version: 66.11
glider: 190
mission: 6
dive: 542
start: 2 25 113 2 2 45
data:
$ID,190
$MISSION,6
$DIVE,542
$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,-13598.063
$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,5
$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
$GPS1,250213,014952,2420.975,-3814.920,40,0.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-60.6
$GPS2,250213,020212,2420.791,-3814.881,31,0.9,31,-14.1
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,32.3,32699,-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,-10.48,0.000,2,0.000,0.000,130,1532,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,11.07,2.15,-88.38,0.000,4,0.349,0.156,2574,455,3328,0,0,0,0,0,0,14.14,14.04,14.64
$GC,296,-0.84,-155.7,16.8,-14.6,27,303,0.12,1.95,0.00,0.000,6,0.271,0.082,2593,1529,3328,0,0,0,0,0,0,13.81,14.07,28.83
$GC,607,-0.84,-155.7,52.0,-9.5,58,614,0.00,2.15,0.00,0.000,4,0.000,0.134,2594,449,3328,0,0,0,0,0,0,28.83,13.93,28.83
$GC,686,-0.80,-155.7,60.5,-10.5,66,693,0.00,1.92,0.00,0.000,6,0.000,0.082,2592,1511,3328,0,0,0,0,0,0,28.83,14.14,28.83
$GC,995,-0.80,-155.7,88.4,-8.7,97,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1511,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.80,-155.7,114.4,-9.5,128,1313,0.00,2.08,0.00,0.000,4,0.000,0.131,2592,454,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1385,-0.77,-155.7,122.0,-8.8,136,1393,0.08,1.92,0.00,0.000,6,0.234,0.080,2612,1508,3328,0,0,0,0,0,0,13.81,14.09,28.83
$GC,1695,-0.77,-155.7,143.5,-7.2,167,1703,0.00,2.10,0.00,0.000,4,0.000,0.131,2612,455,3329,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1827,-0.77,-155.7,153.2,-7.4,180,1834,0.00,1.88,0.00,0.000,6,0.000,0.080,2606,1475,3329,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2136,-0.77,-155.7,174.1,-7.2,211,2143,0.00,2.05,0.00,0.000,4,0.000,0.102,2605,2586,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2205,-0.77,-155.7,179.2,-7.4,218,2213,0.00,2.12,0.00,0.000,6,0.000,0.113,2604,1489,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2515,-0.77,-155.7,200.5,-7.1,249,2524,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,464,3330,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2545,-0.77,-155.7,202.8,-7.1,252,2553,0.00,1.83,0.00,0.000,6,0.000,0.080,2604,1473,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2855,-0.77,-155.7,225.9,-7.4,283,2863,0.00,2.08,0.00,0.000,4,0.000,0.102,2605,2572,3329,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2999,-0.77,-155.7,235.6,-6.7,297,3007,0.00,2.12,0.00,0.000,6,0.000,0.112,2605,1462,3329,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3307,-0.77,-155.7,259.5,-7.9,320,3312,0.00,2.10,0.00,0.000,4,0.000,0.102,2604,2575,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3475,-0.79,-155.7,272.7,-8.9,325,3485,0.00,2.22,0.00,0.000,6,0.000,0.112,2604,1433,3329,0,0,0,0,0,0,28.83,13.94,28.83
$GC,3787,-0.79,-155.7,303.1,-9.0,336,3792,0.00,2.15,0.00,0.000,4,0.000,0.103,2605,2582,3329,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3955,-0.79,-155.7,314.5,-7.5,341,3965,0.00,2.33,0.00,0.000,6,0.000,0.114,2605,1394,3329,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4267,-0.79,-155.7,335.4,-6.0,352,4273,0.00,1.85,0.00,0.000,4,0.000,0.135,2604,458,3329,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4406,-0.79,-155.7,342.9,-6.3,356,4414,0.00,1.67,0.00,0.000,6,0.000,0.079,2605,1384,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4718,-0.79,-155.7,364.7,-6.9,367,4724,0.00,1.85,0.00,0.000,4,0.000,0.136,2605,450,3327,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4875,-0.79,-155.7,376.6,-8.0,372,4882,0.00,1.67,0.00,0.000,6,0.000,0.080,2605,1358,3327,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5196,-0.79,-155.7,404.4,-8.9,383,5203,0.00,1.80,0.00,0.000,4,0.000,0.135,2605,460,3326,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5266,-0.79,-155.7,409.9,-9.0,385,5272,0.00,1.58,0.00,0.000,6,0.000,0.081,2605,1328,3326,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5586,-0.79,-155.7,437.9,-8.0,396,5592,0.00,1.73,0.00,0.000,4,0.000,0.136,2605,465,3325,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5696,-0.79,-155.7,444.9,-7.9,399,5704,0.00,1.52,0.00,0.000,6,0.000,0.081,2604,1308,3325,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6007,-0.79,-155.7,467.4,-6.7,410,6012,0.00,1.70,0.00,0.000,4,0.000,0.138,2610,463,3324,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6115,-0.79,-155.7,473.4,-6.7,413,6125,0.00,1.50,0.00,0.000,6,0.000,0.081,2604,1284,3324,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6428,-0.81,-155.7,496.2,-7.2,424,6433,0.00,2.45,0.00,0.000,4,0.000,0.104,2605,2578,3323,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6487,-0.84,-155.7,500.5,-7.2,426,6492,0.00,2.53,0.00,0.000,6,0.000,0.119,2604,1285,3322,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6819,-0.86,-155.7,527.4,-8.5,437,6824,0.00,2.45,0.00,0.000,4,0.000,0.104,2604,2579,3321,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6985,-0.88,-155.7,540.0,-8.4,442,6994,0.00,2.60,0.00,0.000,6,0.000,0.117,2603,1262,3321,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7300,-0.91,-155.7,566.4,-7.6,453,7306,0.00,1.60,0.00,0.000,4,0.000,0.142,2604,461,3320,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7447,-0.91,-155.7,577.0,-7.0,458,7452,0.00,1.45,0.00,0.000,6,0.000,0.084,2604,1243,3319,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7780,-0.91,-155.7,599.3,-6.8,469,7785,0.00,1.55,0.00,0.000,4,0.000,0.142,2604,461,3318,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7846,-0.91,-155.7,603.5,-6.9,471,7852,0.00,1.42,0.00,0.000,6,0.000,0.083,2604,1229,3318,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8171,-0.93,-155.7,628.3,-7.8,482,8177,0.12,1.55,0.00,0.000,4,0.138,0.139,2548,464,3317,0,0,0,0,0,0,14.39,13.78,28.83
$GC,8287,-0.90,-155.7,639.9,-9.7,486,8294,0.10,1.35,0.00,0.000,6,0.239,0.083,2570,1197,3315,0,0,0,0,0,0,13.57,13.95,28.83
$GC,8620,-0.90,-155.7,671.9,-10.1,497,8626,0.00,2.62,0.00,0.000,4,0.000,0.106,2560,2576,3315,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8646,-0.90,-155.7,674.9,-10.2,498,8653,0.00,2.75,0.00,0.000,6,0.000,0.119,2560,1188,3315,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8976,-0.90,-155.7,707.6,-9.7,509,8983,0.00,1.45,0.00,0.000,4,0.000,0.143,2560,468,3315,0,0,0,0,0,0,28.83,13.72,28.83
$GC,9067,-0.90,-155.7,716.5,-9.8,512,9073,0.00,1.30,0.00,0.000,6,0.000,0.084,2555,1176,3314,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9396,-0.90,-155.7,746.6,-8.9,523,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1177,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9698,-0.90,-155.7,772.6,-8.6,533,9703,0.00,1.48,0.00,0.000,4,0.000,0.145,2555,465,3312,0,0,0,0,0,0,28.83,13.61,28.83
$GC,9825,-0.88,-155.7,783.1,-8.7,537,9833,0.12,1.33,0.00,0.000,6,0.272,0.084,2579,1174,3311,0,0,0,0,0,0,13.74,14.07,28.83
$GC,10150,-0.88,-155.7,810.3,-8.4,548,10155,0.00,1.48,0.00,0.000,4,0.000,0.147,2579,465,3311,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10236,-0.88,-155.7,818.0,-8.6,551,10243,0.00,1.33,0.00,0.000,6,0.000,0.087,2577,1172,3310,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10570,-0.88,-155.7,845.8,-8.2,562,10575,0.00,1.48,0.00,0.000,4,0.000,0.149,2577,465,3312,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10636,-0.88,-155.7,850.6,-8.1,564,10644,0.00,1.33,0.00,0.000,6,0.000,0.085,2573,1173,3309,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10956,-0.88,-155.7,875.8,-7.5,575,10963,0.00,2.72,0.00,0.000,4,0.000,0.109,2565,2569,3308,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10995,-0.88,-155.7,877.9,-7.4,576,11003,0.00,2.80,0.00,0.000,6,0.000,0.123,2565,1169,3307,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11318,-0.88,-155.7,901.6,-7.2,587,11323,0.00,1.45,0.00,0.000,4,0.000,0.150,2565,470,3306,0,0,0,0,0,0,28.83,13.59,28.83
$GC,11376,-0.88,-155.7,906.0,-7.3,589,11382,0.00,1.33,0.00,0.000,6,0.000,0.087,2562,1177,3306,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11708,-0.88,-155.7,930.5,-7.5,600,11713,0.00,2.72,0.00,0.000,4,0.000,0.111,2553,2578,3305,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11775,-0.88,-155.7,935.1,-7.7,602,11783,0.08,2.83,0.00,0.000,6,0.215,0.125,2575,1173,3304,0,0,0,0,0,0,13.64,13.81,28.83
$GC,12100,-0.88,-155.7,961.5,-8.2,613,12105,0.00,1.48,0.00,0.000,4,0.000,0.152,2575,467,3304,0,0,0,0,0,0,28.83,13.64,28.83
$GC,12145,-0.88,-155.7,964.0,-8.3,614,12148,0.00,1.33,0.00,0.000,6,0.000,0.088,2570,1170,3304,0,0,0,0,0,0,28.83,13.99,28.83
$STATE,12323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12323,begin apogee
$GC,12333,-0.25,0.0,981.4,-8.9,620,12494,0.77,0.00,155.10,1.836,4,0.203,0.000,2783,1524,2690,0,0,0,0,0,0,13.71,28.83,12.95
$STATE,12499,end apogee,CONTROL_FINISHED_OK
$STATE,12500,begin climb
$GC,12503,0.90,155.7,989.9,0.0,625,12673,1.17,0.00,164.50,1.811,6,0.139,0.000,3152,1525,2057,0,0,0,0,0,0,14.02,28.83,12.99
$GC,12988,0.89,178.3,966.6,6.4,642,13017,0.00,2.20,23.90,1.728,4,0.000,0.164,3158,461,1961,0,0,0,0,0,0,28.83,14.23,13.22
$GC,13176,0.87,178.3,954.0,7.6,648,13184,0.00,2.03,0.00,0.000,6,0.000,0.093,3158,1548,1955,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13488,0.87,178.3,927.6,8.4,659,13494,0.00,1.98,0.00,0.000,4,0.000,0.120,3158,2584,1953,0,0,0,0,0,0,28.83,14.21,28.83
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$STATE,24245,end climb,SURFACE_DEPTH_REACHED
$STATE,24245,begin surface coast
$FINISH,1.8,1.025816
$STATE,24257,end surface coast,CONTROL_FINISHED_OK
$STATE,24257,begin surface
$SM_CCo,24283,57.30,0.125,0,0,1263,350.04
$SM_GC,2.46,8.77,2.12,57.30,0.066,0.129,0.125,143,1520,1263,-8.47,0.48,350.04,0,0,0,0,0,0,14.23,13.90,14.26
$IRIDIUM_FIX,2413.38,-3810.76,240213,181821
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.01
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7563008
$24V_AH,13.0,227.438
$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,22.925,184.250,407.575,57.300,0.000,0.000,0.000,414.550,0.250,0.000,32.212,3565.281,16942.068,884.712,2867.959,806.258,0.000,2577.722,0.000,2391.903,0.000,0.540,0.000
$DEVICE_MAMPS,348.840,163.710,1836.000,124.695,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24314.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.841,0.000,0.000,0.000
$MEM,344956
$DATA_FILE_SIZE,46664,1202
$CAP_FILE_SIZE,252363,0
$CFSIZE,260034560,178581504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,173.5,1
$GPS,250213,084954,2420.586,-3814.883,41,0.8,41,-14.1