version: 66.11
glider: 190
mission: 6
dive: 591
start: 3 10 113 23 11 34
data:
$ID,190
$MISSION,6
$DIVE,591
$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,-13726.829
$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,11
$R_STBD_OVSHOOT,17
$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
$GPS1,100313,225852,2429.172,-3832.500,38,0.8,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-61.3
$GPS2,100313,231100,2429.145,-3832.510,19,1.0,19,-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,90.5,52170,-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,-0.78,-184.9,0.0,0.0,0,34,0.00,0.00,-9.90,0.000,2,0.000,0.000,143,1514,1495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.4,0.0,1,154,11.00,2.03,-94.93,0.000,4,0.340,0.123,2614,2581,3448,0,0,0,0,0,0,14.08,14.06,14.62
$GC,329,-0.78,-184.9,16.1,-9.4,30,336,0.00,2.05,0.00,0.000,6,0.000,0.112,2614,1519,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,639,-0.78,-184.9,43.1,-8.7,61,646,0.00,2.12,0.00,0.000,4,0.000,0.135,2615,460,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,728,-0.76,-184.9,51.3,-9.2,70,735,0.00,1.95,0.00,0.000,6,0.000,0.078,2609,1510,3447,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1038,-0.76,-184.9,77.5,-8.4,101,1046,0.00,2.12,0.00,0.000,4,0.000,0.132,2609,460,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1160,-0.73,-184.9,88.0,-8.8,113,1168,0.00,1.90,0.00,0.000,6,0.000,0.079,2605,1499,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1467,-0.73,-184.9,113.4,-8.4,144,1475,0.00,2.10,0.00,0.000,4,0.000,0.129,2605,460,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1613,-0.71,-184.9,126.0,-9.0,158,1620,0.15,1.85,0.00,0.000,6,0.238,0.077,2640,1467,3448,0,0,0,0,0,0,13.66,13.87,28.83
$GC,1920,-0.71,-184.9,152.0,-8.2,189,1928,0.00,2.08,0.00,0.000,4,0.000,0.101,2637,2579,3448,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2019,-0.71,-184.9,159.9,-7.9,199,2027,0.00,2.17,0.00,0.000,6,0.000,0.112,2637,1471,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2329,-0.71,-184.9,184.7,-7.9,230,2337,0.00,2.10,0.00,0.000,4,0.000,0.096,2636,2575,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2463,-0.74,-184.9,195.6,-8.7,243,2470,0.00,2.10,0.00,0.000,6,0.000,0.109,2637,1493,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2771,-0.76,-184.9,221.5,-8.0,274,2778,0.00,2.05,0.00,0.000,4,0.000,0.131,2637,460,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2850,-0.76,-184.9,227.8,-7.7,282,2857,0.00,1.88,0.00,0.000,6,0.000,0.076,2632,1496,3448,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3160,-0.78,-184.9,250.6,-7.7,313,3166,0.00,2.05,0.00,0.000,4,0.000,0.099,2632,2578,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3240,-0.80,-184.9,254.9,-7.2,315,3248,0.00,2.10,0.00,0.000,6,0.000,0.109,2632,1503,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3549,-0.83,-184.9,281.2,-8.5,326,3555,0.00,2.10,0.00,0.000,4,0.000,0.129,2632,458,3448,0,0,0,0,0,0,28.83,13.72,28.83
$GC,3639,-0.83,-184.9,289.2,-8.9,329,3646,0.00,1.92,0.00,0.000,6,0.000,0.077,2632,1502,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3974,-0.85,-184.9,319.2,-9.2,340,3980,0.12,2.08,0.00,0.000,4,0.130,0.126,2570,461,3447,0,0,0,0,0,0,14.36,13.83,28.83
$GC,4049,-0.85,-184.9,325.3,-9.5,342,4057,0.00,1.85,0.00,0.000,6,0.000,0.076,2565,1471,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4364,-0.83,-184.9,355.9,-8.7,353,4371,0.12,2.05,0.00,0.000,4,0.252,0.126,2601,454,3447,0,0,0,0,0,0,13.95,13.80,28.83
$GC,4439,-0.81,-184.9,360.8,-8.4,355,4451,0.00,1.85,0.00,0.000,6,0.000,0.076,2595,1452,3446,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4752,-0.81,-184.9,384.7,-6.8,366,4757,0.00,2.00,0.00,0.000,4,0.000,0.129,2595,457,3446,0,0,0,0,0,0,28.83,13.75,28.83
$GC,4890,-0.81,-184.9,393.0,-6.9,370,4898,0.00,1.75,0.00,0.000,6,0.000,0.076,2592,1409,3446,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5202,-0.81,-184.9,412.7,-5.9,381,5208,0.00,1.90,0.00,0.000,4,0.000,0.129,2592,460,3445,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5269,-0.81,-184.9,416.5,-6.1,383,5277,0.00,1.75,0.00,0.000,6,0.000,0.078,2592,1401,3444,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5590,-0.81,-184.9,438.8,-7.2,394,5596,0.00,1.92,0.00,0.000,4,0.000,0.131,2592,458,3444,0,0,0,0,0,0,28.83,13.64,28.83
$GC,5630,-0.81,-184.9,441.1,-7.5,395,5636,0.00,1.73,0.00,0.000,6,0.000,0.077,2592,1391,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5950,-0.81,-184.9,469.3,-9.0,406,5956,0.00,2.28,0.00,0.000,4,0.000,0.103,2592,2575,3442,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5999,-0.81,-184.9,472.1,-9.1,407,6009,0.00,2.35,0.00,0.000,6,0.000,0.112,2592,1384,3442,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6312,-0.81,-184.9,503.6,-9.7,418,6317,0.00,2.30,0.00,0.000,4,0.000,0.103,2592,2579,3441,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6460,-0.81,-184.9,517.5,-9.2,423,6467,0.00,2.40,0.00,0.000,6,0.000,0.112,2591,1363,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6792,-0.81,-184.9,546.2,-8.5,434,6797,0.00,1.85,0.00,0.000,4,0.000,0.137,2592,461,3441,0,0,0,0,0,0,28.83,13.69,28.83
$GC,6980,-0.81,-184.9,561.7,-8.7,440,6986,0.00,1.62,0.00,0.000,6,0.000,0.079,2590,1338,3439,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7302,-0.81,-184.9,588.1,-7.9,451,7307,0.00,1.80,0.00,0.000,4,0.000,0.137,2590,457,3438,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7360,-0.81,-184.9,593.1,-8.1,453,7368,0.00,1.60,0.00,0.000,6,0.000,0.080,2586,1319,3438,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7693,-0.81,-184.9,621.5,-9.0,464,7698,0.00,1.75,0.00,0.000,4,0.000,0.138,2586,460,3437,0,0,0,0,0,0,28.83,13.66,28.83
$GC,7750,-0.81,-184.9,627.4,-9.4,466,7756,0.00,1.58,0.00,0.000,6,0.000,0.082,2583,1303,3437,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8081,-0.81,-184.9,659.2,-9.6,477,8087,0.00,1.75,0.00,0.000,4,0.000,0.139,2583,458,3436,0,0,0,0,0,0,28.83,13.66,28.83
$GC,8180,-0.81,-184.9,668.1,-9.7,480,8186,0.00,1.52,0.00,0.000,6,0.000,0.080,2579,1280,3436,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8500,-0.81,-184.9,696.9,-8.1,491,8507,0.12,1.70,0.00,0.000,4,0.249,0.138,2609,461,3435,0,0,0,0,0,0,14.01,13.65,28.83
$GC,8591,-0.81,-184.9,704.0,-7.8,494,8596,0.00,1.50,0.00,0.000,6,0.000,0.081,2605,1261,3434,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8923,-0.81,-184.9,725.3,-6.0,505,8930,0.00,1.65,0.00,0.000,4,0.000,0.140,2605,456,3433,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8989,-0.81,-184.9,728.8,-6.0,507,8996,0.00,1.48,0.00,0.000,6,0.000,0.081,2603,1242,3433,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9315,-0.81,-184.9,748.4,-6.1,518,9320,0.00,1.60,0.00,0.000,4,0.000,0.142,2605,460,3432,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9359,-0.81,-184.9,750.3,-6.2,519,9368,0.00,1.45,0.00,0.000,6,0.000,0.084,2605,1224,3431,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9672,-0.81,-184.9,774.0,-7.5,530,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1224,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9971,-0.81,-184.9,799.1,-8.7,540,9976,0.00,1.60,0.00,0.000,4,0.000,0.145,2606,461,3429,0,0,0,0,0,0,28.83,13.66,28.83
$GC,10131,-0.81,-184.9,812.4,-8.9,545,10136,0.00,1.42,0.00,0.000,6,0.000,0.085,2605,1212,3429,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10451,-0.81,-184.9,839.0,-7.8,556,10456,0.00,1.60,0.00,0.000,4,0.000,0.147,2605,458,3428,0,0,0,0,0,0,28.83,13.65,28.83
$GC,10519,-0.81,-184.9,843.7,-7.6,558,10526,0.00,1.42,0.00,0.000,6,0.000,0.086,2605,1201,3427,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10845,-0.81,-184.9,866.0,-6.5,569,10851,0.00,1.52,0.00,0.000,4,0.000,0.151,2605,461,3427,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10931,-0.81,-184.9,872.1,-6.7,572,10936,0.00,1.48,0.00,0.000,6,0.000,0.092,2605,1236,3426,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11265,-0.81,-184.9,895.4,-7.5,583,11270,0.00,1.62,0.00,0.000,4,0.000,0.153,2605,460,3425,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11329,-0.81,-184.9,900.4,-8.0,585,11336,0.00,1.60,0.00,0.000,6,0.000,0.095,2605,1283,3424,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11652,-0.81,-184.9,929.1,-9.0,596,11657,0.00,2.55,0.00,0.000,4,0.000,0.116,2605,2580,3424,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11759,-0.81,-184.9,937.3,-9.1,599,11769,0.00,2.60,0.00,0.000,6,0.000,0.124,2605,1289,3423,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12070,-0.81,-184.9,969.1,-9.7,610,12077,0.00,1.73,0.00,0.000,4,0.000,0.151,2607,465,3422,0,0,0,0,0,0,28.83,13.76,28.83
$STATE,12186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12187,begin apogee
$GC,12199,-0.25,0.0,980.8,-9.8,614,12388,0.65,0.00,183.20,1.841,4,0.207,0.000,2783,1516,2690,0,0,0,0,0,0,13.78,28.83,13.05
$STATE,12394,end apogee,CONTROL_FINISHED_OK
$STATE,12394,begin climb
$GC,12397,0.78,184.9,992.2,0.0,620,12600,1.08,0.00,194.25,1.861,6,0.138,0.000,3114,1517,1936,0,0,0,0,0,0,13.81,28.83,13.05
$GC,12912,0.78,184.9,957.9,9.3,638,12917,0.00,2.20,0.00,0.000,4,0.000,0.161,3122,455,1920,0,0,0,0,0,0,28.83,13.96,28.83
$GC,13079,0.75,184.9,943.1,9.9,643,13088,0.00,2.08,0.00,0.000,6,0.000,0.093,3122,1546,1919,0,0,0,0,0,0,28.83,14.06,28.83
$GC,13392,0.75,184.9,911.9,8.9,654,13397,0.00,2.25,0.00,0.000,4,0.000,0.161,3130,463,1918,0,0,0,0,0,0,28.83,13.93,28.83
$GC,13559,0.72,184.9,899.5,8.3,659,13568,0.00,2.12,0.00,0.000,6,0.000,0.093,3129,1584,1917,0,0,0,0,0,0,28.83,14.00,28.83
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$STATE,23558,end climb,SURFACE_DEPTH_REACHED
$STATE,23558,begin surface coast
$FINISH,1.6,1.012696
$STATE,23579,end surface coast,CONTROL_FINISHED_OK
$STATE,23579,begin surface
$SM_CCo,23609,20.30,0.128,0,0,1266,350.04
$SM_GC,2.50,8.88,2.00,20.30,0.069,0.086,0.128,142,1525,1266,-8.46,-0.42,350.04,0,0,0,0,0,0,14.22,14.03,14.16
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.78
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7544448
$24V_AH,13.1,247.070
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,22.925,217.475,506.750,20.300,0.000,0.000,0.000,408.950,0.500,0.000,20.323,3383.180,16406.107,951.591,2762.568,841.274,0.000,2628.611,0.000,2296.657,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.848,0.000,0.000,0.000
$MEM,344956
$DATA_FILE_SIZE,43279,1167
$CAP_FILE_SIZE,250984,0
$CFSIZE,260034560,173060096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.118,232.2,1
$GPS,110313,054634,2428.753,-3832.668,23,1.0,24,-14.2