version: 66.11
glider: 190
mission: 6
dive: 525
start: 2 20 113 4 49 33
data:
$ID,190
$MISSION,6
$DIVE,525
$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,-13576.391
$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,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
$GPS1,200213,043729,2437.416,-3813.228,38,1.0,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-63.7
$GPS2,200213,044859,2437.408,-3813.309,18,1.0,18,-14.1
$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,177.1,31876,-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,-10.43,0.000,2,0.000,0.000,140,1509,1508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.6,0.0,1,144,10.80,2.10,-86.80,0.000,4,0.336,0.166,2578,455,3328,0,0,0,0,0,0,14.07,14.00,14.66
$GC,359,-0.84,-155.7,20.4,-8.7,33,366,0.00,1.92,0.00,0.000,6,0.000,0.085,2571,1520,3328,0,0,0,0,0,0,28.83,14.07,28.83
$GC,667,-0.79,-155.7,48.3,-10.2,64,675,0.12,2.00,0.00,0.000,4,0.257,0.105,2605,2579,3330,0,0,0,0,0,0,14.04,14.07,28.83
$GC,715,-0.79,-155.7,52.8,-8.4,69,726,0.00,2.08,0.00,0.000,6,0.000,0.119,2605,1530,3328,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1025,-0.79,-155.7,75.4,-8.7,100,1033,0.00,2.15,0.00,0.000,4,0.000,0.142,2605,455,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1136,-0.76,-155.7,85.0,-8.9,111,1144,0.00,1.95,0.00,0.000,6,0.000,0.085,2605,1514,3329,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1446,-0.76,-155.7,109.0,-7.7,142,1453,0.00,2.12,0.00,0.000,4,0.000,0.142,2610,459,3329,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1571,-0.74,-155.7,119.4,-9.2,154,1577,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1508,3329,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1878,-0.74,-155.7,146.2,-8.2,185,1885,0.00,2.08,0.00,0.000,4,0.000,0.139,2605,459,3329,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2029,-0.74,-155.7,160.1,-9.2,200,2035,0.00,1.85,0.00,0.000,6,0.000,0.081,2604,1483,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2336,-0.74,-155.7,190.3,-10.5,231,2345,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,458,3329,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2397,-0.74,-155.7,196.6,-10.5,237,2406,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1470,3329,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2708,-0.74,-155.7,223.4,-8.3,268,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1470,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3018,-0.74,-155.7,246.1,-6.9,299,3025,0.00,2.00,0.00,0.000,4,0.000,0.137,2605,456,3329,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3076,-0.74,-155.7,250.3,-7.5,305,3085,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1476,3329,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3407,-0.74,-155.7,273.3,-7.3,316,3413,0.00,2.03,0.00,0.000,4,0.000,0.137,2604,459,3329,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3546,-0.74,-155.7,283.0,-8.1,320,3554,0.00,1.77,0.00,0.000,6,0.000,0.083,2605,1437,3329,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3856,-0.74,-155.7,310.3,-8.4,331,3863,0.00,1.95,0.00,0.000,4,0.000,0.138,2605,460,3329,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3967,-0.74,-155.7,318.2,-8.7,334,3975,0.00,1.73,0.00,0.000,6,0.000,0.086,2605,1408,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4276,-0.74,-155.7,344.5,-7.7,345,4284,0.00,1.90,0.00,0.000,4,0.000,0.139,2604,458,3328,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4408,-0.74,-155.7,353.6,-7.6,349,4413,0.00,1.67,0.00,0.000,6,0.000,0.086,2603,1378,3328,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4727,-0.74,-155.7,377.4,-7.4,360,4733,0.00,1.85,0.00,0.000,4,0.000,0.141,2604,453,3328,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4847,-0.74,-155.7,387.2,-8.2,364,4853,0.00,1.65,0.00,0.000,6,0.000,0.086,2604,1362,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5178,-0.74,-155.7,415.8,-8.8,375,5183,0.00,2.28,0.00,0.000,4,0.000,0.108,2605,2575,3326,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5306,-0.76,-155.7,425.5,-8.1,379,5313,0.00,2.38,0.00,0.000,6,0.000,0.122,2605,1369,3326,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5631,-0.79,-155.7,449.9,-6.9,390,5636,0.00,1.83,0.00,0.000,4,0.000,0.145,2605,453,3326,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5767,-0.79,-155.7,457.8,-6.5,394,5774,0.00,1.65,0.00,0.000,6,0.000,0.089,2605,1355,3325,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6078,-0.79,-155.7,476.8,-6.0,405,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1356,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6377,-0.81,-155.7,498.6,-7.9,415,6383,0.00,1.80,0.00,0.000,4,0.000,0.142,2604,460,3323,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6567,-0.81,-155.7,515.8,-9.8,421,6573,0.00,1.62,0.00,0.000,6,0.000,0.089,2607,1341,3323,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6890,-0.83,-155.7,550.5,-10.7,432,6895,0.00,2.35,0.00,0.000,4,0.000,0.111,2605,2575,3322,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6987,-0.86,-155.7,559.7,-10.3,435,6993,0.00,2.45,0.00,0.000,6,0.000,0.125,2604,1344,3321,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7309,-0.88,-155.7,588.8,-7.9,446,7315,0.00,1.77,0.00,0.000,4,0.000,0.149,2604,458,3320,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7407,-0.88,-155.7,595.7,-7.6,449,7413,0.00,1.62,0.00,0.000,6,0.000,0.090,2604,1335,3319,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7730,-0.90,-155.7,616.3,-5.8,460,7735,0.00,2.38,0.00,0.000,4,0.000,0.115,2604,2575,3319,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7817,-0.93,-155.7,621.1,-5.5,463,7823,0.00,2.40,0.00,0.000,6,0.000,0.127,2604,1344,3319,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8151,-0.96,-155.7,642.5,-6.7,474,8157,0.12,1.77,0.00,0.000,4,0.135,0.146,2544,456,3318,0,0,0,0,0,0,14.44,13.81,28.83
$GC,8310,-0.91,-155.7,655.4,-8.9,479,8315,0.15,1.58,0.00,0.000,6,0.256,0.090,2574,1333,3317,0,0,0,0,0,0,13.79,14.07,28.83
$GC,8629,-0.91,-155.7,683.2,-8.5,490,8634,0.00,1.77,0.00,0.000,4,0.000,0.146,2574,458,3316,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8687,-0.91,-155.7,688.6,-8.7,492,8693,0.00,1.60,0.00,0.000,6,0.000,0.090,2569,1322,3316,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9018,-0.91,-155.7,717.5,-8.9,503,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1322,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9317,-0.91,-155.7,744.5,-9.1,513,9324,0.00,1.75,0.00,0.000,4,0.000,0.147,2574,464,3313,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9356,-0.91,-155.7,747.4,-9.2,514,9364,0.00,1.60,0.00,0.000,6,0.000,0.090,2565,1326,3313,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9676,-0.91,-155.7,780.6,-10.4,525,9684,0.00,1.77,0.00,0.000,4,0.000,0.148,2566,457,3312,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9745,-0.91,-155.7,787.1,-10.7,527,9752,0.00,1.60,0.00,0.000,6,0.000,0.087,2565,1314,3312,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10068,-0.91,-155.7,820.5,-9.6,538,10073,0.00,1.75,0.00,0.000,4,0.000,0.148,2560,453,3311,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10127,-0.91,-155.7,826.2,-9.4,540,10133,0.00,1.58,0.00,0.000,6,0.000,0.090,2554,1301,3311,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10460,-0.91,-155.7,852.9,-7.5,551,10465,0.00,1.73,0.00,0.000,4,0.000,0.147,2554,458,3310,0,0,0,0,0,0,28.83,13.73,28.83
$GC,10526,-0.91,-155.7,857.3,-7.4,553,10532,0.00,1.55,0.00,0.000,6,0.000,0.090,2553,1283,3309,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10850,-0.91,-155.7,880.2,-6.9,564,10855,0.00,2.53,0.00,0.000,4,0.000,0.117,2553,2581,3308,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10928,-0.91,-155.7,884.2,-6.9,566,10934,0.00,2.58,0.00,0.000,6,0.000,0.129,2553,1290,3308,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11236,-0.91,-155.7,908.3,-7.4,577,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1290,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11537,-0.91,-155.7,931.8,-7.8,587,11543,0.00,2.53,0.00,0.000,4,0.000,0.116,2553,2578,3306,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11606,-0.91,-155.7,936.3,-7.5,589,11613,0.00,2.60,0.00,0.000,6,0.000,0.129,2553,1292,3306,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11928,-0.91,-155.7,962.3,-8.0,600,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1292,3304,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12164,begin apogee
$GC,12172,-0.25,0.0,982.0,-8.4,608,12349,0.85,0.00,167.25,2.287,4,0.214,0.000,2782,1522,2694,0,0,0,0,1,0,13.66,28.83,12.65
$STATE,12355,end apogee,CONTROL_FINISHED_OK
$STATE,12355,begin climb
$GC,12358,0.90,155.7,991.2,0.0,614,12534,1.17,0.00,170.05,1.796,6,0.145,0.000,3149,1522,2057,0,0,0,0,0,0,14.02,28.83,13.05
$GC,12847,0.90,158.6,965.2,7.0,631,12853,0.00,2.03,0.00,0.000,4,0.000,0.120,3148,2572,2042,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12998,0.88,158.6,954.2,7.5,636,13003,0.00,2.08,0.00,0.000,6,0.000,0.144,3156,1533,2040,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13329,0.88,158.6,929.1,7.8,647,13334,0.00,2.03,0.00,0.000,4,0.000,0.123,3156,2580,2039,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13418,0.86,158.6,921.7,8.0,650,13423,0.00,2.08,0.00,0.000,6,0.000,0.147,3163,1547,2038,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13749,0.83,158.6,893.1,9.0,661,13756,0.00,2.00,0.00,0.000,4,0.000,0.124,3163,2580,2038,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13898,0.81,158.6,879.9,8.9,666,13904,0.17,2.00,0.00,0.000,6,0.277,0.144,3131,1569,2037,0,0,0,0,0,0,13.83,14.00,28.83
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$STATE,23876,end climb,SURFACE_DEPTH_REACHED
$STATE,23876,begin surface coast
$FINISH,1.6,1.016506
$STATE,23910,end surface coast,CONTROL_FINISHED_OK
$STATE,23910,begin surface
$SM_CCo,23934,49.40,0.125,0,0,1265,350.04
$SM_GC,2.59,8.82,0.73,49.40,0.066,0.142,0.125,143,1517,1265,-8.46,0.31,350.04,0,0,0,0,0,0,14.22,13.96,14.19
$IRIDIUM_FIX,2427.58,-3815.16,190213,212102
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.99
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7569408
$24V_AH,12.7,221.053
$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,22.550,179.525,441.050,49.400,0.000,0.000,0.000,386.675,0.250,0.000,19.415,3466.498,16778.707,883.084,2747.322,788.359,0.000,2518.204,0.000,2304.636,0.000,0.540,0.000
$DEVICE_MAMPS,335.835,169.065,2287.350,125.460,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23965.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.212,0.000,0.000,0.000
$MEM,344920
$DATA_FILE_SIZE,43326,1194
$CAP_FILE_SIZE,246370,0
$CFSIZE,260034560,180518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.056,291.6,1
$GPS,200213,113036,2436.459,-3813.228,31,0.8,31,-14.1