version: 66.11
glider: 190
mission: 6
dive: 535
start: 2 23 113 2 6 51
data:
$ID,190
$MISSION,6
$DIVE,535
$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,-13589.161
$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,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
$GPS1,230213,015504,2423.169,-3813.799,33,1.1,33,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-60.9
$GPS2,230213,020618,2423.062,-3813.753,16,0.9,17,-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,248.8,7047,-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,-10.40,0.000,2,0.000,0.000,139,1509,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.6,0.0,1,144,11.00,2.05,-87.57,0.000,4,0.344,0.160,2579,458,3328,0,0,0,0,0,0,14.03,14.02,14.63
$GC,379,-0.84,-155.7,21.9,-10.2,35,385,0.00,1.95,0.00,0.000,6,0.000,0.085,2577,1528,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,687,-0.84,-155.7,47.7,-8.0,66,693,0.00,2.12,0.00,0.000,4,0.000,0.138,2577,461,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,735,-0.80,-155.7,52.1,-8.7,71,743,0.10,1.95,0.00,0.000,6,0.233,0.086,2605,1515,3329,0,0,0,0,0,0,13.77,14.04,28.83
$GC,1045,-0.80,-155.7,77.1,-8.3,102,1053,0.00,2.12,0.00,0.000,4,0.000,0.138,2605,457,3328,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1086,-0.80,-155.7,80.8,-9.1,106,1093,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1506,3328,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1395,-0.80,-155.7,111.6,-10.9,137,1404,0.00,2.10,0.00,0.000,4,0.000,0.136,2605,462,3328,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1436,-0.80,-155.7,116.0,-11.2,141,1444,0.00,1.88,0.00,0.000,6,0.000,0.083,2604,1498,3328,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1745,-0.80,-155.7,146.7,-9.0,172,1753,0.00,2.08,0.00,0.000,4,0.000,0.137,2604,461,3328,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1855,-0.80,-155.7,156.6,-9.0,183,1863,0.00,1.88,0.00,0.000,6,0.000,0.083,2604,1479,3329,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2167,-0.80,-155.7,180.0,-6.6,214,2174,0.00,2.03,0.00,0.000,4,0.000,0.136,2605,457,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2298,-0.80,-155.7,188.7,-6.6,227,2304,0.00,1.85,0.00,0.000,6,0.000,0.084,2604,1460,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2606,-0.80,-155.7,208.4,-7.0,258,2613,0.00,2.10,0.00,0.000,4,0.000,0.109,2604,2582,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2656,-0.80,-155.7,212.2,-7.6,263,2663,0.00,2.17,0.00,0.000,6,0.000,0.118,2604,1460,3329,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2967,-0.80,-155.7,237.9,-8.0,294,2973,0.00,1.98,0.00,0.000,4,0.000,0.140,2605,459,3329,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3134,-0.80,-155.7,250.8,-7.9,310,3142,0.00,1.85,0.00,0.000,6,0.000,0.083,2604,1447,3329,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3447,-0.80,-155.7,275.0,-8.0,321,3452,0.00,1.95,0.00,0.000,4,0.000,0.138,2604,459,3329,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3584,-0.80,-155.7,285.7,-8.9,325,3592,0.00,1.77,0.00,0.000,6,0.000,0.083,2605,1422,3329,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3896,-0.80,-155.7,314.0,-8.2,336,3901,0.00,1.88,0.00,0.000,4,0.000,0.138,2604,459,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3974,-0.80,-155.7,318.9,-8.1,338,3982,0.00,1.75,0.00,0.000,6,0.000,0.084,2604,1400,3329,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4286,-0.80,-155.7,342.0,-6.6,349,4291,0.00,1.88,0.00,0.000,4,0.000,0.138,2604,455,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4385,-0.80,-155.7,348.3,-6.8,352,4391,0.00,1.70,0.00,0.000,6,0.000,0.085,2605,1382,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4705,-0.80,-155.7,372.4,-7.7,363,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1382,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5007,-0.80,-155.7,395.9,-7.7,373,5012,0.00,1.83,0.00,0.000,4,0.000,0.139,2605,453,3327,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5125,-0.80,-155.7,405.2,-7.8,377,5131,0.00,1.70,0.00,0.000,6,0.000,0.085,2604,1379,3326,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5459,-0.80,-155.7,427.9,-6.6,388,5464,0.00,1.83,0.00,0.000,4,0.000,0.141,2604,459,3326,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5635,-0.80,-155.7,440.9,-7.4,394,5642,0.00,1.65,0.00,0.000,6,0.000,0.086,2605,1351,3325,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5970,-0.82,-155.7,468.4,-9.2,405,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1351,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,-0.84,-155.7,498.7,-10.2,415,6271,0.00,2.35,0.00,0.000,4,0.000,0.109,2605,2580,3323,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6314,-0.84,-155.7,501.7,-10.0,416,6324,0.00,2.42,0.00,0.000,6,0.000,0.121,2602,1349,3323,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6630,-0.86,-155.7,532.3,-8.8,427,6635,0.00,2.35,0.00,0.000,4,0.000,0.109,2604,2578,3322,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6704,-0.89,-155.7,537.1,-8.2,429,6713,0.00,2.38,0.00,0.000,6,0.000,0.122,2604,1368,3322,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7020,-0.91,-155.7,558.8,-5.8,440,7025,0.00,2.33,0.00,0.000,4,0.000,0.111,2604,2579,3323,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7054,-0.93,-155.7,560.2,-5.5,441,7062,0.08,2.38,0.00,0.000,6,0.093,0.123,2561,1374,3320,0,0,0,0,0,0,13.95,13.83,28.83
$GC,7379,-0.93,-155.7,578.9,-5.9,452,7384,0.00,1.83,0.00,0.000,4,0.000,0.145,2561,460,3320,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7567,-0.90,-155.7,591.8,-7.4,458,7572,0.00,1.65,0.00,0.000,6,0.000,0.087,2552,1368,3319,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7887,-0.90,-155.7,620.4,-9.6,469,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1369,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.90,-155.7,654.8,-12.0,479,8191,0.00,1.83,0.00,0.000,4,0.000,0.141,2555,465,3317,0,0,0,0,0,0,28.83,13.73,28.83
$GC,8234,-0.90,-155.7,658.5,-12.0,480,8244,0.00,1.67,0.00,0.000,6,0.000,0.088,2553,1359,3317,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8546,-0.90,-155.7,692.3,-9.5,491,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1359,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8845,-0.90,-155.7,717.8,-8.3,501,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1359,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9146,-0.90,-155.7,743.5,-8.5,511,9152,0.00,1.85,0.00,0.000,4,0.000,0.144,2553,458,3313,0,0,0,0,0,0,28.83,13.70,28.83
$GC,9225,-0.90,-155.7,748.9,-8.7,513,9233,0.00,1.65,0.00,0.000,6,0.000,0.089,2552,1350,3313,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9535,-0.90,-155.7,778.1,-9.0,524,9542,0.00,1.83,0.00,0.000,4,0.000,0.144,2551,458,3312,0,0,0,0,0,0,28.83,13.67,28.83
$GC,9596,-0.90,-155.7,783.6,-9.0,526,9603,0.00,1.65,0.00,0.000,6,0.000,0.091,2552,1339,3311,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9926,-0.90,-155.7,810.4,-7.5,537,9932,0.00,2.40,0.00,0.000,4,0.000,0.116,2552,2573,3311,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10007,-0.90,-155.7,814.8,-7.2,539,10014,0.00,2.40,0.00,0.000,6,0.000,0.117,2552,1342,3311,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10315,-0.90,-155.7,838.0,-7.2,550,10322,0.00,1.75,0.00,0.000,4,0.000,0.133,2552,462,3310,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10375,-0.90,-155.7,842.6,-7.4,552,10381,0.00,1.60,0.00,0.000,6,0.000,0.079,2549,1344,3309,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10709,-0.90,-155.7,867.3,-7.6,563,10715,0.12,1.77,0.00,0.000,4,0.260,0.132,2583,459,3308,0,0,0,0,0,0,13.98,13.74,28.83
$GC,10774,-0.90,-155.7,871.8,-7.5,565,10780,0.00,1.62,0.00,0.000,6,0.000,0.080,2579,1341,3307,0,0,0,0,0,0,28.83,14.08,28.83
$GC,11096,-0.90,-155.7,896.8,-8.1,576,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1341,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11395,-0.90,-155.7,921.1,-8.2,586,11402,0.00,2.38,0.00,0.000,4,0.000,0.109,2579,2570,3306,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11576,-0.90,-155.7,935.4,-7.8,592,11581,0.00,2.47,0.00,0.000,6,0.000,0.126,2579,1331,3304,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11907,-0.90,-155.7,961.1,-7.6,603,11913,0.00,2.45,0.00,0.000,4,0.000,0.114,2578,2578,3304,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11965,-0.90,-155.7,965.6,-7.4,605,11971,0.00,2.47,0.00,0.000,6,0.000,0.127,2578,1351,3304,0,0,0,0,0,0,28.83,13.75,28.83
$STATE,12174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12174,begin apogee
$GC,12184,-0.25,0.0,980.7,-7.3,612,12345,0.73,0.00,156.20,1.804,4,0.204,0.000,2783,1525,2693,0,0,0,0,0,0,13.66,28.83,12.95
$STATE,12349,end apogee,CONTROL_FINISHED_OK
$STATE,12349,begin climb
$GC,12353,0.90,155.7,987.0,0.0,617,12530,1.23,2.05,164.18,1.808,4,0.138,0.118,3156,2582,2055,0,0,0,0,0,0,14.07,14.07,13.00
$GC,12748,0.87,155.7,965.4,7.4,630,12756,0.00,2.15,0.00,0.000,6,0.000,0.140,3165,1516,2043,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13074,0.86,173.2,943.0,6.6,641,13098,0.00,2.12,18.02,1.694,4,0.000,0.172,3166,459,1982,0,0,0,0,0,0,28.83,14.29,13.25
$GC,13149,0.83,182.5,938.8,6.8,643,13167,0.00,2.00,11.43,1.629,6,0.000,0.097,3164,1536,1945,0,0,0,0,0,0,28.83,14.31,13.28
$GC,13490,0.83,186.0,913.8,7.0,655,13496,0.00,2.00,0.00,0.000,4,0.000,0.121,3166,2580,1939,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13650,0.81,186.0,902.8,7.5,660,13656,0.17,2.05,0.00,0.000,6,0.272,0.145,3134,1552,1936,0,0,0,0,0,0,13.94,14.08,28.83
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$STATE,23576,end climb,SURFACE_DEPTH_REACHED
$STATE,23576,begin surface coast
$FINISH,1.5,1.025364
$STATE,23601,end surface coast,CONTROL_FINISHED_OK
$STATE,23601,begin surface
$SM_CCo,23625,38.35,0.126,0,0,1264,350.04
$SM_GC,2.35,8.98,2.00,38.35,0.071,0.083,0.126,144,1534,1264,-8.46,-0.25,350.04,0,0,0,0,0,0,14.18,14.07,14.18
$IRIDIUM_FIX,2418.11,-3810.76,220213,191952
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.92
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,5
$SC_FREEKB,7565696
$24V_AH,13.0,224.777
$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,22.625,181.825,446.950,38.350,0.000,0.000,0.000,368.725,1.250,0.000,18.230,3457.009,16481.361,874.861,2733.839,777.585,0.000,2485.170,0.000,2303.948,0.000,0.541,0.000
$DEVICE_MAMPS,344.250,172.125,1808.460,126.225,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.873,0.000,0.000,0.000
$MEM,344896
$DATA_FILE_SIZE,43329,1166
$CAP_FILE_SIZE,243774,0
$CFSIZE,260034560,179388416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.005, 36.6,1
$GPS,230213,084235,2422.054,-3814.438,33,0.8,33,-14.1