version: 66.11
glider: 190
mission: 6
dive: 572
start: 3 5 113 15 15 38
data:
$ID,190
$MISSION,6
$DIVE,572
$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,-13674.655
$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,10
$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
$GPS1,050313,150229,2432.564,-3823.007,38,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-64.5
$GPS2,050313,151505,2432.574,-3823.052,15,1.4,15,-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,91.4,35558,-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,23,-1.15,-184.9,0.0,0.0,0,35,0.00,0.00,-10.35,0.000,2,0.000,0.000,142,1516,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,155,10.43,2.12,-93.68,0.000,4,0.335,0.155,2509,454,3448,0,0,0,0,0,0,14.05,14.11,14.64
$GC,382,-1.03,-184.9,29.0,-11.9,35,390,0.17,1.95,0.00,0.000,6,0.263,0.078,2548,1531,3448,0,0,0,0,0,0,13.76,14.10,28.83
$GC,691,-0.96,-184.9,61.7,-10.5,66,698,0.00,1.92,0.00,0.000,4,0.000,0.096,2542,2577,3448,0,0,0,0,0,0,28.83,13.94,28.83
$GC,822,-0.89,-184.9,75.2,-10.3,79,829,0.20,2.03,0.00,0.000,6,0.217,0.109,2592,1529,3448,0,0,0,0,0,0,13.83,13.95,28.83
$GC,1130,-0.87,-184.9,105.0,-9.6,110,1137,0.00,2.15,0.00,0.000,4,0.000,0.131,2592,440,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1273,-0.83,-184.9,118.8,-9.7,124,1280,0.00,1.95,0.00,0.000,6,0.000,0.077,2592,1514,3448,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1580,-0.83,-184.9,143.9,-7.8,155,1587,0.00,2.08,0.00,0.000,4,0.000,0.130,2592,458,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1702,-0.79,-184.9,153.9,-8.7,167,1709,0.15,1.90,0.00,0.000,6,0.236,0.076,2628,1511,3448,0,0,0,0,0,0,13.79,14.00,28.83
$GC,2012,-0.79,-184.9,175.3,-6.8,198,2019,0.00,2.10,0.00,0.000,4,0.000,0.129,2628,457,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2110,-0.79,-184.9,182.7,-7.6,208,2117,0.00,1.83,0.00,0.000,6,0.000,0.078,2623,1453,3448,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2420,-0.79,-184.9,206.3,-7.3,239,2427,0.00,2.08,0.00,0.000,4,0.000,0.099,2620,2574,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2529,-0.79,-184.9,213.8,-6.5,250,2537,0.00,2.15,0.00,0.000,6,0.000,0.112,2620,1472,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2839,-0.79,-184.9,234.2,-6.5,281,2848,0.00,2.10,0.00,0.000,4,0.000,0.099,2618,2576,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3018,-0.79,-184.9,247.6,-8.1,299,3027,0.00,2.22,0.00,0.000,6,0.000,0.112,2618,1436,3447,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3353,-0.79,-184.9,279.7,-10.5,312,3358,0.00,2.15,0.00,0.000,4,0.000,0.099,2618,2574,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3500,-0.79,-184.9,295.4,-10.5,317,3505,0.00,2.25,0.00,0.000,6,0.000,0.112,2618,1412,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3829,-0.79,-184.9,327.7,-9.2,328,3835,0.00,2.20,0.00,0.000,4,0.000,0.099,2618,2567,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3950,-0.79,-184.9,337.8,-8.4,332,3956,0.00,2.30,0.00,0.000,6,0.000,0.112,2618,1382,3447,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4279,-0.79,-184.9,363.6,-7.7,343,4287,0.00,2.28,0.00,0.000,4,0.000,0.099,2618,2575,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4439,-0.79,-184.9,374.4,-7.2,348,4446,0.00,2.38,0.00,0.000,6,0.000,0.112,2618,1362,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4759,-0.79,-184.9,399.9,-7.9,359,4766,0.00,1.80,0.00,0.000,4,0.000,0.133,2618,461,3446,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4858,-0.79,-184.9,407.3,-8.1,362,4864,0.00,1.67,0.00,0.000,6,0.000,0.078,2619,1370,3445,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5180,-0.79,-184.9,433.0,-7.7,373,5185,0.00,2.30,0.00,0.000,4,0.000,0.103,2618,2582,3447,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5299,-0.81,-184.9,442.2,-7.7,377,5305,0.00,2.38,0.00,0.000,6,0.000,0.116,2619,1375,3444,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5630,-0.81,-184.9,470.6,-9.1,388,5636,0.00,1.85,0.00,0.000,4,0.000,0.137,2618,465,3443,0,0,0,0,0,0,28.83,13.70,28.83
$GC,5749,-0.81,-184.9,482.3,-9.7,392,5755,0.00,1.65,0.00,0.000,6,0.000,0.081,2618,1362,3441,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6080,-0.81,-184.9,516.1,-10.5,403,6086,0.00,2.33,0.00,0.000,4,0.000,0.106,2617,2580,3442,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6148,-0.83,-184.9,522.3,-10.5,405,6155,0.00,2.38,0.00,0.000,6,0.000,0.116,2617,1382,3441,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6470,-0.83,-184.9,555.1,-9.5,416,6475,0.00,2.28,0.00,0.000,4,0.000,0.106,2618,2573,3440,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6598,-0.83,-184.9,565.2,-8.4,420,6606,0.00,2.42,0.00,0.000,6,0.000,0.118,2618,1349,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6924,-0.85,-184.9,589.4,-6.8,431,6929,0.00,2.38,0.00,0.000,4,0.000,0.106,2618,2574,3439,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7041,-0.87,-184.9,596.8,-6.1,435,7047,0.00,2.47,0.00,0.000,6,0.000,0.117,2618,1313,3439,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7374,-0.90,-184.9,616.9,-6.5,446,7380,0.00,2.45,0.00,0.000,4,0.000,0.106,2618,2577,3437,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7499,-0.92,-184.9,624.7,-6.5,450,7505,0.00,2.58,0.00,0.000,6,0.000,0.119,2618,1287,3440,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7819,-0.92,-184.9,650.7,-8.3,461,7825,0.00,1.67,0.00,0.000,4,0.000,0.140,2618,463,3436,0,0,0,0,0,0,28.83,13.65,28.83
$GC,7839,-0.92,-184.9,650.7,-8.3,461,7847,0.00,1.48,0.00,0.000,6,0.000,0.082,2618,1262,3437,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8149,-0.94,-184.9,680.6,-9.3,472,8156,0.12,1.62,0.00,0.000,4,0.131,0.138,2564,465,3436,0,0,0,0,0,0,14.45,13.66,28.83
$GC,8219,-0.94,-184.9,686.9,-9.7,474,8226,0.00,1.48,0.00,0.000,6,0.000,0.081,2558,1265,3435,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8539,-0.94,-184.9,719.9,-9.6,485,8545,0.00,1.62,0.00,0.000,4,0.000,0.135,2559,464,3434,0,0,0,0,0,0,28.83,13.62,28.83
$GC,8609,-0.92,-184.9,725.8,-9.6,487,8616,0.10,1.48,0.00,0.000,6,0.269,0.083,2582,1255,3433,0,0,0,0,0,0,13.71,14.01,28.83
$GC,8934,-0.92,-184.9,754.4,-8.4,498,8939,0.00,1.60,0.00,0.000,4,0.000,0.138,2582,459,3433,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9028,-0.92,-184.9,762.2,-8.6,501,9034,0.00,1.45,0.00,0.000,6,0.000,0.083,2580,1231,3432,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9350,-0.92,-184.9,787.8,-7.5,512,9355,0.00,1.55,0.00,0.000,4,0.000,0.140,2579,459,3431,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9439,-0.92,-184.9,794.6,-7.5,515,9446,0.00,1.40,0.00,0.000,6,0.000,0.083,2579,1209,3431,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9774,-0.92,-184.9,817.4,-6.8,526,9779,0.00,1.55,0.00,0.000,4,0.000,0.143,2579,454,3429,0,0,0,0,0,0,28.83,13.72,28.83
$GC,9849,-0.92,-184.9,821.7,-7.0,528,9857,0.00,1.40,0.00,0.000,6,0.000,0.083,2579,1198,3428,0,0,0,0,0,0,28.83,13.98,28.83
$GC,10159,-0.92,-184.9,846.2,-7.8,539,10166,0.00,1.52,0.00,0.000,4,0.000,0.144,2581,461,3428,0,0,0,0,0,0,28.83,13.62,28.83
$GC,10220,-0.92,-184.9,851.3,-8.1,541,10225,0.00,1.33,0.00,0.000,6,0.000,0.086,2579,1166,3428,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10552,-0.92,-184.9,879.1,-8.6,552,10557,0.00,2.75,0.00,0.000,4,0.000,0.112,2579,2572,3426,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10588,-0.92,-184.9,881.6,-8.5,553,10595,0.00,2.83,0.00,0.000,6,0.000,0.122,2579,1166,3425,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10910,-0.92,-184.9,911.2,-9.2,564,10915,0.00,1.48,0.00,0.000,4,0.000,0.148,2579,459,3425,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11059,-0.92,-184.9,926.3,-10.1,569,11065,0.00,1.35,0.00,0.000,6,0.000,0.086,2579,1169,3424,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11393,-0.92,-184.9,960.2,-10.5,580,11398,0.00,1.50,0.00,0.000,4,0.000,0.150,2579,439,3424,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11428,-0.92,-184.9,963.4,-10.6,581,11431,0.00,1.40,0.00,0.000,6,0.000,0.089,2579,1170,3422,0,0,0,0,0,0,28.83,13.89,28.83
$STATE,11587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11588,begin apogee
$GC,11598,-0.42,0.0,981.1,-10.4,587,11788,0.57,0.00,183.12,1.829,4,0.194,0.000,2740,1520,2690,0,0,0,0,0,0,13.70,28.83,13.00
$STATE,11792,end apogee,CONTROL_FINISHED_OK
$STATE,11792,begin climb
$GC,11796,1.15,184.9,993.2,0.0,593,12002,1.73,2.20,193.02,1.814,4,0.158,0.154,3256,456,1936,0,0,0,0,0,0,13.81,13.85,13.04
$GC,12162,1.02,184.9,969.2,10.1,606,12169,0.12,2.00,0.00,0.000,6,0.287,0.096,3224,1517,1922,0,0,0,0,0,0,13.81,14.11,28.83
$GC,12496,0.94,184.9,937.8,9.7,617,12502,0.12,2.17,0.00,0.000,4,0.312,0.160,3202,460,1920,0,0,0,0,0,0,13.90,13.99,28.83
$GC,12582,0.85,184.9,929.2,9.6,620,12589,0.12,2.03,0.00,0.000,6,0.269,0.100,3169,1527,1921,0,0,0,0,0,0,13.78,14.07,28.83
$GC,12917,0.80,184.9,899.6,9.0,631,12922,0.00,2.03,0.00,0.000,4,0.000,0.117,3168,2580,1918,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12931,0.75,184.9,899.6,9.0,631,12940,0.20,2.08,0.00,0.000,6,0.284,0.134,3131,1557,1917,0,0,0,0,0,0,13.77,13.96,28.83
$GC,13246,0.73,184.9,871.6,8.3,642,13251,0.00,1.98,0.00,0.000,4,0.000,0.119,3131,2581,1917,0,0,0,0,0,0,28.83,14.01,28.83
$GC,13351,0.71,184.9,863.9,8.4,645,13360,0.00,1.95,0.00,0.000,6,0.000,0.129,3138,1605,1916,0,0,0,0,0,0,28.83,13.85,28.83
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$STATE,23484,end climb,SURFACE_DEPTH_REACHED
$STATE,23484,begin surface coast
$FINISH,1.7,1.024535
$STATE,23511,end surface coast,CONTROL_FINISHED_OK
$STATE,23511,begin surface
$SM_CCo,23536,27.25,0.126,0,0,1265,350.04
$SM_GC,2.68,8.65,0.73,27.25,0.061,0.132,0.126,139,1512,1265,-8.53,0.17,350.04,0,0,0,0,0,0,14.19,13.98,14.17
$IRIDIUM_FIX,2422.84,-3822.20,050313,080847
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.68
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7551616
$24V_AH,13.0,239.079
$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,23.300,222.425,471.375,27.250,0.000,0.000,0.000,441.400,0.500,0.000,19.420,3447.006,16304.487,917.510,2813.984,822.088,0.000,2629.161,0.000,2322.929,0.000,0.541,0.000
$DEVICE_MAMPS,335.070,164.475,1829.115,126.225,0.000,0.000,0.000,162.945,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.926,0.000,0.000,0.000
$MEM,344908
$DATA_FILE_SIZE,46693,1178
$CAP_FILE_SIZE,250964,0
$CFSIZE,260034560,175190016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,257.5,1
$GPS,050313,214934,2432.854,-3823.584,24,0.9,25,-14.1