version: 66.11
glider: 190
mission: 6
dive: 559
start: 3 1 113 22 46 20
data:
$ID,190
$MISSION,6
$DIVE,559
$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,190
$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,-13625.384
$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,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,13
$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,0.00018
$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
$GPS1,010313,223328,2427.011,-3816.684,38,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-65.3
$GPS2,010313,224547,2427.015,-3816.849,16,0.8,16,-14.1
$SPEED_LIMITS,0.123,0.141
$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,102.4,28159,-13.4,-7.101,-26.77
$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,-1.15,-184.9,0.0,0.0,0,35,0.00,0.00,-10.77,0.000,2,0.000,0.000,137,1510,1513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,154,10.75,2.05,-92.38,0.000,4,0.348,0.119,2501,2587,3446,0,0,0,0,0,0,14.01,14.12,14.64
$GC,168,-1.08,-184.9,4.0,-5.6,14,176,0.15,2.03,0.00,0.000,6,0.256,0.105,2534,1518,3451,0,0,0,0,0,0,13.86,14.12,28.83
$GC,478,-1.00,-184.9,36.1,-9.7,45,486,0.00,2.10,0.00,0.000,4,0.000,0.127,2534,461,3449,0,0,0,0,0,0,28.83,13.84,28.83
$GC,707,-0.90,-184.9,60.7,-10.4,68,716,0.22,1.95,0.00,0.000,6,0.231,0.079,2587,1526,3447,0,0,0,0,0,0,13.60,13.91,28.83
$GC,1017,-0.88,-184.9,85.6,-7.7,99,1025,0.00,2.12,0.00,0.000,4,0.000,0.131,2587,464,3449,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1077,-0.82,-184.9,90.6,-8.4,105,1087,0.12,1.92,0.00,0.000,6,0.221,0.079,2615,1515,3449,0,0,0,0,0,0,13.70,14.00,28.83
$GC,1387,-0.82,-184.9,113.4,-7.2,136,1395,0.00,1.98,0.00,0.000,4,0.000,0.093,2608,2577,3451,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1438,-0.82,-184.9,117.1,-7.2,141,1446,0.00,2.03,0.00,0.000,6,0.000,0.105,2607,1526,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1748,-0.82,-184.9,142.4,-9.0,172,1755,0.00,2.08,0.00,0.000,4,0.000,0.130,2608,459,3449,0,0,0,0,0,0,28.83,13.77,28.83
$GC,1880,-0.79,-184.9,154.8,-9.5,185,1888,0.00,1.90,0.00,0.000,6,0.000,0.076,2605,1508,3451,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2187,-0.79,-184.9,183.5,-9.1,216,2195,0.00,2.00,0.00,0.000,4,0.000,0.097,2605,2574,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2238,-0.79,-184.9,187.8,-8.7,221,2246,0.00,2.05,0.00,0.000,6,0.000,0.107,2605,1503,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2547,-0.79,-184.9,215.2,-8.7,252,2555,0.00,2.05,0.00,0.000,4,0.000,0.099,2605,2577,3449,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2707,-0.79,-184.9,228.6,-8.3,268,2717,0.00,2.12,0.00,0.000,6,0.000,0.108,2605,1481,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3027,-0.79,-184.9,255.1,-8.1,296,3033,0.00,2.03,0.00,0.000,4,0.000,0.128,2605,459,3449,0,0,0,0,0,0,28.83,13.75,28.83
$GC,3096,-0.79,-184.9,260.0,-8.1,298,3103,0.00,1.90,0.00,0.000,6,0.000,0.078,2605,1490,3449,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3419,-0.79,-184.9,283.0,-7.0,309,3424,0.00,2.05,0.00,0.000,4,0.000,0.103,2605,2578,3448,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3456,-0.79,-184.9,285.0,-6.9,310,3464,0.00,2.15,0.00,0.000,6,0.000,0.109,2605,1481,3449,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3778,-0.79,-184.9,308.9,-7.5,321,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1481,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4077,-0.79,-184.9,333.2,-8.2,331,4084,0.00,2.00,0.00,0.000,4,0.000,0.128,2605,468,3447,0,0,0,0,0,0,28.83,13.73,28.83
$GC,4169,-0.79,-184.9,341.0,-8.6,334,4174,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1490,3447,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4502,-0.79,-184.9,367.2,-7.7,345,4507,0.00,2.05,0.00,0.000,4,0.000,0.132,2605,462,3446,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4648,-0.79,-184.9,379.3,-8.1,350,4654,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1464,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4977,-0.79,-184.9,405.1,-7.9,361,4983,0.00,2.00,0.00,0.000,4,0.000,0.132,2605,467,3445,0,0,0,0,0,0,28.83,13.72,28.83
$GC,5146,-0.79,-184.9,418.0,-8.6,366,5154,0.00,1.80,0.00,0.000,6,0.000,0.080,2604,1441,3445,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5458,-0.79,-184.9,445.5,-8.5,377,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1441,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,-0.79,-184.9,470.9,-8.5,387,5765,0.00,1.98,0.00,0.000,4,0.000,0.132,2605,460,3443,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5887,-0.79,-184.9,481.4,-8.8,391,5893,0.00,1.80,0.00,0.000,6,0.000,0.081,2604,1442,3443,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6209,-0.79,-184.9,509.1,-8.5,402,6214,0.00,1.98,0.00,0.000,4,0.000,0.134,2605,458,3442,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6287,-0.79,-184.9,514.4,-8.6,404,6295,0.00,1.75,0.00,0.000,6,0.000,0.081,2604,1411,3442,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6598,-0.79,-184.9,543.9,-9.3,415,6604,0.00,2.20,0.00,0.000,4,0.000,0.106,2604,2576,3440,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6687,-0.79,-184.9,552.1,-9.3,418,6693,0.00,2.28,0.00,0.000,6,0.000,0.114,2604,1424,3440,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7018,-0.79,-184.9,583.9,-9.8,429,7023,0.00,1.92,0.00,0.000,4,0.000,0.136,2604,463,3439,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7077,-0.79,-184.9,589.7,-9.7,431,7085,0.00,1.77,0.00,0.000,6,0.000,0.083,2604,1421,3439,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7408,-0.79,-184.9,619.6,-8.7,442,7413,0.00,2.22,0.00,0.000,4,0.000,0.108,2604,2580,3438,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7498,-0.79,-184.9,627.3,-8.6,445,7503,0.00,2.22,0.00,0.000,6,0.000,0.116,2604,1435,3438,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7827,-0.79,-184.9,654.9,-8.4,456,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1435,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8129,-0.79,-184.9,680.4,-8.6,466,8134,0.00,1.95,0.00,0.000,4,0.000,0.138,2604,464,3436,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8196,-0.79,-184.9,685.8,-8.7,468,8204,0.00,1.85,0.00,0.000,6,0.000,0.086,2605,1448,3435,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8517,-0.79,-184.9,714.4,-8.7,479,8524,0.00,2.03,0.00,0.000,4,0.000,0.140,2604,462,3434,0,0,0,0,0,0,28.83,13.63,28.83
$GC,8648,-0.79,-184.9,725.1,-8.9,483,8654,0.00,1.80,0.00,0.000,6,0.000,0.088,2605,1416,3434,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8967,-0.79,-184.9,751.6,-7.6,494,8973,0.00,1.95,0.00,0.000,4,0.000,0.140,2604,470,3434,0,0,0,0,0,0,28.83,13.65,28.83
$GC,9067,-0.79,-184.9,758.3,-7.4,497,9074,0.00,1.73,0.00,0.000,6,0.000,0.088,2604,1389,3433,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9390,-0.79,-184.9,779.4,-6.1,508,9396,0.00,1.92,0.00,0.000,4,0.000,0.141,2605,460,3431,0,0,0,0,0,0,28.83,13.66,28.83
$GC,9487,-0.79,-184.9,784.9,-6.2,511,9493,0.00,1.73,0.00,0.000,6,0.000,0.088,2604,1373,3431,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9812,-0.79,-184.9,805.1,-6.2,522,9817,0.00,1.85,0.00,0.000,4,0.000,0.142,2604,459,3431,0,0,0,0,0,0,28.83,13.72,28.83
$GC,9906,-0.79,-184.9,811.3,-6.7,525,9913,0.00,1.70,0.00,0.000,6,0.000,0.087,2605,1355,3430,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10228,-0.79,-184.9,836.3,-8.1,536,10234,0.00,1.80,0.00,0.000,4,0.000,0.145,2604,464,3429,0,0,0,0,0,0,28.83,13.72,28.83
$GC,10336,-0.79,-184.9,844.1,-8.6,539,10344,0.00,1.65,0.00,0.000,6,0.000,0.093,2605,1327,3428,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10649,-0.79,-184.9,874.9,-9.6,550,10654,0.00,1.77,0.00,0.000,4,0.000,0.148,2604,460,3427,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10707,-0.79,-184.9,880.7,-9.7,552,10713,0.00,1.60,0.00,0.000,6,0.000,0.096,2605,1301,3427,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11041,-0.79,-184.9,912.1,-9.4,563,11047,0.00,1.73,0.00,0.000,4,0.000,0.155,2605,464,3426,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11136,-0.79,-184.9,920.5,-9.4,566,11143,0.00,1.70,0.00,0.000,6,0.000,0.097,2604,1347,3425,0,0,0,0,0,0,28.83,13.86,28.83
$GC,11460,-0.82,-184.9,947.5,-7.6,577,11466,0.00,2.38,0.00,0.000,4,0.000,0.101,2604,2581,3424,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11598,-0.84,-184.9,955.6,-6.7,581,11606,0.00,2.42,0.00,0.000,6,0.000,0.114,2604,1352,3424,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11910,-0.84,-184.9,976.8,-6.5,592,11915,0.00,1.80,0.00,0.000,4,0.000,0.143,2605,460,3423,0,0,0,0,0,0,28.83,13.80,28.83
$STATE,11964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11964,begin apogee
$GC,11976,-0.42,0.0,981.0,-6.8,594,12165,0.50,0.00,184.07,1.821,4,0.206,0.000,2742,1522,2690,0,0,0,0,0,0,13.65,28.83,12.98
$STATE,12169,end apogee,CONTROL_FINISHED_OK
$STATE,12169,begin climb
$GC,12173,1.15,184.9,988.8,0.0,600,12378,1.65,0.00,193.48,1.791,6,0.149,0.000,3247,1522,1936,0,0,0,0,0,0,13.95,28.83,13.01
$GC,12688,1.05,184.9,946.2,9.9,618,12694,0.00,2.17,0.00,0.000,4,0.000,0.162,3254,465,1923,0,0,0,0,0,0,28.83,14.03,28.83
$GC,12758,0.94,184.9,940.3,9.8,620,12766,0.22,1.98,0.00,0.000,6,0.282,0.095,3197,1525,1922,0,0,0,0,0,0,13.78,14.16,28.83
$GC,13081,0.87,184.9,913.3,8.0,631,13087,0.12,2.00,0.00,0.000,4,0.295,0.113,3166,2578,1920,0,0,0,0,0,0,13.98,14.14,28.83
$GC,13158,0.80,184.9,908.5,8.1,633,13167,0.10,2.10,0.00,0.000,6,0.263,0.136,3148,1537,1920,0,0,0,0,0,0,13.77,13.93,28.83
$GC,13471,0.77,184.9,882.5,8.3,644,13476,0.00,2.00,0.00,0.000,4,0.000,0.113,3148,2578,1919,0,0,0,0,0,0,28.83,14.09,28.83
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$STATE,23376,end climb,SURFACE_DEPTH_REACHED
$STATE,23377,begin surface coast
$FINISH,1.6,1.011340
$STATE,23408,end surface coast,CONTROL_FINISHED_OK
$STATE,23408,begin surface
$SM_CCo,23432,29.05,0.127,0,0,1266,350.04
$SM_GC,2.59,8.95,0.73,29.05,0.075,0.134,0.127,139,1519,1266,-8.53,0.45,350.04,0,0,0,0,0,0,14.19,13.87,14.18
$IRIDIUM_FIX,2415.74,-3817.41,010313,151531
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.14
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,4
$SC_FREEKB,7556608
$24V_AH,13.0,233.786
$10V_AH,12.6,0.000
$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,23.425,214.575,489.600,29.050,0.000,0.000,0.000,429.650,1.000,0.000,20.141,3359.360,16301.848,929.924,2763.740,832.302,0.000,2612.945,0.000,2286.190,0.000,0.541,0.000
$DEVICE_MAMPS,348.075,162.180,1821.465,126.990,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23468.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.844,0.000,0.000,0.000
$MEM,344936
$DATA_FILE_SIZE,43335,1146
$CAP_FILE_SIZE,246163,0
$CFSIZE,260034560,176660480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,286.2,1
$GPS,020313,051834,2427.881,-3817.483,24,1.1,25,-14.1