version: 66.11
glider: 190
mission: 6
dive: 589
start: 3 10 113 9 49 20
data:
$ID,190
$MISSION,6
$DIVE,589
$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,-13724.219
$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,9
$R_STBD_OVSHOOT,18
$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
$GPS1,100313,093722,2429.648,-3831.147,40,1.0,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-62.1
$GPS2,100313,094847,2429.498,-3831.149,14,1.3,14,-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,69.6,49800,-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,-184.9,0.0,0.0,0,34,0.00,0.00,-9.60,0.000,2,0.000,0.000,139,1516,1421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.5,0.0,1,155,11.35,1.98,-96.28,0.000,4,0.356,0.119,2608,2578,3447,0,0,0,0,0,0,14.07,14.08,14.63
$GC,329,-0.78,-184.9,17.4,-8.1,30,336,0.00,2.05,0.00,0.000,6,0.000,0.112,2608,1516,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,639,-0.78,-184.9,42.8,-8.7,61,647,0.00,2.10,0.00,0.000,4,0.000,0.133,2608,460,3448,0,0,0,0,0,0,28.83,13.87,28.83
$GC,801,-0.74,-184.9,58.9,-10.0,77,808,0.00,1.90,0.00,0.000,6,0.000,0.078,2605,1497,3447,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1108,-0.74,-184.9,90.8,-10.3,108,1116,0.00,2.10,0.00,0.000,4,0.000,0.132,2605,460,3448,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1169,-0.71,-184.9,97.0,-10.1,114,1177,0.15,1.88,0.00,0.000,6,0.233,0.076,2642,1494,3447,0,0,0,0,0,0,13.80,14.00,28.83
$GC,1481,-0.73,-184.9,122.7,-7.7,145,1488,0.00,2.03,0.00,0.000,4,0.000,0.098,2639,2575,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1540,-0.75,-184.9,126.9,-6.8,151,1546,0.00,2.10,0.00,0.000,6,0.000,0.111,2639,1490,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1854,-0.77,-184.9,147.6,-6.6,182,1860,0.00,2.05,0.00,0.000,4,0.000,0.098,2644,2575,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1983,-0.77,-184.9,156.0,-6.4,195,1990,0.00,2.15,0.00,0.000,6,0.000,0.111,2639,1461,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2290,-0.79,-184.9,180.4,-8.5,226,2297,0.00,2.10,0.00,0.000,4,0.000,0.096,2639,2580,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2351,-0.82,-184.9,185.6,-8.5,232,2358,0.00,2.15,0.00,0.000,6,0.000,0.112,2639,1476,3451,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2662,-0.85,-184.9,214.3,-9.5,263,2669,0.12,2.08,0.00,0.000,4,0.128,0.096,2571,2580,3448,0,0,0,0,0,0,14.37,13.92,28.83
$GC,2810,-0.85,-184.9,228.9,-9.8,278,2817,0.00,2.22,0.00,0.000,6,0.000,0.110,2572,1447,3445,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3140,-0.83,-184.9,262.6,-9.9,303,3146,0.12,1.98,0.00,0.000,4,0.233,0.130,2607,463,3447,0,0,0,0,0,0,14.13,13.74,28.83
$GC,3251,-0.80,-184.9,270.9,-9.2,306,3258,0.00,1.80,0.00,0.000,6,0.000,0.077,2597,1437,3447,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3560,-0.80,-184.9,296.1,-7.2,317,3566,0.00,2.15,0.00,0.000,4,0.000,0.100,2593,2573,3448,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3599,-0.80,-184.9,298.0,-7.0,318,3606,0.00,2.22,0.00,0.000,6,0.000,0.112,2592,1436,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3921,-0.80,-184.9,321.5,-7.4,329,3927,0.00,2.17,0.00,0.000,4,0.000,0.100,2591,2578,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4078,-0.80,-184.9,333.2,-7.8,334,4087,0.00,2.33,0.00,0.000,6,0.000,0.112,2592,1405,3447,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4401,-0.80,-184.9,362.2,-9.4,345,4408,0.00,2.22,0.00,0.000,4,0.000,0.099,2592,2574,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4539,-0.80,-184.9,374.2,-9.9,349,4547,0.00,2.35,0.00,0.000,6,0.000,0.112,2592,1383,3446,0,0,0,0,0,0,28.83,13.74,28.83
$GC,4852,-0.80,-184.9,407.8,-10.1,360,4857,0.00,2.28,0.00,0.000,4,0.000,0.100,2591,2575,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4999,-0.80,-184.9,422.3,-9.6,365,5007,0.00,2.40,0.00,0.000,6,0.000,0.112,2591,1361,3445,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5332,-0.80,-184.9,449.9,-7.7,376,5337,0.00,2.33,0.00,0.000,4,0.000,0.101,2590,2574,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5469,-0.80,-184.9,458.2,-6.9,380,5477,0.00,2.45,0.00,0.000,6,0.000,0.112,2591,1331,3444,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5781,-0.80,-184.9,480.9,-6.9,391,5787,0.00,2.40,0.00,0.000,4,0.000,0.102,2584,2579,3443,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5919,-0.80,-184.9,489.2,-6.9,395,5928,0.00,2.55,0.00,0.000,6,0.000,0.114,2585,1293,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6230,-0.80,-184.9,512.4,-6.9,406,6236,0.00,1.70,0.00,0.000,4,0.000,0.136,2584,458,3442,0,0,0,0,0,0,28.83,13.69,28.83
$GC,6370,-0.80,-184.9,521.2,-7.4,410,6378,0.00,1.50,0.00,0.000,6,0.000,0.078,2580,1272,3439,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6680,-0.80,-184.9,545.2,-7.7,421,6688,0.12,1.65,0.00,0.000,4,0.239,0.135,2611,464,3440,0,0,0,0,0,0,14.08,13.64,28.83
$GC,6750,-0.80,-184.9,549.8,-7.7,423,6756,0.00,1.45,0.00,0.000,6,0.000,0.080,2609,1251,3440,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7069,-0.80,-184.9,576.7,-8.6,434,7076,0.00,2.55,0.00,0.000,4,0.000,0.103,2605,2571,3439,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7148,-0.80,-184.9,582.1,-8.9,436,7157,0.00,2.60,0.00,0.000,6,0.000,0.114,2605,1259,3439,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7461,-0.80,-184.9,613.9,-9.7,447,7466,0.00,1.62,0.00,0.000,4,0.000,0.139,2605,455,3438,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7588,-0.80,-184.9,625.7,-9.8,451,7595,0.00,1.48,0.00,0.000,6,0.000,0.081,2605,1240,3437,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7911,-0.80,-184.9,654.9,-8.6,462,7916,0.00,2.58,0.00,0.000,4,0.000,0.106,2605,2578,3437,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8068,-0.80,-184.9,666.6,-7.7,467,8076,0.00,2.62,0.00,0.000,6,0.000,0.119,2605,1262,3437,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8394,-0.80,-184.9,688.2,-6.2,478,8400,0.00,2.55,0.00,0.000,4,0.000,0.106,2605,2574,3435,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8540,-0.80,-184.9,696.0,-5.1,483,8546,0.00,2.55,0.00,0.000,6,0.000,0.119,2605,1300,3435,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8874,-0.80,-184.9,714.0,-5.7,494,8880,0.00,2.47,0.00,0.000,4,0.000,0.106,2605,2573,3434,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8919,-0.80,-184.9,715.6,-5.7,495,8928,0.00,2.53,0.00,0.000,6,0.000,0.121,2605,1312,3433,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9231,-0.80,-184.9,739.4,-7.9,506,9236,0.00,1.73,0.00,0.000,4,0.000,0.142,2605,461,3432,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9319,-0.80,-184.9,747.4,-8.9,509,9326,0.00,1.60,0.00,0.000,6,0.000,0.083,2605,1309,3432,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9650,-0.80,-184.9,780.4,-10.7,520,9656,0.00,1.77,0.00,0.000,4,0.000,0.144,2604,458,3431,0,0,0,0,0,0,28.83,13.69,28.83
$GC,9790,-0.80,-184.9,793.9,-11.2,524,9797,0.00,1.62,0.00,0.000,6,0.000,0.084,2605,1319,3430,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10100,-0.80,-184.9,827.8,-9.8,535,10106,0.00,2.42,0.00,0.000,4,0.000,0.107,2605,2575,3429,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10252,-0.82,-184.9,840.1,-8.2,540,10257,0.00,2.42,0.00,0.000,6,0.000,0.115,2602,1345,3429,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10583,-0.82,-184.9,863.6,-6.7,551,10589,0.00,2.40,0.00,0.000,4,0.000,0.110,2605,2573,3428,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10754,-0.85,-184.9,872.8,-6.0,556,10761,0.00,2.53,0.00,0.000,6,0.000,0.126,2605,1317,3427,0,0,0,0,0,0,28.83,13.86,28.83
$GC,11063,-0.85,-184.9,893.3,-6.3,567,11069,0.00,2.45,0.00,0.000,4,0.000,0.109,2605,2576,3426,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11182,-0.87,-184.9,901.6,-7.0,571,11187,0.00,2.45,0.00,0.000,6,0.000,0.128,2605,1357,3426,0,0,0,0,0,0,28.83,13.92,28.83
$GC,11510,-0.87,-184.9,927.4,-8.1,582,11516,0.00,1.85,0.00,0.000,4,0.000,0.150,2605,468,3424,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11601,-0.87,-184.9,935.1,-8.5,585,11606,0.00,1.65,0.00,0.000,6,0.000,0.088,2604,1351,3424,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11933,-0.90,-184.9,963.8,-8.9,596,11938,0.00,2.35,0.00,0.000,4,0.000,0.112,2605,2573,3423,0,0,0,0,0,0,28.83,13.89,28.83
$GC,12070,-0.92,-184.9,974.6,-9.0,600,12077,0.00,2.45,0.00,0.000,6,0.000,0.127,2604,1358,3422,0,0,0,0,0,0,28.83,13.91,28.83
$STATE,12106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12106,begin apogee
$GC,12115,-0.25,0.0,980.0,-8.9,602,12307,0.62,0.00,183.73,1.841,4,0.182,0.000,2783,1519,2687,0,0,0,0,0,0,13.76,28.83,13.05
$STATE,12312,end apogee,CONTROL_FINISHED_OK
$STATE,12312,begin climb
$GC,12317,0.78,184.9,992.1,0.0,608,12521,1.10,2.08,192.73,1.815,4,0.132,0.117,3121,2579,1938,0,0,0,0,0,0,13.90,13.90,13.07
$GC,12551,0.76,245.2,986.9,5.5,616,12620,0.00,2.12,63.78,1.756,6,0.000,0.132,3129,1518,1695,0,0,0,0,0,0,28.83,13.93,13.10
$GC,12940,0.76,245.2,954.4,8.4,630,12947,0.00,2.15,0.00,0.000,4,0.000,0.151,3138,465,1676,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12979,0.76,245.2,951.5,8.6,631,12987,0.00,2.05,0.00,0.000,6,0.000,0.086,3138,1567,1676,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13304,0.76,245.2,919.6,9.9,642,13311,0.00,2.28,0.00,0.000,4,0.000,0.157,3145,460,1674,0,0,0,0,0,0,28.83,14.00,28.83
$GC,13379,0.76,245.2,913.5,10.0,644,13389,0.00,2.15,0.00,0.000,6,0.000,0.086,3145,1608,1674,0,0,0,0,0,0,28.83,14.16,28.83
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$STATE,23114,end climb,SURFACE_DEPTH_REACHED
$STATE,23114,begin surface coast
$FINISH,1.7,1.014944
$STATE,23144,end surface coast,CONTROL_FINISHED_OK
$STATE,23144,begin surface
$SM_CCo,23168,20.58,0.128,0,0,1265,350.04
$SM_GC,2.41,8.77,0.73,20.58,0.059,0.131,0.128,146,1520,1265,-8.46,0.45,350.04,0,0,0,0,0,0,14.10,13.84,14.13
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$TT8_MAMPS,0.024717,0.024717
$HUMID,61.45
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.60
$XPDR_PINGS,2
$SC_FREEKB,7545216
$24V_AH,13.0,246.231
$10V_AH,12.3,0.000
$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,23.100,255.900,507.375,20.575,0.000,0.000,0.000,375.050,0.500,0.000,18.211,3314.353,16049.546,968.596,2686.739,844.471,0.000,2592.284,0.000,2261.438,0.000,0.539,0.000
$DEVICE_MAMPS,355.725,165.240,1840.590,127.755,0.000,0.000,0.000,166.770,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23202.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.946,0.000,0.000,0.000
$MEM,344940
$DATA_FILE_SIZE,43356,1142
$CAP_FILE_SIZE,246357,0
$CFSIZE,260034560,173285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,243.9,1
$GPS,100313,161704,2429.150,-3831.921,26,0.9,27,-14.2