version: 66.11
glider: 190
mission: 6
dive: 569
start: 3 4 113 18 37 14
data:
$ID,190
$MISSION,6
$DIVE,569
$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,-13665.365
$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,12
$R_STBD_OVSHOOT,16
$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
$GPS1,040313,182522,2431.703,-3822.039,39,1.1,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-62.8
$GPS2,040313,183641,2431.640,-3822.045,18,0.9,18,-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,99.8,34044,-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,-10.62,0.000,2,0.000,0.000,139,1516,1476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.6,0.0,1,155,10.62,2.08,-94.70,0.000,4,0.342,0.152,2513,461,3449,0,0,0,0,0,0,14.07,13.99,14.65
$GC,388,-1.02,-184.9,29.7,-12.1,36,396,0.15,1.92,0.00,0.000,6,0.239,0.076,2549,1518,3449,0,0,0,0,0,0,13.67,14.02,28.83
$GC,700,-0.95,-184.9,62.0,-10.6,67,707,0.00,1.98,0.00,0.000,4,0.000,0.099,2542,2581,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,748,-0.89,-184.9,67.1,-10.4,72,756,0.17,2.05,0.00,0.000,6,0.200,0.109,2592,1524,3448,0,0,0,0,0,0,13.77,13.91,28.83
$GC,1059,-0.87,-184.9,96.1,-8.8,103,1066,0.00,2.10,0.00,0.000,4,0.000,0.131,2592,455,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1204,-0.82,-184.9,109.7,-10.2,117,1211,0.00,1.90,0.00,0.000,6,0.000,0.076,2592,1503,3448,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1512,-0.82,-184.9,139.9,-9.8,148,1518,0.00,2.08,0.00,0.000,4,0.000,0.127,2592,457,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1601,-0.78,-184.9,148.8,-10.2,157,1610,0.12,1.85,0.00,0.000,6,0.210,0.074,2627,1479,3448,0,0,0,0,0,0,13.66,14.03,28.83
$GC,1914,-0.78,-184.9,174.9,-8.3,188,1920,0.00,2.00,0.00,0.000,4,0.000,0.126,2628,458,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2032,-0.78,-184.9,185.4,-8.6,200,2038,0.00,1.80,0.00,0.000,6,0.000,0.073,2622,1459,3448,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2343,-0.78,-184.9,207.7,-7.0,231,2349,0.00,1.98,0.00,0.000,4,0.000,0.128,2622,458,3451,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2440,-0.78,-184.9,214.8,-7.1,241,2449,0.00,1.75,0.00,0.000,6,0.000,0.073,2619,1429,3448,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2753,-0.78,-184.9,236.4,-6.8,272,2759,0.00,1.90,0.00,0.000,4,0.000,0.128,2619,458,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2883,-0.78,-184.9,246.2,-8.0,285,2891,0.00,1.73,0.00,0.000,6,0.000,0.073,2618,1405,3449,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3215,-0.78,-184.9,272.6,-8.3,300,3220,0.00,1.88,0.00,0.000,4,0.000,0.126,2618,458,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3360,-0.78,-184.9,285.5,-8.7,305,3367,0.00,1.65,0.00,0.000,6,0.000,0.071,2618,1380,3448,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3692,-0.78,-184.9,312.4,-8.1,316,3697,0.00,1.83,0.00,0.000,4,0.000,0.127,2618,455,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3759,-0.78,-184.9,317.6,-8.4,318,3766,0.00,1.67,0.00,0.000,6,0.000,0.073,2618,1376,3447,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4082,-0.78,-184.9,344.4,-8.1,329,4087,0.00,2.22,0.00,0.000,4,0.000,0.098,2618,2582,3447,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4159,-0.78,-184.9,349.1,-7.9,331,4168,0.00,2.38,0.00,0.000,6,0.000,0.109,2618,1367,3447,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4473,-0.78,-184.9,373.0,-6.9,342,4478,0.00,1.80,0.00,0.000,4,0.000,0.132,2618,458,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4501,-0.78,-184.9,375.0,-6.8,343,4507,0.00,1.67,0.00,0.000,6,0.000,0.074,2618,1381,3447,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4836,-0.78,-184.9,394.7,-5.8,354,4841,0.00,2.25,0.00,0.000,4,0.000,0.099,2618,2579,3446,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4941,-0.78,-184.9,399.6,-5.5,357,4949,0.00,2.33,0.00,0.000,6,0.000,0.111,2618,1379,3445,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5251,-0.78,-184.9,418.4,-5.9,368,5257,0.00,1.85,0.00,0.000,4,0.000,0.132,2618,457,3444,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5372,-0.78,-184.9,426.9,-7.1,372,5377,0.00,1.67,0.00,0.000,6,0.000,0.076,2618,1374,3444,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5701,-0.78,-184.9,454.5,-9.2,383,5707,0.00,1.85,0.00,0.000,4,0.000,0.131,2619,457,3443,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5841,-0.78,-184.9,466.9,-10.4,387,5848,0.00,1.62,0.00,0.000,6,0.000,0.076,2618,1350,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6151,-0.78,-184.9,501.8,-10.5,398,6157,0.00,1.80,0.00,0.000,4,0.000,0.133,2618,457,3443,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6289,-0.78,-184.9,514.0,-10.1,402,6298,0.00,1.60,0.00,0.000,6,0.000,0.077,2618,1327,3442,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6602,-0.78,-184.9,540.3,-7.0,413,6608,0.00,2.38,0.00,0.000,4,0.000,0.100,2618,2579,3440,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6631,-0.78,-184.9,542.1,-6.6,414,6637,0.00,2.42,0.00,0.000,6,0.000,0.114,2618,1335,3441,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6965,-0.78,-184.9,560.8,-5.6,425,6970,0.00,1.73,0.00,0.000,4,0.000,0.135,2618,459,3439,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7070,-0.78,-184.9,566.6,-6.2,428,7079,0.00,1.67,0.00,0.000,6,0.000,0.078,2618,1366,3439,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7384,-0.80,-184.9,590.4,-7.8,439,7390,0.00,2.30,0.00,0.000,4,0.000,0.103,2623,2574,3438,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7472,-0.82,-184.9,597.8,-8.1,442,7477,0.00,2.35,0.00,0.000,6,0.000,0.116,2618,1367,3437,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7804,-0.84,-184.9,626.1,-8.5,453,7809,0.00,1.83,0.00,0.000,4,0.000,0.136,2618,459,3437,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7931,-0.84,-184.9,636.3,-8.5,457,7937,0.00,1.67,0.00,0.000,6,0.000,0.080,2618,1366,3436,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8251,-0.84,-184.9,663.3,-8.0,468,8257,0.00,1.85,0.00,0.000,4,0.000,0.138,2618,461,3436,0,0,0,0,0,0,28.83,13.65,28.83
$GC,8381,-0.84,-184.9,673.5,-8.4,472,8389,0.00,1.60,0.00,0.000,6,0.000,0.082,2618,1329,3435,0,0,0,0,0,0,28.83,13.89,28.83
$GC,8704,-0.87,-184.9,702.6,-9.1,483,8710,0.00,2.38,0.00,0.000,4,0.000,0.106,2618,2572,3433,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8822,-0.89,-184.9,713.3,-8.9,487,8828,0.00,2.42,0.00,0.000,6,0.000,0.119,2618,1350,3433,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9154,-0.92,-184.9,743.0,-9.0,498,9159,0.00,2.38,0.00,0.000,4,0.000,0.108,2618,2570,3432,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9201,-0.94,-184.9,745.5,-8.8,499,9209,0.12,2.40,0.00,0.000,6,0.128,0.123,2563,1364,3432,0,0,0,0,0,0,14.12,13.90,28.83
$GC,9514,-0.94,-184.9,773.9,-8.1,510,9519,0.00,1.85,0.00,0.000,4,0.000,0.145,2563,458,3431,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9601,-0.91,-184.9,781.2,-8.1,513,9607,0.10,1.67,0.00,0.000,6,0.222,0.083,2586,1356,3431,0,0,0,0,0,0,13.58,13.87,28.83
$GC,9935,-0.91,-184.9,803.4,-6.6,524,9940,0.00,2.38,0.00,0.000,4,0.000,0.112,2579,2575,3429,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10010,-0.91,-184.9,807.2,-6.5,526,10018,0.00,2.42,0.00,0.000,6,0.000,0.121,2579,1366,3429,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10325,-0.91,-184.9,829.7,-7.0,537,10330,0.00,1.85,0.00,0.000,4,0.000,0.142,2579,458,3428,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10440,-0.91,-184.9,838.5,-7.4,541,10447,0.00,1.70,0.00,0.000,6,0.000,0.088,2579,1361,3428,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10775,-0.91,-184.9,863.3,-7.8,552,10780,0.00,1.88,0.00,0.000,4,0.000,0.146,2579,453,3426,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10861,-0.91,-184.9,870.9,-8.3,555,10868,0.00,1.67,0.00,0.000,6,0.000,0.092,2579,1337,3426,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11196,-0.91,-184.9,897.0,-8.0,566,11201,0.00,1.80,0.00,0.000,4,0.000,0.148,2579,461,3426,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11240,-0.91,-184.9,899.4,-7.9,567,11248,0.00,1.67,0.00,0.000,6,0.000,0.094,2579,1327,3424,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11551,-0.91,-184.9,924.6,-7.5,578,11557,0.00,1.83,0.00,0.000,4,0.000,0.152,2579,463,3424,0,0,0,0,0,0,28.83,13.68,28.83
$GC,11651,-0.91,-184.9,931.5,-7.6,581,11657,0.00,1.62,0.00,0.000,6,0.000,0.095,2579,1307,3424,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11971,-0.91,-184.9,956.0,-7.6,592,11977,0.00,1.80,0.00,0.000,4,0.000,0.153,2579,458,3423,0,0,0,0,0,0,28.83,13.65,28.83
$GC,12039,-0.91,-184.9,960.8,-7.8,594,12046,0.00,1.60,0.00,0.000,6,0.000,0.094,2579,1290,3422,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,12267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12267,begin apogee
$GC,12277,-0.42,0.0,980.3,-8.3,602,12468,0.57,0.00,183.38,1.837,4,0.190,0.000,2741,1515,2690,0,0,0,0,0,0,13.71,28.83,13.00
$STATE,12474,end apogee,CONTROL_FINISHED_OK
$STATE,12474,begin climb
$GC,12477,1.15,184.9,990.5,0.0,608,12682,1.73,2.17,193.68,1.821,4,0.160,0.152,3252,456,1940,0,0,0,0,0,0,13.91,13.88,13.01
$GC,12863,1.03,184.9,963.9,10.0,621,12870,0.15,1.95,0.00,0.000,6,0.295,0.095,3220,1519,1921,0,0,0,0,0,0,13.89,14.19,28.83
$GC,13195,0.95,184.9,933.8,9.3,632,13201,0.12,2.17,0.00,0.000,4,0.310,0.161,3198,456,1918,0,0,0,0,0,0,13.93,13.98,28.83
$GC,13355,0.86,184.9,919.6,9.5,637,13361,0.15,1.98,0.00,0.000,6,0.282,0.101,3166,1525,1917,0,0,0,0,0,0,13.86,14.14,28.83
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$STATE,23799,end climb,SURFACE_DEPTH_REACHED
$STATE,23799,begin surface coast
$FINISH,1.8,1.012893
$STATE,23820,end surface coast,CONTROL_FINISHED_OK
$STATE,23820,begin surface
$SM_CCo,23845,0.00,0.000,0,0,1266,350.04
$SM_GC,2.87,8.77,2.00,0.00,0.053,0.088,0.000,139,1521,1266,-8.52,-0.51,350.04,0,0,0,0,0,0,14.22,14.06,28.83
$IRIDIUM_FIX,2420.48,-3822.20,040313,111137
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.90
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7552768
$24V_AH,13.0,237.870
$10V_AH,12.4,0.000
$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,23.900,219.800,545.425,0.000,0.000,0.000,0.000,368.225,0.500,0.000,22.420,3426.129,16494.637,945.945,2781.011,864.558,0.000,2604.968,0.000,2355.162,0.000,0.541,0.000
$DEVICE_MAMPS,341.955,161.415,1836.765,0.000,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23878.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.676,0.000,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,43358,1150
$CAP_FILE_SIZE,253774,0
$CFSIZE,260034560,175538176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,252.9,1
$GPS,050313,011604,2431.857,-3822.560,37,0.9,38,-14.1