version: 66.11
glider: 190
mission: 6
dive: 537
start: 2 23 113 15 32 38
data:
$ID,190
$MISSION,6
$DIVE,537
$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,-13591.677
$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,8
$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
$GPS1,230213,152034,2420.180,-3814.449,27,0.8,27,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-58.1
$GPS2,230213,153205,2420.115,-3814.333,21,0.8,21,-14.1
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,26.2,33056,-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,-10.07,0.000,2,0.000,0.000,144,1511,1497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.4,0.0,1,144,10.82,2.05,-88.70,0.000,4,0.340,0.128,2569,2580,3329,0,0,0,0,0,0,14.05,14.14,14.64
$GC,379,-0.87,-155.7,22.2,-9.1,35,385,0.00,2.05,0.00,0.000,6,0.000,0.118,2569,1518,3330,0,0,0,0,0,0,28.83,13.91,28.83
$GC,687,-0.83,-155.7,50.1,-8.8,66,694,0.12,2.08,0.00,0.000,4,0.252,0.136,2604,459,3330,0,0,0,0,0,0,14.02,13.93,28.83
$GC,745,-0.80,-155.7,55.8,-9.4,72,753,0.00,1.95,0.00,0.000,6,0.000,0.083,2598,1521,3331,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1055,-0.80,-155.7,83.0,-8.3,103,1063,0.00,2.00,0.00,0.000,4,0.000,0.105,2592,2573,3330,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1125,-0.80,-155.7,88.4,-7.7,110,1133,0.00,2.05,0.00,0.000,6,0.000,0.114,2592,1522,3331,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1435,-0.80,-155.7,111.8,-7.6,141,1444,0.00,2.12,0.00,0.000,4,0.000,0.135,2592,458,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1527,-0.76,-155.7,119.3,-8.4,150,1534,0.12,1.92,0.00,0.000,6,0.269,0.083,2618,1515,3331,0,0,0,0,0,0,13.78,14.04,28.83
$GC,1837,-0.76,-155.7,144.0,-8.8,181,1844,0.00,2.10,0.00,0.000,4,0.000,0.137,2618,455,3331,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1904,-0.76,-155.7,150.4,-9.4,188,1913,0.00,1.90,0.00,0.000,6,0.000,0.080,2618,1491,3331,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2215,-0.76,-155.7,176.5,-8.9,219,2223,0.00,2.08,0.00,0.000,4,0.000,0.135,2618,460,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2265,-0.76,-155.7,181.3,-9.8,224,2273,0.00,1.88,0.00,0.000,6,0.000,0.080,2617,1483,3331,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2575,-0.78,-155.7,207.5,-7.4,255,2583,0.00,2.05,0.00,0.000,4,0.000,0.134,2618,458,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2708,-0.78,-155.7,217.6,-8.1,268,2715,0.00,1.83,0.00,0.000,6,0.000,0.081,2618,1469,3331,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3017,-0.80,-155.7,242.0,-8.2,299,3023,0.00,2.00,0.00,0.000,4,0.000,0.134,2618,456,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3144,-0.80,-155.7,252.2,-8.5,310,3150,0.00,1.80,0.00,0.000,6,0.000,0.080,2618,1438,3331,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3470,-0.83,-155.7,276.3,-6.8,321,3475,0.00,1.92,0.00,0.000,4,0.000,0.135,2618,457,3331,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3555,-0.83,-155.7,282.3,-6.6,324,3562,0.00,1.75,0.00,0.000,6,0.000,0.080,2618,1416,3331,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3890,-0.85,-155.7,303.6,-6.8,335,3896,0.00,1.90,0.00,0.000,4,0.000,0.135,2618,455,3331,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4014,-0.85,-155.7,313.4,-8.2,339,4021,0.00,1.73,0.00,0.000,6,0.000,0.082,2618,1397,3330,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4340,-0.87,-155.7,344.2,-9.8,350,4345,0.00,1.88,0.00,0.000,4,0.000,0.137,2618,453,3330,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4384,-0.87,-155.7,347.3,-9.9,351,4392,0.00,1.70,0.00,0.000,6,0.000,0.082,2618,1378,3330,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4695,-0.90,-155.7,379.5,-9.6,362,4702,0.12,1.85,0.00,0.000,4,0.135,0.138,2564,455,3329,0,0,0,0,0,0,14.51,13.83,28.83
$GC,4794,-0.90,-155.7,388.5,-9.8,365,4802,0.00,1.67,0.00,0.000,6,0.000,0.082,2558,1366,3329,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5115,-0.90,-155.7,415.6,-7.6,376,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1366,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5416,-0.90,-155.7,434.8,-6.1,386,5421,0.00,1.80,0.00,0.000,4,0.000,0.134,2559,452,3328,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5525,-0.87,-155.7,440.7,-6.4,389,5534,0.10,1.62,0.00,0.000,6,0.239,0.082,2581,1350,3327,0,0,0,0,0,0,13.77,14.13,28.83
$GC,5839,-0.87,-155.7,461.4,-6.5,400,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1354,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6135,-0.87,-155.7,483.2,-7.5,410,6141,0.00,1.77,0.00,0.000,4,0.000,0.137,2581,458,3326,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6256,-0.87,-155.7,493.0,-8.2,414,6261,0.00,1.62,0.00,0.000,6,0.000,0.083,2577,1346,3325,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6585,-0.87,-155.7,520.2,-8.5,425,6591,0.00,1.77,0.00,0.000,4,0.000,0.137,2577,457,3324,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6706,-0.87,-155.7,530.9,-8.9,429,6712,0.00,1.60,0.00,0.000,6,0.000,0.082,2571,1332,3324,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7035,-0.87,-155.7,559.9,-8.9,440,7042,0.00,1.75,0.00,0.000,4,0.000,0.138,2571,458,3323,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7174,-0.87,-155.7,571.1,-9.4,444,7182,0.00,1.58,0.00,0.000,6,0.000,0.083,2566,1311,3322,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7487,-0.87,-155.7,599.9,-8.5,455,7492,0.00,1.70,0.00,0.000,4,0.000,0.140,2566,457,3322,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7594,-0.85,-155.7,607.9,-8.8,458,7604,0.12,1.52,0.00,0.000,6,0.271,0.083,2588,1287,3321,0,0,0,0,0,0,13.82,14.15,28.83
$GC,7909,-0.85,-155.7,634.8,-8.2,469,7914,0.00,1.65,0.00,0.000,4,0.000,0.142,2588,458,3320,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8004,-0.85,-155.7,642.5,-8.3,472,8011,0.00,1.50,0.00,0.000,6,0.000,0.084,2583,1269,3319,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8327,-0.85,-155.7,669.4,-8.1,483,8332,0.00,1.62,0.00,0.000,4,0.000,0.143,2583,458,3319,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8394,-0.85,-155.7,674.5,-8.3,485,8401,0.00,1.48,0.00,0.000,6,0.000,0.086,2579,1252,3318,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8715,-0.85,-155.7,701.3,-8.2,496,8722,0.00,1.62,0.00,0.000,4,0.000,0.145,2579,455,3317,0,0,0,0,0,0,28.83,13.72,28.83
$GC,8836,-0.85,-155.7,711.5,-8.5,500,8843,0.00,1.45,0.00,0.000,6,0.000,0.090,2577,1232,3317,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9165,-0.85,-155.7,738.7,-8.3,511,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1232,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9466,-0.85,-155.7,762.7,-8.0,521,9471,0.00,1.60,0.00,0.000,4,0.000,0.148,2578,460,3314,0,0,0,0,0,0,28.83,13.66,28.83
$GC,9615,-0.85,-155.7,775.1,-8.4,526,9621,0.00,1.45,0.00,0.000,6,0.000,0.090,2575,1230,3313,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9946,-0.85,-155.7,801.8,-8.2,537,9951,0.00,1.58,0.00,0.000,4,0.000,0.149,2575,458,3312,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10084,-0.85,-155.7,812.1,-8.6,541,10093,0.00,1.40,0.00,0.000,6,0.000,0.086,2571,1206,3312,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10396,-0.85,-155.7,839.9,-8.5,552,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1207,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10695,-0.85,-155.7,865.7,-8.6,562,10701,0.00,1.55,0.00,0.000,4,0.000,0.149,2571,455,3310,0,0,0,0,0,0,28.83,13.66,28.83
$GC,10854,-0.85,-155.7,879.9,-9.5,567,10860,0.00,1.40,0.00,0.000,6,0.000,0.091,2566,1197,3310,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11176,-0.85,-155.7,909.2,-8.7,578,11182,0.00,1.52,0.00,0.000,4,0.000,0.151,2567,463,3308,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11274,-0.85,-155.7,917.4,-9.0,581,11277,0.00,1.38,0.00,0.000,6,0.000,0.093,2566,1187,3308,0,0,0,0,0,0,28.83,13.99,28.83
$GC,11587,-0.85,-155.7,943.4,-7.8,592,11593,0.00,2.70,0.00,0.000,4,0.000,0.118,2565,2574,3307,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11676,-0.85,-155.7,949.9,-7.4,595,11684,0.08,2.80,0.00,0.000,6,0.223,0.130,2587,1189,3306,0,0,0,0,0,0,13.69,13.83,28.83
$GC,12011,-0.85,-155.7,973.1,-7.2,606,12016,0.00,2.72,0.00,0.000,4,0.000,0.115,2579,2574,3304,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12096,-0.85,-155.7,979.3,-6.9,609,12102,0.00,2.78,0.00,0.000,6,0.000,0.132,2579,1192,3305,0,0,0,0,0,0,28.83,13.89,28.83
$STATE,12123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12123,begin apogee
$GC,12131,-0.25,0.0,981.5,-7.0,610,12293,0.75,0.00,156.07,1.818,4,0.211,0.000,2784,1513,2691,0,0,0,0,0,0,13.69,28.83,12.97
$STATE,12299,end apogee,CONTROL_FINISHED_OK
$STATE,12299,begin climb
$GC,12303,0.90,155.7,988.0,0.0,615,12478,1.20,2.05,165.23,1.838,4,0.129,0.121,3160,2584,2059,0,0,0,0,0,0,14.09,14.07,12.98
$GC,12509,0.87,193.0,980.3,5.9,622,12555,0.00,2.12,40.90,1.727,6,0.000,0.143,3164,1514,1906,0,0,0,0,0,0,28.83,14.09,13.08
$GC,12867,0.87,193.0,951.4,7.9,634,12874,0.00,2.08,0.00,0.000,4,0.000,0.121,3167,2578,1890,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12938,0.87,193.0,946.7,7.9,636,12944,0.00,2.10,0.00,0.000,6,0.000,0.145,3174,1534,1889,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13261,0.84,193.0,921.5,7.5,647,13267,0.12,1.98,0.00,0.000,4,0.282,0.110,3142,2585,1888,0,0,0,0,0,0,14.04,14.21,28.83
$GC,13328,0.85,195.9,917.6,7.0,649,13334,0.00,2.08,0.00,0.000,6,0.000,0.130,3150,1540,1887,0,0,0,0,0,0,28.83,13.97,28.83
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$STATE,24064,end climb,SURFACE_DEPTH_REACHED
$STATE,24064,begin surface coast
$FINISH,1.5,1.025765
$STATE,24092,end surface coast,CONTROL_FINISHED_OK
$STATE,24092,begin surface
$SM_CCo,24117,51.72,0.125,0,0,1266,350.04
$SM_GC,2.45,8.93,2.00,51.72,0.076,0.086,0.125,144,1522,1266,-8.47,-0.42,350.04,0,0,0,0,0,0,14.18,14.04,14.21
$IRIDIUM_FIX,2415.74,-3814.09,230213,080830
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.86
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7564928
$24V_AH,13.0,225.519
$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,23.050,192.200,415.725,51.725,0.000,0.000,0.000,382.600,0.500,0.000,22.532,3534.529,16827.539,884.586,2804.014,796.255,0.000,2543.914,0.000,2358.516,0.000,0.541,0.000
$DEVICE_MAMPS,339.660,161.415,1838.295,124.695,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24147.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.956,0.000,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,46684,1199
$CAP_FILE_SIZE,253059,0
$CFSIZE,260034560,179154944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,175.9,1
$GPS,230213,221653,2420.696,-3814.615,39,0.8,39,-14.1