version: 66.11
glider: 190
mission: 6
dive: 451
start: 1 30 113 12 50 53
data:
$ID,190
$MISSION,6
$DIVE,451
$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,-13483.133
$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,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,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
$GPS1,300113,123505,2421.326,-3745.667,38,0.9,38,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-65.9
$GPS2,300113,125017,2421.344,-3745.684,14,1.9,15,-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,214.6,2939,-17.2,-7.174,-29.42
$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,-0.87,-148.6,0.0,0.0,0,34,0.00,0.00,-10.73,0.000,2,0.000,0.000,138,1515,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.87,-155.7,2.6,0.0,1,144,11.35,1.95,-87.30,0.000,4,0.356,0.118,2605,2580,3629,0,0,0,0,0,0,14.13,14.21,14.69
$GC,214,-0.87,-155.7,8.4,-9.3,19,223,0.00,2.08,0.00,0.000,6,0.000,0.115,2605,1521,3630,0,0,0,0,0,0,28.83,14.03,28.83
$GC,527,-0.87,-155.7,38.0,-9.8,50,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1521,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,836,-0.91,-155.7,67.3,-9.2,81,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1521,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1146,-0.95,-155.7,96.5,-9.3,112,1153,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,451,3631,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1224,-0.95,-155.7,104.3,-9.7,120,1233,0.00,1.92,0.00,0.000,6,0.000,0.077,2605,1518,3630,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1535,-0.98,-155.7,132.1,-8.7,151,1543,0.00,2.08,0.00,0.000,4,0.000,0.134,2605,460,3630,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1646,-0.98,-155.7,142.4,-9.7,162,1653,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1493,3633,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1956,-1.03,-155.7,170.4,-9.3,193,1964,0.15,2.03,0.00,0.000,4,0.121,0.134,2534,457,3630,0,0,0,0,0,0,14.42,14.02,28.83
$GC,2006,-1.00,-155.7,175.9,-11.6,198,2013,0.10,1.88,0.00,0.000,6,0.230,0.081,2556,1494,3630,0,0,0,0,0,0,13.97,14.24,28.83
$GC,2318,-1.00,-155.7,208.0,-9.9,229,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1494,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-1.00,-155.7,238.3,-9.5,260,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1494,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2934,-1.00,-155.7,266.8,-9.0,279,2941,0.00,2.00,0.00,0.000,4,0.000,0.100,2553,2576,3630,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2974,-1.00,-155.7,269.3,-8.8,280,2981,0.00,2.10,0.00,0.000,6,0.000,0.110,2553,1486,3630,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3294,-1.00,-155.7,299.9,-9.6,291,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1486,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3596,-1.00,-155.7,329.0,-9.9,301,3603,0.00,1.98,0.00,0.000,4,0.000,0.130,2552,462,3629,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3703,-1.00,-155.7,338.3,-10.2,304,3712,0.00,1.85,0.00,0.000,6,0.000,0.083,2552,1482,3628,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4015,-1.00,-155.7,367.4,-8.2,315,4021,0.00,2.03,0.00,0.000,4,0.000,0.107,2552,2572,3628,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4055,-1.00,-155.7,369.8,-8.2,316,4062,0.00,2.10,0.00,0.000,6,0.000,0.116,2552,1481,3628,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4374,-1.00,-155.7,397.5,-8.7,327,4381,0.00,2.00,0.00,0.000,4,0.000,0.137,2552,458,3627,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4453,-1.00,-155.7,403.3,-9.2,329,4462,0.00,1.88,0.00,0.000,6,0.000,0.084,2552,1484,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4766,-1.00,-155.7,437.1,-10.6,340,4772,0.00,2.00,0.00,0.000,4,0.000,0.135,2552,459,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4914,-1.00,-155.7,454.6,-11.9,345,4922,0.00,1.80,0.00,0.000,6,0.000,0.085,2552,1449,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5246,-1.00,-155.7,490.5,-10.4,356,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1449,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5544,-1.00,-155.7,518.8,-9.1,366,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1449,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,-1.00,-155.7,545.5,-8.7,376,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1449,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6145,-1.02,-155.7,571.2,-8.5,386,6152,0.00,1.95,0.00,0.000,4,0.000,0.137,2552,458,3621,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6183,-1.02,-155.7,573.9,-8.6,387,6190,0.00,1.80,0.00,0.000,6,0.000,0.086,2552,1444,3621,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6509,-1.04,-155.7,603.5,-9.1,398,6514,0.00,2.12,0.00,0.000,4,0.000,0.111,2552,2581,3619,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6584,-1.07,-155.7,608.9,-9.2,400,6592,0.00,2.22,0.00,0.000,6,0.000,0.120,2552,1447,3619,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6899,-1.09,-155.7,640.9,-9.8,411,6904,0.00,1.90,0.00,0.000,4,0.000,0.130,2552,460,3617,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6954,-1.09,-155.7,647.3,-10.2,413,6962,0.00,1.80,0.00,0.000,6,0.000,0.079,2549,1453,3617,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7289,-1.12,-155.7,681.6,-10.5,424,7294,0.00,1.95,0.00,0.000,4,0.000,0.132,2552,455,3616,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7405,-1.12,-155.7,695.0,-11.2,428,7412,0.00,1.75,0.00,0.000,6,0.000,0.082,2551,1419,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7739,-1.14,-155.7,727.9,-9.6,439,7744,0.00,1.90,0.00,0.000,4,0.000,0.132,2551,447,3614,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7783,-1.14,-155.7,730.8,-9.6,440,7787,0.00,1.77,0.00,0.000,6,0.000,0.081,2550,1418,3614,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8085,-1.14,-155.7,759.3,-8.6,450,8091,0.00,2.17,0.00,0.000,4,0.000,0.107,2549,2571,3612,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8134,-1.14,-155.7,761.8,-8.5,451,8143,0.00,2.25,0.00,0.000,6,0.000,0.119,2549,1419,3612,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8448,-1.17,-155.7,788.4,-8.1,462,8454,0.12,1.85,0.00,0.000,4,0.144,0.134,2494,462,3611,0,0,0,0,0,0,14.48,13.98,28.83
$GC,8544,-1.14,-155.7,797.8,-10.0,465,8551,0.12,1.75,0.00,0.000,6,0.285,0.086,2514,1411,3610,0,0,0,0,0,0,13.88,14.22,28.83
$GC,8868,-1.14,-155.7,830.8,-10.2,476,8873,0.00,2.20,0.00,0.000,4,0.000,0.110,2510,2577,3608,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8903,-1.14,-155.7,833.8,-10.2,477,8911,0.00,2.28,0.00,0.000,6,0.000,0.112,2510,1405,3608,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9226,-1.14,-155.7,869.5,-10.8,488,9231,0.00,2.22,0.00,0.000,4,0.000,0.111,2509,2577,3607,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9324,-1.14,-155.7,878.7,-10.3,491,9331,0.00,2.28,0.00,0.000,6,0.000,0.113,2509,1415,3606,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9649,-1.12,-155.7,911.2,-9.6,502,9655,0.00,2.22,0.00,0.000,4,0.000,0.111,2510,2576,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9743,-1.12,-155.7,919.2,-9.2,505,9751,0.00,2.30,0.00,0.000,6,0.000,0.125,2510,1428,3605,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10064,-1.12,-155.7,948.2,-8.7,516,10071,0.00,2.25,0.00,0.000,4,0.000,0.119,2509,2574,3605,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10165,-1.12,-155.7,955.6,-8.4,519,10171,0.00,2.25,0.00,0.000,6,0.000,0.125,2509,1447,3604,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10485,-1.12,-155.7,984.7,-9.1,530,10491,0.00,2.20,0.00,0.000,4,0.000,0.119,2509,2570,3603,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,10541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10541,begin apogee
$GC,10552,-0.23,0.0,990.2,-9.1,532,10724,1.12,0.00,159.88,2.490,4,0.235,0.000,2804,1522,2992,0,0,0,0,1,0,13.64,28.83,12.70
$STATE,10728,end apogee,CONTROL_FINISHED_OK
$STATE,10728,begin climb
$GC,10731,0.87,155.7,1001.2,0.0,538,10916,1.15,2.05,169.05,2.523,4,0.119,0.117,3169,2581,2355,0,0,0,0,1,0,14.07,14.05,12.76
$GC,10944,0.95,384.5,1005.9,-0.4,545,11201,0.00,2.15,247.57,1.814,6,0.000,0.138,3177,1520,1420,0,0,0,0,0,0,28.83,14.12,13.12
$GC,11520,0.98,384.5,952.2,9.3,565,11526,0.00,2.03,0.00,0.000,4,0.000,0.124,3177,2569,1405,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11650,0.98,384.5,941.3,9.1,569,11656,0.00,2.03,0.00,0.000,6,0.000,0.132,3182,1533,1404,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11973,1.00,384.5,912.5,8.8,580,11978,0.00,1.95,0.00,0.000,4,0.000,0.116,3182,2581,1403,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12019,1.02,384.5,909.8,8.8,581,12029,0.00,2.08,0.00,0.000,6,0.000,0.146,3190,1547,1403,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12331,1.04,384.5,878.2,9.9,592,12337,0.12,2.12,0.00,0.000,4,0.154,0.156,3240,459,1401,0,0,0,0,0,0,14.57,14.26,28.83
$GC,12408,1.04,384.5,871.4,10.6,594,12417,0.00,2.00,0.00,0.000,6,0.000,0.092,3239,1547,1400,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12721,1.04,384.5,832.9,11.9,605,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1547,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13020,1.04,384.5,797.1,11.8,615,13027,0.00,2.20,0.00,0.000,4,0.000,0.155,3247,459,1400,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13112,1.02,384.5,786.1,12.0,618,13117,0.00,1.92,0.00,0.000,6,0.000,0.089,3247,1535,1399,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13442,1.02,384.5,746.4,12.2,629,13447,0.00,2.15,0.00,0.000,4,0.000,0.150,3256,456,1399,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13488,1.02,384.5,742.7,12.3,630,13498,0.15,1.98,0.00,0.000,6,0.288,0.083,3223,1537,1398,0,0,0,0,0,0,14.02,14.35,28.83
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$STATE,19897,end climb,SURFACE_DEPTH_REACHED
$STATE,19897,begin surface coast
$FINISH,1.4,1.020798
$STATE,19918,end surface coast,CONTROL_FINISHED_OK
$STATE,19918,begin surface
$SM_CCo,20001,0.00,0.000,0,0,1403,389.29
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$IRIDIUM_FIX,2411.01,-3745.65,300113,121248
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.43
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7597600
$24V_AH,12.7,192.084
$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,23.825,166.525,576.500,0.000,0.000,0.000,0.000,567.025,0.500,0.000,15.806,2795.372,14063.325,936.945,2454.929,650.642,0.000,2548.720,0.000,1843.907,0.000,0.542,0.000
$DEVICE_MAMPS,356.490,173.655,2522.970,0.000,0.000,0.000,0.000,171.360,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19959.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.096,0.000,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,36698,993
$CAP_FILE_SIZE,211445,0
$CFSIZE,260034560,188817408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.067,  2.5,1
$GPS,300113,182535,2420.490,-3746.351,39,0.9,39,-14.0