version: 66.11
glider: 190
mission: 6
dive: 533
start: 2 22 113 12 24 33
data:
$ID,190
$MISSION,6
$DIVE,533
$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,-13586.646
$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
$GPS1,220213,121204,2426.852,-3813.463,25,1.0,25,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-62.9
$GPS2,220213,122400,2426.760,-3813.554,21,1.3,21,-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,210.5,12851,-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,-155.7,0.0,0.0,0,35,0.00,0.00,-10.80,0.000,2,0.000,0.000,143,1527,1514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.6,0.0,1,145,10.77,2.10,-86.32,0.000,4,0.337,0.164,2577,458,3330,0,0,0,0,0,0,14.07,14.09,14.65
$GC,328,-0.84,-155.7,19.3,-8.3,30,335,0.12,1.92,0.00,0.000,6,0.275,0.084,2596,1523,3329,0,0,0,0,0,0,13.81,14.06,28.83
$GC,637,-0.84,-155.7,44.7,-8.3,61,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1524,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,946,-0.84,-155.7,69.1,-7.6,92,954,0.00,2.12,0.00,0.000,4,0.000,0.138,2596,461,3329,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1080,-0.80,-155.7,80.5,-9.0,105,1087,0.00,1.92,0.00,0.000,6,0.000,0.083,2591,1521,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1388,-0.80,-155.7,107.8,-8.8,136,1394,0.00,2.10,0.00,0.000,4,0.000,0.138,2592,459,3330,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1477,-0.77,-155.7,116.1,-9.4,145,1485,0.00,1.90,0.00,0.000,6,0.000,0.084,2592,1495,3330,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1787,-0.77,-155.7,142.3,-8.4,176,1794,0.00,2.08,0.00,0.000,4,0.000,0.137,2592,458,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1828,-0.75,-155.7,145.6,-8.4,180,1837,0.10,1.90,0.00,0.000,6,0.228,0.084,2620,1494,3330,0,0,0,0,0,0,13.71,14.09,28.83
$GC,2137,-0.75,-155.7,169.0,-7.8,211,2144,0.00,2.03,0.00,0.000,4,0.000,0.105,2618,2586,3330,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2176,-0.75,-155.7,171.9,-7.4,215,2184,0.00,2.12,0.00,0.000,6,0.000,0.115,2615,1494,3330,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2489,-0.77,-155.7,196.4,-7.4,246,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1493,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2797,-0.79,-155.7,218.1,-6.5,277,2806,0.00,2.05,0.00,0.000,4,0.000,0.102,2618,2582,3330,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2837,-0.81,-155.7,220.6,-5.9,281,2845,0.00,2.08,0.00,0.000,6,0.000,0.115,2618,1510,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3147,-0.84,-155.7,242.4,-7.5,312,3155,0.00,2.08,0.00,0.000,4,0.000,0.136,2618,459,3330,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3257,-0.84,-155.7,250.4,-8.1,322,3264,0.00,1.90,0.00,0.000,6,0.000,0.083,2619,1499,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3570,-0.86,-155.7,274.8,-7.7,333,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1499,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-0.89,-155.7,296.0,-6.9,343,3870,0.12,0.00,0.00,0.000,6,0.138,0.000,2565,1500,3330,0,0,0,0,0,0,14.50,28.83,28.83
$GC,4167,-0.89,-155.7,322.4,-9.5,353,4173,0.00,2.05,0.00,0.000,4,0.000,0.135,2564,465,3329,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4289,-0.86,-155.7,335.2,-10.6,357,4295,0.08,1.90,0.00,0.000,6,0.207,0.084,2587,1499,3329,0,0,0,0,0,0,13.83,14.09,28.83
$GC,4621,-0.86,-155.7,368.9,-10.1,368,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1499,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-0.86,-155.7,396.1,-8.4,378,4924,0.00,2.03,0.00,0.000,4,0.000,0.136,2587,458,3328,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5096,-0.86,-155.7,411.5,-8.6,384,5103,0.00,1.85,0.00,0.000,6,0.000,0.083,2580,1472,3328,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5431,-0.86,-155.7,435.7,-7.0,395,5436,0.00,2.00,0.00,0.000,4,0.000,0.138,2580,458,3327,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5536,-0.86,-155.7,442.0,-7.0,398,5544,0.00,1.85,0.00,0.000,6,0.000,0.086,2575,1462,3326,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5847,-0.86,-155.7,462.0,-6.0,409,5853,0.00,1.98,0.00,0.000,4,0.000,0.140,2580,454,3326,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5908,-0.86,-155.7,465.7,-6.0,411,5913,0.00,1.80,0.00,0.000,6,0.000,0.087,2569,1443,3325,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6239,-0.86,-155.7,485.3,-5.9,422,6245,0.00,1.95,0.00,0.000,4,0.000,0.139,2569,458,3325,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6317,-0.86,-155.7,489.4,-6.5,424,6326,0.00,1.80,0.00,0.000,6,0.000,0.087,2565,1433,3325,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6626,-0.86,-155.7,514.9,-8.7,435,6633,0.00,1.95,0.00,0.000,4,0.000,0.138,2561,457,3324,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6695,-0.86,-155.7,521.0,-9.4,437,6703,0.12,1.80,0.00,0.000,6,0.265,0.085,2586,1429,3323,0,0,0,0,0,0,13.86,14.14,28.83
$GC,7021,-0.86,-155.7,556.8,-11.8,448,7026,0.00,1.95,0.00,0.000,4,0.000,0.141,2586,453,3322,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7115,-0.86,-155.7,567.8,-12.2,451,7123,0.00,1.77,0.00,0.000,6,0.000,0.087,2580,1409,3320,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7438,-0.86,-155.7,602.9,-9.4,462,7444,0.00,1.90,0.00,0.000,4,0.000,0.141,2580,458,3321,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7575,-0.86,-155.7,613.3,-8.7,466,7583,0.00,1.73,0.00,0.000,6,0.000,0.087,2576,1390,3320,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7889,-0.86,-155.7,633.8,-5.4,477,7895,0.00,1.88,0.00,0.000,4,0.000,0.142,2576,455,3319,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8007,-0.86,-155.7,641.0,-6.0,481,8013,0.00,1.70,0.00,0.000,6,0.000,0.088,2570,1370,3318,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8338,-0.86,-155.7,663.6,-7.6,492,8343,0.00,1.80,0.00,0.000,4,0.000,0.143,2570,458,3318,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8475,-0.86,-155.7,674.3,-8.9,496,8484,0.00,1.67,0.00,0.000,6,0.000,0.087,2566,1356,3317,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8787,-0.86,-155.7,704.8,-9.2,507,8793,0.00,2.35,0.00,0.000,4,0.000,0.114,2565,2573,3316,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8827,-0.86,-155.7,707.6,-9.3,508,8833,0.00,2.42,0.00,0.000,6,0.000,0.124,2565,1348,3316,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9146,-0.86,-155.7,734.9,-7.9,519,9153,0.00,1.80,0.00,0.000,4,0.000,0.145,2565,459,3315,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9298,-0.84,-155.7,746.5,-7.6,524,9304,0.15,1.60,0.00,0.000,6,0.259,0.088,2594,1333,3314,0,0,0,0,0,0,13.71,14.00,28.83
$GC,9630,-0.86,-155.7,766.2,-5.8,535,9635,0.00,1.77,0.00,0.000,4,0.000,0.147,2594,457,3313,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9737,-0.86,-155.7,771.6,-5.9,538,9745,0.00,1.60,0.00,0.000,6,0.000,0.090,2592,1315,3312,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10048,-0.86,-155.7,791.2,-6.1,549,10053,0.00,1.75,0.00,0.000,4,0.000,0.151,2592,455,3311,0,0,0,0,0,0,28.83,13.72,28.83
$GC,10187,-0.86,-155.7,799.3,-6.8,553,10194,0.00,1.55,0.00,0.000,6,0.000,0.092,2591,1283,3311,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10500,-0.88,-155.7,821.8,-7.1,564,10506,0.00,1.70,0.00,0.000,4,0.000,0.151,2592,453,3310,0,0,0,0,0,0,28.83,13.72,28.83
$GC,10648,-0.88,-155.7,833.0,-7.6,569,10654,0.00,1.52,0.00,0.000,6,0.000,0.093,2592,1259,3308,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10980,-0.90,-155.7,858.3,-7.9,580,10985,0.00,1.67,0.00,0.000,4,0.000,0.153,2592,458,3310,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11147,-0.90,-155.7,871.2,-8.7,585,11155,0.00,1.45,0.00,0.000,6,0.000,0.092,2591,1235,3308,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11460,-0.92,-155.7,898.6,-8.1,596,11465,0.00,1.60,0.00,0.000,4,0.000,0.154,2591,459,3307,0,0,0,0,0,0,28.83,13.70,28.83
$GC,11535,-0.92,-155.7,903.6,-8.2,598,11538,0.00,1.42,0.00,0.000,6,0.000,0.091,2592,1215,3307,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11838,-0.92,-155.7,928.0,-7.4,608,11844,0.00,1.58,0.00,0.000,4,0.000,0.155,2591,455,3306,0,0,0,0,0,0,28.83,13.68,28.83
$GC,11976,-0.92,-155.7,936.8,-7.3,612,11984,0.00,1.40,0.00,0.000,6,0.000,0.093,2592,1191,3305,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12292,-0.92,-155.7,959.7,-6.7,623,12297,0.00,2.70,0.00,0.000,4,0.000,0.119,2592,2576,3304,0,0,0,0,0,0,28.83,13.80,28.83
$GC,12479,-0.94,-155.7,970.9,-6.2,629,12485,0.00,2.72,0.00,0.000,6,0.000,0.132,2592,1207,3303,0,0,0,0,0,0,28.83,13.84,28.83
$STATE,12613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12613,begin apogee
$GC,12623,-0.25,0.0,981.2,-6.9,634,12784,0.70,0.00,155.57,1.825,4,0.207,0.000,2783,1517,2692,0,0,0,0,0,0,13.66,28.83,12.95
$STATE,12788,end apogee,CONTROL_FINISHED_OK
$STATE,12789,begin climb
$GC,12792,0.90,155.7,987.6,0.0,639,12969,1.20,2.05,165.55,1.817,4,0.133,0.122,3158,2585,2059,0,0,0,0,0,0,14.09,14.07,12.99
$GC,13030,0.86,156.7,977.2,7.1,647,13035,0.00,2.12,0.00,0.000,6,0.000,0.144,3165,1515,2049,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13362,0.82,156.7,952.7,7.2,658,13368,0.00,2.05,0.00,0.000,4,0.000,0.123,3165,2582,2042,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13478,0.79,156.7,944.1,7.3,662,13486,0.15,2.10,0.00,0.000,6,0.256,0.146,3133,1542,2041,0,0,0,0,0,0,13.86,14.02,28.83
$GC,13813,0.81,188.0,923.2,6.1,673,13854,0.00,2.03,33.50,1.736,4,0.000,0.125,3132,2574,1921,0,0,0,0,0,0,28.83,14.29,13.24
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$STATE,24245,end climb,SURFACE_DEPTH_REACHED
$STATE,24245,begin surface coast
$FINISH,1.7,1.013525
$STATE,24276,end surface coast,CONTROL_FINISHED_OK
$STATE,24276,begin surface
$SM_CCo,24304,47.62,0.125,0,0,1264,350.04
$SM_GC,2.53,8.85,0.73,47.62,0.074,0.141,0.125,139,1519,1264,-8.47,0.40,350.04,0,0,0,0,0,0,14.28,13.97,14.26
$IRIDIUM_FIX,2420.48,-3815.55,220213,050529
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.13
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.80
$XPDR_PINGS,3
$SC_FREEKB,7566464
$24V_AH,12.9,224.022
$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,22.875,183.575,426.275,47.625,0.000,0.000,0.000,406.400,0.750,0.000,22.135,3603.541,16857.451,888.473,2889.028,815.263,0.000,2595.473,0.000,2415.517,0.000,0.541,0.000
$DEVICE_MAMPS,337.365,165.240,1825.290,125.460,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24333.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.918,0.000,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,46620,1207
$CAP_FILE_SIZE,255962,0
$CFSIZE,260034560,179601408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,216.0,1
$GPS,220213,191152,2424.886,-3813.640,40,0.9,40,-14.1