version: 66.11
glider: 190
mission: 6
dive: 534
start: 2 22 113 19 24 37
data:
$ID,190
$MISSION,6
$DIVE,534
$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,-13587.902
$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,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
$GPS1,220213,191152,2424.886,-3813.640,40,0.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-65.2
$GPS2,220213,192405,2424.799,-3813.593,19,1.0,19,-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,227.9,9665,-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,-155.7,0.0,0.0,0,34,0.00,0.00,-10.12,0.000,2,0.000,0.000,139,1517,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.4,0.0,1,144,10.98,2.08,-87.93,0.000,4,0.345,0.157,2578,452,3329,0,0,0,0,0,0,14.06,14.08,14.65
$GC,316,-0.84,-155.7,17.6,-9.9,29,324,0.00,1.95,0.00,0.000,6,0.000,0.081,2572,1525,3329,0,0,0,0,0,0,28.83,14.16,28.83
$GC,627,-0.81,-155.7,45.6,-8.9,60,634,0.12,1.98,0.00,0.000,4,0.259,0.102,2605,2578,3329,0,0,0,0,0,0,13.98,14.00,28.83
$GC,725,-0.81,-155.7,54.1,-8.4,70,733,0.00,2.05,0.00,0.000,6,0.000,0.113,2605,1523,3329,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1035,-0.81,-155.7,81.1,-8.6,101,1044,0.00,2.00,0.00,0.000,4,0.000,0.102,2604,2569,3330,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1214,-0.81,-155.7,95.9,-8.1,119,1223,0.00,2.12,0.00,0.000,6,0.000,0.114,2605,1488,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1527,-0.81,-155.7,119.8,-7.1,150,1533,0.00,2.03,0.00,0.000,4,0.000,0.137,2605,453,3330,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1555,-0.81,-155.7,122.0,-7.6,153,1564,0.00,1.85,0.00,0.000,6,0.000,0.079,2604,1467,3330,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1866,-0.81,-155.7,146.2,-8.5,184,1873,0.00,2.08,0.00,0.000,4,0.000,0.103,2605,2580,3330,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1974,-0.81,-155.7,155.3,-8.5,195,1983,0.00,2.20,0.00,0.000,6,0.000,0.114,2605,1456,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2286,-0.81,-155.7,181.9,-8.3,226,2293,0.00,1.98,0.00,0.000,4,0.000,0.138,2604,460,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2346,-0.81,-155.7,187.2,-9.3,232,2353,0.00,1.80,0.00,0.000,6,0.000,0.080,2604,1453,3330,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2656,-0.81,-155.7,209.6,-6.3,263,2663,0.00,1.98,0.00,0.000,4,0.000,0.135,2605,454,3330,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2778,-0.81,-155.7,217.5,-6.7,275,2784,0.00,1.77,0.00,0.000,6,0.000,0.082,2605,1436,3330,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3085,-0.81,-155.7,239.9,-7.9,306,3093,0.00,1.95,0.00,0.000,4,0.000,0.136,2601,458,3330,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3176,-0.81,-155.7,247.6,-8.7,315,3183,0.00,1.75,0.00,0.000,6,0.000,0.082,2604,1418,3330,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3507,-0.81,-155.7,277.0,-9.0,328,3513,0.00,1.90,0.00,0.000,4,0.000,0.135,2604,453,3330,0,0,0,0,0,0,28.83,13.94,28.83
$GC,3614,-0.81,-155.7,285.4,-9.3,331,3622,0.00,1.77,0.00,0.000,6,0.000,0.082,2604,1409,3330,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3927,-0.81,-155.7,314.1,-8.6,342,3932,0.00,1.88,0.00,0.000,4,0.000,0.136,2604,459,3329,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4045,-0.81,-155.7,324.8,-8.9,346,4052,0.00,1.70,0.00,0.000,6,0.000,0.083,2604,1391,3329,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4376,-0.81,-155.7,352.4,-8.4,357,4381,0.00,1.85,0.00,0.000,4,0.000,0.137,2605,456,3329,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4544,-0.81,-155.7,365.9,-9.1,362,4552,0.00,1.67,0.00,0.000,6,0.000,0.083,2604,1369,3328,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4856,-0.81,-155.7,394.1,-8.4,373,4861,0.00,1.80,0.00,0.000,4,0.000,0.138,2604,458,3328,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5044,-0.81,-155.7,409.9,-8.7,379,5051,0.00,1.62,0.00,0.000,6,0.000,0.083,2604,1344,3327,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5370,-0.83,-155.7,435.9,-7.8,390,5375,0.00,1.75,0.00,0.000,4,0.000,0.140,2605,459,3326,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5504,-0.83,-155.7,446.0,-8.4,394,5512,0.00,1.58,0.00,0.000,6,0.000,0.085,2604,1316,3326,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5816,-0.83,-155.7,474.1,-8.7,405,5822,0.00,1.67,0.00,0.000,4,0.000,0.142,2604,459,3325,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5884,-0.83,-155.7,479.6,-9.0,407,5891,0.00,1.55,0.00,0.000,6,0.000,0.085,2605,1300,3325,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6206,-0.83,-155.7,508.3,-8.7,418,6211,0.00,1.70,0.00,0.000,4,0.000,0.142,2604,457,3324,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6286,-0.83,-155.7,513.6,-8.7,420,6293,0.00,1.50,0.00,0.000,6,0.000,0.086,2605,1276,3323,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6595,-0.83,-155.7,540.2,-7.8,431,6602,0.00,1.65,0.00,0.000,4,0.000,0.143,2604,459,3323,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6685,-0.83,-155.7,547.3,-7.9,434,6691,0.00,1.45,0.00,0.000,6,0.000,0.087,2604,1252,3323,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7019,-0.83,-155.7,571.0,-6.8,445,7024,0.00,1.58,0.00,0.000,4,0.000,0.145,2604,455,3321,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7124,-0.83,-155.7,577.4,-7.1,448,7132,0.00,1.45,0.00,0.000,6,0.000,0.087,2604,1236,3320,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7439,-0.85,-155.7,602.9,-8.2,459,7446,0.00,2.55,0.00,0.000,4,0.000,0.110,2604,2580,3320,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7484,-0.87,-155.7,605.5,-8.3,460,7493,0.00,2.67,0.00,0.000,6,0.000,0.125,2605,1228,3320,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7799,-0.89,-155.7,634.5,-9.0,471,7805,0.00,2.58,0.00,0.000,4,0.000,0.106,2604,2576,3319,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7855,-0.92,-155.7,639.6,-8.8,473,7861,0.00,2.65,0.00,0.000,6,0.000,0.124,2604,1239,3319,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8189,-0.94,-155.7,665.9,-7.5,484,8195,0.12,1.55,0.00,0.000,4,0.137,0.143,2550,455,3318,0,0,0,0,0,0,14.40,13.79,28.83
$GC,8387,-0.91,-155.7,680.6,-8.2,490,8393,0.00,1.42,0.00,0.000,6,0.000,0.090,2549,1223,3317,0,0,0,0,0,0,28.83,13.99,28.83
$GC,8696,-0.91,-155.7,704.0,-7.0,501,8701,0.00,1.55,0.00,0.000,4,0.000,0.145,2549,455,3316,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8805,-0.88,-155.7,711.1,-7.8,504,8814,0.15,1.40,0.00,0.000,6,0.259,0.088,2583,1204,3315,0,0,0,0,0,0,13.76,14.11,28.83
$GC,9119,-0.88,-155.7,735.9,-7.6,515,9125,0.00,2.62,0.00,0.000,4,0.000,0.110,2579,2581,3314,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9194,-0.88,-155.7,740.4,-7.6,517,9203,0.00,2.75,0.00,0.000,6,0.000,0.125,2579,1202,3314,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9505,-0.88,-155.7,768.5,-8.8,528,9511,0.00,1.50,0.00,0.000,4,0.000,0.148,2580,462,3312,0,0,0,0,0,0,28.83,13.69,28.83
$GC,9626,-0.88,-155.7,779.6,-9.2,532,9631,0.00,1.35,0.00,0.000,6,0.000,0.089,2579,1192,3312,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9955,-0.88,-155.7,805.8,-7.6,543,9962,0.00,2.67,0.00,0.000,4,0.000,0.110,2579,2581,3309,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10025,-0.88,-155.7,810.0,-7.1,545,10031,0.00,2.70,0.00,0.000,6,0.000,0.117,2579,1188,3311,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10348,-0.88,-155.7,832.0,-6.4,556,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1188,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10647,-0.88,-155.7,851.1,-6.5,566,10652,0.00,2.67,0.00,0.000,4,0.000,0.107,2576,2576,3309,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10754,-0.88,-155.7,856.9,-6.4,569,10764,0.00,2.78,0.00,0.000,6,0.000,0.126,2576,1196,3309,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11065,-0.88,-155.7,881.9,-8.1,580,11071,0.00,1.50,0.00,0.000,4,0.000,0.154,2576,468,3308,0,0,0,0,0,0,28.83,13.65,28.83
$GC,11127,-0.88,-155.7,887.2,-8.5,582,11132,0.00,1.38,0.00,0.000,6,0.000,0.092,2571,1197,3305,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11457,-0.88,-155.7,916.3,-8.8,593,11463,0.00,2.65,0.00,0.000,4,0.000,0.116,2566,2576,3306,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11606,-0.88,-155.7,929.6,-9.0,598,11612,0.00,2.72,0.00,0.000,6,0.000,0.130,2566,1215,3306,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11938,-0.88,-155.7,958.4,-8.4,609,11943,0.00,2.67,0.00,0.000,4,0.000,0.115,2565,2580,3304,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12014,-0.88,-155.7,963.2,-8.2,611,12023,0.00,2.72,0.00,0.000,6,0.000,0.130,2565,1235,3304,0,0,0,0,0,0,28.83,13.82,28.83
$STATE,12202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12202,begin apogee
$GC,12212,-0.25,0.0,980.1,-8.0,618,12372,0.80,0.00,155.38,1.818,4,0.211,0.000,2784,1518,2693,0,0,0,0,0,0,13.71,28.83,12.96
$STATE,12378,end apogee,CONTROL_FINISHED_OK
$STATE,12378,begin climb
$GC,12382,0.90,155.7,986.8,0.0,623,12557,1.20,2.05,164.80,1.834,4,0.132,0.121,3159,2580,2059,0,0,0,0,0,0,14.09,14.07,13.00
$GC,12565,0.89,252.1,982.7,4.1,629,12675,0.00,2.15,102.88,1.757,6,0.000,0.142,3166,1522,1662,0,0,0,0,0,0,28.83,14.06,13.06
$GC,12977,0.89,252.1,947.2,7.7,643,12983,0.00,2.05,0.00,0.000,4,0.000,0.122,3165,2575,1649,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13145,0.89,252.1,935.4,8.0,648,13154,0.00,2.08,0.00,0.000,6,0.000,0.145,3174,1546,1648,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13458,0.89,252.1,910.3,7.7,659,13463,0.00,2.00,0.00,0.000,4,0.000,0.123,3173,2585,1646,0,0,0,0,0,0,28.83,14.19,28.83
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$STATE,23254,end climb,SURFACE_DEPTH_REACHED
$STATE,23254,begin surface coast
$FINISH,1.7,1.025647
$STATE,23274,end surface coast,CONTROL_FINISHED_OK
$STATE,23274,begin surface
$SM_CCo,23298,49.35,0.125,0,0,1264,350.04
$SM_GC,2.52,8.95,0.75,49.35,0.070,0.139,0.125,139,1512,1264,-8.48,0.17,350.04,0,0,0,0,0,0,14.15,13.90,14.13
$IRIDIUM_FIX,2415.74,-3814.09,220213,121209
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.93
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.80
$XPDR_PINGS,4
$SC_FREEKB,7566080
$24V_AH,13.0,224.398
$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,22.775,191.975,423.050,49.350,0.000,0.000,0.000,419.275,1.000,0.000,22.718,3435.424,16155.762,901.427,2784.515,788.308,0.000,2570.653,0.000,2310.530,0.000,0.541,0.000
$DEVICE_MAMPS,345.015,156.825,1834.470,124.695,0.000,0.000,0.000,161.415,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23330.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.899,0.000,0.000,0.000
$MEM,344996
$DATA_FILE_SIZE,43368,1167
$CAP_FILE_SIZE,245206,0
$CFSIZE,260034560,179499008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,192.2,1
$GPS,230213,015504,2423.169,-3813.799,33,1.1,33,-14.1