version: 66.11
glider: 190
mission: 6
dive: 504
start: 2 14 113 2 12 26
data:
$ID,190
$MISSION,6
$DIVE,504
$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,-13549.882
$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
$GPS1,140213,020028,2442.027,-3813.684,43,1.0,43,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-65.9
$GPS2,140213,021153,2442.102,-3813.759,19,1.2,19,-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,156.4,40342,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.90,0.000,2,0.000,0.000,143,1515,1514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,11.23,2.05,-87.18,0.000,4,0.356,0.150,2577,458,3328,0,0,0,0,0,0,14.12,14.07,14.66
$GC,346,-0.84,-155.7,19.3,-10.6,32,353,0.00,1.88,0.00,0.000,6,0.000,0.078,2570,1522,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,656,-0.80,-155.7,48.8,-8.9,63,663,0.15,1.98,0.00,0.000,4,0.251,0.100,2605,2577,3329,0,0,0,0,0,0,14.02,14.06,28.83
$GC,694,-0.80,-155.7,52.2,-8.6,67,703,0.00,2.05,0.00,0.000,6,0.000,0.112,2602,1525,3329,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1006,-0.80,-155.7,78.7,-8.7,98,1013,0.00,2.08,0.00,0.000,4,0.000,0.139,2604,456,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1226,-0.78,-155.7,98.7,-9.1,120,1233,0.00,1.85,0.00,0.000,6,0.000,0.081,2605,1496,3329,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1536,-0.78,-155.7,125.3,-8.8,151,1543,0.00,2.03,0.00,0.000,4,0.000,0.134,2605,458,3332,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1615,-0.76,-155.7,132.4,-8.7,159,1623,0.00,1.88,0.00,0.000,6,0.000,0.080,2604,1486,3329,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1926,-0.76,-155.7,155.5,-7.0,190,1933,0.00,2.03,0.00,0.000,4,0.000,0.132,2604,460,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1985,-0.74,-155.7,160.2,-8.0,196,1993,0.00,1.83,0.00,0.000,6,0.000,0.079,2605,1474,3329,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2295,-0.74,-155.7,181.8,-7.1,227,2303,0.00,2.03,0.00,0.000,4,0.000,0.132,2604,455,3329,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2356,-0.71,-155.7,186.1,-7.1,233,2365,0.12,1.77,0.00,0.000,6,0.264,0.079,2632,1462,3327,0,0,0,0,0,0,13.97,14.23,28.83
$GC,2669,-0.75,-155.7,207.7,-7.6,264,2676,0.00,2.08,0.00,0.000,4,0.000,0.103,2631,2581,3329,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2735,-0.79,-155.7,213.1,-7.6,271,2744,0.00,2.17,0.00,0.000,6,0.000,0.112,2632,1457,3329,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3046,-0.82,-155.7,237.1,-7.7,302,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1457,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3365,-0.85,-155.7,262.1,-7.9,324,3372,0.12,1.95,0.00,0.000,4,0.133,0.133,2578,459,3329,0,0,0,0,0,0,14.54,13.95,28.83
$GC,3455,-0.85,-155.7,270.5,-9.0,327,3463,0.00,1.83,0.00,0.000,6,0.000,0.080,2572,1472,3329,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3789,-0.85,-155.7,298.3,-8.0,338,3795,0.00,1.98,0.00,0.000,4,0.000,0.132,2572,457,3329,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3854,-0.85,-155.7,303.2,-8.0,340,3862,0.00,1.85,0.00,0.000,6,0.000,0.078,2566,1479,3329,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4176,-0.85,-155.7,327.3,-7.2,351,4182,0.00,2.00,0.00,0.000,4,0.000,0.132,2566,453,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4305,-0.82,-155.7,336.5,-7.6,355,4312,0.12,1.77,0.00,0.000,6,0.230,0.076,2597,1445,3330,0,0,0,0,0,0,13.88,14.22,28.83
$GC,4630,-0.82,-155.7,359.5,-7.2,366,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1445,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4925,-0.82,-155.7,383.7,-8.4,376,4931,0.00,1.92,0.00,0.000,4,0.000,0.131,2597,458,3327,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5084,-0.82,-155.7,397.4,-9.3,381,5091,0.00,1.80,0.00,0.000,6,0.000,0.077,2592,1449,3327,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5406,-0.82,-155.7,425.8,-8.2,392,5411,0.00,1.92,0.00,0.000,4,0.000,0.132,2592,456,3326,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5504,-0.82,-155.7,433.3,-8.3,395,5511,0.00,1.77,0.00,0.000,6,0.000,0.080,2592,1430,3328,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5830,-0.82,-155.7,455.7,-6.4,406,5835,0.00,1.90,0.00,0.000,4,0.000,0.135,2592,458,3326,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5915,-0.82,-155.7,461.8,-6.7,409,5921,0.00,1.70,0.00,0.000,6,0.000,0.079,2587,1406,3326,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6249,-0.82,-155.7,483.7,-6.8,420,6254,0.00,1.88,0.00,0.000,4,0.000,0.135,2587,451,3323,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6374,-0.82,-155.7,493.0,-7.8,424,6382,0.00,1.70,0.00,0.000,6,0.000,0.080,2581,1390,3323,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6696,-0.82,-155.7,520.2,-8.6,435,6703,0.00,1.85,0.00,0.000,4,0.000,0.136,2581,452,3322,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6794,-0.82,-155.7,528.9,-9.5,438,6800,0.00,1.70,0.00,0.000,6,0.000,0.081,2579,1381,3322,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7115,-0.82,-155.7,561.5,-9.9,449,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1381,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7416,-0.82,-155.7,590.0,-9.4,459,7423,0.00,1.85,0.00,0.000,4,0.000,0.138,2580,456,3320,0,0,0,0,0,0,28.83,13.91,28.83
$GC,7475,-0.82,-155.7,595.6,-9.3,461,7482,0.12,1.67,0.00,0.000,6,0.270,0.081,2602,1374,3319,0,0,0,0,0,0,13.95,14.25,28.83
$GC,7811,-0.84,-155.7,621.9,-7.5,472,7816,0.00,2.25,0.00,0.000,4,0.000,0.106,2594,2573,3318,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7875,-0.86,-155.7,626.1,-7.2,474,7881,0.00,2.35,0.00,0.000,6,0.000,0.116,2594,1366,3318,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8195,-0.86,-155.7,650.1,-7.1,485,8201,0.00,1.80,0.00,0.000,4,0.000,0.139,2594,458,3320,0,0,0,0,0,0,28.83,13.89,28.83
$GC,8295,-0.86,-155.7,656.5,-7.0,488,8303,0.00,1.65,0.00,0.000,6,0.000,0.082,2592,1368,3317,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8618,-0.86,-155.7,679.0,-6.9,499,8624,0.00,2.28,0.00,0.000,4,0.000,0.109,2591,2580,3316,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8685,-0.86,-155.7,683.3,-7.0,501,8691,0.00,2.38,0.00,0.000,6,0.000,0.119,2592,1369,3316,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9005,-0.86,-155.7,710.6,-9.1,512,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1369,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9307,-0.86,-155.7,741.2,-10.5,522,9312,0.00,2.28,0.00,0.000,4,0.000,0.106,2584,2572,3313,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9354,-0.86,-155.7,744.3,-10.5,523,9363,0.00,2.38,0.00,0.000,6,0.000,0.120,2584,1372,3313,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9666,-0.86,-155.7,779.0,-10.0,534,9671,0.00,1.85,0.00,0.000,4,0.000,0.144,2584,456,3312,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9855,-0.86,-155.7,796.1,-9.3,540,9862,0.00,1.62,0.00,0.000,6,0.000,0.085,2580,1345,3312,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10178,-0.86,-155.7,820.6,-6.7,551,10184,0.00,1.80,0.00,0.000,4,0.000,0.145,2579,453,3310,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10315,-0.86,-155.7,828.5,-6.6,555,10323,0.00,1.60,0.00,0.000,6,0.000,0.086,2577,1321,3310,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10629,-0.86,-155.7,847.7,-5.6,566,10634,0.00,1.75,0.00,0.000,4,0.000,0.145,2578,457,3309,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10755,-0.86,-155.7,855.2,-6.3,570,10761,0.00,1.55,0.00,0.000,6,0.000,0.083,2573,1306,3308,0,0,0,0,0,0,28.83,14.05,28.83
$GC,11075,-0.86,-155.7,878.6,-7.7,581,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1306,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11376,-0.86,-155.7,905.2,-9.3,591,11382,0.00,1.73,0.00,0.000,4,0.000,0.147,2573,455,3306,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11414,-0.86,-155.7,908.2,-9.4,592,11417,0.00,1.58,0.00,0.000,6,0.000,0.086,2568,1305,3306,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11726,-0.86,-155.7,940.4,-10.1,603,11732,0.00,1.73,0.00,0.000,4,0.000,0.145,2568,460,3305,0,0,0,0,0,0,28.83,13.69,28.83
$GC,11806,-0.86,-155.7,946.7,-10.2,605,11814,0.00,1.52,0.00,0.000,6,0.000,0.086,2565,1284,3305,0,0,0,0,0,0,28.83,14.01,28.83
$GC,12116,-0.86,-155.7,980.0,-9.8,616,12122,0.00,2.53,0.00,0.000,4,0.000,0.117,2565,2572,3304,0,0,0,0,0,0,28.83,13.77,28.83
$STATE,12143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12143,begin apogee
$GC,12155,-0.25,0.0,982.8,-9.7,617,12314,0.80,0.00,155.57,1.843,4,0.217,0.000,2777,1516,2694,0,0,0,0,0,0,13.64,28.83,12.98
$STATE,12319,end apogee,CONTROL_FINISHED_OK
$STATE,12319,begin climb
$GC,12322,0.90,155.7,991.7,0.0,622,12501,1.20,2.05,164.52,1.815,4,0.135,0.116,3155,2573,2054,0,0,0,0,0,0,14.10,14.10,13.06
$GC,12700,0.87,155.7,973.0,8.0,634,12709,0.00,2.10,0.00,0.000,6,0.000,0.135,3163,1518,2044,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13015,0.85,155.7,945.2,8.7,645,13021,0.00,2.15,0.00,0.000,4,0.000,0.169,3166,455,2042,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13101,0.82,155.7,936.9,9.1,648,13108,0.10,2.00,0.00,0.000,6,0.262,0.094,3139,1542,2041,0,0,0,0,0,0,13.97,14.26,28.83
$GC,13434,0.82,155.7,909.1,8.6,659,13439,0.00,1.95,0.00,0.000,4,0.000,0.121,3139,2576,2040,0,0,0,0,0,0,28.83,14.22,28.83
$GC,13632,0.82,155.7,894.4,8.0,665,13638,0.00,2.00,0.00,0.000,6,0.000,0.133,3146,1563,2039,0,0,0,0,0,0,28.83,14.09,28.83
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$STATE,23801,end climb,SURFACE_DEPTH_REACHED
$STATE,23801,begin surface coast
$FINISH,1.6,1.011460
$STATE,23832,end surface coast,CONTROL_FINISHED_OK
$STATE,23832,begin surface
$SM_CCo,23855,53.95,0.125,0,0,1265,350.04
$SM_GC,2.35,9.00,0.70,53.95,0.076,0.145,0.125,141,1519,1265,-8.46,0.45,350.04,0,0,0,0,0,0,14.25,13.93,14.20
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$TT8_MAMPS,0.024717,0.024717
$HUMID,58.03
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,23.00
$XPDR_PINGS,3
$SC_FREEKB,7577504
$24V_AH,13.0,213.322
$10V_AH,12.5,0.000
$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,23.375,191.100,414.700,53.950,0.000,0.000,0.000,385.075,0.750,0.000,20.189,3531.299,16581.619,890.159,2812.922,768.927,0.000,2544.552,0.000,2368.550,0.000,0.542,0.000
$DEVICE_MAMPS,356.490,169.065,1842.885,125.460,0.000,0.000,0.000,166.005,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.190,0.000,0.000,0.000
$MEM,344972
$DATA_FILE_SIZE,43365,1199
$CAP_FILE_SIZE,250122,0
$CFSIZE,260034560,182919168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,325.7,1
$GPS,140213,085222,2442.286,-3813.158,38,0.8,38,-14.0