.0,-10.3,440,7983,0.00,2.38,0.00,0.000,4,0.000,0.113,2549,2576,3610,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8006,-1.04,-155.7,751.0,-10.2,441,8013,0.00,2.45,0.00,0.000,6,0.000,0.118,2549,1326,3609,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8337,-1.04,-155.7,784.5,-10.3,452,8343,0.00,2.38,0.00,0.000,4,0.000,0.107,2554,2577,3608,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8405,-1.04,-155.7,790.6,-10.2,454,8413,0.00,2.47,0.00,0.000,6,0.000,0.126,2549,1332,3607,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8728,-1.04,-155.7,825.7,-10.5,465,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1332,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,-1.04,-155.7,856.6,-10.3,475,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1332,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9327,-1.04,-155.7,886.8,-9.9,485,9333,0.00,1.75,0.00,0.000,4,0.000,0.143,2549,459,3604,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9367,-1.04,-155.7,889.8,-10.0,486,9373,0.00,1.60,0.00,0.000,6,0.000,0.087,2549,1337,3604,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9687,-1.04,-155.7,919.6,-8.7,497,9693,0.00,2.38,0.00,0.000,4,0.000,0.109,2548,2575,3603,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9727,-1.04,-155.7,922.1,-8.5,498,9733,0.00,2.42,0.00,0.000,6,0.000,0.118,2549,1334,3603,0,0,0,0,0,0,28.83,13.98,28.83
$GC,10051,-1.06,-155.7,947.9,-7.6,509,10056,0.00,1.75,0.00,0.000,4,0.000,0.141,2549,456,3601,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10095,-1.06,-155.7,950.3,-7.6,510,10103,0.00,1.62,0.00,0.000,6,0.000,0.084,2549,1336,3601,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10408,-1.06,-155.7,976.2,-7.9,521,10413,0.00,2.38,0.00,0.000,4,0.000,0.118,2549,2573,3599,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10475,-1.08,-155.7,980.9,-8.0,523,10484,0.00,2.47,0.00,0.000,6,0.000,0.128,2548,1341,3599,0,0,0,0,0,0,28.83,13.89,28.83
$STATE,10583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10583,begin apogee
$GC,10591,-0.23,0.0,991.0,-8.4,527,10818,0.93,0.00,216.93,1.519,4,0.201,0.000,2807,1517,2987,0,0,0,0,0,0,13.74,28.83,13.19
$STATE,10819,end apogee,CONTROL_FINISHED_OK
$STATE,10820,begin climb
$GC,10823,0.84,155.7,1005.1,0.0,534,10996,1.10,2.05,161.57,1.799,4,0.112,0.118,3163,2581,2351,0,0,0,0,0,0,14.16,14.12,13.09
$GC,11227,0.82,209.2,1000.4,5.5,548,11289,0.00,2.12,56.92,1.758,6,0.000,0.145,3170,1523,2136,0,0,0,0,0,0,28.83,14.21,13.21
$GC,11598,0.79,209.2,972.2,8.1,561,11604,0.00,2.05,0.00,0.000,4,0.000,0.125,3170,2572,2119,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11718,0.75,209.2,961.8,8.7,565,11725,0.15,2.12,0.00,0.000,6,0.278,0.147,3139,1524,2118,0,0,0,0,0,0,14.01,14.19,28.83
$GC,12052,0.75,209.2,934.0,8.5,576,12058,0.00,2.03,0.00,0.000,4,0.000,0.126,3139,2577,2117,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12186,0.75,209.2,923.3,8.9,580,12196,0.00,2.05,0.00,0.000,6,0.000,0.134,3146,1544,2113,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12499,0.75,209.2,895.3,8.2,591,12504,0.00,1.98,0.00,0.000,4,0.000,0.117,3146,2580,2115,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12637,0.75,209.2,885.6,8.1,595,12645,0.00,2.03,0.00,0.000,6,0.000,0.131,3153,1563,2114,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12949,0.75,209.2,859.6,7.8,606,12954,0.00,1.98,0.00,0.000,4,0.000,0.119,3153,2578,2114,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13160,0.73,209.2,842.7,8.0,613,13166,0.15,1.95,0.00,0.000,6,0.288,0.137,3128,1596,2113,0,0,0,0,0,0,13.92,14.10,28.83
$GC,13491,0.73,209.2,817.2,7.7,624,13497,0.00,1.90,0.00,0.000,4,0.000,0.122,3128,2582,2113,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13667,0.73,209.2,803.6,7.6,630,13674,0.00,1.98,0.00,0.000,6,0.000,0.137,3135,1609,2112,0,0,0,0,0,0,28.83,14.06,28.83
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$STATE,22717,end climb,SURFACE_DEPTH_REACHED
$STATE,22717,begin surface coast
$FINISH,1.5,1.011468
$STATE,22748,end surface coast,CONTROL_FINISHED_OK
$STATE,22748,begin surface
$SM_CCo,22770,21.20,0.126,0,0,1561,350.04
$SM_GC,2.23,8.98,0.57,21.20,0.082,0.142,0.126,139,1518,1561,-8.54,0.34,350.04,0,0,0,0,0,0,14.30,14.09,14.22
$IRIDIUM_FIX,2411.01,-3737.14,290113,232327
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.09
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7597984
$24V_AH,13.1,191.587
$10V_AH,12.5,0.000
$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,23.350,185.925,537.575,21.200,0.000,0.000,0.000,386.450,0.500,0.000,16.558,3309.123,15828.522,932.785,2693.066,687.115,0.000,2538.218,0.000,2251.646,0.000,0.541,0.000
$DEVICE_MAMPS,346.545,160.650,1799.280,126.225,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22804.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.020,0.000,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,43312,1125
$CAP_FILE_SIZE,237999,0
$CFSIZE,260034560,188891136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,324.1,1
$GPS,300113,123505,2421.326,-3745.667,38,0.9,38,-14.0