version: 66.11
glider: 190
mission: 6
dive: 516
start: 2 17 113 14 15 49
data:
$ID,190
$MISSION,6
$DIVE,516
$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,-13564.979
$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,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
$GPS1,170213,140335,2442.473,-3812.815,27,1.0,27,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-61.2
$GPS2,170213,141517,2442.455,-3812.951,20,0.8,20,-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,169.4,41187,-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,-155.7,0.0,0.0,0,35,0.00,0.00,-10.70,0.000,2,0.000,0.000,146,1517,1515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.6,0.0,1,145,11.07,2.10,-86.50,0.000,4,0.350,0.168,2578,455,3329,0,0,0,0,0,0,14.07,14.04,14.65
$GC,380,-0.85,-155.7,23.1,-9.9,35,386,0.00,1.95,0.00,0.000,6,0.000,0.087,2572,1526,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,688,-0.82,-155.7,51.2,-9.0,66,696,0.12,2.15,0.00,0.000,4,0.263,0.138,2606,457,3329,0,0,0,0,0,0,13.99,13.88,28.83
$GC,776,-0.78,-155.7,59.0,-8.6,75,784,0.00,1.95,0.00,0.000,6,0.000,0.084,2605,1517,3329,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1086,-0.78,-155.7,85.7,-8.7,106,1094,0.00,2.12,0.00,0.000,4,0.000,0.140,2605,461,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1210,-0.76,-155.7,97.0,-9.8,118,1217,0.00,1.90,0.00,0.000,6,0.000,0.085,2605,1513,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1517,-0.76,-155.7,124.6,-8.7,149,1525,0.00,2.10,0.00,0.000,4,0.000,0.139,2605,456,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1616,-0.74,-155.7,133.3,-8.7,159,1624,0.00,1.88,0.00,0.000,6,0.000,0.083,2605,1484,3329,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1927,-0.74,-155.7,157.4,-7.5,190,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1484,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2236,-0.74,-155.7,181.6,-7.8,221,2245,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,460,3330,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2379,-0.74,-155.7,193.4,-8.5,235,2385,0.00,1.85,0.00,0.000,6,0.000,0.082,2605,1484,3330,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2687,-0.74,-155.7,218.2,-8.0,266,2694,0.00,2.05,0.00,0.000,4,0.000,0.109,2605,2571,3330,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2797,-0.74,-155.7,227.0,-7.9,277,2805,0.00,2.08,0.00,0.000,6,0.000,0.116,2605,1491,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3128,-0.74,-155.7,252.8,-7.4,308,3133,0.00,2.00,0.00,0.000,4,0.000,0.138,2605,461,3330,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3315,-0.74,-155.7,266.1,-7.3,314,3322,0.00,1.88,0.00,0.000,6,0.000,0.081,2605,1480,3330,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3637,-0.74,-155.7,289.0,-7.1,325,3643,0.00,2.03,0.00,0.000,4,0.000,0.138,2604,455,3328,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3726,-0.74,-155.7,296.1,-7.8,328,3733,0.00,1.85,0.00,0.000,6,0.000,0.085,2604,1471,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4060,-0.74,-155.7,322.5,-8.2,339,4066,0.00,2.00,0.00,0.000,4,0.000,0.138,2605,461,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4135,-0.74,-155.7,327.7,-8.4,341,4144,0.00,1.85,0.00,0.000,6,0.000,0.085,2605,1468,3329,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4446,-0.74,-155.7,355.8,-8.4,352,4453,0.00,2.00,0.00,0.000,4,0.000,0.138,2604,465,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4566,-0.74,-155.7,365.7,-8.3,356,4573,0.00,1.77,0.00,0.000,6,0.000,0.085,2605,1435,3328,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4896,-0.74,-155.7,390.3,-7.2,367,4904,0.00,1.95,0.00,0.000,4,0.000,0.140,2605,461,3328,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4966,-0.74,-155.7,394.9,-7.4,369,4973,0.00,1.75,0.00,0.000,6,0.000,0.086,2605,1422,3328,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5286,-0.74,-155.7,419.6,-7.5,380,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1422,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5588,-0.74,-155.7,442.4,-7.7,390,5593,0.00,1.92,0.00,0.000,4,0.000,0.139,2605,456,3326,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5646,-0.74,-155.7,447.1,-7.7,392,5653,0.00,1.77,0.00,0.000,6,0.000,0.087,2604,1418,3326,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5979,-0.76,-155.7,472.5,-7.6,403,5985,0.00,1.92,0.00,0.000,4,0.000,0.141,2605,458,3325,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6086,-0.76,-155.7,479.7,-7.9,406,6094,0.00,1.73,0.00,0.000,6,0.000,0.086,2604,1399,3325,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6396,-0.78,-155.7,504.9,-7.8,417,6403,0.00,2.25,0.00,0.000,4,0.000,0.110,2604,2577,3323,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6435,-0.80,-155.7,507.1,-7.7,418,6443,0.00,2.33,0.00,0.000,6,0.000,0.120,2605,1396,3323,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6760,-0.82,-155.7,533.0,-7.9,429,6765,0.00,1.88,0.00,0.000,4,0.000,0.143,2604,455,3322,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6885,-0.82,-155.7,542.9,-8.2,433,6892,0.00,1.73,0.00,0.000,6,0.000,0.088,2605,1385,3322,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7211,-0.85,-155.7,569.1,-7.9,444,7216,0.00,1.88,0.00,0.000,4,0.000,0.145,2605,456,3321,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7356,-0.85,-155.7,581.0,-7.9,449,7363,0.00,1.70,0.00,0.000,6,0.000,0.089,2605,1370,3323,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7691,-0.87,-155.7,604.5,-7.0,460,7696,0.00,1.85,0.00,0.000,4,0.000,0.145,2604,466,3320,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7795,-0.87,-155.7,611.1,-7.3,463,7803,0.00,1.65,0.00,0.000,6,0.000,0.089,2604,1353,3319,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8112,-0.89,-155.7,634.6,-7.2,474,8117,0.00,2.35,0.00,0.000,4,0.000,0.114,2605,2580,3318,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8186,-0.92,-155.7,639.1,-7.4,476,8194,0.00,2.45,0.00,0.000,6,0.000,0.125,2604,1350,3317,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8501,-0.94,-155.7,664.3,-7.8,487,8508,0.12,2.35,0.00,0.000,4,0.135,0.109,2539,2580,3316,0,0,0,0,0,0,14.39,14.00,28.83
$GC,8565,-0.94,-155.7,669.2,-8.0,489,8573,0.00,2.45,0.00,0.000,6,0.000,0.124,2540,1357,3317,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8891,-0.92,-155.7,698.6,-8.9,500,8897,0.12,1.80,0.00,0.000,4,0.253,0.143,2574,460,3316,0,0,0,0,0,0,14.06,13.81,28.83
$GC,9026,-0.92,-155.7,709.0,-8.7,504,9034,0.00,1.65,0.00,0.000,6,0.000,0.087,2567,1353,3315,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9337,-0.92,-155.7,738.5,-9.3,515,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1353,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9638,-0.92,-155.7,767.8,-9.9,525,9643,0.00,1.80,0.00,0.000,4,0.000,0.147,2567,461,3313,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9735,-0.92,-155.7,777.2,-10.3,528,9743,0.00,1.65,0.00,0.000,6,0.000,0.090,2565,1343,3312,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10058,-0.92,-155.7,809.4,-9.5,539,10064,0.00,1.80,0.00,0.000,4,0.000,0.148,2566,458,3311,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10147,-0.92,-155.7,818.0,-9.6,542,10153,0.00,1.60,0.00,0.000,6,0.000,0.090,2562,1321,3311,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10481,-0.92,-155.7,847.0,-8.8,553,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1321,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10776,-0.92,-155.7,873.1,-8.9,563,10784,0.00,1.75,0.00,0.000,4,0.000,0.149,2562,466,3309,0,0,0,0,0,0,28.83,13.70,28.83
$GC,10836,-0.92,-155.7,878.6,-9.1,565,10843,0.00,1.60,0.00,0.000,6,0.000,0.090,2556,1321,3310,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11171,-0.92,-155.7,908.7,-9.1,576,11176,0.00,1.75,0.00,0.000,4,0.000,0.150,2557,456,3307,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11296,-0.90,-155.7,920.2,-9.6,580,11304,0.00,1.60,0.00,0.000,6,0.000,0.089,2553,1307,3307,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11618,-0.90,-155.7,950.7,-9.1,591,11624,0.00,2.47,0.00,0.000,4,0.000,0.119,2552,2580,3306,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11676,-0.90,-155.7,955.9,-8.9,593,11683,0.00,2.55,0.00,0.000,6,0.000,0.122,2551,1306,3306,0,0,0,0,0,0,28.83,13.77,28.83
$STATE,11973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11973,begin apogee
$GC,11983,-0.25,0.0,980.8,-8.1,603,12144,0.85,0.00,156.20,1.800,4,0.212,0.000,2782,1525,2689,0,0,0,0,0,0,13.67,28.83,12.97
$STATE,12149,end apogee,CONTROL_FINISHED_OK
$STATE,12149,begin climb
$GC,12152,0.90,155.7,986.9,0.0,608,12328,1.17,2.03,163.98,1.791,4,0.129,0.117,3154,2578,2055,0,0,0,0,0,0,14.12,14.11,13.02
$GC,12368,0.86,155.7,975.7,7.9,616,12374,0.00,2.12,0.00,0.000,6,0.000,0.132,3161,1514,2048,0,0,0,0,0,0,28.83,14.13,28.83
$GC,12701,0.83,155.7,947.2,8.4,627,12707,0.00,2.03,0.00,0.000,4,0.000,0.120,3161,2580,2041,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12829,0.80,155.7,937.3,8.3,631,12835,0.17,2.03,0.00,0.000,6,0.311,0.127,3132,1533,2040,0,0,0,0,0,0,13.93,14.19,28.83
$GC,13151,0.81,167.4,914.1,6.7,642,13167,0.00,2.00,11.23,1.620,4,0.000,0.112,3132,2577,2007,0,0,0,0,0,0,28.83,14.44,13.34
$GC,13311,0.81,179.6,904.7,6.7,646,13330,0.00,2.00,14.48,1.650,6,0.000,0.142,3139,1560,1962,0,0,0,0,0,0,28.83,14.19,13.32
$GC,13641,0.82,192.1,881.3,6.7,658,13660,0.00,1.98,14.68,1.647,4,0.000,0.122,3139,2576,1906,0,0,0,0,0,0,28.83,14.42,13.35
$GC,13801,0.82,192.1,871.3,7.1,662,13807,0.00,1.98,0.00,0.000,6,0.000,0.143,3147,1579,1900,0,0,0,0,0,0,28.83,14.17,28.83
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$STATE,23727,end climb,SURFACE_DEPTH_REACHED
$STATE,23727,begin surface coast
$FINISH,1.7,1.023899
$STATE,23758,end surface coast,CONTROL_FINISHED_OK
$STATE,23758,begin surface
$SM_CCo,23783,40.78,0.125,0,0,1265,350.04
$SM_GC,2.36,9.15,0.75,40.78,0.088,0.144,0.125,144,1519,1265,-8.46,0.34,350.04,0,0,0,0,0,0,14.22,13.93,14.20
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$TT8_MAMPS,0.024717,0.024717
$HUMID,59.60
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7572864
$24V_AH,13.0,217.763
$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,23.150,187.075,442.025,40.775,0.000,0.000,0.000,395.075,0.250,0.000,21.341,3458.846,16615.689,890.172,2763.969,780.837,0.000,2534.773,0.000,2300.698,0.000,0.541,0.000
$DEVICE_MAMPS,349.605,167.535,1800.045,125.460,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.140,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43298,1174
$CAP_FILE_SIZE,247881,0
$CFSIZE,260034560,181547008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087,300.7,1
$GPS,170213,205421,2442.196,-3812.820,27,1.8,41,-14.0