version: 66.11
glider: 190
mission: 6
dive: 515
start: 2 17 113 7 7 27
data:
$ID,190
$MISSION,6
$DIVE,515
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,1
$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,-13563.725
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,9
$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,2694
$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
$GPS1,170213,065459,2442.930,-3812.976,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-64.6
$GPS2,170213,070653,2442.935,-3813.108,18,0.9,18,-14.0
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,157.6,42024,-16.1,-7.101,-28.69
$D_GRID,980
$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,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.45,0.000,2,0.000,0.000,142,1524,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.4,0.0,1,144,10.98,2.10,-86.85,0.000,4,0.346,0.164,2577,456,3328,0,0,0,0,0,0,14.09,14.00,14.66
$GC,296,-0.84,-155.7,16.3,-10.0,27,303,0.00,1.92,0.00,0.000,6,0.000,0.086,2572,1523,3328,0,0,0,0,0,0,28.83,14.08,28.83
$GC,607,-0.80,-155.7,43.6,-10.3,58,614,0.12,0.00,0.00,0.000,6,0.269,0.000,2605,1523,3328,0,0,0,0,0,0,14.02,28.83,28.83
$GC,915,-0.80,-155.7,72.0,-8.6,89,923,0.00,2.17,0.00,0.000,4,0.000,0.143,2605,458,3328,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1026,-0.78,-155.7,81.8,-9.0,100,1033,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1493,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1336,-0.78,-155.7,106.4,-8.0,131,1343,0.00,2.08,0.00,0.000,4,0.000,0.142,2605,454,3328,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1415,-0.75,-155.7,113.0,-8.5,139,1423,0.00,1.90,0.00,0.000,6,0.000,0.082,2605,1486,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1725,-0.75,-155.7,139.8,-8.9,170,1733,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,463,3328,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1806,-0.75,-155.7,147.1,-9.0,178,1815,0.00,1.80,0.00,0.000,6,0.000,0.082,2605,1483,3328,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2116,-0.75,-155.7,173.4,-8.6,209,2124,0.00,2.05,0.00,0.000,4,0.000,0.105,2605,2579,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2165,-0.75,-155.7,177.6,-8.2,214,2173,0.00,2.15,0.00,0.000,6,0.000,0.116,2605,1481,3329,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2476,-0.75,-155.7,202.8,-7.7,245,2483,0.00,2.00,0.00,0.000,4,0.000,0.140,2605,458,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2608,-0.75,-155.7,212.9,-7.7,258,2614,0.00,1.80,0.00,0.000,6,0.000,0.080,2605,1473,3328,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2915,-0.75,-155.7,236.5,-7.5,289,2924,0.00,2.03,0.00,0.000,4,0.000,0.136,2605,460,3329,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2996,-0.75,-155.7,242.8,-7.8,297,3004,0.00,1.83,0.00,0.000,6,0.000,0.082,2604,1460,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3305,-0.75,-155.7,266.5,-7.9,314,3311,0.00,2.00,0.00,0.000,4,0.000,0.137,2605,458,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3415,-0.75,-155.7,274.1,-8.2,317,3424,0.00,1.77,0.00,0.000,6,0.000,0.081,2604,1433,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3725,-0.75,-155.7,301.2,-8.3,328,3731,0.00,1.95,0.00,0.000,4,0.000,0.137,2605,455,3329,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3876,-0.75,-155.7,313.9,-8.4,333,3881,0.00,1.73,0.00,0.000,6,0.000,0.083,2604,1409,3328,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4205,-0.75,-155.7,339.2,-7.5,344,4211,0.00,1.90,0.00,0.000,4,0.000,0.138,2604,455,3328,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4315,-0.75,-155.7,346.1,-7.7,347,4323,0.00,1.70,0.00,0.000,6,0.000,0.085,2604,1390,3327,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4625,-0.75,-155.7,372.0,-8.1,358,4631,0.00,1.85,0.00,0.000,4,0.000,0.140,2605,463,3327,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4774,-0.75,-155.7,385.3,-9.1,363,4782,0.00,1.65,0.00,0.000,6,0.000,0.085,2605,1367,3326,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5107,-0.75,-155.7,412.1,-8.0,374,5112,0.00,1.80,0.00,0.000,4,0.000,0.141,2605,459,3326,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5194,-0.75,-155.7,419.6,-8.2,377,5201,0.00,1.65,0.00,0.000,6,0.000,0.086,2604,1355,3326,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5526,-0.75,-155.7,445.0,-7.5,388,5531,0.00,1.77,0.00,0.000,4,0.000,0.142,2605,459,3325,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5674,-0.75,-155.7,456.4,-7.7,393,5681,0.00,1.60,0.00,0.000,6,0.000,0.085,2604,1330,3324,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6009,-0.75,-155.7,479.3,-6.7,404,6014,0.00,1.75,0.00,0.000,4,0.000,0.142,2604,453,3324,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6104,-0.75,-155.7,485.9,-7.2,407,6111,0.00,1.60,0.00,0.000,6,0.000,0.085,2604,1315,3323,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6430,-0.75,-155.7,507.7,-6.9,418,6435,0.00,1.73,0.00,0.000,4,0.000,0.142,2605,453,3323,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6563,-0.75,-155.7,516.8,-7.6,422,6567,0.00,1.55,0.00,0.000,6,0.000,0.085,2605,1295,3322,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6866,-0.78,-155.7,543.0,-8.5,432,6871,0.00,2.40,0.00,0.000,4,0.000,0.109,2605,2579,3320,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6906,-0.80,-155.7,545.6,-8.5,433,6911,0.00,2.55,0.00,0.000,6,0.000,0.126,2604,1283,3321,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7228,-0.82,-155.7,574.2,-8.5,444,7233,0.00,1.62,0.00,0.000,4,0.000,0.145,2603,458,3320,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7385,-0.82,-155.7,586.7,-8.3,449,7391,0.00,1.48,0.00,0.000,6,0.000,0.087,2604,1260,3319,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7708,-0.85,-155.7,610.7,-7.1,460,7713,0.00,1.62,0.00,0.000,4,0.000,0.145,2604,453,3318,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7766,-0.85,-155.7,614.9,-7.0,462,7771,0.00,1.48,0.00,0.000,6,0.000,0.089,2605,1247,3318,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8098,-0.87,-155.7,637.8,-7.1,473,8103,0.00,1.60,0.00,0.000,4,0.000,0.145,2605,453,3317,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8164,-0.87,-155.7,642.1,-7.1,475,8167,0.00,1.45,0.00,0.000,6,0.000,0.087,2604,1233,3317,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8480,-0.89,-155.7,666.5,-7.7,486,8485,0.00,2.55,0.00,0.000,4,0.000,0.110,2604,2573,3316,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8536,-0.92,-155.7,671.3,-7.8,488,8543,0.00,2.67,0.00,0.000,6,0.000,0.129,2605,1235,3316,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8870,-0.94,-155.7,699.8,-8.9,499,8876,0.12,1.58,0.00,0.000,4,0.137,0.145,2549,453,3314,0,0,0,0,0,0,14.43,13.81,28.83
$GC,8965,-0.94,-155.7,708.9,-9.9,502,8968,0.00,1.42,0.00,0.000,6,0.000,0.087,2545,1222,3314,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9278,-0.94,-155.7,740.8,-9.6,513,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1222,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9577,-0.94,-155.7,766.4,-8.2,523,9584,0.00,1.55,0.00,0.000,4,0.000,0.145,2545,458,3312,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9637,-0.92,-155.7,771.2,-8.0,525,9644,0.10,1.40,0.00,0.000,6,0.235,0.087,2568,1214,3312,0,0,0,0,0,0,13.69,14.06,28.83
$GC,9971,-0.92,-155.7,793.4,-6.3,536,9976,0.00,2.62,0.00,0.000,4,0.000,0.113,2558,2576,3311,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10036,-0.92,-155.7,797.1,-6.2,538,10043,0.00,2.75,0.00,0.000,6,0.000,0.130,2557,1213,3310,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10358,-0.92,-155.7,820.9,-7.8,549,10363,0.00,1.55,0.00,0.000,4,0.000,0.151,2558,462,3309,0,0,0,0,0,0,28.83,13.66,28.83
$GC,10477,-0.90,-155.7,831.2,-8.6,553,10484,0.00,1.40,0.00,0.000,6,0.000,0.090,2552,1217,3308,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10811,-0.90,-155.7,862.6,-9.9,564,10816,0.00,1.58,0.00,0.000,4,0.000,0.151,2553,460,3307,0,0,0,0,0,0,28.83,13.66,28.83
$GC,10867,-0.90,-155.7,868.7,-10.0,566,10873,0.00,1.38,0.00,0.000,6,0.000,0.093,2551,1195,3307,0,0,0,0,0,0,28.83,14.01,28.83
$GC,11201,-0.90,-155.7,900.5,-9.3,577,11207,0.12,2.65,0.00,0.000,4,0.274,0.112,2580,2571,3306,0,0,0,0,0,0,13.95,13.85,28.83
$GC,11256,-0.90,-155.7,905.4,-8.7,579,11264,0.00,2.80,0.00,0.000,6,0.000,0.129,2575,1185,3306,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11591,-0.90,-155.7,930.1,-6.9,590,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1185,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11888,-0.90,-155.7,948.1,-5.7,600,11894,0.00,2.72,0.00,0.000,4,0.000,0.113,2568,2571,3304,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11966,-0.90,-155.7,951.6,-5.7,602,11975,0.00,2.80,0.00,0.000,6,0.000,0.129,2568,1190,3303,0,0,0,0,0,0,28.83,13.77,28.83
$GC,12281,-0.90,-155.7,972.6,-6.7,613,12286,0.00,1.52,0.00,0.000,4,0.000,0.158,2568,450,3303,0,0,0,0,0,0,28.83,13.68,28.83
$GC,12316,-0.90,-155.7,974.7,-6.9,614,12322,0.00,1.42,0.00,0.000,6,0.000,0.089,2564,1207,3302,0,0,0,0,0,0,28.83,14.05,28.83
$STATE,12393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12394,begin apogee
$GC,12402,-0.25,0.0,981.3,-7.3,617,12564,0.80,0.00,156.32,1.819,4,0.212,0.000,2783,1516,2689,0,0,0,0,0,0,13.69,28.83,12.94
$STATE,12570,end apogee,CONTROL_FINISHED_OK
$STATE,12570,begin climb
$GC,12573,0.90,155.7,987.6,0.0,622,12750,1.20,2.05,165.23,1.815,4,0.128,0.120,3160,2580,2058,0,0,0,0,0,0,14.11,14.09,12.99
$GC,12948,0.87,155.7,969.1,7.2,634,12957,0.00,2.15,0.00,0.000,6,0.000,0.144,3168,1519,2043,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13263,0.84,160.5,946.4,7.0,645,13269,0.00,2.15,0.00,0.000,4,0.000,0.171,3177,460,2041,0,0,0,0,0,0,28.83,14.07,28.83
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$STATE,24783,end climb,SURFACE_DEPTH_REACHED
$STATE,24783,begin surface coast
$FINISH,1.6,1.022601
$STATE,24814,end surface coast,CONTROL_FINISHED_OK
$STATE,24814,begin surface
$SM_CCo,24839,54.83,0.125,0,0,1264,350.04
$SM_GC,2.61,8.82,0.70,54.83,0.069,0.142,0.125,146,1519,1264,-8.46,0.34,350.04,0,0,0,0,0,0,14.14,13.93,14.21
$IRIDIUM_FIX,2432.32,-3816.63,160213,232316
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.42
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7573248
$24V_AH,12.0,217.394
$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,22.975,204.650,456.950,54.825,0.000,0.000,0.000,410.350,0.500,0.000,19.258,3655.617,17302.492,899.236,2914.338,823.547,0.000,2624.148,0.000,2430.764,0.000,0.541,0.000
$DEVICE_MAMPS,345.780,171.360,1819.170,125.460,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24869.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.064,0.000,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,46666,1207
$CAP_FILE_SIZE,265605,0
$CFSIZE,260034560,181645312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,283.9,1
$GPS,170213,140335,2442.473,-3812.815,27,1.0,27,-14.0