version: 66.11
glider: 190
mission: 6
dive: 530
start: 2 21 113 15 53 13
data:
$ID,190
$MISSION,6
$DIVE,530
$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,-13582.776
$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,10
$R_STBD_OVSHOOT,15
$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
$GPS1,210213,154105,2431.160,-3813.667,34,0.8,34,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-65.0
$GPS2,210213,155241,2431.110,-3813.745,20,1.0,20,-14.1
$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,194.9,20332,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.90,-155.7,0.0,0.0,0,35,0.00,0.00,-10.62,0.000,2,0.000,0.000,146,1514,1511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.5,0.0,1,145,10.82,2.08,-86.30,0.000,4,0.338,0.162,2579,459,3329,0,0,0,0,0,0,14.12,14.02,14.66
$GC,307,-0.84,-155.7,17.6,-9.9,28,314,0.00,1.92,0.00,0.000,6,0.000,0.082,2571,1523,3329,0,0,0,0,0,0,28.83,14.08,28.83
$GC,618,-0.80,-155.7,45.1,-8.8,59,625,0.12,1.98,0.00,0.000,4,0.259,0.101,2605,2578,3329,0,0,0,0,0,0,14.02,14.06,28.83
$GC,666,-0.80,-155.7,49.1,-7.8,64,674,0.00,2.05,0.00,0.000,6,0.000,0.115,2605,1525,3329,0,0,0,0,0,0,28.83,13.91,28.83
$GC,977,-0.80,-155.7,74.1,-8.2,95,984,0.00,2.10,0.00,0.000,4,0.000,0.140,2605,462,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1187,-0.78,-155.7,91.4,-8.1,116,1194,0.00,1.88,0.00,0.000,6,0.000,0.080,2605,1499,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1497,-0.78,-155.7,116.6,-7.9,147,1504,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,457,3330,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1606,-0.78,-155.7,125.6,-8.2,158,1614,0.00,1.88,0.00,0.000,6,0.000,0.080,2604,1486,3329,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1917,-0.78,-155.7,150.2,-8.1,189,1925,0.00,2.05,0.00,0.000,4,0.000,0.136,2604,455,3329,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2049,-0.78,-155.7,161.4,-9.0,202,2055,0.00,1.83,0.00,0.000,6,0.000,0.080,2605,1465,3330,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2356,-0.78,-155.7,187.2,-8.3,233,2365,0.00,2.03,0.00,0.000,4,0.000,0.133,2604,460,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2437,-0.78,-155.7,193.5,-8.2,241,2445,0.00,1.80,0.00,0.000,6,0.000,0.080,2604,1445,3330,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2748,-0.78,-155.7,215.8,-6.8,272,2754,0.00,1.95,0.00,0.000,4,0.000,0.135,2605,458,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2879,-0.78,-155.7,224.6,-6.6,285,2886,0.00,1.75,0.00,0.000,6,0.000,0.080,2604,1414,3330,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3186,-0.78,-155.7,246.3,-7.5,316,3194,0.00,1.90,0.00,0.000,4,0.000,0.135,2605,462,3329,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3316,-0.78,-155.7,256.0,-8.1,324,3323,0.00,1.70,0.00,0.000,6,0.000,0.081,2604,1396,3330,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3636,-0.78,-155.7,282.0,-7.8,335,3643,0.00,1.88,0.00,0.000,4,0.000,0.136,2604,462,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3807,-0.78,-155.7,294.6,-8.3,340,3814,0.00,1.65,0.00,0.000,6,0.000,0.083,2604,1390,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4116,-0.78,-155.7,320.1,-7.7,351,4123,0.00,1.88,0.00,0.000,4,0.000,0.136,2604,453,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4155,-0.78,-155.7,322.6,-7.9,352,4163,0.00,1.70,0.00,0.000,6,0.000,0.082,2605,1374,3329,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4477,-0.78,-155.7,348.3,-7.7,363,4483,0.00,2.25,0.00,0.000,4,0.000,0.105,2604,2578,3328,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4525,-0.78,-155.7,350.5,-7.7,364,4534,0.00,2.35,0.00,0.000,6,0.000,0.117,2604,1369,3328,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4837,-0.78,-155.7,375.1,-7.4,375,4843,0.00,1.80,0.00,0.000,4,0.000,0.140,2604,454,3328,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4926,-0.78,-155.7,382.2,-7.7,378,4932,0.00,1.65,0.00,0.000,6,0.000,0.083,2604,1360,3327,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5256,-0.78,-155.7,405.9,-7.2,389,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1360,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5557,-0.78,-155.7,428.5,-7.7,399,5563,0.00,1.80,0.00,0.000,4,0.000,0.141,2604,458,3326,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5715,-0.78,-155.7,440.5,-8.1,404,5723,0.00,1.67,0.00,0.000,6,0.000,0.083,2604,1363,3325,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6037,-0.78,-155.7,467.9,-8.4,415,6043,0.00,2.30,0.00,0.000,4,0.000,0.109,2604,2583,3324,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6115,-0.80,-155.7,472.9,-8.5,417,6125,0.00,2.40,0.00,0.000,6,0.000,0.120,2604,1360,3325,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6427,-0.80,-155.7,501.9,-8.9,428,6432,0.00,2.30,0.00,0.000,4,0.000,0.109,2604,2576,3323,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6585,-0.82,-155.7,514.7,-8.6,433,6592,0.00,2.45,0.00,0.000,6,0.000,0.122,2604,1332,3323,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6910,-0.84,-155.7,541.1,-7.6,444,6915,0.00,1.75,0.00,0.000,4,0.000,0.146,2604,458,3322,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7064,-0.84,-155.7,552.6,-7.7,449,7071,0.00,1.58,0.00,0.000,6,0.000,0.086,2604,1309,3321,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7391,-0.86,-155.7,573.6,-6.1,460,7396,0.00,1.73,0.00,0.000,4,0.000,0.145,2604,454,3320,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7515,-0.86,-155.7,581.3,-6.4,464,7523,0.00,1.55,0.00,0.000,6,0.000,0.087,2604,1285,3320,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7841,-0.88,-155.7,605.6,-8.2,475,7847,0.00,2.47,0.00,0.000,4,0.000,0.112,2605,2583,3318,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7956,-0.91,-155.7,616.4,-9.0,479,7964,0.00,2.55,0.00,0.000,6,0.000,0.125,2604,1304,3318,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8290,-0.94,-155.7,647.8,-9.6,490,8296,0.12,1.70,0.00,0.000,4,0.137,0.141,2548,458,3317,0,0,0,0,0,0,14.42,13.81,28.83
$GC,8377,-0.94,-155.7,657.1,-10.0,493,8383,0.00,1.55,0.00,0.000,6,0.000,0.086,2543,1300,3317,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8706,-0.94,-155.7,687.2,-8.6,504,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1299,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9008,-0.94,-155.7,710.5,-7.5,514,9014,0.00,1.70,0.00,0.000,4,0.000,0.142,2543,456,3315,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9127,-0.91,-155.7,720.0,-8.0,518,9133,0.10,1.55,0.00,0.000,6,0.236,0.088,2568,1291,3315,0,0,0,0,0,0,13.64,13.98,28.83
$GC,9460,-0.91,-155.7,746.0,-8.3,529,9465,0.00,1.67,0.00,0.000,4,0.000,0.143,2567,456,3314,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9516,-0.91,-155.7,751.2,-8.5,531,9524,0.00,1.55,0.00,0.000,6,0.000,0.089,2565,1283,3313,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9848,-0.91,-155.7,780.3,-8.9,542,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1283,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10146,-0.91,-155.7,806.6,-8.6,552,10153,0.00,1.67,0.00,0.000,4,0.000,0.145,2566,463,3311,0,0,0,0,0,0,28.83,13.65,28.83
$GC,10296,-0.91,-155.7,819.4,-8.5,557,10303,0.00,1.52,0.00,0.000,6,0.000,0.089,2561,1275,3310,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10631,-0.91,-155.7,842.9,-6.7,568,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1275,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10927,-0.91,-155.7,861.8,-6.1,578,10933,0.00,2.47,0.00,0.000,4,0.000,0.107,2553,2577,3308,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10997,-0.91,-155.7,865.5,-6.2,580,11003,0.00,2.58,0.00,0.000,6,0.000,0.119,2553,1257,3308,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11316,-0.91,-155.7,888.1,-7.4,591,11317,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1257,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11618,-0.91,-155.7,914.4,-9.2,601,11623,0.00,1.58,0.00,0.000,4,0.000,0.135,2553,457,3306,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11665,-0.91,-155.7,917.4,-9.5,602,11668,0.00,1.52,0.00,0.000,6,0.000,0.082,2549,1278,3306,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11967,-0.91,-155.7,950.4,-10.5,612,11973,0.00,2.50,0.00,0.000,4,0.000,0.108,2540,2582,3305,0,0,0,0,0,0,28.83,13.85,28.83
$GC,12007,-0.91,-155.7,953.6,-10.4,613,12013,0.15,2.58,0.00,0.000,6,0.239,0.120,2574,1267,3305,0,0,0,0,0,0,13.72,13.87,28.83
$STATE,12263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12263,begin apogee
$GC,12272,-0.25,0.0,980.3,-10.1,622,12456,0.75,0.00,174.93,2.109,4,0.206,0.000,2779,1521,2695,0,0,0,0,1,0,13.69,28.83,12.67
$STATE,12462,end apogee,CONTROL_FINISHED_OK
$STATE,12462,begin climb
$GC,12465,0.90,155.7,992.5,0.0,628,12652,1.20,2.05,172.02,2.491,4,0.132,0.122,3154,2583,2059,0,0,0,0,1,0,14.07,14.05,12.70
$GC,12722,0.90,210.5,988.3,5.4,637,12791,0.00,2.12,63.50,1.782,6,0.000,0.138,3162,1518,1836,0,0,0,0,0,0,28.83,14.14,13.09
$GC,13092,0.90,210.5,957.3,8.6,650,13099,0.00,2.05,0.00,0.000,4,0.000,0.122,3162,2580,1822,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13222,0.90,210.5,946.3,9.2,654,13228,0.00,2.08,0.00,0.000,6,0.000,0.143,3169,1544,1820,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13542,0.90,210.5,913.2,10.4,665,13548,0.00,2.00,0.00,0.000,4,0.000,0.124,3169,2570,1819,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13693,0.90,210.5,896.9,11.1,670,13699,0.00,2.00,0.00,0.000,6,0.000,0.144,3176,1562,1818,0,0,0,0,0,0,28.83,14.12,28.83
$GC,14025,0.90,210.5,862.3,10.1,681,14030,0.00,1.95,0.00,0.000,4,0.000,0.124,3176,2577,1821,0,0,0,0,0,0,28.83,14.19,28.83
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$STATE,23901,end climb,SURFACE_DEPTH_REACHED
$STATE,23902,begin surface coast
$FINISH,1.6,1.025082
$STATE,23934,end surface coast,CONTROL_FINISHED_OK
$STATE,23934,begin surface
$SM_CCo,23958,40.58,0.126,0,0,1264,350.04
$SM_GC,2.41,8.88,0.73,40.58,0.070,0.131,0.126,144,1518,1264,-8.46,0.37,350.04,0,0,0,0,0,0,14.24,14.00,14.22
$IRIDIUM_FIX,2422.84,-3812.23,210213,080848
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.37
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.20
$XPDR_PINGS,0
$SC_FREEKB,7567616
$24V_AH,12.7,222.892
$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,22.625,182.475,471.975,40.575,0.000,0.000,0.000,385.450,0.000,0.000,21.253,3469.774,16758.605,914.263,2764.965,773.736,0.000,2549.997,0.000,2317.195,0.000,0.541,0.000
$DEVICE_MAMPS,338.130,162.180,2490.840,126.225,0.000,0.000,0.000,166.770,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.191,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43344,1192
$CAP_FILE_SIZE,246588,0
$CFSIZE,260034560,179953664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.042,269.9,1
$GPS,210213,223435,2429.881,-3813.627,35,0.9,35,-14.1