version: 66.11
glider: 190
mission: 6
dive: 503
start: 2 13 113 19 27 54
data:
$ID,190
$MISSION,6
$DIVE,503
$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,160
$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,-13548.623
$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,20
$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
$GPS1,130213,191658,2441.888,-3813.422,40,0.8,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-66.5
$GPS2,130213,192724,2441.896,-3813.497,16,1.2,16,-14.0
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,173.2,40026,-16.1,-7.101,-28.69
$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,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.30,0.000,2,0.000,0.000,144,1530,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,11.20,2.10,-86.78,0.000,4,0.357,0.156,2575,457,3328,0,0,0,0,0,0,14.15,14.06,14.68
$GC,285,-0.84,-155.7,16.2,-9.8,26,294,0.10,1.95,0.00,0.000,6,0.237,0.085,2595,1515,3329,0,0,0,0,0,0,13.79,14.07,28.83
$GC,595,-0.82,-155.7,42.6,-8.0,57,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1515,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.82,-155.7,67.7,-7.8,88,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1516,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1205,-0.82,-155.7,92.0,-8.3,118,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1520,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1506,-0.82,-155.7,119.5,-10.1,148,1513,0.00,2.10,0.00,0.000,4,0.000,0.133,2595,455,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1595,-0.78,-155.7,128.7,-10.2,157,1603,0.00,1.95,0.00,0.000,6,0.000,0.082,2592,1522,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1905,-0.78,-155.7,158.7,-9.5,188,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1522,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2204,-0.78,-155.7,186.0,-8.3,218,2214,0.00,2.10,0.00,0.000,4,0.000,0.131,2592,457,3329,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2375,-0.76,-155.7,200.2,-8.4,235,2383,0.10,1.90,0.00,0.000,6,0.219,0.077,2620,1509,3329,0,0,0,0,0,0,13.88,14.15,28.83
$GC,2689,-0.76,-155.7,220.5,-6.2,266,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1508,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,-0.78,-155.7,239.3,-6.4,297,3004,0.00,2.03,0.00,0.000,4,0.000,0.129,2621,458,3329,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3184,-0.78,-155.7,252.5,-7.5,313,3191,0.00,1.90,0.00,0.000,6,0.000,0.073,2618,1518,3329,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3509,-0.81,-155.7,281.1,-9.1,324,3514,0.00,2.05,0.00,0.000,4,0.000,0.129,2618,458,3329,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3644,-0.81,-155.7,292.4,-9.4,328,3654,0.00,1.88,0.00,0.000,6,0.000,0.073,2618,1497,3328,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3957,-0.83,-155.7,319.3,-7.4,339,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1497,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-0.86,-155.7,339.0,-6.3,349,4262,0.00,2.03,0.00,0.000,4,0.000,0.129,2618,453,3328,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4416,-0.86,-155.7,349.1,-6.8,354,4422,0.00,1.80,0.00,0.000,6,0.000,0.076,2618,1489,3327,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4739,-0.88,-155.7,371.4,-7.1,365,4744,0.00,2.03,0.00,0.000,4,0.000,0.130,2618,450,3326,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4796,-0.88,-155.7,376.1,-7.4,367,4802,0.00,1.80,0.00,0.000,6,0.000,0.078,2617,1453,3329,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5128,-0.91,-155.7,402.9,-8.4,378,5135,0.12,2.10,0.00,0.000,4,0.139,0.099,2552,2582,3325,0,0,0,0,0,0,14.52,14.16,28.83
$GC,5185,-0.91,-155.7,408.1,-8.5,380,5192,0.00,2.17,0.00,0.000,6,0.000,0.112,2553,1453,3325,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5516,-0.91,-155.7,435.8,-8.2,391,5522,0.00,1.92,0.00,0.000,4,0.000,0.132,2553,457,3324,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5615,-0.87,-155.7,443.5,-8.4,394,5622,0.10,1.75,0.00,0.000,6,0.241,0.077,2578,1437,3324,0,0,0,0,0,0,13.88,14.24,28.83
$GC,5940,-0.87,-155.7,467.1,-6.7,405,5945,0.00,1.92,0.00,0.000,4,0.000,0.133,2578,453,3324,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5984,-0.87,-155.7,469.2,-6.7,406,5993,0.00,1.80,0.00,0.000,6,0.000,0.079,2574,1442,3323,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6297,-0.87,-155.7,492.1,-7.2,417,6302,0.00,2.12,0.00,0.000,4,0.000,0.103,2566,2578,3322,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6355,-0.87,-155.7,496.6,-7.3,419,6362,0.00,2.20,0.00,0.000,6,0.000,0.116,2566,1447,3322,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6685,-0.87,-155.7,525.4,-9.3,430,6693,0.00,1.92,0.00,0.000,4,0.000,0.132,2566,462,3321,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6778,-0.85,-155.7,534.6,-10.0,433,6783,0.12,1.75,0.00,0.000,6,0.269,0.081,2589,1438,3321,0,0,0,0,0,0,13.95,14.24,28.83
$GC,7108,-0.85,-155.7,563.8,-8.4,444,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1438,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.85,-155.7,586.1,-6.9,454,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1438,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7705,-0.85,-155.7,606.3,-6.7,464,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1438,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8006,-0.85,-155.7,628.1,-7.6,474,8013,0.00,2.12,0.00,0.000,4,0.000,0.104,2582,2573,3317,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8074,-0.85,-155.7,633.1,-8.0,476,8081,0.00,2.25,0.00,0.000,6,0.000,0.118,2582,1434,3317,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8395,-0.85,-155.7,665.1,-10.0,487,8402,0.00,1.92,0.00,0.000,4,0.000,0.138,2582,462,3316,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8496,-0.85,-155.7,674.9,-10.7,490,8502,0.00,1.77,0.00,0.000,6,0.000,0.086,2579,1434,3315,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8816,-0.85,-155.7,706.8,-9.2,501,8822,0.00,1.98,0.00,0.000,4,0.000,0.140,2579,454,3314,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8856,-0.85,-155.7,709.5,-9.0,502,8862,0.00,1.80,0.00,0.000,6,0.000,0.086,2577,1436,3314,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9176,-0.85,-155.7,735.1,-7.3,513,9182,0.00,2.17,0.00,0.000,4,0.000,0.111,2573,2572,3313,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9244,-0.85,-155.7,739.2,-7.1,515,9253,0.00,2.25,0.00,0.000,6,0.000,0.120,2573,1438,3313,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9569,-0.85,-155.7,761.4,-6.8,526,9576,0.00,1.95,0.00,0.000,4,0.000,0.142,2573,457,3312,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9615,-0.85,-155.7,763.6,-6.9,527,9623,0.00,1.80,0.00,0.000,6,0.000,0.086,2565,1440,3311,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9926,-0.85,-155.7,787.9,-7.6,538,9933,0.00,1.98,0.00,0.000,4,0.000,0.140,2568,454,3310,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9975,-0.85,-155.7,790.4,-7.8,539,9984,0.12,1.83,0.00,0.000,6,0.275,0.087,2591,1440,3310,0,0,0,0,0,0,13.84,14.14,28.83
$GC,10289,-0.87,-155.7,816.9,-8.0,550,10295,0.00,1.98,0.00,0.000,4,0.000,0.142,2592,457,3309,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10325,-0.87,-155.7,819.3,-8.0,551,10333,0.00,1.80,0.00,0.000,6,0.000,0.086,2592,1432,3309,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10648,-0.90,-155.7,846.4,-8.2,562,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1432,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10947,-0.92,-155.7,870.6,-8.0,572,10952,0.00,1.95,0.00,0.000,4,0.000,0.144,2591,457,3306,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11096,-0.92,-155.7,882.3,-7.9,577,11102,0.00,1.75,0.00,0.000,6,0.000,0.087,2592,1405,3306,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11430,-0.94,-155.7,905.3,-6.8,588,11435,0.00,2.28,0.00,0.000,4,0.000,0.116,2592,2574,3305,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11516,-0.96,-155.7,911.2,-6.5,591,11522,0.00,2.33,0.00,0.000,6,0.000,0.126,2592,1416,3305,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11850,-0.99,-155.7,933.9,-7.0,602,11856,0.12,1.95,0.00,0.000,4,0.149,0.144,2542,453,3303,0,0,0,0,0,0,14.37,13.74,28.83
$GC,11924,-0.99,-155.7,938.9,-7.6,604,11934,0.00,1.83,0.00,0.000,6,0.000,0.089,2540,1415,3303,0,0,0,0,0,0,28.83,14.01,28.83
$GC,12237,-0.99,-155.7,967.6,-9.0,615,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1415,3302,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12384,begin apogee
$GC,12392,-0.25,0.0,981.8,-9.6,620,12564,0.90,0.00,159.15,2.479,4,0.218,0.000,2781,1520,2694,0,0,0,0,1,0,13.65,28.83,12.64
$STATE,12569,end apogee,CONTROL_FINISHED_OK
$STATE,12569,begin climb
$GC,12574,0.90,155.7,992.6,0.0,626,12760,1.20,2.05,171.52,2.501,4,0.129,0.118,3158,2577,2059,0,0,0,0,1,0,14.09,14.08,12.74
$GC,12769,0.91,244.7,989.7,4.3,633,12877,0.00,2.12,100.22,1.790,6,0.000,0.140,3165,1524,1692,0,0,0,0,0,0,28.83,14.03,13.09
$GC,13190,0.91,244.7,954.4,9.2,647,13196,0.00,2.03,0.00,0.000,4,0.000,0.124,3166,2571,1682,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13358,0.91,244.7,939.5,10.1,652,13367,0.00,2.08,0.00,0.000,6,0.000,0.144,3173,1540,1684,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13671,0.91,244.7,903.5,11.2,663,13676,0.00,2.00,0.00,0.000,4,0.000,0.124,3173,2580,1680,0,0,0,0,0,0,28.83,14.22,28.83
$GC,13768,0.91,244.7,893.1,11.5,666,13775,0.00,2.08,0.00,0.000,6,0.000,0.145,3179,1552,1679,0,0,0,0,0,0,28.83,14.19,28.83
$GC,14090,0.91,244.7,857.5,10.2,677,14096,0.00,1.98,0.00,0.000,4,0.000,0.122,3179,2580,1679,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,23356,end climb,SURFACE_DEPTH_REACHED
$STATE,23356,begin surface coast
$FINISH,1.6,1.025343
$STATE,23387,end surface coast,CONTROL_FINISHED_OK
$STATE,23387,begin surface
$SM_CCo,23411,53.05,0.126,0,0,1266,350.04
$SM_GC,2.37,8.98,0.40,53.05,0.078,0.151,0.126,143,1517,1266,-8.47,0.34,350.04,0,0,0,0,0,0,14.19,14.05,14.16
$IRIDIUM_FIX,2432.32,-3813.30,130213,121251
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.82
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7577888
$24V_AH,12.6,212.956
$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,23.750,193.300,430.900,53.050,0.000,0.000,0.000,352.100,0.500,0.000,17.185,3352.870,16483.604,904.061,2593.726,739.916,0.000,2455.252,0.000,2210.454,0.000,0.542,0.000
$DEVICE_MAMPS,357.255,156.060,2500.785,126.225,0.000,0.000,0.000,159.885,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23409.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.221,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43328,1171
$CAP_FILE_SIZE,242978,0
$CFSIZE,260034560,183037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.141,323.5,1
$GPS,140213,020028,2442.027,-3813.684,43,1.0,43,-14.0