version: 66.11
glider: 190
mission: 6
dive: 521
start: 2 19 113 1 3 2
data:
$ID,190
$MISSION,6
$DIVE,521
$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,-13571.36
$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,14
$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
$GPS1,190213,005035,2440.692,-3813.073,26,0.8,26,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-60.2
$GPS2,190213,010229,2440.679,-3813.140,17,1.0,17,-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,169.0,37889,-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,-155.7,0.0,0.0,0,33,0.00,0.00,-10.40,0.000,2,0.000,0.000,142,1507,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.4,0.0,1,144,10.85,2.08,-86.68,0.000,4,0.341,0.167,2573,459,3330,0,0,0,0,0,0,14.07,14.04,14.66
$GC,379,-0.83,-155.7,22.9,-12.1,35,386,0.15,1.92,0.00,0.000,6,0.265,0.087,2599,1531,3330,0,0,0,0,0,0,13.85,14.14,28.83
$GC,687,-0.83,-155.7,57.7,-10.6,66,694,0.00,2.15,0.00,0.000,4,0.000,0.139,2600,452,3330,0,0,0,0,0,0,28.83,13.96,28.83
$GC,806,-0.79,-155.7,68.7,-8.8,78,813,0.00,1.92,0.00,0.000,6,0.000,0.086,2592,1497,3330,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1115,-0.79,-155.7,93.0,-8.6,109,1124,0.00,2.08,0.00,0.000,4,0.000,0.139,2592,464,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1286,-0.76,-155.7,108.5,-9.1,126,1294,0.08,1.88,0.00,0.000,6,0.249,0.086,2613,1485,3329,0,0,0,0,0,0,13.81,14.08,28.83
$GC,1596,-0.76,-155.7,135.0,-9.0,157,1604,0.00,2.03,0.00,0.000,4,0.000,0.139,2614,456,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1755,-0.76,-155.7,150.7,-10.2,173,1764,0.00,1.85,0.00,0.000,6,0.000,0.084,2608,1465,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2065,-0.76,-155.7,179.4,-8.4,204,2073,0.00,2.00,0.00,0.000,4,0.000,0.138,2608,464,3330,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2176,-0.76,-155.7,188.9,-8.4,215,2183,0.00,1.80,0.00,0.000,6,0.000,0.085,2605,1443,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2487,-0.76,-155.7,210.4,-7.0,246,2494,0.00,2.10,0.00,0.000,4,0.000,0.106,2605,2578,3330,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2526,-0.76,-155.7,213.0,-6.6,250,2533,0.00,2.22,0.00,0.000,6,0.000,0.119,2604,1424,3330,0,0,0,0,0,0,28.83,13.99,28.83
$GC,2835,-0.76,-155.7,235.5,-7.6,281,2844,0.00,1.90,0.00,0.000,4,0.000,0.137,2604,461,3333,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3024,-0.76,-155.7,250.6,-8.2,299,3031,0.00,1.75,0.00,0.000,6,0.000,0.083,2605,1416,3330,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3345,-0.76,-155.7,278.5,-8.5,310,3351,0.00,1.90,0.00,0.000,4,0.000,0.138,2604,460,3330,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3486,-0.76,-155.7,289.0,-8.8,314,3493,0.00,1.67,0.00,0.000,6,0.000,0.086,2605,1374,3330,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3795,-0.76,-155.7,315.2,-7.4,325,3803,0.00,1.83,0.00,0.000,4,0.000,0.137,2605,457,3330,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3886,-0.76,-155.7,322.0,-7.4,328,3891,0.00,1.65,0.00,0.000,6,0.000,0.086,2604,1364,3330,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4220,-0.76,-155.7,344.8,-7.1,339,4225,0.00,1.80,0.00,0.000,4,0.000,0.140,2604,458,3329,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4305,-0.76,-155.7,351.8,-7.6,342,4311,0.00,1.62,0.00,0.000,6,0.000,0.085,2604,1345,3329,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4635,-0.76,-155.7,380.2,-9.0,353,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1344,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4935,-0.76,-155.7,406.1,-8.3,363,4941,0.00,1.77,0.00,0.000,4,0.000,0.142,2604,458,3328,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5065,-0.76,-155.7,415.8,-8.0,367,5072,0.00,1.60,0.00,0.000,6,0.000,0.086,2604,1331,3327,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5388,-0.76,-155.7,436.1,-5.5,378,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1331,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5688,-0.76,-155.7,454.3,-6.3,388,5693,0.00,1.75,0.00,0.000,4,0.000,0.144,2605,457,3326,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5898,-0.76,-155.7,472.9,-9.4,395,5903,0.00,1.58,0.00,0.000,6,0.000,0.087,2605,1322,3328,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6230,-0.78,-155.7,509.1,-11.2,406,6235,0.00,1.73,0.00,0.000,4,0.000,0.145,2605,459,3324,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6304,-0.78,-155.7,515.8,-11.1,408,6312,0.00,1.60,0.00,0.000,6,0.000,0.090,2604,1320,3323,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6615,-0.78,-155.7,548.6,-9.3,419,6621,0.00,1.75,0.00,0.000,4,0.000,0.145,2604,458,3323,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6756,-0.78,-155.7,558.9,-8.5,423,6764,0.00,1.52,0.00,0.000,6,0.000,0.090,2604,1286,3322,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7068,-0.80,-155.7,580.4,-6.0,434,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1286,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7368,-0.83,-155.7,597.4,-5.5,444,7373,0.00,1.67,0.00,0.000,4,0.000,0.145,2604,454,3320,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7405,-0.83,-155.7,599.1,-5.5,445,7411,0.00,1.52,0.00,0.000,6,0.000,0.090,2604,1282,3320,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7731,-0.85,-155.7,617.3,-5.8,456,7736,0.00,2.47,0.00,0.000,4,0.000,0.114,2604,2586,3319,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7776,-0.87,-155.7,619.0,-5.7,457,7784,0.00,2.55,0.00,0.000,6,0.000,0.119,2605,1291,3318,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8090,-0.90,-155.7,639.2,-6.6,468,8095,0.00,1.62,0.00,0.000,4,0.000,0.133,2604,458,3317,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8128,-0.92,-155.7,641.4,-6.9,469,8133,0.00,1.50,0.00,0.000,6,0.000,0.085,2604,1309,3317,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8451,-0.95,-155.7,667.8,-8.6,480,8457,0.12,2.42,0.00,0.000,4,0.141,0.104,2548,2583,3316,0,0,0,0,0,0,14.42,13.96,28.83
$GC,8527,-0.95,-155.7,673.4,-9.0,482,8534,0.00,2.55,0.00,0.000,6,0.000,0.127,2549,1296,3317,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8836,-0.95,-155.7,705.5,-9.5,493,8844,0.00,1.70,0.00,0.000,4,0.000,0.148,2549,458,3315,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8946,-0.92,-155.7,714.1,-9.6,496,8954,0.00,1.55,0.00,0.000,6,0.000,0.089,2545,1290,3314,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9258,-0.92,-155.7,740.9,-7.6,507,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1290,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9556,-0.92,-155.7,762.0,-6.8,517,9564,0.00,2.47,0.00,0.000,4,0.000,0.111,2540,2571,3312,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9597,-0.92,-155.7,764.0,-6.8,518,9604,0.12,2.55,0.00,0.000,6,0.249,0.126,2568,1285,3312,0,0,0,0,0,0,13.75,13.85,28.83
$GC,9919,-0.92,-155.7,786.5,-7.1,529,9925,0.00,1.67,0.00,0.000,4,0.000,0.146,2568,456,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9977,-0.92,-155.7,791.4,-7.7,531,9983,0.00,1.55,0.00,0.000,6,0.000,0.088,2564,1288,3311,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10306,-0.92,-155.7,821.3,-9.7,542,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1288,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10607,-0.92,-155.7,853.1,-10.8,552,10613,0.00,1.70,0.00,0.000,4,0.000,0.145,2563,457,3309,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10647,-0.92,-155.7,856.5,-10.8,553,10653,0.00,1.52,0.00,0.000,6,0.000,0.088,2558,1277,3308,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10967,-0.92,-155.7,890.6,-9.7,564,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1277,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11268,-0.92,-155.7,914.7,-7.3,574,11273,0.00,1.67,0.00,0.000,4,0.000,0.149,2563,460,3306,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11328,-0.92,-155.7,918.9,-7.1,576,11333,0.00,1.52,0.00,0.000,6,0.000,0.092,2553,1293,3306,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11660,-0.92,-155.7,939.9,-6.1,587,11665,0.00,1.73,0.00,0.000,4,0.000,0.149,2553,455,3306,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11748,-0.92,-155.7,945.7,-6.5,590,11753,0.00,1.52,0.00,0.000,6,0.000,0.094,2553,1259,3305,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12079,-0.92,-155.7,969.9,-7.7,601,12085,0.00,1.65,0.00,0.000,4,0.000,0.151,2553,459,3304,0,0,0,0,0,0,28.83,13.74,28.83
$GC,12177,-0.90,-155.7,977.6,-8.4,604,12183,0.00,1.48,0.00,0.000,6,0.000,0.092,2555,1242,3304,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,12193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12193,begin apogee
$GC,12201,-0.25,0.0,980.2,-8.6,605,12364,0.85,0.00,155.25,1.829,4,0.221,0.000,2781,1518,2689,0,0,0,0,0,0,13.68,28.83,12.97
$STATE,12370,end apogee,CONTROL_FINISHED_OK
$STATE,12370,begin climb
$GC,12373,0.90,155.7,987.4,0.0,610,12548,1.20,2.05,164.62,1.822,4,0.130,0.122,3157,2582,2058,0,0,0,0,0,0,14.12,14.09,13.02
$GC,12717,0.87,155.7,971.9,7.4,621,12726,0.00,2.12,0.00,0.000,6,0.000,0.142,3165,1524,2043,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13030,0.84,155.7,947.9,7.3,632,13035,0.00,2.15,0.00,0.000,4,0.000,0.174,3171,460,2041,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13256,0.80,155.7,930.8,8.3,639,13266,0.15,2.00,0.00,0.000,6,0.272,0.099,3134,1530,2039,0,0,0,0,0,0,13.95,14.26,28.83
$GC,13571,0.80,155.7,903.7,8.5,650,13576,0.00,2.00,0.00,0.000,4,0.000,0.125,3134,2581,2038,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13807,0.80,155.7,883.2,8.4,658,13813,0.00,2.05,0.00,0.000,6,0.000,0.136,3141,1555,2037,0,0,0,0,0,0,28.83,13.97,28.83
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$STATE,24506,end climb,SURFACE_DEPTH_REACHED
$STATE,24506,begin surface coast
$FINISH,1.6,1.011601
$STATE,24536,end surface coast,CONTROL_FINISHED_OK
$STATE,24536,begin surface
$SM_CCo,24563,52.50,0.125,0,0,1265,350.04
$SM_GC,2.41,9.00,0.77,52.50,0.076,0.140,0.125,145,1514,1265,-8.46,0.20,350.04,0,0,0,0,0,0,14.26,13.95,14.26
$IRIDIUM_FIX,2429.95,-3813.30,180213,171758
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.38
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7570944
$24V_AH,13.0,219.564
$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,23.075,174.425,411.225,52.500,0.000,0.000,0.000,409.775,0.250,0.000,18.165,3575.919,17188.963,858.064,2874.415,818.319,0.000,2551.013,0.000,2402.607,0.000,0.542,0.000
$DEVICE_MAMPS,341.190,174.420,1829.115,125.460,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24593.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.990,0.000,0.000,0.000
$MEM,344936
$DATA_FILE_SIZE,46678,1195
$CAP_FILE_SIZE,252138,0
$CFSIZE,260034560,180965376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,290.5,1
$GPS,190213,075452,2440.222,-3812.986,47,0.9,47,-14.0