version: 66.11
glider: 190
mission: 6
dive: 547
start: 2 26 113 12 17 9
data:
$ID,190
$MISSION,6
$DIVE,547
$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,-13604.454
$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
$GPS1,260213,120453,2420.588,-3815.040,41,1.0,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-66.7
$GPS2,260213,121636,2420.495,-3814.989,23,0.9,23,-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,29.3,33230,-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,-10.43,0.000,2,0.000,0.000,148,1523,1507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.6,0.0,1,144,11.15,2.03,-84.65,0.000,4,0.356,0.125,2565,2584,3329,0,0,0,0,0,0,14.09,14.09,14.66
$GC,216,-0.85,-155.7,9.2,-8.8,19,223,0.12,2.10,0.00,0.000,6,0.239,0.120,2595,1508,3329,0,0,0,0,0,0,13.93,13.97,28.83
$GC,525,-0.85,-155.7,35.8,-8.7,50,534,0.00,2.12,0.00,0.000,4,0.000,0.143,2593,458,3329,0,0,0,0,0,0,28.83,13.82,28.83
$GC,566,-0.82,-155.7,39.4,-9.2,54,575,0.00,1.98,0.00,0.000,6,0.000,0.087,2590,1541,3330,0,0,0,0,0,0,28.83,14.01,28.83
$GC,876,-0.82,-155.7,67.8,-9.4,85,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1538,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1185,-0.82,-155.7,95.0,-8.2,116,1193,0.00,2.20,0.00,0.000,4,0.000,0.140,2590,455,3330,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1266,-0.78,-155.7,101.9,-8.7,124,1274,0.12,1.95,0.00,0.000,6,0.262,0.083,2610,1522,3330,0,0,0,0,0,0,13.84,14.09,28.83
$GC,1580,-0.78,-155.7,126.7,-8.0,155,1586,0.00,2.12,0.00,0.000,4,0.000,0.138,2610,458,3330,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1685,-0.78,-155.7,136.2,-8.3,166,1695,0.00,1.90,0.00,0.000,6,0.000,0.082,2605,1492,3330,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1996,-0.78,-155.7,158.6,-6.5,197,2003,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,462,3330,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2087,-0.78,-155.7,165.0,-7.1,206,2094,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1480,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2397,-0.78,-155.7,183.8,-6.0,237,2404,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,455,3331,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2496,-0.78,-155.7,190.5,-7.0,247,2503,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1451,3331,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2806,-0.78,-155.7,213.2,-7.7,278,2814,0.00,2.00,0.00,0.000,4,0.000,0.137,2605,455,3328,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2897,-0.78,-155.7,220.8,-8.8,287,2904,0.00,1.77,0.00,0.000,6,0.000,0.082,2605,1435,3331,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3207,-0.78,-155.7,247.6,-9.0,318,3215,0.00,1.95,0.00,0.000,4,0.000,0.135,2605,455,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3304,-0.78,-155.7,256.3,-9.7,323,3311,0.00,1.77,0.00,0.000,6,0.000,0.081,2605,1419,3331,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3626,-0.78,-155.7,286.0,-8.8,334,3632,0.00,1.92,0.00,0.000,4,0.000,0.136,2605,462,3330,0,0,0,0,0,0,28.83,13.77,28.83
$GC,3777,-0.78,-155.7,299.4,-9.0,339,3782,0.00,1.65,0.00,0.000,6,0.000,0.081,2605,1388,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4106,-0.78,-155.7,325.0,-7.6,350,4112,0.00,2.25,0.00,0.000,4,0.000,0.107,2605,2572,3329,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4186,-0.80,-155.7,329.4,-7.4,352,4193,0.00,2.28,0.00,0.000,6,0.000,0.119,2605,1390,3328,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4497,-0.82,-155.7,354.6,-7.9,363,4502,0.00,1.83,0.00,0.000,4,0.000,0.139,2605,458,3329,0,0,0,0,0,0,28.83,13.77,28.83
$GC,4555,-0.82,-155.7,359.5,-8.0,365,4562,0.00,1.70,0.00,0.000,6,0.000,0.083,2604,1388,3328,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4887,-0.82,-155.7,386.7,-8.5,376,4893,0.00,2.22,0.00,0.000,4,0.000,0.107,2605,2577,3327,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4995,-0.84,-155.7,393.9,-8.1,379,5004,0.00,2.30,0.00,0.000,6,0.000,0.119,2605,1407,3328,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5307,-0.84,-155.7,421.4,-8.5,390,5312,0.00,2.22,0.00,0.000,4,0.000,0.107,2605,2581,3326,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5375,-0.84,-155.7,426.7,-8.6,392,5382,0.00,2.28,0.00,0.000,6,0.000,0.119,2605,1428,3326,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5701,-0.87,-155.7,456.0,-9.0,403,5706,0.00,2.17,0.00,0.000,4,0.000,0.108,2604,2570,3325,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5765,-0.89,-155.7,461.2,-8.8,405,5773,0.00,2.25,0.00,0.000,6,0.000,0.119,2604,1433,3326,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6089,-0.91,-155.7,489.2,-8.4,416,6095,0.00,2.20,0.00,0.000,4,0.000,0.109,2605,2582,3325,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6257,-0.93,-155.7,501.4,-8.2,421,6264,0.12,2.30,0.00,0.000,6,0.135,0.121,2554,1406,3324,0,0,0,0,0,0,14.05,13.83,28.83
$GC,6568,-0.93,-155.7,529.6,-8.2,432,6575,0.00,1.90,0.00,0.000,4,0.000,0.142,2554,459,3323,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6726,-0.90,-155.7,542.3,-8.5,437,6734,0.08,1.73,0.00,0.000,6,0.249,0.085,2570,1390,3322,0,0,0,0,0,0,13.66,13.97,28.83
$GC,7048,-0.90,-155.7,566.8,-7.3,448,7054,0.00,1.88,0.00,0.000,4,0.000,0.139,2570,458,3321,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7186,-0.90,-155.7,576.7,-8.3,452,7193,0.00,1.67,0.00,0.000,6,0.000,0.085,2571,1368,3321,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7497,-0.90,-155.7,606.2,-9.5,463,7502,0.00,1.83,0.00,0.000,4,0.000,0.141,2566,458,3320,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7606,-0.90,-155.7,615.2,-9.8,466,7614,0.00,1.62,0.00,0.000,6,0.000,0.085,2560,1343,3320,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7916,-0.90,-155.7,646.4,-9.3,477,7922,0.00,1.80,0.00,0.000,4,0.000,0.139,2560,459,3319,0,0,0,0,0,0,28.83,13.69,28.83
$GC,8007,-0.90,-155.7,654.7,-9.2,480,8013,0.00,1.60,0.00,0.000,6,0.000,0.087,2555,1319,3318,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8336,-0.90,-155.7,680.5,-7.5,491,8342,0.00,1.75,0.00,0.000,4,0.000,0.140,2555,460,3318,0,0,0,0,0,0,28.83,13.66,28.83
$GC,8426,-0.87,-155.7,687.5,-7.7,494,8433,0.10,1.58,0.00,0.000,6,0.239,0.088,2580,1307,3318,0,0,0,0,0,0,13.62,13.97,28.83
$GC,8760,-0.87,-155.7,710.3,-6.9,505,8765,0.00,1.73,0.00,0.000,4,0.000,0.144,2580,458,3317,0,0,0,0,0,0,28.83,13.73,28.83
$GC,8845,-0.87,-155.7,716.9,-7.2,508,8853,0.00,1.58,0.00,0.000,6,0.000,0.087,2578,1299,3316,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9178,-0.87,-155.7,743.2,-8.5,519,9183,0.00,1.73,0.00,0.000,4,0.000,0.146,2578,455,3315,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9284,-0.87,-155.7,751.4,-8.9,522,9294,0.00,1.55,0.00,0.000,6,0.000,0.088,2573,1283,3314,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9597,-0.87,-155.7,782.3,-9.6,533,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1283,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9896,-0.87,-155.7,809.4,-8.9,543,9902,0.00,2.50,0.00,0.000,4,0.000,0.111,2565,2576,3312,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10045,-0.87,-155.7,822.9,-9.1,548,10053,0.00,2.62,0.00,0.000,6,0.000,0.123,2566,1270,3311,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10380,-0.87,-155.7,852.0,-8.7,559,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1271,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10676,-0.87,-155.7,879.0,-8.9,569,10682,0.00,2.58,0.00,0.000,4,0.000,0.111,2560,2582,3310,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10816,-0.87,-155.7,889.6,-8.9,573,10824,0.00,2.60,0.00,0.000,6,0.000,0.125,2560,1275,3309,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11125,-0.87,-155.7,919.6,-9.1,584,11133,0.00,1.67,0.00,0.000,4,0.000,0.150,2560,464,3309,0,0,0,0,0,0,28.83,13.65,28.83
$GC,11157,-0.87,-155.7,922.3,-8.9,585,11163,0.10,1.55,0.00,0.000,6,0.246,0.090,2582,1282,3308,0,0,0,0,0,0,13.52,13.85,28.83
$GC,11489,-0.87,-155.7,947.2,-7.0,596,11495,0.00,2.55,0.00,0.000,4,0.000,0.117,2579,2575,3307,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11711,-0.89,-155.7,960.5,-6.2,603,11716,0.00,2.55,0.00,0.000,6,0.000,0.131,2579,1303,3306,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,12022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12025,begin apogee
$GC,12034,-0.25,0.0,981.3,-6.6,614,12193,0.75,0.00,155.52,1.810,4,0.209,0.000,2783,1516,2694,0,0,0,0,0,0,13.69,28.83,12.95
$STATE,12199,end apogee,CONTROL_FINISHED_OK
$STATE,12199,begin climb
$GC,12203,0.90,155.7,987.0,0.0,619,12378,1.23,2.17,164.75,1.817,4,0.153,0.160,3151,457,2058,0,0,0,0,0,0,14.00,13.94,12.96
$GC,12548,0.87,155.7,967.7,8.6,630,12556,0.00,2.00,0.00,0.000,6,0.000,0.101,3152,1519,2043,0,0,0,0,0,0,28.83,14.18,28.83
$GC,12857,0.87,155.7,939.2,8.7,641,12864,0.00,2.20,0.00,0.000,4,0.000,0.165,3159,460,2040,0,0,0,0,0,0,28.83,13.98,28.83
$GC,12979,0.84,155.7,928.5,8.9,645,12984,0.00,2.00,0.00,0.000,6,0.000,0.100,3159,1534,2039,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13310,0.82,155.7,900.3,8.4,656,13317,0.00,2.00,0.00,0.000,4,0.000,0.118,3159,2583,2038,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13531,0.79,155.7,882.2,8.4,663,13536,0.17,2.03,0.00,0.000,6,0.287,0.131,3129,1555,2036,0,0,0,0,0,0,13.74,13.97,28.83
$GC,13850,0.79,155.7,856.4,7.8,674,13855,0.00,2.22,0.00,0.000,4,0.000,0.161,3136,458,2036,0,0,0,0,0,0,28.83,13.90,28.83
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$STATE,24265,end climb,SURFACE_DEPTH_REACHED
$STATE,24265,begin surface coast
$FINISH,1.5,1.025887
$STATE,24297,end surface coast,CONTROL_FINISHED_OK
$STATE,24297,begin surface
$SM_CCo,24323,53.88,0.126,0,0,1264,350.04
$SM_GC,2.45,8.88,0.73,53.88,0.069,0.138,0.126,139,1518,1264,-8.48,0.42,350.04,0,0,0,0,0,0,14.19,13.90,14.22
$IRIDIUM_FIX,2408.65,-3822.98,260213,050522
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.13
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.60
$XPDR_PINGS,5
$SC_FREEKB,7561216
$24V_AH,13.0,229.259
$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,23.175,191.375,416.850,53.875,0.000,0.000,0.000,387.625,1.250,0.000,24.155,3620.397,16845.891,885.625,2899.688,816.527,0.000,2577.947,0.000,2437.435,0.000,0.542,0.000
$DEVICE_MAMPS,356.490,165.240,1816.875,126.225,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24356.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.880,0.000,0.000,0.000
$MEM,344908
$DATA_FILE_SIZE,46600,1212
$CAP_FILE_SIZE,254446,0
$CFSIZE,260034560,178024448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101,174.7,1
$GPS,260213,190452,2420.368,-3814.910,37,0.9,37,-14.1