version: 66.11
glider: 190
mission: 6
dive: 586
start: 3 9 113 13 34 25
data:
$ID,190
$MISSION,6
$DIVE,586
$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,-13717.493
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,8
$R_STBD_OVSHOOT,19
$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,0.00060000003
$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
$GPS1,090313,132305,2431.418,-3829.943,38,0.8,39,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-63.6
$GPS2,090313,133355,2431.314,-3830.031,14,0.8,14,-14.2
$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,111.0,47476,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-10.02,0.000,2,0.000,0.000,138,1516,1500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.6,0.0,1,155,11.23,2.03,-94.30,0.000,4,0.350,0.127,2613,2580,3448,0,0,0,0,0,0,14.09,14.10,14.63
$GC,278,-0.78,-184.9,10.7,-7.9,25,287,0.00,2.05,0.00,0.000,6,0.000,0.108,2614,1523,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,588,-0.78,-184.9,37.8,-8.5,56,596,0.00,2.12,0.00,0.000,4,0.000,0.133,2614,465,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,699,-0.74,-184.9,47.8,-9.2,67,706,0.00,1.90,0.00,0.000,6,0.000,0.079,2609,1505,3448,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1010,-0.74,-184.9,76.5,-9.0,98,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1505,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.74,-184.9,102.2,-7.9,129,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1505,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-0.74,-184.9,127.0,-8.5,159,1626,0.00,2.10,0.00,0.000,4,0.000,0.129,2609,460,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1680,-0.71,-184.9,132.3,-9.0,165,1689,0.12,1.90,0.00,0.000,6,0.241,0.078,2634,1507,3448,0,0,0,0,0,0,13.82,14.03,28.83
$GC,1990,-0.71,-184.9,158.9,-8.2,196,1996,0.00,2.03,0.00,0.000,4,0.000,0.100,2632,2584,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2038,-0.71,-184.9,163.0,-8.1,201,2047,0.00,2.12,0.00,0.000,6,0.000,0.110,2632,1496,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2349,-0.71,-184.9,187.2,-7.9,232,2356,0.00,2.05,0.00,0.000,4,0.000,0.098,2632,2582,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2408,-0.71,-184.9,191.6,-7.6,238,2416,0.00,2.10,0.00,0.000,6,0.000,0.109,2632,1510,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2718,-0.71,-184.9,216.2,-8.2,269,2726,0.00,2.10,0.00,0.000,4,0.000,0.130,2632,461,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2771,-0.71,-184.9,220.6,-8.8,274,2779,0.00,1.95,0.00,0.000,6,0.000,0.077,2631,1528,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3080,-0.73,-184.9,247.5,-8.6,305,3087,0.00,1.98,0.00,0.000,4,0.000,0.099,2632,2580,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3148,-0.76,-184.9,252.6,-8.4,310,3155,0.00,2.05,0.00,0.000,6,0.000,0.106,2632,1533,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3472,-0.78,-184.9,279.1,-8.0,321,3477,0.00,2.15,0.00,0.000,4,0.000,0.129,2632,458,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3659,-0.78,-184.9,293.1,-7.6,327,3665,0.00,1.98,0.00,0.000,6,0.000,0.076,2631,1531,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3982,-0.80,-184.9,316.9,-7.2,338,3987,0.00,1.95,0.00,0.000,4,0.000,0.101,2631,2578,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4059,-0.83,-184.9,321.3,-7.3,340,4066,0.00,2.05,0.00,0.000,6,0.000,0.107,2631,1529,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4372,-0.85,-184.9,347.0,-8.0,351,4378,0.12,2.15,0.00,0.000,4,0.126,0.129,2567,457,3446,0,0,0,0,0,0,14.43,13.81,28.83
$GC,4469,-0.83,-184.9,355.5,-9.1,354,4476,0.10,1.98,0.00,0.000,6,0.219,0.076,2591,1527,3446,0,0,0,0,0,0,13.61,13.89,28.83
$GC,4791,-0.83,-184.9,384.4,-8.5,365,4797,0.00,2.00,0.00,0.000,4,0.000,0.102,2591,2584,3445,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4839,-0.83,-184.9,386.9,-8.4,366,4847,0.00,2.05,0.00,0.000,6,0.000,0.106,2593,1532,3445,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5148,-0.83,-184.9,414.5,-8.6,377,5155,0.00,2.17,0.00,0.000,4,0.000,0.132,2591,453,3445,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5187,-0.83,-184.9,417.1,-8.6,378,5194,0.00,2.00,0.00,0.000,6,0.000,0.079,2591,1532,3444,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5510,-0.83,-184.9,446.8,-9.1,389,5515,0.00,2.17,0.00,0.000,4,0.000,0.131,2592,455,3443,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5547,-0.83,-184.9,449.5,-9.1,390,5555,0.00,2.00,0.00,0.000,6,0.000,0.079,2587,1528,3443,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5870,-0.83,-184.9,479.9,-9.0,401,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1527,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6169,-0.83,-184.9,507.3,-9.3,411,6175,0.00,2.15,0.00,0.000,4,0.000,0.130,2587,457,3441,0,0,0,0,0,0,28.83,13.72,28.83
$GC,6267,-0.83,-184.9,516.0,-9.5,414,6274,0.00,1.98,0.00,0.000,6,0.000,0.077,2581,1518,3441,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6590,-0.83,-184.9,545.5,-8.7,425,6595,0.00,2.15,0.00,0.000,4,0.000,0.131,2581,455,3441,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6688,-0.81,-184.9,553.4,-8.8,428,6695,0.00,1.92,0.00,0.000,6,0.000,0.080,2579,1491,3440,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7011,-0.81,-184.9,579.4,-7.6,439,7016,0.00,2.08,0.00,0.000,4,0.000,0.105,2577,2580,3438,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7057,-0.81,-184.9,581.5,-7.4,440,7067,0.12,2.15,0.00,0.000,6,0.210,0.109,2607,1490,3438,0,0,0,0,0,0,13.78,13.82,28.83
$GC,7371,-0.81,-184.9,604.9,-7.3,451,7377,0.00,2.08,0.00,0.000,4,0.000,0.134,2608,459,3438,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7460,-0.81,-184.9,612.1,-7.8,454,7465,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1491,3440,0,0,0,0,0,0,28.83,13.94,28.83
$GC,7791,-0.81,-184.9,639.9,-9.0,465,7796,0.00,2.08,0.00,0.000,4,0.000,0.106,2605,2579,3436,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7889,-0.81,-184.9,648.3,-9.2,468,7895,0.00,2.15,0.00,0.000,6,0.000,0.112,2605,1489,3436,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8209,-0.81,-184.9,679.8,-9.5,479,8215,0.00,2.12,0.00,0.000,4,0.000,0.106,2605,2580,3435,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8328,-0.81,-184.9,690.0,-8.5,483,8335,0.00,2.22,0.00,0.000,6,0.000,0.113,2605,1456,3435,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8663,-0.81,-184.9,714.8,-6.9,494,8669,0.00,2.17,0.00,0.000,4,0.000,0.106,2605,2577,3433,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8809,-0.81,-184.9,723.6,-5.8,499,8815,0.00,2.28,0.00,0.000,6,0.000,0.115,2605,1421,3433,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9140,-0.81,-184.9,742.4,-5.8,510,9145,0.00,1.95,0.00,0.000,4,0.000,0.138,2605,461,3432,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9208,-0.81,-184.9,746.2,-6.1,512,9215,0.00,1.83,0.00,0.000,6,0.000,0.081,2605,1440,3431,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9530,-0.81,-184.9,768.9,-7.3,523,9535,0.00,2.17,0.00,0.000,4,0.000,0.109,2605,2574,3430,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9598,-0.83,-184.9,773.5,-7.5,525,9605,0.00,2.28,0.00,0.000,6,0.000,0.116,2605,1436,3429,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9920,-0.83,-184.9,802.5,-9.4,536,9925,0.00,2.00,0.00,0.000,4,0.000,0.139,2605,456,3429,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9997,-0.83,-184.9,808.4,-9.7,538,10006,0.00,1.88,0.00,0.000,6,0.000,0.083,2605,1444,3428,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10308,-0.83,-184.9,841.5,-10.1,549,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1444,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10610,-0.83,-184.9,869.4,-8.9,559,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1444,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10909,-0.85,-184.9,893.9,-7.9,569,10915,0.00,2.05,0.00,0.000,4,0.000,0.142,2604,466,3425,0,0,0,0,0,0,28.83,13.70,28.83
$GC,10999,-0.85,-184.9,900.6,-7.5,572,11006,0.00,1.83,0.00,0.000,6,0.000,0.087,2605,1431,3425,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11332,-0.87,-184.9,923.7,-7.0,583,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1431,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11630,-0.89,-184.9,945.3,-7.4,593,11636,0.00,2.25,0.00,0.000,4,0.000,0.115,2605,2574,3422,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11698,-0.92,-184.9,949.6,-7.5,595,11705,0.00,2.30,0.00,0.000,6,0.000,0.121,2605,1431,3422,0,0,0,0,0,0,28.83,13.76,28.83
$GC,12018,-0.92,-184.9,975.7,-8.0,606,12025,0.00,2.28,0.00,0.000,4,0.000,0.115,2604,2571,3421,0,0,0,0,0,0,28.83,13.80,28.83
$GC,12069,-0.92,-184.9,978.1,-8.1,607,12076,0.00,2.30,0.00,0.000,6,0.000,0.128,2605,1432,3421,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,12105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12105,begin apogee
$GC,12114,-0.25,0.0,983.1,-8.2,609,12382,0.62,0.00,256.98,1.543,4,0.181,0.000,2784,1522,2692,0,0,0,0,0,0,13.73,28.83,13.16
$STATE,12383,end apogee,CONTROL_FINISHED_OK
$STATE,12383,begin climb
$GC,12387,0.78,184.9,998.5,0.0,618,12590,1.05,0.00,193.82,1.867,6,0.137,0.000,3113,1522,1937,0,0,0,0,0,0,13.88,28.83,13.05
$GC,12890,0.78,184.9,969.5,8.0,635,12895,0.00,2.17,0.00,0.000,4,0.000,0.160,3114,459,1923,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12998,0.76,184.9,962.2,8.0,638,13007,0.00,2.03,0.00,0.000,6,0.000,0.090,3114,1540,1922,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13310,0.76,184.9,934.2,8.7,649,13316,0.00,2.00,0.00,0.000,4,0.000,0.117,3114,2583,1920,0,0,0,0,0,0,28.83,14.03,28.83
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$STATE,23532,end climb,SURFACE_DEPTH_REACHED
$STATE,23532,begin surface coast
$FINISH,1.6,1.010417
$STATE,23564,end surface coast,CONTROL_FINISHED_OK
$STATE,23564,begin surface
$SM_CCo,23588,19.17,0.129,0,0,1266,350.04
$SM_GC,2.41,8.95,0.75,19.17,0.070,0.142,0.129,134,1521,1266,-8.48,0.42,350.04,0,0,0,0,0,0,14.21,13.86,14.16
$IRIDIUM_FIX,2422.84,-3828.86,090313,060654
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.26
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7546368
$24V_AH,13.0,244.922
$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
$DEVICE_SECS,22.700,205.825,591.650,19.175,0.000,0.000,0.000,355.150,0.500,0.000,16.119,3344.887,16426.197,979.459,2657.155,828.495,0.000,2590.235,0.000,2266.666,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.901,0.000,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,43316,1160
$CAP_FILE_SIZE,245352,0
$CFSIZE,260034560,173637632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,240.2,1
$GPS,090313,200904,2430.714,-3829.988,23,0.9,24,-14.2