version: 66.11
glider: 190
mission: 6
dive: 550
start: 2 27 113 9 11 44
data:
$ID,190
$MISSION,6
$DIVE,550
$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,-13608.231
$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
$GPS1,270213,085934,2421.215,-3814.665,25,0.9,25,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-62.6
$GPS2,270213,091111,2421.131,-3814.598,18,0.9,18,-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,35.5,31912,-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,-155.7,0.0,0.0,0,34,0.00,0.00,-10.18,0.000,2,0.000,0.000,146,1515,1500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,10.98,2.15,-88.80,0.000,4,0.346,0.164,2574,455,3329,0,0,0,0,0,0,14.09,14.00,14.62
$GC,369,-0.84,-155.7,23.1,-9.5,34,377,0.12,1.95,0.00,0.000,6,0.269,0.090,2593,1520,3330,0,0,0,0,0,0,13.83,14.07,28.83
$GC,677,-0.84,-155.7,48.9,-8.7,65,685,0.00,2.12,0.00,0.000,4,0.000,0.141,2594,460,3330,0,0,0,0,0,0,28.83,13.88,28.83
$GC,786,-0.81,-155.7,59.5,-10.0,76,793,0.00,1.92,0.00,0.000,6,0.000,0.088,2592,1494,3330,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1096,-0.81,-155.7,92.0,-10.5,107,1103,0.00,2.08,0.00,0.000,4,0.000,0.137,2592,467,3330,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1251,-0.78,-155.7,108.7,-10.8,122,1258,0.12,1.85,0.00,0.000,6,0.261,0.085,2613,1477,3330,0,0,0,0,0,0,13.84,14.09,28.83
$GC,1562,-0.78,-155.7,133.5,-6.2,153,1569,0.00,2.03,0.00,0.000,4,0.000,0.137,2613,460,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1738,-0.78,-155.7,144.4,-5.6,171,1746,0.00,1.80,0.00,0.000,6,0.000,0.084,2609,1438,3331,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2049,-0.78,-155.7,161.7,-6.4,202,2056,0.00,1.98,0.00,0.000,4,0.000,0.137,2609,442,3331,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2208,-0.78,-155.7,173.4,-7.3,218,2216,0.00,1.77,0.00,0.000,6,0.000,0.084,2605,1407,3331,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2520,-0.78,-155.7,198.5,-8.2,249,2527,0.00,1.90,0.00,0.000,4,0.000,0.136,2605,457,3331,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2671,-0.78,-155.7,211.6,-9.1,264,2679,0.00,1.70,0.00,0.000,6,0.000,0.086,2605,1390,3331,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2979,-0.78,-155.7,236.4,-7.5,295,2986,0.00,1.88,0.00,0.000,4,0.000,0.136,2605,459,3331,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3138,-0.78,-155.7,248.0,-6.9,311,3146,0.00,1.65,0.00,0.000,6,0.000,0.085,2605,1357,3331,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3453,-0.78,-155.7,267.7,-6.4,324,3458,0.00,1.80,0.00,0.000,4,0.000,0.139,2605,460,3332,0,0,0,0,0,0,28.83,13.72,28.83
$GC,3629,-0.78,-155.7,281.0,-7.6,330,3635,0.00,1.60,0.00,0.000,6,0.000,0.086,2605,1332,3330,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3960,-0.78,-155.7,307.6,-8.5,341,3965,0.00,1.75,0.00,0.000,4,0.000,0.141,2605,458,3331,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4087,-0.78,-155.7,319.2,-9.7,345,4094,0.00,1.58,0.00,0.000,6,0.000,0.086,2605,1308,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4408,-0.78,-155.7,351.8,-10.2,356,4415,0.00,1.73,0.00,0.000,4,0.000,0.142,2605,458,3330,0,0,0,0,0,0,28.83,13.77,28.83
$GC,4598,-0.78,-155.7,371.1,-10.7,362,4605,0.00,1.50,0.00,0.000,6,0.000,0.086,2605,1277,3330,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4918,-0.78,-155.7,400.2,-7.9,373,4925,0.00,1.65,0.00,0.000,4,0.000,0.142,2605,462,3329,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5009,-0.78,-155.7,406.9,-7.5,376,5015,0.00,1.48,0.00,0.000,6,0.000,0.090,2605,1260,3328,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5341,-0.78,-155.7,425.6,-5.2,387,5348,0.00,1.62,0.00,0.000,4,0.000,0.143,2605,454,3328,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5490,-0.78,-155.7,434.6,-6.1,392,5495,0.00,1.45,0.00,0.000,6,0.000,0.089,2605,1231,3328,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5818,-0.78,-155.7,458.8,-8.3,403,5826,0.00,2.58,0.00,0.000,4,0.000,0.108,2604,2575,3327,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5868,-0.78,-155.7,461.4,-8.5,404,5876,0.00,2.65,0.00,0.000,6,0.000,0.123,2604,1240,3327,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6183,-0.80,-155.7,494.6,-10.8,415,6189,0.00,1.55,0.00,0.000,4,0.000,0.142,2604,459,3326,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6277,-0.80,-155.7,504.7,-11.1,418,6280,0.00,1.45,0.00,0.000,6,0.000,0.089,2605,1235,3326,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6595,-0.82,-155.7,536.7,-9.5,429,6600,0.00,2.55,0.00,0.000,4,0.000,0.104,2605,2578,3324,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6710,-0.85,-155.7,546.6,-8.2,433,6716,0.00,2.62,0.00,0.000,6,0.000,0.120,2604,1235,3324,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7044,-0.87,-155.7,571.2,-7.2,444,7049,0.00,2.60,0.00,0.000,4,0.000,0.108,2604,2578,3323,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7119,-0.89,-155.7,575.4,-7.0,446,7127,0.00,2.62,0.00,0.000,6,0.000,0.125,2605,1265,3323,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7434,-0.91,-155.7,601.1,-8.0,457,7440,0.00,2.55,0.00,0.000,4,0.000,0.109,2604,2585,3321,0,0,0,0,0,0,28.83,13.91,28.83
$GC,7599,-0.94,-155.7,613.2,-8.2,462,7608,0.08,2.70,0.00,0.000,6,0.096,0.123,2561,1229,3321,0,0,0,0,0,0,13.88,13.79,28.83
$GC,7914,-0.94,-155.7,642.9,-8.9,473,7919,0.00,1.50,0.00,0.000,4,0.000,0.132,2558,459,3320,0,0,0,0,0,0,28.83,13.69,28.83
$GC,7969,-0.94,-155.7,648.3,-9.0,475,7976,0.00,1.45,0.00,0.000,6,0.000,0.080,2556,1249,3320,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8299,-0.94,-155.7,674.8,-8.0,486,8307,0.00,1.58,0.00,0.000,4,0.000,0.135,2556,464,3319,0,0,0,0,0,0,28.83,13.69,28.83
$GC,8400,-0.92,-155.7,682.3,-8.3,489,8406,0.00,1.40,0.00,0.000,6,0.000,0.085,2553,1225,3318,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8719,-0.92,-155.7,708.1,-7.6,500,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1225,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9021,-0.92,-155.7,730.4,-7.4,510,9027,0.00,1.52,0.00,0.000,4,0.000,0.135,2553,459,3317,0,0,0,0,0,0,28.83,13.69,28.83
$GC,9139,-0.89,-155.7,739.4,-7.5,514,9147,0.00,1.40,0.00,0.000,6,0.000,0.090,2552,1208,3316,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9471,-0.89,-155.7,761.9,-7.3,525,9477,0.12,2.62,0.00,0.000,4,0.269,0.103,2576,2576,3315,0,0,0,0,0,0,13.95,13.83,28.83
$GC,9518,-0.89,-155.7,763.8,-7.1,526,9527,0.00,2.72,0.00,0.000,6,0.000,0.122,2576,1207,3315,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9830,-0.89,-155.7,788.2,-7.9,537,9836,0.00,1.52,0.00,0.000,4,0.000,0.140,2576,457,3313,0,0,0,0,0,0,28.83,13.64,28.83
$GC,9959,-0.89,-155.7,799.2,-9.2,541,9966,0.00,1.38,0.00,0.000,6,0.000,0.089,2571,1201,3312,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10279,-0.89,-155.7,831.7,-10.3,552,10286,0.00,2.65,0.00,0.000,4,0.000,0.106,2562,2569,3310,0,0,0,0,0,0,28.83,13.73,28.83
$GC,10410,-0.89,-155.7,843.9,-10.2,556,10416,0.00,2.70,0.00,0.000,6,0.000,0.124,2562,1198,3312,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10729,-0.89,-155.7,876.5,-9.5,567,10736,0.00,1.52,0.00,0.000,4,0.000,0.139,2563,453,3310,0,0,0,0,0,0,28.83,13.70,28.83
$GC,10798,-0.89,-155.7,881.8,-9.0,569,10805,0.00,1.42,0.00,0.000,6,0.000,0.088,2557,1215,3310,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11121,-0.89,-155.7,908.2,-7.6,580,11126,0.00,2.65,0.00,0.000,4,0.000,0.108,2552,2579,3309,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11158,-0.89,-155.7,910.4,-7.5,581,11166,0.00,2.78,0.00,0.000,6,0.000,0.128,2553,1202,3309,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11481,-0.89,-155.7,935.3,-7.7,592,11486,0.00,1.52,0.00,0.000,4,0.000,0.155,2553,451,3308,0,0,0,0,0,0,28.83,13.69,28.83
$GC,11549,-0.89,-155.7,940.1,-7.8,594,11556,0.12,1.42,0.00,0.000,6,0.281,0.093,2578,1195,3308,0,0,0,0,0,0,13.61,13.94,28.83
$GC,11873,-0.89,-155.7,965.9,-8.0,605,11878,0.00,2.70,0.00,0.000,4,0.000,0.116,2578,2575,3306,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11968,-0.89,-155.7,972.9,-7.9,608,11976,0.00,2.80,0.00,0.000,6,0.000,0.135,2578,1204,3306,0,0,0,0,0,0,28.83,13.79,28.83
$STATE,12046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12046,begin apogee
$GC,12054,-0.25,0.0,980.2,-8.0,611,12216,0.75,0.00,155.90,1.808,4,0.206,0.000,2784,1517,2692,0,0,0,0,0,0,13.71,28.83,12.97
$STATE,12222,end apogee,CONTROL_FINISHED_OK
$STATE,12222,begin climb
$GC,12226,0.90,155.7,988.0,0.0,616,12400,1.20,2.05,163.45,1.784,4,0.135,0.122,3155,2580,2057,0,0,0,0,0,0,14.04,14.02,13.00
$GC,12600,0.87,155.7,968.5,7.7,629,12606,0.00,2.12,0.00,0.000,6,0.000,0.146,3163,1528,2042,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12923,0.85,155.7,942.5,7.9,640,12928,0.00,2.20,0.00,0.000,4,0.000,0.171,3171,456,2040,0,0,0,0,0,0,28.83,14.00,28.83
$GC,13021,0.81,155.7,935.2,8.1,643,13027,0.15,2.03,0.00,0.000,6,0.272,0.099,3138,1547,2039,0,0,0,0,0,0,13.90,14.19,28.83
$GC,13343,0.81,155.7,910.0,7.8,654,13348,0.00,1.98,0.00,0.000,4,0.000,0.123,3138,2584,2037,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13569,0.81,155.7,892.7,8.3,661,13578,0.00,2.05,0.00,0.000,6,0.000,0.132,3145,1564,2035,0,0,0,0,0,0,28.83,13.95,28.83
$GC,13880,0.81,155.7,866.5,7.7,672,13886,0.00,2.00,0.00,0.000,4,0.000,0.119,3145,2579,2035,0,0,0,0,0,0,28.83,13.86,28.83
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$STATE,23651,end climb,SURFACE_DEPTH_REACHED
$STATE,23651,begin surface coast
$FINISH,1.6,1.001621
$STATE,23683,end surface coast,CONTROL_FINISHED_OK
$STATE,23683,begin surface
$SM_CCo,23708,45.20,0.126,0,0,1264,350.04
$SM_GC,2.51,8.85,0.73,45.20,0.070,0.131,0.126,143,1520,1264,-8.46,0.45,350.04,0,0,0,0,0,0,14.18,13.90,14.19
$IRIDIUM_FIX,2413.38,-3815.94,270213,020256
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.00
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,22.40
$XPDR_PINGS,3
$SC_FREEKB,7560064
$24V_AH,13.0,230.373
$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,22.950,188.400,433.025,45.200,0.000,0.000,0.000,386.200,0.750,0.000,19.573,3529.220,16415.688,867.346,2818.925,806.684,0.000,2524.565,0.000,2372.759,0.000,0.540,0.000
$DEVICE_MAMPS,345.780,171.360,1807.695,126.225,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23740.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.936,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43381,1184
$CAP_FILE_SIZE,247554,0
$CFSIZE,260034560,177692672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,147.4,1
$GPS,270213,154905,2421.699,-3814.319,40,0.8,40,-14.1