version: 66.11
glider: 190
mission: 6
dive: 518
start: 2 18 113 4 7 7
data:
$ID,190
$MISSION,6
$DIVE,518
$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,-13567.492
$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,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
$GPS1,180213,035435,2441.412,-3812.930,24,1.0,24,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-60.4
$GPS2,180213,040635,2441.437,-3813.110,18,0.9,18,-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,164.0,39282,-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,-10.07,0.000,2,0.000,0.000,143,1512,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,10.48,2.08,-87.00,0.000,4,0.321,0.162,2578,458,3327,0,0,0,0,0,0,14.08,14.06,14.66
$GC,316,-0.84,-155.7,16.7,-9.1,29,324,0.00,1.90,0.00,0.000,6,0.000,0.083,2571,1522,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,627,-0.80,-155.7,42.7,-10.1,60,633,0.12,0.00,0.00,0.000,6,0.267,0.000,2606,1522,3329,0,0,0,0,0,0,13.97,28.83,28.83
$GC,936,-0.80,-155.7,69.3,-7.8,91,943,0.00,2.12,0.00,0.000,4,0.000,0.138,2605,455,3328,0,0,0,0,0,0,28.83,13.91,28.83
$GC,995,-0.76,-155.7,73.4,-6.4,97,1004,0.00,1.95,0.00,0.000,6,0.000,0.084,2605,1515,3329,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1306,-0.76,-155.7,96.9,-9.3,128,1313,0.00,2.08,0.00,0.000,4,0.000,0.136,2604,453,3332,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1516,-0.76,-155.7,117.0,-9.5,149,1523,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1491,3329,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1826,-0.76,-155.7,140.5,-7.3,180,1833,0.00,2.03,0.00,0.000,4,0.000,0.136,2604,456,3329,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1969,-0.76,-155.7,151.6,-8.1,194,1976,0.00,1.85,0.00,0.000,6,0.000,0.082,2604,1483,3331,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2275,-0.76,-155.7,177.0,-8.4,225,2283,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,459,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2418,-0.76,-155.7,189.1,-8.5,239,2425,0.00,1.80,0.00,0.000,6,0.000,0.083,2605,1454,3329,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2726,-0.76,-155.7,209.6,-6.0,270,2733,0.00,2.00,0.00,0.000,4,0.000,0.136,2604,456,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2895,-0.76,-155.7,223.0,-8.6,287,2903,0.00,1.75,0.00,0.000,6,0.000,0.080,2605,1409,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3205,-0.76,-155.7,248.8,-8.1,318,3213,0.00,1.90,0.00,0.000,4,0.000,0.138,2604,457,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3274,-0.76,-155.7,253.7,-8.3,322,3282,0.00,1.75,0.00,0.000,6,0.000,0.081,2604,1411,3329,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3599,-0.76,-155.7,277.9,-6.6,333,3605,0.00,2.17,0.00,0.000,4,0.000,0.107,2605,2574,3329,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3694,-0.76,-155.7,283.5,-6.4,336,3701,0.00,2.30,0.00,0.000,6,0.000,0.116,2605,1409,3329,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4019,-0.76,-155.7,305.9,-7.1,347,4024,0.00,1.85,0.00,0.000,4,0.000,0.138,2604,456,3329,0,0,0,0,0,0,28.83,13.96,28.83
$GC,4204,-0.76,-155.7,320.2,-8.1,353,4211,0.00,1.70,0.00,0.000,6,0.000,0.083,2605,1389,3328,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4526,-0.76,-155.7,346.0,-7.6,364,4532,0.00,1.83,0.00,0.000,4,0.000,0.138,2605,456,3328,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4624,-0.76,-155.7,353.2,-8.0,367,4630,0.00,1.70,0.00,0.000,6,0.000,0.084,2604,1382,3328,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4946,-0.76,-155.7,378.6,-7.6,378,4951,0.00,2.20,0.00,0.000,4,0.000,0.107,2605,2575,3327,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5005,-0.76,-155.7,382.7,-7.2,380,5011,0.00,2.33,0.00,0.000,6,0.000,0.117,2605,1383,3327,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5338,-0.76,-155.7,405.3,-6.7,391,5343,0.00,1.83,0.00,0.000,4,0.000,0.141,2604,457,3326,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5475,-0.76,-155.7,413.7,-7.0,395,5484,0.00,1.65,0.00,0.000,6,0.000,0.084,2605,1364,3326,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5785,-0.76,-155.7,437.5,-7.3,406,5791,0.00,2.30,0.00,0.000,4,0.000,0.108,2604,2575,3325,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5915,-0.78,-155.7,446.2,-7.3,410,5922,0.00,2.33,0.00,0.000,6,0.000,0.119,2605,1393,3325,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6238,-0.80,-155.7,470.6,-7.5,421,6244,0.00,1.85,0.00,0.000,4,0.000,0.143,2604,459,3324,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6296,-0.80,-155.7,475.0,-7.4,423,6301,0.00,1.70,0.00,0.000,6,0.000,0.087,2604,1384,3324,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6628,-0.82,-155.7,497.6,-6.5,434,6634,0.00,2.28,0.00,0.000,4,0.000,0.110,2605,2581,3323,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6696,-0.84,-155.7,501.2,-6.4,436,6701,0.00,2.30,0.00,0.000,6,0.000,0.120,2605,1399,3323,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7018,-0.87,-155.7,522.2,-6.5,447,7023,0.00,2.25,0.00,0.000,4,0.000,0.109,2604,2575,3322,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7094,-0.89,-155.7,526.3,-6.7,449,7103,0.00,2.30,0.00,0.000,6,0.000,0.121,2605,1414,3321,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7407,-0.91,-155.7,550.3,-7.6,460,7412,0.00,1.92,0.00,0.000,4,0.000,0.146,2605,457,3320,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7594,-0.91,-155.7,565.1,-8.2,466,7601,0.00,1.73,0.00,0.000,6,0.000,0.088,2609,1395,3319,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7919,-0.93,-155.7,594.0,-9.1,477,7926,0.12,1.88,0.00,0.000,4,0.138,0.140,2546,459,3319,0,0,0,0,0,0,14.47,13.88,28.83
$GC,8089,-0.89,-155.7,610.5,-11.1,482,8097,0.17,1.62,0.00,0.000,6,0.254,0.088,2580,1370,3318,0,0,0,0,0,0,13.78,14.12,28.83
$GC,8398,-0.89,-155.7,643.6,-9.5,493,8404,0.00,1.83,0.00,0.000,4,0.000,0.143,2580,454,3317,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8504,-0.89,-155.7,652.1,-9.4,496,8513,0.00,1.65,0.00,0.000,6,0.000,0.088,2575,1351,3317,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8816,-0.89,-155.7,678.8,-7.5,507,8822,0.00,1.80,0.00,0.000,4,0.000,0.144,2574,453,3316,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8925,-0.89,-155.7,685.6,-7.5,510,8933,0.00,1.62,0.00,0.000,6,0.000,0.087,2569,1331,3315,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9237,-0.89,-155.7,706.8,-6.1,521,9243,0.00,1.77,0.00,0.000,4,0.000,0.144,2569,455,3315,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9385,-0.89,-155.7,717.0,-6.8,526,9392,0.00,1.58,0.00,0.000,6,0.000,0.090,2565,1311,3314,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9716,-0.89,-155.7,740.0,-7.4,537,9723,0.00,1.73,0.00,0.000,4,0.000,0.146,2565,453,3313,0,0,0,0,0,0,28.83,13.73,28.83
$GC,9874,-0.87,-155.7,752.4,-8.3,542,9883,0.12,1.55,0.00,0.000,6,0.269,0.088,2587,1291,3312,0,0,0,0,0,0,13.83,14.13,28.83
$GC,10199,-0.87,-155.7,779.6,-8.4,553,10205,0.00,1.70,0.00,0.000,4,0.000,0.149,2587,455,3311,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10264,-0.87,-155.7,784.9,-8.7,555,10267,0.00,1.55,0.00,0.000,6,0.000,0.090,2583,1282,3311,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10578,-0.87,-155.7,813.9,-9.1,566,10583,0.00,2.47,0.00,0.000,4,0.000,0.115,2579,2575,3310,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10636,-0.87,-155.7,819.2,-9.0,568,10644,0.00,2.60,0.00,0.000,6,0.000,0.127,2580,1284,3310,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10970,-0.87,-155.7,849.5,-9.2,579,10975,0.00,1.65,0.00,0.000,4,0.000,0.150,2580,458,3309,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11088,-0.87,-155.7,860.7,-9.4,583,11094,0.00,1.52,0.00,0.000,6,0.000,0.090,2577,1270,3308,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11419,-0.87,-155.7,888.9,-8.4,594,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1270,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11718,-0.87,-155.7,912.6,-7.6,604,11724,0.00,1.65,0.00,0.000,4,0.000,0.153,2577,459,3306,0,0,0,0,0,0,28.83,13.69,28.83
$GC,11836,-0.87,-155.7,921.9,-7.8,608,11844,0.00,1.52,0.00,0.000,6,0.000,0.091,2571,1268,3306,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12171,-0.87,-155.7,945.1,-7.0,619,12177,0.00,1.67,0.00,0.000,4,0.000,0.151,2572,467,3305,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12326,-0.87,-155.7,956.1,-7.5,624,12332,0.00,1.48,0.00,0.000,6,0.000,0.091,2569,1246,3304,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,12644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12648,begin apogee
$GC,12656,-0.25,0.0,980.1,-7.4,635,12817,0.77,0.00,156.40,1.796,4,0.213,0.000,2778,1519,2693,0,0,0,0,0,0,13.64,28.83,12.97
$STATE,12821,end apogee,CONTROL_FINISHED_OK
$STATE,12821,begin climb
$GC,12825,0.90,155.7,986.4,0.0,640,13001,1.20,2.05,164.70,1.811,4,0.134,0.120,3153,2586,2056,0,0,0,0,0,0,14.10,14.08,13.01
$GC,13100,0.87,155.7,972.0,8.0,649,13107,0.00,2.12,0.00,0.000,6,0.000,0.131,3161,1519,2044,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13425,0.85,155.7,944.5,8.3,660,13430,0.00,2.03,0.00,0.000,4,0.000,0.120,3161,2582,2040,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13520,0.82,155.7,937.1,8.3,663,13528,0.10,2.10,0.00,0.000,6,0.256,0.142,3142,1535,2039,0,0,0,0,0,0,13.93,14.07,28.83
$GC,13846,0.83,171.7,913.6,6.6,674,13869,0.00,2.03,15.95,1.675,4,0.000,0.128,3141,2577,1987,0,0,0,0,0,0,28.83,14.35,13.35
$GC,13994,0.84,192.2,903.9,6.5,679,14022,0.00,2.00,23.23,1.690,6,0.000,0.136,3149,1545,1910,0,0,0,0,0,0,28.83,14.21,13.33
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$STATE,24272,end climb,SURFACE_DEPTH_REACHED
$STATE,24272,begin surface coast
$FINISH,1.7,1.025828
$STATE,24304,end surface coast,CONTROL_FINISHED_OK
$STATE,24304,begin surface
$SM_CCo,24329,21.75,0.128,0,0,1264,350.04
$SM_GC,2.53,8.85,1.98,21.75,0.068,0.086,0.128,133,1523,1264,-8.47,-0.45,350.04,0,0,0,0,0,0,14.37,14.15,14.23
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.17
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7572096
$24V_AH,13.0,218.507
$10V_AH,12.3,0.000
$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,22.325,190.300,468.925,21.750,0.000,0.000,0.000,412.375,0.250,0.000,21.577,3558.772,16939.625,886.560,2866.989,805.147,0.000,2582.777,0.000,2394.992,0.000,0.541,0.000
$DEVICE_MAMPS,321.300,162.180,1810.755,127.755,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.058,0.000,0.000,0.000
$MEM,344920
$DATA_FILE_SIZE,46600,1186
$CAP_FILE_SIZE,251968,0
$CFSIZE,260034560,181309440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,296.9,1
$GPS,180213,105422,2441.439,-3812.976,37,0.8,37,-14.0