version: 66.11
glider: 190
mission: 6
dive: 527
start: 2 20 113 18 40 37
data:
$ID,190
$MISSION,6
$DIVE,527
$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,-13579.003
$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,11
$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
$GPS1,200213,182804,2435.007,-3813.600,30,0.7,30,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-61.8
$GPS2,200213,184004,2434.947,-3813.731,34,0.7,34,-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,172.1,27265,-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,-10.73,0.000,2,0.000,0.000,146,1514,1515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.6,0.0,1,144,10.93,2.10,-85.47,0.000,4,0.346,0.164,2574,464,3329,0,0,0,0,0,0,14.14,14.04,14.67
$GC,327,-0.84,-155.7,20.0,-9.1,30,334,0.12,1.90,0.00,0.000,6,0.267,0.083,2594,1526,3330,0,0,0,0,0,0,13.90,14.10,28.83
$GC,636,-0.84,-155.7,45.4,-8.3,61,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1527,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,945,-0.84,-155.7,70.7,-8.1,92,953,0.00,2.15,0.00,0.000,4,0.000,0.139,2594,456,3330,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1089,-0.81,-155.7,82.8,-9.1,106,1096,0.00,1.92,0.00,0.000,6,0.000,0.083,2592,1526,3330,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1397,-0.81,-155.7,107.6,-7.8,137,1405,0.00,2.12,0.00,0.000,4,0.000,0.138,2591,453,3330,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1486,-0.78,-155.7,115.3,-8.7,146,1493,0.00,1.90,0.00,0.000,6,0.000,0.081,2591,1497,3333,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1796,-0.78,-155.7,143.6,-9.0,177,1804,0.00,2.08,0.00,0.000,4,0.000,0.136,2592,458,3330,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1888,-0.75,-155.7,152.1,-9.2,186,1895,0.15,1.83,0.00,0.000,6,0.247,0.080,2626,1487,3330,0,0,0,0,0,0,13.90,14.19,28.83
$GC,2200,-0.78,-155.7,177.6,-8.4,217,2207,0.00,2.03,0.00,0.000,4,0.000,0.135,2627,461,3330,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2387,-0.78,-155.7,194.2,-8.6,236,2394,0.00,1.80,0.00,0.000,6,0.000,0.081,2622,1456,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2698,-0.80,-155.7,221.7,-9.1,267,2705,0.00,1.98,0.00,0.000,4,0.000,0.137,2622,458,3330,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2807,-0.80,-155.7,231.7,-9.6,278,2814,0.00,1.77,0.00,0.000,6,0.000,0.080,2618,1438,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3128,-0.82,-155.7,257.1,-7.4,304,3133,0.00,1.90,0.00,0.000,4,0.000,0.135,2618,460,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3226,-0.82,-155.7,263.8,-7.4,307,3233,0.00,1.75,0.00,0.000,6,0.000,0.080,2618,1420,3330,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3549,-0.85,-155.7,289.1,-8.1,318,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1420,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.88,-155.7,314.3,-8.3,328,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1421,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4149,-0.91,-155.7,336.8,-7.0,338,4155,0.12,1.88,0.00,0.000,4,0.137,0.131,2556,457,3329,0,0,0,0,0,0,14.50,13.97,28.83
$GC,4215,-0.91,-155.7,341.6,-7.4,340,4224,0.00,1.75,0.00,0.000,6,0.000,0.078,2553,1419,3329,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4540,-0.91,-155.7,364.9,-7.0,351,4546,0.00,1.88,0.00,0.000,4,0.000,0.133,2553,460,3329,0,0,0,0,0,0,28.83,13.96,28.83
$GC,4617,-0.88,-155.7,369.5,-7.4,353,4626,0.10,1.70,0.00,0.000,6,0.227,0.080,2580,1400,3328,0,0,0,0,0,0,13.81,14.13,28.83
$GC,4929,-0.88,-155.7,393.8,-7.8,364,4934,0.00,1.85,0.00,0.000,4,0.000,0.136,2580,461,3328,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5048,-0.88,-155.7,404.5,-9.0,368,5053,0.00,1.67,0.00,0.000,6,0.000,0.082,2578,1384,3327,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5376,-0.88,-155.7,436.0,-9.8,379,5384,0.00,1.83,0.00,0.000,4,0.000,0.135,2578,461,3327,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5415,-0.88,-155.7,439.1,-10.0,380,5423,0.00,1.67,0.00,0.000,6,0.000,0.080,2574,1379,3327,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5738,-0.88,-155.7,472.1,-9.9,391,5744,0.00,1.83,0.00,0.000,4,0.000,0.137,2574,455,3326,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5815,-0.88,-155.7,478.1,-9.8,393,5825,0.00,1.67,0.00,0.000,6,0.000,0.082,2570,1370,3325,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6128,-0.88,-155.7,508.4,-8.8,404,6133,0.00,2.28,0.00,0.000,4,0.000,0.106,2565,2580,3325,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6165,-0.88,-155.7,510.7,-8.5,405,6173,0.00,2.40,0.00,0.000,6,0.000,0.118,2565,1362,3325,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6488,-0.88,-155.7,538.9,-8.5,416,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1362,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6787,-0.88,-155.7,564.9,-8.6,426,6793,0.00,1.80,0.00,0.000,4,0.000,0.138,2566,461,3325,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6946,-0.85,-155.7,578.2,-8.9,431,6953,0.10,1.62,0.00,0.000,6,0.224,0.083,2588,1359,3322,0,0,0,0,0,0,13.83,14.16,28.83
$GC,7272,-0.85,-155.7,601.9,-6.7,442,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1358,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7567,-0.85,-155.7,619.4,-5.5,452,7573,0.00,1.80,0.00,0.000,4,0.000,0.142,2589,466,3320,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7668,-0.85,-155.7,624.5,-5.6,455,7673,0.00,1.62,0.00,0.000,6,0.000,0.084,2583,1352,3319,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7990,-0.85,-155.7,644.0,-6.3,466,7996,0.00,2.33,0.00,0.000,4,0.000,0.109,2579,2575,3318,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8068,-0.85,-155.7,647.9,-6.6,468,8074,0.00,2.38,0.00,0.000,6,0.000,0.122,2579,1366,3318,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8376,-0.85,-155.7,675.1,-9.1,479,8384,0.00,1.80,0.00,0.000,4,0.000,0.143,2579,467,3317,0,0,0,0,0,0,28.83,13.77,28.83
$GC,8475,-0.85,-155.7,684.2,-10.0,482,8482,0.00,1.67,0.00,0.000,6,0.000,0.087,2575,1368,3317,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8798,-0.85,-155.7,721.4,-11.7,493,8803,0.00,2.30,0.00,0.000,4,0.000,0.111,2566,2575,3316,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8875,-0.85,-155.7,728.2,-11.5,495,8885,0.12,2.42,0.00,0.000,6,0.231,0.123,2595,1360,3315,0,0,0,0,0,0,13.83,13.90,28.83
$GC,9191,-0.87,-155.7,760.2,-8.9,506,9197,0.00,1.80,0.00,0.000,4,0.000,0.141,2595,459,3314,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9266,-0.87,-155.7,765.3,-8.6,508,9274,0.00,1.67,0.00,0.000,6,0.000,0.086,2592,1363,3313,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9581,-0.90,-155.7,787.9,-6.0,519,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1363,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9878,-0.92,-155.7,805.2,-5.7,529,9883,0.00,2.33,0.00,0.000,4,0.000,0.109,2592,2581,3311,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9926,-0.94,-155.7,806.9,-5.8,530,9935,0.00,2.42,0.00,0.000,6,0.000,0.123,2592,1366,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10241,-0.96,-155.7,829.5,-7.5,541,10246,0.00,1.85,0.00,0.000,4,0.000,0.143,2591,462,3311,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10375,-0.96,-155.7,839.5,-8.4,545,10385,0.00,1.65,0.00,0.000,6,0.000,0.089,2592,1347,3310,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10688,-0.96,-155.7,868.5,-9.0,556,10693,0.00,1.83,0.00,0.000,4,0.000,0.149,2592,456,3309,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10908,-0.96,-155.7,888.6,-9.7,563,10914,0.00,1.73,0.00,0.000,6,0.000,0.090,2592,1374,3307,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11232,-0.98,-155.7,917.6,-8.3,574,11238,0.12,2.33,0.00,0.000,4,0.155,0.114,2539,2575,3306,0,0,0,0,0,0,14.35,13.74,28.83
$GC,11420,-0.98,-155.7,932.9,-8.4,580,11426,0.00,2.33,0.00,0.000,6,0.000,0.130,2540,1405,3306,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11739,-0.98,-155.7,958.4,-7.6,591,11745,0.00,1.95,0.00,0.000,4,0.000,0.152,2540,458,3305,0,0,0,0,0,0,28.83,13.72,28.83
$GC,11836,-0.96,-155.7,965.6,-7.8,594,11843,0.00,1.77,0.00,0.000,6,0.000,0.093,2540,1394,3304,0,0,0,0,0,0,28.83,13.98,28.83
$STATE,12033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12033,begin apogee
$GC,12043,-0.25,0.0,981.9,-7.8,601,12204,0.90,0.00,155.68,1.816,4,0.226,0.000,2779,1514,2691,0,0,0,0,0,0,13.70,28.83,12.97
$STATE,12209,end apogee,CONTROL_FINISHED_OK
$STATE,12209,begin climb
$GC,12212,0.90,155.7,987.8,0.0,606,12389,1.23,2.05,164.12,1.812,4,0.136,0.119,3159,2581,2057,0,0,0,0,0,0,14.09,14.09,13.02
$GC,12568,0.87,155.7,968.5,8.1,618,12576,0.00,2.12,0.00,0.000,6,0.000,0.142,3166,1520,2044,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12882,0.84,155.7,943.3,7.6,629,12888,0.00,2.17,0.00,0.000,4,0.000,0.172,3174,458,2041,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13091,0.80,155.7,926.5,8.1,636,13097,0.17,1.98,0.00,0.000,6,0.262,0.099,3134,1533,2040,0,0,0,0,0,0,13.97,14.24,28.83
$GC,13423,0.80,155.7,901.2,7.9,647,13428,0.00,2.00,0.00,0.000,4,0.000,0.122,3134,2578,2038,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13621,0.80,155.7,886.6,8.2,653,13627,0.00,2.05,0.00,0.000,6,0.000,0.137,3141,1543,2037,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13929,0.80,155.7,858.2,8.8,664,13934,0.00,2.05,0.00,0.000,4,0.000,0.122,3141,2580,2037,0,0,0,0,0,0,28.83,14.00,28.83
$GC,14037,0.80,155.7,850.3,8.7,667,14047,0.00,2.05,0.00,0.000,6,0.000,0.135,3148,1569,2036,0,0,0,0,0,0,28.83,13.96,28.83
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$STATE,24532,end climb,SURFACE_DEPTH_REACHED
$STATE,24532,begin surface coast
$FINISH,1.7,1.025899
$STATE,24537,end surface coast,CONTROL_FINISHED_OK
$STATE,24537,begin surface
$SM_CCo,24562,57.90,0.125,0,0,1266,350.04
$SM_GC,2.39,8.90,1.95,57.90,0.073,0.075,0.125,142,1526,1266,-8.46,-0.45,350.04,0,0,0,0,0,0,14.28,14.16,14.27
$IRIDIUM_FIX,2425.21,-3811.83,200213,111132
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.71
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,7568640
$24V_AH,13.0,221.770
$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,23.425,189.100,404.300,57.900,0.000,0.000,0.000,398.300,0.250,0.000,35.210,3617.210,17123.340,893.371,2882.297,811.298,0.000,2585.601,0.000,2410.266,0.000,0.542,0.000
$DEVICE_MAMPS,345.780,172.125,1816.110,124.695,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24595.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.155,0.000,0.000,0.000
$MEM,344916
$DATA_FILE_SIZE,46726,1222
$CAP_FILE_SIZE,257445,0
$CFSIZE,260034560,180277248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,270.7,1
$GPS,210213,013222,2434.022,-3813.591,38,1.0,38,-14.1