version: 66.11
glider: 190
mission: 6
dive: 528
start: 2 21 113 1 44 34
data:
$ID,190
$MISSION,6
$DIVE,528
$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,-13580.259
$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,18
$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
$GPS1,210213,013222,2434.022,-3813.591,38,1.0,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-65.9
$GPS2,210213,014401,2434.017,-3813.749,20,1.1,21,-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,180.2,25572,-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,-10.12,0.000,2,0.000,0.000,142,1530,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,10.75,2.12,-86.85,0.000,4,0.337,0.161,2573,453,3329,0,0,0,0,0,0,14.07,14.04,14.67
$GC,306,-0.83,-155.7,19.3,-11.6,28,313,0.15,1.95,0.00,0.000,6,0.263,0.083,2604,1528,3330,0,0,0,0,0,0,13.88,14.16,28.83
$GC,617,-0.83,-155.7,47.1,-6.5,59,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1528,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.83,-155.7,74.3,-9.4,90,933,0.00,2.15,0.00,0.000,4,0.000,0.138,2599,461,3329,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1026,-0.80,-155.7,84.1,-10.1,100,1033,0.00,1.90,0.00,0.000,6,0.000,0.083,2592,1517,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1336,-0.80,-155.7,114.0,-9.4,131,1343,0.00,2.10,0.00,0.000,4,0.000,0.135,2592,456,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1406,-0.77,-155.7,121.2,-10.5,138,1413,0.00,1.88,0.00,0.000,6,0.000,0.081,2591,1504,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1715,-0.77,-155.7,151.2,-9.4,169,1724,0.12,2.10,0.00,0.000,4,0.250,0.135,2622,458,3330,0,0,0,0,0,0,14.09,13.86,28.83
$GC,1805,-0.77,-155.7,159.1,-8.7,178,1813,0.00,1.88,0.00,0.000,6,0.000,0.080,2618,1487,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2116,-0.77,-155.7,183.7,-7.6,209,2124,0.00,2.05,0.00,0.000,4,0.000,0.136,2618,455,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2205,-0.77,-155.7,190.4,-7.7,218,2213,0.00,1.85,0.00,0.000,6,0.000,0.080,2618,1472,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2519,-0.79,-155.7,210.2,-5.2,249,2527,0.00,2.00,0.00,0.000,4,0.000,0.136,2618,459,3330,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2627,-0.79,-155.7,216.4,-5.6,260,2634,0.00,1.80,0.00,0.000,6,0.000,0.080,2618,1460,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2941,-0.81,-155.7,232.8,-5.9,291,2947,0.00,1.98,0.00,0.000,4,0.000,0.135,2618,459,3330,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3089,-0.81,-155.7,243.8,-8.0,306,3096,0.00,1.73,0.00,0.000,6,0.000,0.080,2618,1431,3333,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3407,-0.84,-155.7,272.6,-9.5,322,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1431,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3706,-0.87,-155.7,300.0,-8.9,332,3713,0.00,2.15,0.00,0.000,4,0.000,0.106,2618,2572,3329,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3787,-0.90,-155.7,304.7,-8.2,334,3795,0.08,2.22,0.00,0.000,6,0.090,0.116,2573,1435,3329,0,0,0,0,0,0,14.02,13.90,28.83
$GC,4099,-0.90,-155.7,329.9,-7.2,345,4104,0.00,1.92,0.00,0.000,4,0.000,0.136,2573,456,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4267,-0.87,-155.7,341.5,-7.7,350,4274,0.00,1.73,0.00,0.000,6,0.000,0.081,2566,1400,3328,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4576,-0.87,-155.7,367.6,-8.1,361,4583,0.00,1.88,0.00,0.000,4,0.000,0.134,2567,456,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4696,-0.84,-155.7,378.4,-9.0,365,4704,0.10,1.67,0.00,0.000,6,0.232,0.081,2590,1380,3328,0,0,0,0,0,0,13.74,14.13,28.83
$GC,5026,-0.84,-155.7,406.8,-8.6,376,5031,0.00,1.88,0.00,0.000,4,0.000,0.135,2591,454,3327,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5094,-0.84,-155.7,412.1,-8.6,378,5098,0.00,1.70,0.00,0.000,6,0.000,0.080,2586,1386,3327,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5406,-0.84,-155.7,437.7,-7.6,389,5412,0.00,2.22,0.00,0.000,4,0.000,0.105,2578,2573,3326,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5435,-0.84,-155.7,439.9,-7.5,390,5439,0.00,2.35,0.00,0.000,6,0.000,0.119,2578,1371,3326,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5757,-0.84,-155.7,463.2,-7.2,401,5763,0.00,1.83,0.00,0.000,4,0.000,0.136,2578,456,3326,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5856,-0.84,-155.7,470.4,-7.9,404,5859,0.00,1.67,0.00,0.000,6,0.000,0.082,2573,1371,3325,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6167,-0.84,-155.7,500.0,-10.0,415,6170,0.00,1.83,0.00,0.000,4,0.000,0.137,2573,459,3324,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6258,-0.84,-155.7,509.0,-10.8,418,6264,0.12,1.65,0.00,0.000,6,0.268,0.083,2594,1357,3324,0,0,0,0,0,0,13.91,14.21,28.83
$GC,6580,-0.84,-155.7,541.8,-9.6,429,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1357,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6877,-0.84,-155.7,567.3,-7.9,439,6881,0.00,1.83,0.00,0.000,4,0.000,0.138,2594,453,3322,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6938,-0.84,-155.7,571.4,-7.9,441,6941,0.00,1.65,0.00,0.000,6,0.000,0.084,2592,1348,3322,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7253,-0.84,-155.7,593.8,-6.7,452,7258,0.00,2.30,0.00,0.000,4,0.000,0.109,2590,2576,3322,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7278,-0.84,-155.7,595.1,-6.7,453,7285,0.00,2.42,0.00,0.000,6,0.000,0.119,2590,1344,3320,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7599,-0.84,-155.7,617.4,-7.1,464,7602,0.00,1.80,0.00,0.000,4,0.000,0.142,2590,453,3320,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7760,-0.84,-155.7,628.6,-8.1,469,7765,0.00,1.62,0.00,0.000,6,0.000,0.086,2586,1330,3319,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8069,-0.84,-155.7,656.5,-8.9,480,8073,0.00,1.77,0.00,0.000,4,0.000,0.140,2586,458,3318,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8171,-0.84,-155.7,664.2,-9.4,483,8177,0.00,1.58,0.00,0.000,6,0.000,0.086,2581,1307,3318,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8480,-0.84,-155.7,695.6,-9.5,494,8484,0.00,1.73,0.00,0.000,4,0.000,0.142,2581,458,3316,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8571,-0.84,-155.7,703.4,-9.8,497,8574,0.00,1.52,0.00,0.000,6,0.000,0.088,2579,1279,3316,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8882,-0.84,-155.7,730.9,-8.1,508,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1279,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,-0.84,-155.7,753.6,-7.5,518,9184,0.00,1.67,0.00,0.000,4,0.000,0.144,2579,459,3314,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9302,-0.84,-155.7,762.2,-7.9,522,9308,0.00,1.50,0.00,0.000,6,0.000,0.088,2571,1266,3313,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9622,-0.84,-155.7,787.3,-7.7,533,9628,0.00,2.53,0.00,0.000,4,0.000,0.109,2566,2576,3311,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9683,-0.84,-155.7,791.9,-7.7,535,9689,0.08,2.60,0.00,0.000,6,0.210,0.122,2589,1262,3312,0,0,0,0,0,0,13.67,13.80,28.83
$GC,10014,-0.84,-155.7,817.4,-7.9,546,10018,0.00,1.62,0.00,0.000,4,0.000,0.148,2589,462,3311,0,0,0,0,0,0,28.83,13.66,28.83
$GC,10183,-0.84,-155.7,829.7,-8.4,551,10188,0.00,1.48,0.00,0.000,6,0.000,0.086,2584,1254,3310,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10492,-0.84,-155.7,856.3,-8.0,562,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1254,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10792,-0.84,-155.7,880.3,-7.7,572,10795,0.00,1.65,0.00,0.000,4,0.000,0.145,2584,456,3308,0,0,0,0,0,0,28.83,13.72,28.83
$GC,10863,-0.84,-155.7,884.5,-8.0,574,10868,0.00,1.48,0.00,0.000,6,0.000,0.089,2580,1240,3307,0,0,0,0,0,0,28.83,14.05,28.83
$GC,11172,-0.84,-155.7,912.2,-8.6,585,11178,0.00,2.62,0.00,0.000,4,0.000,0.115,2578,2579,3306,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11253,-0.84,-155.7,917.2,-8.4,587,11259,0.00,2.70,0.00,0.000,6,0.000,0.127,2578,1235,3306,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11562,-0.84,-155.7,944.9,-8.4,598,11568,0.00,2.65,0.00,0.000,4,0.000,0.112,2574,2577,3305,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11632,-0.84,-155.7,949.9,-8.2,600,11638,0.00,2.67,0.00,0.000,6,0.000,0.126,2574,1254,3305,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11953,-0.84,-155.7,975.8,-7.7,611,11958,0.00,1.65,0.00,0.000,4,0.000,0.151,2574,461,3304,0,0,0,0,0,0,28.83,13.66,28.83
$GC,12002,-0.84,-155.7,978.0,-7.7,612,12006,0.00,1.50,0.00,0.000,6,0.000,0.089,2570,1257,3304,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,12029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12029,begin apogee
$GC,12039,-0.25,0.0,981.7,-7.6,613,12199,0.75,0.00,155.93,1.818,4,0.207,0.000,2776,1519,2692,0,0,0,0,0,0,13.67,28.83,12.90
$STATE,12204,end apogee,CONTROL_FINISHED_OK
$STATE,12204,begin climb
$GC,12207,0.90,155.7,987.8,0.0,618,12386,1.20,2.05,164.98,1.788,4,0.131,0.120,3156,2582,2054,0,0,0,0,0,0,13.95,14.09,12.96
$GC,12525,0.87,155.7,969.3,8.6,629,12532,0.00,2.12,0.00,0.000,6,0.000,0.141,3164,1524,2043,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12849,0.84,155.7,941.0,8.5,640,12854,0.00,2.17,0.00,0.000,4,0.000,0.173,3170,458,2041,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13038,0.80,155.7,925.4,8.7,646,13045,0.17,1.95,0.00,0.000,6,0.268,0.101,3130,1533,2038,0,0,0,0,0,0,13.93,14.24,28.83
$GC,13359,0.81,160.8,902.0,6.9,657,13365,0.00,2.17,0.00,0.000,4,0.000,0.160,3139,453,2037,0,0,0,0,0,0,28.83,13.99,28.83
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$STATE,24624,end climb,SURFACE_DEPTH_REACHED
$STATE,24624,begin surface coast
$FINISH,1.8,1.011111
$STATE,24655,end surface coast,CONTROL_FINISHED_OK
$STATE,24659,begin surface
$SM_CCo,24683,57.35,0.125,0,0,1265,350.04
$SM_GC,2.63,8.85,1.95,57.35,0.070,0.078,0.125,139,1523,1265,-8.48,-0.51,350.04,0,0,0,0,0,0,14.24,14.14,14.22
$IRIDIUM_FIX,2427.58,-3815.16,200213,181806
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.03
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7568384
$24V_AH,12.9,222.104
$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
$DEVICE_SECS,22.825,188.400,407.200,57.350,0.000,0.000,0.000,386.475,0.500,0.000,22.411,3093.663,17825.930,838.232,2863.423,803.430,0.000,2507.609,0.000,2394.917,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.795,0.000,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,46582,1236
$CAP_FILE_SIZE,260299,0
$CFSIZE,260034560,180158464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,222.7,1
$GPS,210213,083822,2432.806,-3813.739,40,0.8,40,-14.1