version: 66.11
glider: 190
mission: 6
dive: 575
start: 3 6 113 11 24 47
data:
$ID,190
$MISSION,6
$DIVE,575
$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,-13684.009
$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,12
$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
$GPS1,060313,111222,2433.441,-3824.131,36,0.9,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-58.7
$GPS2,060313,112412,2433.431,-3824.110,14,1.6,14,-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,104.1,37257,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.15,-184.9,0.0,0.0,0,34,0.00,0.00,-10.43,0.000,2,0.000,0.000,141,1512,1508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.15,-184.9,2.7,0.0,1,153,10.55,2.05,-93.68,0.000,4,0.340,0.126,2509,2584,3448,0,0,0,0,0,0,14.07,14.16,14.64
$GC,338,-1.05,-184.9,21.0,-10.6,31,345,0.15,2.03,0.00,0.000,6,0.246,0.106,2543,1521,3448,0,0,0,0,0,0,13.74,13.96,28.83
$GC,649,-0.98,-184.9,51.2,-9.5,62,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.91,-184.9,79.4,-8.9,93,965,0.15,0.00,0.00,0.000,6,0.248,0.000,2583,1521,3448,0,0,0,0,0,0,13.88,28.83,28.83
$GC,1268,-0.89,-184.9,105.5,-8.4,124,1275,0.00,2.08,0.00,0.000,4,0.000,0.129,2584,460,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1367,-0.83,-184.9,114.9,-9.7,134,1375,0.15,1.98,0.00,0.000,6,0.239,0.078,2615,1531,3448,0,0,0,0,0,0,13.79,13.96,28.83
$GC,1677,-0.83,-184.9,141.6,-9.1,165,1685,0.00,1.95,0.00,0.000,4,0.000,0.098,2608,2589,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1736,-0.83,-184.9,147.1,-9.1,171,1744,0.00,2.08,0.00,0.000,6,0.000,0.109,2609,1521,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2047,-0.83,-184.9,176.7,-9.2,202,2054,0.00,2.10,0.00,0.000,4,0.000,0.128,2609,466,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2190,-0.80,-184.9,190.1,-9.7,216,2197,0.00,1.90,0.00,0.000,6,0.000,0.076,2605,1510,3448,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2498,-0.80,-184.9,213.6,-6.4,247,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1511,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2808,-0.80,-184.9,235.8,-7.8,278,2815,0.00,2.10,0.00,0.000,4,0.000,0.129,2605,453,3449,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2967,-0.80,-184.9,250.8,-10.1,294,2973,0.00,1.92,0.00,0.000,6,0.000,0.077,2605,1505,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3288,-0.80,-184.9,283.9,-10.5,305,3293,0.00,2.08,0.00,0.000,4,0.000,0.127,2605,459,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3355,-0.80,-184.9,290.6,-10.8,307,3363,0.00,1.92,0.00,0.000,6,0.000,0.076,2605,1499,3449,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3678,-0.80,-184.9,322.0,-8.8,318,3684,0.00,2.03,0.00,0.000,4,0.000,0.102,2605,2578,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3745,-0.80,-184.9,326.8,-8.2,320,3752,0.00,2.12,0.00,0.000,6,0.000,0.108,2605,1493,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4070,-0.80,-184.9,347.4,-5.3,331,4075,0.00,2.05,0.00,0.000,4,0.000,0.101,2605,2575,3446,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4208,-0.80,-184.9,353.0,-4.8,335,4214,0.00,2.12,0.00,0.000,6,0.000,0.111,2604,1472,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4517,-0.80,-184.9,369.8,-5.5,346,4524,0.00,2.12,0.00,0.000,4,0.000,0.103,2605,2575,3448,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4648,-0.80,-184.9,377.1,-6.0,350,4653,0.00,2.20,0.00,0.000,6,0.000,0.111,2605,1441,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4967,-0.80,-184.9,402.2,-8.3,361,4973,0.00,1.95,0.00,0.000,4,0.000,0.133,2605,461,3446,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5106,-0.80,-184.9,412.9,-9.0,365,5114,0.00,1.80,0.00,0.000,6,0.000,0.082,2605,1429,3445,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5417,-0.80,-184.9,441.2,-8.3,376,5422,0.00,1.95,0.00,0.000,4,0.000,0.133,2605,465,3445,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5557,-0.80,-184.9,451.3,-8.5,380,5566,0.00,1.73,0.00,0.000,6,0.000,0.081,2605,1396,3444,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5866,-0.80,-184.9,475.6,-7.2,391,5873,0.00,1.90,0.00,0.000,4,0.000,0.132,2605,460,3443,0,0,0,0,0,0,28.83,13.68,28.83
$GC,5995,-0.80,-184.9,484.9,-7.8,395,6003,0.00,1.67,0.00,0.000,6,0.000,0.082,2605,1360,3442,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6318,-0.80,-184.9,511.6,-8.6,406,6324,0.00,1.83,0.00,0.000,4,0.000,0.137,2605,461,3442,0,0,0,0,0,0,28.83,13.70,28.83
$GC,6455,-0.80,-184.9,523.0,-9.6,410,6464,0.00,1.65,0.00,0.000,6,0.000,0.083,2604,1345,3442,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6768,-0.80,-184.9,557.0,-10.5,421,6773,0.00,1.80,0.00,0.000,4,0.000,0.138,2605,460,3441,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6887,-0.80,-184.9,570.7,-11.5,425,6893,0.00,1.58,0.00,0.000,6,0.000,0.083,2605,1306,3441,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7218,-0.80,-184.9,605.8,-10.4,436,7223,0.00,1.73,0.00,0.000,4,0.000,0.140,2606,460,3440,0,0,0,0,0,0,28.83,13.73,28.83
$GC,7306,-0.80,-184.9,615.3,-10.4,439,7313,0.00,1.55,0.00,0.000,6,0.000,0.084,2605,1289,3439,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7636,-0.80,-184.9,645.4,-8.8,450,7643,0.00,1.70,0.00,0.000,4,0.000,0.139,2605,462,3438,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7677,-0.80,-184.9,648.1,-8.9,451,7684,0.00,1.50,0.00,0.000,6,0.000,0.083,2605,1268,3438,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7996,-0.80,-184.9,674.7,-8.0,462,8004,0.00,2.53,0.00,0.000,4,0.000,0.105,2605,2575,3437,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8088,-0.80,-184.9,681.6,-7.7,465,8093,0.00,2.53,0.00,0.000,6,0.000,0.116,2604,1281,3436,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8416,-0.80,-184.9,707.6,-8.0,476,8423,0.00,2.53,0.00,0.000,4,0.000,0.106,2604,2574,3435,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8567,-0.80,-184.9,719.5,-8.1,481,8573,0.00,2.62,0.00,0.000,6,0.000,0.122,2605,1252,3435,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8898,-0.80,-184.9,747.2,-8.3,492,8903,0.00,2.58,0.00,0.000,4,0.000,0.104,2604,2580,3434,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9046,-0.80,-184.9,758.7,-7.7,497,9053,0.00,2.65,0.00,0.000,6,0.000,0.120,2605,1229,3433,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9381,-0.80,-184.9,783.0,-7.1,508,9386,0.00,1.55,0.00,0.000,4,0.000,0.144,2604,463,3432,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9466,-0.80,-184.9,789.5,-7.2,511,9473,0.00,1.45,0.00,0.000,6,0.000,0.086,2605,1228,3432,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9798,-0.80,-184.9,812.9,-7.3,522,9804,0.00,1.58,0.00,0.000,4,0.000,0.145,2605,456,3430,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9916,-0.80,-184.9,822.2,-7.8,526,9924,0.00,1.52,0.00,0.000,6,0.000,0.086,2604,1259,3430,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10248,-0.80,-184.9,849.7,-8.7,537,10254,0.00,2.55,0.00,0.000,4,0.000,0.107,2602,2577,3429,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10285,-0.80,-184.9,852.3,-8.8,538,10293,0.00,2.65,0.00,0.000,6,0.000,0.116,2605,1247,3429,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10607,-0.80,-184.9,883.3,-9.9,549,10613,0.00,2.58,0.00,0.000,4,0.000,0.106,2605,2575,3428,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10777,-0.82,-184.9,897.9,-9.9,554,10784,0.00,2.55,0.00,0.000,6,0.000,0.119,2604,1286,3427,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11087,-0.82,-184.9,930.8,-9.7,565,11093,0.00,2.53,0.00,0.000,4,0.000,0.109,2605,2580,3426,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11257,-0.85,-184.9,943.8,-8.6,570,11264,0.00,2.50,0.00,0.000,6,0.000,0.125,2605,1329,3425,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11570,-0.85,-184.9,967.9,-6.5,581,11575,0.00,2.45,0.00,0.000,4,0.000,0.112,2604,2575,3424,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11718,-0.87,-184.9,976.0,-5.4,586,11724,0.00,2.58,0.00,0.000,6,0.000,0.125,2604,1293,3424,0,0,0,0,0,0,28.83,13.91,28.83
$STATE,11803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11803,begin apogee
$GC,11812,-0.42,0.0,980.4,-4.9,589,12014,0.47,0.00,193.27,1.757,4,0.185,0.000,2741,1521,2688,0,0,0,0,0,0,13.66,28.83,13.02
$STATE,12020,end apogee,CONTROL_FINISHED_OK
$STATE,12020,begin climb
$GC,12024,1.15,184.9,983.6,0.0,596,12229,1.67,2.05,192.55,1.781,4,0.145,0.117,3248,2577,1935,0,0,0,0,0,0,13.94,13.94,13.04
$GC,12269,1.02,184.9,962.7,12.1,604,12276,0.15,2.12,0.00,0.000,6,0.287,0.135,3220,1522,1926,0,0,0,0,0,0,13.76,13.96,28.83
$GC,12591,0.93,184.9,925.9,10.1,615,12593,0.15,0.00,0.00,0.000,6,0.314,0.000,3189,1522,1921,0,0,0,0,0,0,13.88,28.83,28.83
$GC,12893,0.87,206.0,903.8,6.5,625,12919,0.00,2.08,20.33,1.662,4,0.000,0.122,3189,2578,1850,0,0,0,0,0,0,28.83,14.28,13.33
$GC,12979,0.81,232.9,898.0,6.4,628,13016,0.17,2.10,30.40,1.682,6,0.267,0.135,3150,1522,1740,0,0,0,0,0,0,13.95,14.12,13.21
$GC,13338,0.82,271.7,876.9,6.1,640,13386,0.00,2.12,42.15,1.686,4,0.000,0.159,3157,457,1581,0,0,0,0,0,0,28.83,14.15,13.22
$GC,13512,0.79,271.7,865.9,7.5,645,13520,0.00,2.03,0.00,0.000,6,0.000,0.091,3157,1559,1572,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13818,0.79,271.7,837.0,9.2,656,13824,0.00,2.28,0.00,0.000,4,0.000,0.158,3165,462,1570,0,0,0,0,0,0,28.83,13.97,28.83
$GC,13927,0.79,271.7,827.8,10.1,659,13936,0.00,2.15,0.00,0.000,6,0.000,0.090,3165,1607,1569,0,0,0,0,0,0,28.83,14.19,28.83
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$STATE,23245,end climb,SURFACE_DEPTH_REACHED
$STATE,23245,begin surface coast
$FINISH,1.6,1.025320
$STATE,23290,end surface coast,CONTROL_FINISHED_OK
$STATE,23290,begin surface
$SM_CCo,23316,39.53,0.124,0,0,1264,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.17
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7550464
$24V_AH,13.0,240.290
$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
$DEVICE_SECS,22.975,189.850,478.700,39.525,0.000,0.000,0.000,396.925,0.500,0.000,18.768,3389.050,16176.396,930.183,2758.625,798.219,0.000,2582.449,0.000,2308.825,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.981,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43323,1165
$CAP_FILE_SIZE,242779,0
$CFSIZE,260034560,174866432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,234.6,1
$GPS,060313,175528,2433.579,-3824.104,39,0.8,39,-14.1