version: 66.11
glider: 190
mission: 6
dive: 560
start: 3 2 113 5 30 56
data:
$ID,190
$MISSION,6
$DIVE,560
$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,-13629.35
$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,9
$R_STBD_OVSHOOT,17
$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
$GPS1,020313,051834,2427.881,-3817.483,24,1.1,25,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-64.3
$GPS2,020313,053023,2427.923,-3817.568,18,0.9,18,-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,114.0,28535,-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,-10.77,0.000,2,0.000,0.000,138,1516,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.6,0.0,1,155,11.15,2.03,-93.78,0.000,4,0.366,0.122,2510,2580,3447,0,0,0,0,0,0,14.02,14.14,14.65
$GC,168,-1.15,-184.9,3.2,-3.4,14,176,0.00,2.05,0.00,0.000,6,0.000,0.111,2510,1520,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,478,-1.05,-184.9,37.8,-10.2,45,487,0.15,2.12,0.00,0.000,4,0.255,0.133,2544,455,3448,0,0,0,0,0,0,13.88,13.79,28.83
$GC,708,-0.96,-184.9,61.0,-10.5,68,716,0.10,1.95,0.00,0.000,6,0.241,0.080,2566,1519,3448,0,0,0,0,0,0,13.69,14.02,28.83
$GC,1018,-0.91,-184.9,88.2,-9.1,99,1026,0.00,2.00,0.00,0.000,4,0.000,0.100,2559,2578,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1068,-0.87,-184.9,92.6,-9.1,104,1076,0.12,2.05,0.00,0.000,6,0.189,0.111,2597,1529,3448,0,0,0,0,0,0,13.77,13.87,28.83
$GC,1381,-0.87,-184.9,120.5,-9.4,135,1388,0.00,2.12,0.00,0.000,4,0.000,0.132,2597,455,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1450,-0.83,-184.9,127.2,-9.5,142,1457,0.00,1.92,0.00,0.000,6,0.000,0.078,2592,1520,3448,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1759,-0.83,-184.9,157.4,-9.9,173,1767,0.00,2.10,0.00,0.000,4,0.000,0.132,2592,455,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1901,-0.79,-184.9,170.8,-9.5,187,1908,0.15,1.90,0.00,0.000,6,0.239,0.078,2626,1504,3448,0,0,0,0,0,0,13.71,13.94,28.83
$GC,2211,-0.79,-184.9,193.8,-6.1,218,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1504,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.79,-184.9,210.1,-5.0,249,2526,0.00,2.08,0.00,0.000,4,0.000,0.129,2627,459,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2629,-0.79,-184.9,216.5,-6.1,260,2636,0.00,1.88,0.00,0.000,6,0.000,0.079,2621,1494,3448,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2939,-0.79,-184.9,238.3,-8.3,291,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1494,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.79,-184.9,269.4,-10.8,310,3254,0.00,2.03,0.00,0.000,4,0.000,0.099,2618,2574,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3309,-0.79,-184.9,276.4,-11.3,312,3315,0.00,2.10,0.00,0.000,6,0.000,0.109,2618,1480,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3641,-0.79,-184.9,312.8,-10.6,323,3647,0.00,2.08,0.00,0.000,4,0.000,0.099,2618,2581,3447,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3717,-0.79,-184.9,318.8,-10.2,325,3726,0.00,2.10,0.00,0.000,6,0.000,0.108,2618,1504,3447,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4029,-0.79,-184.9,347.6,-8.2,336,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1504,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.79,-184.9,370.3,-7.4,346,4335,0.00,2.08,0.00,0.000,4,0.000,0.129,2618,459,3447,0,0,0,0,0,0,28.83,13.73,28.83
$GC,4410,-0.79,-184.9,374.9,-7.5,348,4417,0.00,1.90,0.00,0.000,6,0.000,0.080,2618,1514,3446,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4718,-0.79,-184.9,399.7,-7.7,359,4725,0.00,2.03,0.00,0.000,4,0.000,0.105,2618,2578,3446,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4767,-0.79,-184.9,402.0,-7.6,360,4778,0.00,2.08,0.00,0.000,6,0.000,0.111,2618,1516,3446,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5079,-0.79,-184.9,427.1,-7.9,371,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1516,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5378,-0.79,-184.9,452.4,-8.7,381,5385,0.00,2.10,0.00,0.000,4,0.000,0.133,2618,466,3444,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5499,-0.79,-184.9,463.5,-9.2,385,5504,0.00,1.92,0.00,0.000,6,0.000,0.081,2618,1527,3444,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5828,-0.79,-184.9,493.2,-9.0,396,5834,0.00,2.00,0.00,0.000,4,0.000,0.105,2618,2577,3443,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5918,-0.81,-184.9,500.9,-8.6,399,5925,0.00,2.05,0.00,0.000,6,0.000,0.112,2618,1532,3443,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6253,-0.84,-184.9,529.6,-8.7,410,6258,0.00,1.98,0.00,0.000,4,0.000,0.106,2618,2576,3441,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6387,-0.84,-184.9,539.9,-8.6,414,6395,0.00,2.12,0.00,0.000,6,0.000,0.112,2618,1503,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6700,-0.86,-184.9,568.4,-8.8,425,6705,0.00,2.08,0.00,0.000,4,0.000,0.138,2618,458,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6837,-0.86,-184.9,579.1,-8.9,429,6846,0.00,1.95,0.00,0.000,6,0.000,0.083,2618,1505,3440,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7149,-0.86,-184.9,605.7,-7.7,440,7154,0.00,2.08,0.00,0.000,4,0.000,0.138,2618,461,3439,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7299,-0.86,-184.9,616.7,-7.3,445,7304,0.00,1.85,0.00,0.000,6,0.000,0.085,2618,1464,3438,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7633,-0.88,-184.9,637.2,-6.3,456,7638,0.00,2.15,0.00,0.000,4,0.000,0.109,2618,2581,3437,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7748,-0.91,-184.9,644.2,-5.8,460,7755,0.00,2.20,0.00,0.000,6,0.000,0.117,2618,1475,3437,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8083,-0.93,-184.9,664.0,-6.2,471,8090,0.10,2.05,0.00,0.000,4,0.148,0.138,2573,459,3436,0,0,0,0,0,0,14.47,13.71,28.83
$GC,8098,-0.96,-184.9,664.0,-6.2,471,8106,0.00,1.88,0.00,0.000,6,0.000,0.084,2567,1464,3436,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8411,-0.96,-184.9,689.1,-8.0,482,8416,0.00,2.12,0.00,0.000,4,0.000,0.108,2560,2575,3435,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8529,-0.96,-184.9,698.6,-8.0,486,8536,0.00,2.25,0.00,0.000,6,0.000,0.117,2560,1448,3434,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8859,-0.96,-184.9,728.3,-9.1,497,8866,0.00,2.03,0.00,0.000,4,0.000,0.139,2560,459,3433,0,0,0,0,0,0,28.83,13.65,28.83
$GC,9053,-0.92,-184.9,745.3,-9.5,503,9059,0.08,1.83,0.00,0.000,6,0.228,0.084,2584,1431,3432,0,0,0,0,0,0,13.59,13.85,28.83
$GC,9373,-0.92,-184.9,771.5,-7.6,514,9379,0.00,1.98,0.00,0.000,4,0.000,0.141,2584,460,3432,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9508,-0.92,-184.9,781.0,-7.9,518,9516,0.00,1.77,0.00,0.000,6,0.000,0.086,2579,1406,3431,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9819,-0.92,-184.9,806.3,-8.0,529,9825,0.00,1.95,0.00,0.000,4,0.000,0.140,2583,461,3430,0,0,0,0,0,0,28.83,13.64,28.83
$GC,9949,-0.92,-184.9,816.8,-8.8,533,9956,0.00,1.73,0.00,0.000,6,0.000,0.086,2574,1378,3428,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10269,-0.92,-184.9,846.2,-9.0,544,10275,0.00,1.90,0.00,0.000,4,0.000,0.142,2575,460,3428,0,0,0,0,0,0,28.83,13.63,28.83
$GC,10370,-0.92,-184.9,854.8,-9.4,547,10375,0.00,1.70,0.00,0.000,6,0.000,0.086,2570,1359,3426,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10690,-0.92,-184.9,885.0,-9.3,558,10695,0.00,1.88,0.00,0.000,4,0.000,0.145,2570,458,3427,0,0,0,0,0,0,28.83,13.67,28.83
$GC,10728,-0.92,-184.9,887.7,-9.1,559,10735,0.00,1.70,0.00,0.000,6,0.000,0.087,2566,1356,3426,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11051,-0.92,-184.9,918.7,-9.4,570,11056,0.00,2.38,0.00,0.000,4,0.000,0.115,2566,2575,3425,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11118,-0.92,-184.9,924.3,-9.4,572,11126,0.00,2.47,0.00,0.000,6,0.000,0.122,2566,1355,3425,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11440,-0.92,-184.9,957.4,-10.3,583,11446,0.00,1.85,0.00,0.000,4,0.000,0.148,2566,455,3425,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11530,-0.90,-184.9,967.2,-10.8,586,11536,0.12,1.70,0.00,0.000,6,0.272,0.090,2590,1363,3424,0,0,0,0,0,0,13.60,13.88,28.83
$STATE,11675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11675,begin apogee
$GC,11685,-0.42,0.0,982.8,-10.2,591,11876,0.55,0.00,184.48,1.819,4,0.200,0.000,2743,1520,2691,0,0,0,0,0,0,13.71,28.83,12.97
$STATE,11880,end apogee,CONTROL_FINISHED_OK
$STATE,11880,begin climb
$GC,11884,1.15,184.9,996.2,0.0,597,12092,1.73,2.15,195.60,1.851,4,0.172,0.154,3245,459,1940,0,0,0,0,0,0,13.93,13.90,12.97
$GC,12100,1.01,272.3,993.1,4.8,604,12201,0.15,2.03,94.35,1.829,6,0.298,0.096,3214,1524,1583,0,0,0,0,0,0,13.89,14.10,12.99
$GC,12513,0.96,272.3,952.2,10.1,618,12519,0.00,2.00,0.00,0.000,4,0.000,0.116,3214,2584,1567,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12602,0.90,272.3,942.4,10.7,621,12608,0.20,2.10,0.00,0.000,6,0.291,0.135,3177,1533,1565,0,0,0,0,0,0,13.92,14.05,28.83
$GC,12936,0.87,272.3,906.9,11.2,632,12941,0.00,1.98,0.00,0.000,4,0.000,0.110,3177,2587,1565,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13041,0.84,272.3,896.6,11.5,635,13049,0.00,2.05,0.00,0.000,6,0.000,0.127,3185,1550,1564,0,0,0,0,0,0,28.83,13.99,28.83
$GC,13356,0.81,272.3,858.1,11.3,646,13363,0.12,1.95,0.00,0.000,4,0.284,0.106,3152,2580,1563,0,0,0,0,0,0,14.00,14.13,28.83
$GC,13412,0.79,272.3,851.6,10.8,648,13418,0.00,1.98,0.00,0.000,6,0.000,0.124,3159,1575,1562,0,0,0,0,0,0,28.83,13.94,28.83
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$STATE,22882,end climb,SURFACE_DEPTH_REACHED
$STATE,22882,begin surface coast
$FINISH,1.4,1.016910
$STATE,22916,end surface coast,CONTROL_FINISHED_OK
$STATE,22916,begin surface
$SM_CCo,22942,39.28,0.125,0,0,1266,350.04
$SM_GC,2.40,8.90,0.73,39.28,0.070,0.124,0.125,140,1514,1266,-8.52,0.25,350.04,0,0,0,0,0,0,14.14,13.90,14.13
$IRIDIUM_FIX,2418.11,-3820.73,010313,222236
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.52
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7556224
$24V_AH,13.0,234.188
$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,24.125,192.075,474.425,39.275,0.000,0.000,0.000,395.850,0.500,0.000,21.894,3319.638,15934.916,924.596,2695.390,801.132,0.000,2550.668,0.000,2255.775,0.000,0.541,0.000
$DEVICE_MAMPS,365.670,156.060,1851.300,124.695,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22977.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.934,0.000,0.000,0.000
$MEM,344908
$DATA_FILE_SIZE,43356,1154
$CAP_FILE_SIZE,243268,0
$CFSIZE,260034560,176553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,284.8,1
$GPS,020313,115523,2428.465,-3817.760,38,0.9,39,-14.1