version: 66.11
glider: 190
mission: 6
dive: 545
start: 2 25 113 22 32 45
data:
$ID,190
$MISSION,6
$DIVE,545
$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,-13601.938
$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,12
$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
$GPS1,250213,222034,2420.242,-3815.053,28,0.8,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-66.9
$GPS2,250213,223212,2420.128,-3814.998,22,0.8,22,-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,25.4,33754,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.90,-155.7,0.0,0.0,0,36,0.00,0.00,-10.38,0.000,2,0.000,0.000,139,1514,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.90,-155.7,2.6,0.0,1,146,11.07,2.03,-85.32,0.000,4,0.349,0.125,2571,2576,3329,0,0,0,0,0,0,14.08,14.14,14.71
$GC,187,-0.85,-155.7,6.5,-8.7,16,195,0.00,2.05,0.00,0.000,6,0.000,0.117,2571,1524,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,501,-0.82,-155.7,33.6,-8.3,47,508,0.12,2.10,0.00,0.000,4,0.256,0.136,2605,458,3330,0,0,0,0,0,0,14.09,13.93,28.83
$GC,547,-0.79,-155.7,37.7,-8.2,52,555,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1516,3330,0,0,0,0,0,0,28.83,14.11,28.83
$GC,861,-0.79,-155.7,62.5,-8.3,83,868,0.00,2.10,0.00,0.000,4,0.000,0.132,2605,452,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,947,-0.79,-155.7,70.6,-9.3,92,955,0.00,1.92,0.00,0.000,6,0.000,0.085,2605,1500,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1258,-0.79,-155.7,98.0,-9.1,123,1266,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,458,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1408,-0.79,-155.7,112.9,-10.1,138,1415,0.00,1.88,0.00,0.000,6,0.000,0.083,2604,1482,3330,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1718,-0.79,-155.7,138.4,-7.6,169,1727,0.00,2.05,0.00,0.000,4,0.000,0.137,2604,461,3330,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1777,-0.77,-155.7,143.1,-7.9,175,1786,0.00,1.85,0.00,0.000,6,0.000,0.084,2605,1474,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2088,-0.77,-155.7,163.5,-7.2,206,2095,0.00,2.03,0.00,0.000,4,0.000,0.136,2604,462,3331,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2188,-0.77,-155.7,171.3,-8.2,216,2195,0.00,1.80,0.00,0.000,6,0.000,0.084,2605,1442,3331,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2497,-0.77,-155.7,197.5,-8.9,247,2506,0.00,1.98,0.00,0.000,4,0.000,0.136,2605,455,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2649,-0.77,-155.7,211.8,-9.8,262,2655,0.00,1.75,0.00,0.000,6,0.000,0.083,2605,1426,3331,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2957,-0.77,-155.7,239.6,-8.4,293,2967,0.00,1.95,0.00,0.000,4,0.000,0.137,2605,455,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3058,-0.77,-155.7,248.2,-8.3,303,3065,0.00,1.75,0.00,0.000,6,0.000,0.085,2605,1410,3331,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3387,-0.77,-155.7,275.1,-8.2,316,3394,0.00,1.90,0.00,0.000,4,0.000,0.137,2605,461,3331,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3516,-0.77,-155.7,285.2,-8.4,320,3524,0.00,1.73,0.00,0.000,6,0.000,0.085,2605,1396,3331,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3838,-0.77,-155.7,311.5,-7.9,331,3845,0.00,1.88,0.00,0.000,4,0.000,0.138,2604,455,3331,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3976,-0.77,-155.7,321.8,-8.6,335,3985,0.00,1.70,0.00,0.000,6,0.000,0.086,2605,1375,3330,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4288,-0.77,-155.7,350.4,-8.7,346,4294,0.00,1.85,0.00,0.000,4,0.000,0.140,2605,454,3329,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4409,-0.77,-155.7,361.1,-8.9,350,4414,0.00,1.62,0.00,0.000,6,0.000,0.087,2605,1348,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4738,-0.77,-155.7,386.2,-6.9,361,4744,0.00,1.80,0.00,0.000,4,0.000,0.141,2605,457,3329,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4807,-0.77,-155.7,390.5,-7.0,363,4814,0.00,1.62,0.00,0.000,6,0.000,0.086,2604,1346,3328,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5130,-0.79,-155.7,410.4,-5.8,374,5135,0.00,1.75,0.00,0.000,4,0.000,0.141,2605,458,3328,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5197,-0.79,-155.7,414.1,-5.9,376,5204,0.00,1.58,0.00,0.000,6,0.000,0.086,2605,1310,3327,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5518,-0.79,-155.7,434.7,-6.7,387,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1310,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5819,-0.81,-155.7,457.7,-8.2,397,5824,0.00,1.73,0.00,0.000,4,0.000,0.142,2605,452,3326,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5916,-0.81,-155.7,466.0,-9.0,400,5924,0.00,1.58,0.00,0.000,6,0.000,0.087,2605,1300,3326,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6237,-0.81,-155.7,497.9,-10.0,411,6245,0.00,1.70,0.00,0.000,4,0.000,0.142,2604,460,3325,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6317,-0.81,-155.7,504.0,-10.1,413,6326,0.00,1.50,0.00,0.000,6,0.000,0.088,2605,1279,3325,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6628,-0.83,-155.7,533.7,-8.5,424,6634,0.00,1.65,0.00,0.000,4,0.000,0.142,2604,464,3324,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6706,-0.83,-155.7,538.6,-8.3,426,6709,0.00,1.48,0.00,0.000,6,0.000,0.089,2605,1258,3324,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7009,-0.85,-155.7,563.8,-7.9,436,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1258,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7308,-0.88,-155.7,588.0,-8.3,446,7314,0.00,1.62,0.00,0.000,4,0.000,0.144,2605,458,3321,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7466,-0.88,-155.7,601.5,-9.2,451,7469,0.00,1.48,0.00,0.000,6,0.000,0.088,2605,1249,3321,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7782,-0.90,-155.7,632.9,-10.1,462,7787,0.00,1.60,0.00,0.000,4,0.000,0.145,2605,458,3320,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7857,-0.90,-155.7,639.1,-10.2,464,7861,0.00,1.45,0.00,0.000,6,0.000,0.089,2605,1233,3320,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8160,-0.92,-155.7,669.6,-9.0,474,8167,0.00,1.60,0.00,0.000,4,0.000,0.148,2605,459,3319,0,0,0,0,0,0,28.83,13.70,28.83
$GC,8288,-0.92,-155.7,679.6,-8.3,478,8295,0.00,1.52,0.00,0.000,6,0.000,0.091,2605,1272,3318,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8610,-0.94,-155.7,700.2,-5.5,489,8616,0.12,1.65,0.00,0.000,4,0.139,0.148,2552,455,3317,0,0,0,0,0,0,14.55,13.75,28.83
$GC,8709,-0.94,-155.7,705.7,-5.9,492,8715,0.00,1.58,0.00,0.000,6,0.000,0.092,2552,1298,3317,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9029,-0.94,-155.7,726.2,-6.5,503,9035,0.00,2.45,0.00,0.000,4,0.000,0.106,2549,2577,3316,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9078,-0.94,-155.7,728.0,-6.4,504,9087,0.00,2.50,0.00,0.000,6,0.000,0.118,2549,1306,3316,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9390,-0.94,-155.7,754.3,-8.9,515,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1306,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9689,-0.94,-155.7,783.2,-9.8,525,9695,0.00,1.70,0.00,0.000,4,0.000,0.139,2549,464,3313,0,0,0,0,0,0,28.83,13.70,28.83
$GC,9748,-0.94,-155.7,789.2,-9.9,527,9755,0.00,1.60,0.00,0.000,6,0.000,0.089,2549,1319,3313,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10080,-0.94,-155.7,820.2,-9.2,538,10086,0.00,1.75,0.00,0.000,4,0.000,0.151,2549,458,3312,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10138,-0.94,-155.7,825.5,-9.1,540,10145,0.00,1.60,0.00,0.000,6,0.000,0.091,2549,1307,3311,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10469,-0.94,-155.7,850.8,-7.1,551,10475,0.00,2.45,0.00,0.000,4,0.000,0.115,2549,2575,3311,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10519,-0.94,-155.7,852.8,-7.0,552,10527,0.00,2.55,0.00,0.000,6,0.000,0.133,2550,1295,3311,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10829,-0.94,-155.7,874.7,-6.8,563,10835,0.00,1.70,0.00,0.000,4,0.000,0.146,2550,463,3310,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10878,-0.94,-155.7,876.8,-6.8,564,10888,0.00,1.58,0.00,0.000,6,0.000,0.090,2549,1302,3309,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11190,-0.94,-155.7,901.7,-8.1,575,11195,0.00,2.47,0.00,0.000,4,0.000,0.118,2549,2578,3309,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11257,-0.94,-155.7,906.4,-8.0,577,11265,0.00,2.60,0.00,0.000,6,0.000,0.129,2549,1299,3308,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11578,-0.94,-155.7,933.9,-8.5,588,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1299,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11880,-0.94,-155.7,959.5,-8.4,598,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1299,3306,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12146,begin apogee
$GC,12154,-0.25,0.0,982.3,-8.5,607,12316,0.85,0.00,156.27,1.819,4,0.209,0.000,2781,1519,2691,0,0,0,0,0,0,13.54,28.83,12.94
$STATE,12317,end apogee,CONTROL_FINISHED_OK
$STATE,12317,begin climb
$GC,12321,0.90,155.7,989.4,0.0,612,12500,1.25,2.17,166.32,1.853,4,0.154,0.158,3155,457,2055,0,0,0,0,0,0,13.99,13.92,12.94
$GC,12679,0.86,155.7,970.8,7.8,624,12688,0.00,1.98,0.00,0.000,6,0.000,0.099,3155,1511,2043,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12994,0.84,155.7,946.2,7.2,635,13000,0.00,2.17,0.00,0.000,4,0.000,0.174,3163,454,2041,0,0,0,0,0,0,28.83,14.00,28.83
$GC,13080,0.81,155.7,939.5,7.3,638,13087,0.08,2.05,0.00,0.000,6,0.267,0.104,3136,1538,2039,0,0,0,0,0,0,13.89,14.14,28.83
$GC,13414,0.83,178.7,918.3,6.4,649,13442,0.00,2.22,23.25,1.715,4,0.000,0.164,3144,455,1961,0,0,0,0,0,0,28.83,14.28,13.29
$GC,13620,0.83,178.7,903.7,7.5,656,13627,0.00,2.10,0.00,0.000,6,0.000,0.100,3144,1565,1953,0,0,0,0,0,0,28.83,14.24,28.83
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$STATE,23781,end climb,SURFACE_DEPTH_REACHED
$STATE,23786,begin surface coast
$FINISH,1.5,1.011811
$STATE,23813,end surface coast,CONTROL_FINISHED_OK
$STATE,23813,begin surface
$SM_CCo,23837,24.05,0.128,0,0,1264,350.04
$SM_GC,2.53,8.90,0.70,24.05,0.066,0.146,0.128,136,1512,1264,-8.48,0.14,350.04,0,0,0,0,0,0,14.28,13.95,14.20
$IRIDIUM_FIX,2413.38,-3812.62,250213,151526
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.19
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.50
$XPDR_PINGS,4
$SC_FREEKB,7561984
$24V_AH,12.9,228.539
$10V_AH,12.1,0.000
$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,23.100,185.350,473.500,24.050,0.000,0.000,0.000,384.875,1.000,0.000,23.250,3436.992,16771.947,890.417,2692.502,755.662,0.000,2515.476,0.000,2229.309,0.000,0.540,0.000
$DEVICE_MAMPS,348.840,173.655,1852.830,127.755,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.332,0.000,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,43274,1167
$CAP_FILE_SIZE,217514,0
$CFSIZE,260034560,178278400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,165.0,1
$GPS,260213,051152,2420.356,-3814.850,37,0.9,37,-14.1