version: 66.11
glider: 190
mission: 6
dive: 543
start: 2 25 113 9 2 8
data:
$ID,190
$MISSION,6
$DIVE,543
$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,-13599.324
$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,9
$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
$GPS1,250213,084954,2420.586,-3814.883,41,0.8,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-62.8
$GPS2,250213,090135,2420.471,-3814.844,19,0.8,19,-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,17.8,33103,-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,-10.50,0.000,2,0.000,0.000,141,1517,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,143,10.90,0.00,-88.55,0.000,6,0.342,0.000,2579,1518,3328,0,0,0,0,0,0,14.19,28.83,14.64
$GC,446,-0.87,-155.7,29.1,-9.3,42,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1518,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,756,-0.84,-155.7,53.4,-8.2,73,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1518,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-0.84,-155.7,80.3,-8.3,104,1073,0.00,2.08,0.00,0.000,4,0.000,0.123,2579,458,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1155,-0.80,-155.7,87.3,-8.2,113,1164,0.10,1.95,0.00,0.000,6,0.240,0.076,2604,1523,3329,0,0,0,0,0,0,13.74,14.05,28.83
$GC,1465,-0.80,-155.7,110.8,-8.2,144,1473,0.00,2.12,0.00,0.000,4,0.000,0.129,2604,458,3328,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1504,-0.80,-155.7,113.9,-7.9,148,1513,0.00,1.92,0.00,0.000,6,0.000,0.075,2604,1523,3329,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1815,-0.80,-155.7,136.1,-7.1,179,1825,0.00,2.12,0.00,0.000,4,0.000,0.127,2604,461,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1969,-0.80,-155.7,147.8,-7.6,194,1976,0.00,1.88,0.00,0.000,6,0.000,0.079,2604,1500,3330,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2276,-0.80,-155.7,169.6,-7.2,225,2284,0.00,2.05,0.00,0.000,4,0.000,0.128,2604,454,3330,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2418,-0.80,-155.7,179.6,-7.1,239,2425,0.00,1.85,0.00,0.000,6,0.000,0.078,2605,1480,3329,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2726,-0.80,-155.7,199.3,-6.8,270,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1480,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3035,-0.80,-155.7,223.5,-7.7,301,3044,0.00,2.03,0.00,0.000,4,0.000,0.126,2604,457,3330,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3127,-0.80,-155.7,230.9,-8.4,310,3133,0.00,1.85,0.00,0.000,6,0.000,0.076,2605,1488,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3447,-0.80,-155.7,255.2,-7.5,338,3453,0.00,2.03,0.00,0.000,4,0.000,0.128,2605,454,3330,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3584,-0.80,-155.7,264.1,-7.4,342,3592,0.00,1.85,0.00,0.000,6,0.000,0.079,2604,1459,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3895,-0.80,-155.7,288.4,-7.6,353,3902,0.00,2.08,0.00,0.000,4,0.000,0.096,2604,2568,3329,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3966,-0.80,-155.7,292.8,-7.5,355,3972,0.00,2.15,0.00,0.000,6,0.000,0.110,2605,1458,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4286,-0.80,-155.7,318.2,-7.9,366,4292,0.00,1.98,0.00,0.000,4,0.000,0.125,2605,457,3329,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4385,-0.80,-155.7,325.7,-8.3,369,4392,0.00,1.83,0.00,0.000,6,0.000,0.078,2604,1461,3329,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4708,-0.82,-155.7,353.4,-8.7,380,4714,0.00,1.98,0.00,0.000,4,0.000,0.130,2604,458,3328,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4766,-0.82,-155.7,359.0,-9.1,382,4772,0.00,1.80,0.00,0.000,6,0.000,0.079,2604,1445,3326,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5100,-0.84,-155.7,390.4,-9.6,393,5105,0.00,1.98,0.00,0.000,4,0.000,0.132,2604,452,3327,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5165,-0.84,-155.7,396.4,-9.7,395,5172,0.00,1.80,0.00,0.000,6,0.000,0.080,2604,1431,3327,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5490,-0.86,-155.7,426.9,-8.9,406,5496,0.00,1.90,0.00,0.000,4,0.000,0.133,2604,458,3326,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5534,-0.86,-155.7,429.7,-8.9,407,5542,0.00,1.77,0.00,0.000,6,0.000,0.081,2604,1421,3326,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5847,-0.88,-155.7,457.4,-8.4,418,5853,0.00,2.15,0.00,0.000,4,0.000,0.099,2604,2574,3325,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5944,-0.90,-155.7,464.5,-7.9,421,5952,0.00,2.22,0.00,0.000,6,0.000,0.108,2604,1418,3325,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6268,-0.93,-155.7,490.3,-7.8,432,6274,0.00,1.90,0.00,0.000,4,0.000,0.132,2604,455,3323,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6296,-0.93,-155.7,492.4,-7.7,433,6302,0.00,1.75,0.00,0.000,6,0.000,0.085,2604,1399,3324,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6630,-0.95,-155.7,514.2,-6.1,444,6636,0.12,1.88,0.00,0.000,4,0.138,0.135,2543,454,3322,0,0,0,0,0,0,14.38,13.83,28.83
$GC,6657,-0.95,-155.7,516.1,-6.2,445,6662,0.00,1.70,0.00,0.000,6,0.000,0.085,2540,1388,3322,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6989,-0.92,-155.7,539.7,-7.5,456,6994,0.12,2.22,0.00,0.000,4,0.267,0.104,2565,2570,3322,0,0,0,0,0,0,14.04,13.97,28.83
$GC,7146,-0.92,-155.7,551.0,-7.5,461,7152,0.00,2.35,0.00,0.000,6,0.000,0.119,2565,1381,3322,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7465,-0.92,-155.7,579.2,-9.1,472,7472,0.00,1.85,0.00,0.000,4,0.000,0.136,2565,459,3320,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7585,-0.90,-155.7,591.3,-10.0,476,7591,0.00,1.65,0.00,0.000,6,0.000,0.083,2558,1359,3321,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7916,-0.90,-155.7,624.5,-10.2,487,7922,0.00,1.80,0.00,0.000,4,0.000,0.138,2558,458,3319,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8065,-0.86,-155.7,639.9,-10.4,492,8072,0.10,1.62,0.00,0.000,6,0.234,0.083,2580,1338,3319,0,0,0,0,0,0,13.65,14.00,28.83
$GC,8399,-0.86,-155.7,669.4,-8.6,503,8405,0.00,1.77,0.00,0.000,4,0.000,0.140,2581,458,3318,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8525,-0.86,-155.7,679.8,-8.6,507,8532,0.00,1.60,0.00,0.000,6,0.000,0.086,2579,1315,3316,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8847,-0.86,-155.7,705.6,-7.7,518,8852,0.00,1.75,0.00,0.000,4,0.000,0.143,2579,450,3316,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8935,-0.86,-155.7,712.9,-8.0,521,8941,0.00,1.58,0.00,0.000,6,0.000,0.086,2576,1297,3315,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9267,-0.86,-155.7,739.4,-8.3,532,9272,0.00,2.45,0.00,0.000,4,0.000,0.108,2567,2575,3314,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9364,-0.86,-155.7,746.6,-8.1,535,9372,0.00,2.50,0.00,0.000,6,0.000,0.116,2567,1308,3313,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9686,-0.86,-155.7,774.1,-8.4,546,9692,0.00,2.42,0.00,0.000,4,0.000,0.107,2558,2570,3313,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9746,-0.86,-155.7,779.1,-8.4,548,9752,0.12,2.47,0.00,0.000,6,0.232,0.123,2587,1318,3313,0,0,0,0,0,0,13.79,13.88,28.83
$GC,10078,-0.86,-155.7,806.0,-8.2,559,10084,0.00,2.45,0.00,0.000,4,0.000,0.109,2578,2575,3311,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10136,-0.86,-155.7,810.9,-8.2,561,10142,0.00,2.45,0.00,0.000,6,0.000,0.122,2578,1327,3311,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10468,-0.86,-155.7,836.9,-7.9,572,10473,0.00,2.42,0.00,0.000,4,0.000,0.106,2570,2575,3310,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10596,-0.86,-155.7,846.3,-7.8,576,10603,0.00,2.40,0.00,0.000,6,0.000,0.117,2570,1344,3310,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10915,-0.86,-155.7,873.9,-8.5,587,10922,0.00,2.40,0.00,0.000,4,0.000,0.109,2562,2564,3308,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10994,-0.86,-155.7,879.0,-8.5,589,11004,0.12,2.42,0.00,0.000,6,0.233,0.124,2591,1365,3308,0,0,0,0,0,0,13.74,13.83,28.83
$GC,11309,-0.86,-155.7,906.0,-8.1,600,11315,0.00,2.35,0.00,0.000,4,0.000,0.108,2584,2575,3307,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11405,-0.89,-155.7,913.2,-7.9,603,11412,0.00,2.35,0.00,0.000,6,0.000,0.118,2583,1395,3306,0,0,0,0,0,0,28.83,13.72,28.83
$GC,11727,-0.89,-155.7,938.4,-7.5,614,11732,0.00,2.30,0.00,0.000,4,0.000,0.110,2576,2570,3306,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11794,-0.89,-155.7,942.7,-7.2,616,11803,0.00,2.38,0.00,0.000,6,0.000,0.125,2576,1404,3304,0,0,0,0,0,0,28.83,13.77,28.83
$GC,12120,-0.89,-155.7,965.3,-6.7,627,12121,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1404,3304,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12352,begin apogee
$GC,12360,-0.25,0.0,981.1,-6.7,635,12523,0.75,0.00,155.50,1.837,4,0.195,0.000,2784,1512,2689,0,0,0,0,0,0,13.70,28.83,12.94
$STATE,12529,end apogee,CONTROL_FINISHED_OK
$STATE,12529,begin climb
$GC,12532,0.90,155.7,987.0,0.0,640,12708,1.23,2.15,165.32,1.844,4,0.151,0.152,3154,456,2059,0,0,0,0,0,0,14.03,13.98,12.95
$GC,12908,0.87,155.7,965.9,8.1,652,12916,0.00,1.98,0.00,0.000,6,0.000,0.094,3154,1518,2042,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13217,0.87,155.7,939.7,8.1,663,13224,0.00,2.17,0.00,0.000,4,0.000,0.158,3162,460,2040,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13297,0.84,155.7,934.6,8.3,665,13305,0.00,2.03,0.00,0.000,6,0.000,0.095,3162,1538,2040,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13612,0.82,155.7,905.4,9.3,676,13618,0.00,1.98,0.00,0.000,4,0.000,0.113,3162,2580,2038,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,23198,end climb,SURFACE_DEPTH_REACHED
$STATE,23198,begin surface coast
$FINISH,1.5,1.006835
$STATE,23224,end surface coast,CONTROL_FINISHED_OK
$STATE,23224,begin surface
$SM_CCo,23247,19.52,0.128,0,0,1265,350.04
$SM_GC,2.50,9.00,0.73,19.52,0.074,0.139,0.128,140,1520,1265,-8.47,0.40,350.04,0,0,0,0,0,0,14.27,13.95,14.21
$IRIDIUM_FIX,2411.01,-3814.48,250213,010152
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.06
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,3
$SC_FREEKB,7562624
$24V_AH,12.9,227.834
$10V_AH,12.0,0.000
$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,23.000,190.200,485.750,19.525,0.000,0.000,0.000,390.175,0.750,0.000,20.418,3426.934,16081.104,908.420,2738.346,799.365,0.000,2547.482,0.000,2297.027,0.000,0.541,0.000
$DEVICE_MAMPS,341.955,157.590,1843.650,127.755,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23280.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.959,0.000,0.000,0.000
$MEM,344936
$DATA_FILE_SIZE,43319,1170
$CAP_FILE_SIZE,245578,0
$CFSIZE,260034560,178479104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,161.0,1
$GPS,250213,153123,2420.431,-3814.729,41,0.8,41,-14.1