version: 66.11
glider: 190
mission: 6
dive: 510
start: 2 15 113 19 58 23
data:
$ID,190
$MISSION,6
$DIVE,510
$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,-13557.437
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,150213,194135,2443.451,-3812.910,40,0.9,40,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-66.8
$GPS2,150213,195753,2443.559,-3813.015,20,1.0,20,-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,177.8,43189,-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,-155.7,0.0,0.0,0,33,0.00,0.00,-9.93,0.000,2,0.000,0.000,138,1512,1496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.6,0.0,1,144,10.77,2.10,-84.12,0.000,4,0.333,0.157,2580,459,3330,0,0,0,0,0,0,14.06,13.93,14.68
$GC,265,-0.83,-155.7,14.5,-9.6,24,273,0.00,1.92,0.00,0.000,6,0.000,0.086,2573,1514,3331,0,0,0,0,0,0,28.83,14.06,28.83
$GC,575,-0.80,-155.7,44.1,-9.5,55,584,0.15,2.03,0.00,0.000,4,0.247,0.105,2605,2578,3330,0,0,0,0,0,0,13.99,14.04,28.83
$GC,626,-0.80,-155.7,48.6,-9.0,60,633,0.00,2.08,0.00,0.000,6,0.000,0.119,2604,1521,3331,0,0,0,0,0,0,28.83,13.96,28.83
$GC,936,-0.80,-155.7,77.3,-9.7,91,943,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,452,3331,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1015,-0.78,-155.7,85.4,-10.2,99,1023,0.00,1.95,0.00,0.000,6,0.000,0.083,2604,1514,3331,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1327,-0.78,-155.7,115.6,-9.3,130,1333,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,452,3331,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1385,-0.75,-155.7,121.4,-9.6,136,1393,0.00,1.90,0.00,0.000,6,0.000,0.082,2605,1506,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1695,-0.75,-155.7,144.7,-6.6,167,1703,0.00,2.10,0.00,0.000,4,0.000,0.135,2605,454,3331,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1807,-0.75,-155.7,151.5,-5.7,178,1813,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1496,3330,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2116,-0.75,-155.7,169.3,-6.8,209,2124,0.00,2.05,0.00,0.000,4,0.000,0.135,2604,449,3331,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2205,-0.75,-155.7,176.3,-8.3,218,2213,0.00,1.85,0.00,0.000,6,0.000,0.081,2604,1480,3330,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2515,-0.75,-155.7,202.7,-8.9,249,2523,0.00,2.03,0.00,0.000,4,0.000,0.134,2604,458,3331,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2636,-0.75,-155.7,214.1,-9.8,261,2643,0.00,1.83,0.00,0.000,6,0.000,0.080,2605,1464,3331,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2946,-0.75,-155.7,243.1,-9.7,292,2953,0.00,1.98,0.00,0.000,4,0.000,0.135,2605,454,3331,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3014,-0.75,-155.7,250.1,-10.0,299,3021,0.00,1.83,0.00,0.000,6,0.000,0.080,2604,1449,3331,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3335,-0.75,-155.7,279.2,-8.5,310,3341,0.00,1.98,0.00,0.000,4,0.000,0.132,2605,457,3331,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3475,-0.75,-155.7,289.8,-8.8,314,3484,0.00,1.75,0.00,0.000,6,0.000,0.080,2604,1421,3331,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3785,-0.75,-155.7,315.1,-7.4,325,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1422,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4086,-0.75,-155.7,337.2,-7.6,335,4092,0.00,2.15,0.00,0.000,4,0.000,0.106,2604,2574,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4144,-0.75,-155.7,341.9,-7.7,337,4151,0.00,2.25,0.00,0.000,6,0.000,0.117,2608,1413,3330,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4475,-0.75,-155.7,371.2,-9.1,348,4482,0.00,1.88,0.00,0.000,4,0.000,0.135,2604,454,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4545,-0.75,-155.7,376.9,-9.4,350,4551,0.00,1.75,0.00,0.000,6,0.000,0.083,2605,1415,3329,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4865,-0.75,-155.7,404.0,-7.6,361,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1416,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,-0.77,-155.7,424.1,-6.6,371,5172,0.00,1.90,0.00,0.000,4,0.000,0.138,2604,457,3328,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5205,-0.77,-155.7,426.1,-6.6,372,5211,0.00,1.73,0.00,0.000,6,0.000,0.082,2604,1408,3327,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5526,-0.77,-155.7,448.0,-6.6,383,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1408,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5825,-0.79,-155.7,467.6,-6.4,393,5831,0.00,1.90,0.00,0.000,4,0.000,0.138,2604,456,3326,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6018,-0.79,-155.7,480.0,-7.0,399,6023,0.00,1.65,0.00,0.000,6,0.000,0.084,2604,1392,3325,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6338,-0.81,-155.7,501.5,-6.5,410,6343,0.00,1.85,0.00,0.000,4,0.000,0.142,2604,458,3324,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6395,-0.81,-155.7,505.7,-6.7,412,6402,0.00,1.65,0.00,0.000,6,0.000,0.085,2604,1371,3325,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6727,-0.81,-155.7,529.1,-7.4,423,6732,0.00,1.83,0.00,0.000,4,0.000,0.142,2605,455,3323,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6864,-0.81,-155.7,538.6,-8.0,427,6872,0.00,1.65,0.00,0.000,6,0.000,0.086,2605,1353,3322,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7179,-0.83,-155.7,564.6,-8.0,438,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1353,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7475,-0.86,-155.7,588.5,-7.8,448,7482,0.00,1.80,0.00,0.000,4,0.000,0.144,2604,459,3321,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7545,-0.86,-155.7,593.4,-8.0,450,7551,0.00,1.60,0.00,0.000,6,0.000,0.086,2605,1331,3320,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7868,-0.88,-155.7,619.6,-7.9,461,7873,0.00,1.75,0.00,0.000,4,0.000,0.145,2604,456,3319,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7964,-0.88,-155.7,626.8,-8.0,464,7971,0.00,1.62,0.00,0.000,6,0.000,0.086,2605,1333,3318,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8289,-0.90,-155.7,650.9,-7.2,475,8295,0.00,1.75,0.00,0.000,4,0.000,0.145,2605,458,3318,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8364,-0.90,-155.7,655.3,-7.3,477,8372,0.00,1.58,0.00,0.000,6,0.000,0.087,2605,1312,3317,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8679,-0.92,-155.7,679.0,-7.0,488,8685,0.00,1.73,0.00,0.000,4,0.000,0.146,2604,454,3316,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8773,-0.92,-155.7,685.4,-7.2,491,8777,0.00,1.55,0.00,0.000,6,0.000,0.088,2604,1292,3316,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9091,-0.95,-155.7,707.6,-7.0,502,9093,0.12,0.00,0.00,0.000,6,0.137,0.000,2552,1292,3315,0,0,0,0,0,0,14.52,28.83,28.83
$GC,9386,-0.95,-155.7,731.8,-8.3,512,9392,0.00,1.67,0.00,0.000,4,0.000,0.143,2552,464,3314,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9546,-0.92,-155.7,745.6,-9.2,517,9552,0.00,1.50,0.00,0.000,6,0.000,0.088,2549,1277,3313,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9866,-0.92,-155.7,775.8,-9.1,528,9872,0.00,1.67,0.00,0.000,4,0.000,0.144,2549,456,3313,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9986,-0.89,-155.7,787.4,-9.7,532,9993,0.10,1.48,0.00,0.000,6,0.241,0.090,2577,1258,3312,0,0,0,0,0,0,13.74,14.08,28.83
$GC,10320,-0.89,-155.7,815.5,-8.3,543,10326,0.00,1.62,0.00,0.000,4,0.000,0.148,2577,456,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10365,-0.89,-155.7,817.9,-8.2,544,10373,0.00,1.50,0.00,0.000,6,0.000,0.089,2572,1261,3310,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10677,-0.89,-155.7,844.3,-8.1,555,10683,0.00,1.65,0.00,0.000,4,0.000,0.147,2572,461,3310,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10825,-0.89,-155.7,857.5,-8.9,560,10832,0.00,1.45,0.00,0.000,6,0.000,0.089,2567,1235,3309,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11160,-0.89,-155.7,883.2,-7.2,571,11166,0.00,1.58,0.00,0.000,4,0.000,0.142,2567,464,3308,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11205,-0.89,-155.7,885.3,-7.2,572,11213,0.00,1.42,0.00,0.000,6,0.000,0.083,2562,1237,3307,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11520,-0.89,-155.7,907.5,-6.7,583,11526,0.00,1.55,0.00,0.000,4,0.000,0.149,2561,458,3306,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11566,-0.89,-155.7,909.5,-6.6,584,11574,0.00,1.42,0.00,0.000,6,0.000,0.087,2556,1219,3306,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11876,-0.89,-155.7,934.1,-7.9,595,11884,0.00,2.62,0.00,0.000,4,0.000,0.110,2553,2574,3305,0,0,0,0,0,0,28.83,13.72,28.83
$GC,11907,-0.89,-155.7,936.4,-8.0,596,11913,0.00,2.67,0.00,0.000,6,0.000,0.119,2553,1204,3305,0,0,0,0,0,0,28.83,13.91,28.83
$GC,12240,-0.89,-155.7,962.9,-8.1,607,12246,0.00,1.50,0.00,0.000,4,0.000,0.141,2553,443,3304,0,0,0,0,0,0,28.83,13.72,28.83
$GC,12335,-0.87,-155.7,970.6,-8.4,610,12342,0.15,1.40,0.00,0.000,6,0.275,0.083,2581,1203,3303,0,0,0,0,0,0,13.66,14.09,28.83
$STATE,12442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12442,begin apogee
$GC,12452,-0.25,0.0,980.1,-7.9,614,12613,0.73,0.00,155.68,1.836,4,0.199,0.000,2781,1524,2691,0,0,0,0,0,0,13.66,28.83,12.95
$STATE,12617,end apogee,CONTROL_FINISHED_OK
$STATE,12618,begin climb
$GC,12622,0.90,155.7,986.8,0.0,619,12797,1.20,2.00,165.25,1.835,4,0.133,0.110,3152,2578,2059,0,0,0,0,0,0,14.11,14.12,13.02
$GC,12979,0.88,155.7,966.4,8.1,631,12984,0.00,2.05,0.00,0.000,6,0.000,0.131,3159,1519,2044,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13310,0.85,155.7,940.2,7.7,642,13315,0.00,2.10,0.00,0.000,4,0.000,0.156,3169,458,2042,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,24954,end climb,SURFACE_DEPTH_REACHED
$STATE,24954,begin surface coast
$FINISH,1.6,1.005737
$STATE,24985,end surface coast,CONTROL_FINISHED_OK
$STATE,24985,begin surface
$SM_CCo,25011,61.08,0.125,0,0,1264,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,57.52
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.20
$XPDR_PINGS,2
$SC_FREEKB,7575200
$24V_AH,13.0,215.598
$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
$DEVICE_SECS,22.825,191.725,397.675,61.075,0.000,0.000,0.000,612.325,0.500,0.000,21.409,3648.431,17588.307,893.457,3089.872,815.541,0.000,2812.061,0.000,2425.111,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.087,0.000,0.000,0.000
$MEM,344972
$DATA_FILE_SIZE,46572,1224
$CAP_FILE_SIZE,265143,0
$CFSIZE,260034560,182214656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.118,323.8,1
$GPS,160213,025735,2443.721,-3812.987,32,0.9,32,-14.0