version: 66.11
glider: 190
mission: 6
dive: 551
start: 2 27 113 16 1 48
data:
$ID,190
$MISSION,6
$DIVE,551
$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,-13609.489
$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,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,0.00018
$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
$GPS1,270213,154905,2421.699,-3814.319,40,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-62.4
$GPS2,270213,160117,2421.645,-3814.176,22,0.9,22,-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,32.4,30727,-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,-1.37,-155.7,0.0,0.0,0,34,0.00,0.00,-10.40,0.000,2,0.000,0.000,142,1517,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.37,-155.7,2.5,0.0,1,144,10.40,2.08,-87.20,0.000,4,0.348,0.151,2439,453,3329,0,0,0,0,0,0,14.07,14.03,14.63
$GC,379,-1.22,-155.7,33.8,-14.5,35,386,0.25,1.95,0.00,0.000,6,0.288,0.081,2487,1529,3329,0,0,0,0,0,0,13.63,14.10,28.83
$GC,688,-1.13,-155.7,72.7,-12.2,66,695,0.12,2.15,0.00,0.000,4,0.282,0.132,2519,454,3329,0,0,0,0,0,0,13.88,13.85,28.83
$GC,829,-1.04,-155.7,89.2,-11.4,80,836,0.15,1.95,0.00,0.000,6,0.278,0.081,2544,1524,3330,0,0,0,0,0,0,13.75,14.09,28.83
$GC,1140,-0.99,-155.7,114.9,-6.7,111,1147,0.00,1.98,0.00,0.000,4,0.000,0.102,2537,2577,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1197,-0.94,-155.7,118.9,-6.7,117,1206,0.12,2.10,0.00,0.000,6,0.211,0.112,2573,1503,3330,0,0,0,0,0,0,13.73,13.88,28.83
$GC,1510,-0.94,-155.7,140.2,-7.9,148,1517,0.00,2.03,0.00,0.000,4,0.000,0.133,2573,461,3330,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1577,-0.90,-155.7,146.4,-9.2,155,1584,0.00,1.90,0.00,0.000,6,0.000,0.081,2566,1499,3332,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1887,-0.90,-155.7,175.6,-9.5,186,1894,0.00,2.05,0.00,0.000,4,0.000,0.134,2566,455,3330,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1958,-0.86,-155.7,182.3,-9.6,193,1966,0.17,1.88,0.00,0.000,6,0.249,0.080,2600,1487,3330,0,0,0,0,0,0,13.71,14.12,28.83
$GC,2270,-0.86,-155.7,208.5,-8.6,224,2277,0.00,2.05,0.00,0.000,4,0.000,0.133,2602,456,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2347,-0.86,-155.7,215.9,-9.4,232,2354,0.00,1.85,0.00,0.000,6,0.000,0.081,2596,1468,3330,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2656,-0.86,-155.7,245.1,-9.4,263,2664,0.00,2.03,0.00,0.000,4,0.000,0.133,2596,457,3330,0,0,0,0,0,0,28.83,13.77,28.83
$GC,2787,-0.86,-155.7,257.0,-9.8,271,2793,0.00,1.83,0.00,0.000,6,0.000,0.081,2592,1450,3330,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3106,-0.86,-155.7,283.5,-7.4,282,3113,0.00,1.98,0.00,0.000,4,0.000,0.133,2592,460,3330,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3287,-0.86,-155.7,296.7,-7.2,288,3293,0.00,1.75,0.00,0.000,6,0.000,0.082,2587,1420,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3618,-0.86,-155.7,320.5,-7.8,299,3623,0.00,1.88,0.00,0.000,4,0.000,0.133,2587,461,3330,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3686,-0.86,-155.7,326.0,-8.5,301,3692,0.00,1.75,0.00,0.000,6,0.000,0.082,2581,1409,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4008,-0.86,-155.7,359.2,-10.5,312,4014,0.00,1.90,0.00,0.000,4,0.000,0.134,2581,457,3328,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4219,-0.86,-155.7,381.8,-10.6,319,4225,0.12,1.70,0.00,0.000,6,0.262,0.083,2604,1389,3328,0,0,0,0,0,0,13.81,14.07,28.83
$GC,4551,-0.86,-155.7,408.4,-7.0,330,4556,0.00,1.85,0.00,0.000,4,0.000,0.137,2605,460,3327,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4769,-0.86,-155.7,421.5,-6.0,337,4774,0.00,1.65,0.00,0.000,6,0.000,0.085,2605,1354,3327,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5091,-0.86,-155.7,436.6,-4.4,348,5097,0.00,2.33,0.00,0.000,4,0.000,0.109,2605,2576,3326,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5126,-0.86,-155.7,438.1,-4.5,349,5133,0.00,2.42,0.00,0.000,6,0.000,0.118,2605,1344,3326,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5452,-0.88,-155.7,459.0,-7.4,360,5457,0.00,1.77,0.00,0.000,4,0.000,0.142,2605,455,3325,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5596,-0.88,-155.7,471.9,-8.6,365,5604,0.00,1.62,0.00,0.000,6,0.000,0.085,2605,1334,3325,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5932,-0.90,-155.7,503.2,-9.8,376,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1334,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,-0.90,-155.7,532.7,-9.5,386,6233,0.00,1.77,0.00,0.000,4,0.000,0.143,2604,464,3323,0,0,0,0,0,0,28.83,13.67,28.83
$GC,6316,-0.90,-155.7,541.2,-9.5,389,6324,0.00,1.62,0.00,0.000,6,0.000,0.086,2604,1335,3322,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6652,-0.93,-155.7,564.5,-6.3,400,6657,0.00,2.38,0.00,0.000,4,0.000,0.108,2605,2576,3321,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6756,-0.95,-155.7,569.9,-5.9,403,6766,0.00,2.47,0.00,0.000,6,0.000,0.122,2604,1330,3321,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7069,-0.98,-155.7,591.9,-7.4,414,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1330,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7368,-1.00,-155.7,618.9,-9.9,424,7374,0.12,2.40,0.00,0.000,4,0.132,0.109,2545,2579,3319,0,0,0,0,0,0,14.47,13.87,28.83
$GC,7437,-1.00,-155.7,625.2,-10.3,426,7444,0.00,2.47,0.00,0.000,6,0.000,0.122,2545,1343,3319,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7757,-1.00,-155.7,663.0,-11.5,437,7764,0.00,1.80,0.00,0.000,4,0.000,0.143,2545,458,3318,0,0,0,0,0,0,28.83,13.66,28.83
$GC,7941,-0.96,-155.7,683.7,-11.5,443,7947,0.15,1.58,0.00,0.000,6,0.259,0.086,2573,1316,3317,0,0,0,0,0,0,13.65,13.95,28.83
$GC,8269,-0.96,-155.7,718.0,-10.3,454,8274,0.00,1.75,0.00,0.000,4,0.000,0.145,2573,459,3316,0,0,0,0,0,0,28.83,13.73,28.83
$GC,8427,-0.96,-155.7,733.8,-10.5,459,8433,0.00,1.55,0.00,0.000,6,0.000,0.089,2567,1290,3315,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8747,-0.96,-155.7,765.0,-9.0,470,8753,0.00,1.70,0.00,0.000,4,0.000,0.143,2567,462,3315,0,0,0,0,0,0,28.83,13.61,28.83
$GC,8846,-0.96,-155.7,773.4,-9.2,473,8853,0.00,1.55,0.00,0.000,6,0.000,0.089,2565,1285,3314,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9172,-0.96,-155.7,797.0,-6.3,484,9177,0.00,1.70,0.00,0.000,4,0.000,0.147,2566,458,3313,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9326,-0.96,-155.7,806.8,-6.5,489,9333,0.00,1.52,0.00,0.000,6,0.000,0.091,2562,1260,3312,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9649,-0.96,-155.7,829.3,-7.4,500,9654,0.00,1.65,0.00,0.000,4,0.000,0.153,2562,462,3311,0,0,0,0,0,0,28.83,13.70,28.83
$GC,9806,-0.96,-155.7,842.3,-8.9,505,9812,0.00,1.48,0.00,0.000,6,0.000,0.091,2558,1235,3311,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10129,-0.96,-155.7,874.4,-10.1,516,10134,0.00,1.60,0.00,0.000,4,0.000,0.154,2558,462,3310,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10296,-0.94,-155.7,890.5,-10.8,521,10304,0.00,1.42,0.00,0.000,6,0.000,0.093,2554,1213,3309,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10608,-0.94,-155.7,923.9,-9.9,532,10614,0.00,1.58,0.00,0.000,4,0.000,0.156,2553,471,3308,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10697,-0.94,-155.7,932.8,-9.9,535,10704,0.10,1.33,0.00,0.000,6,0.239,0.082,2576,1185,3308,0,0,0,0,0,0,13.53,13.95,28.83
$GC,11031,-0.94,-155.7,960.5,-7.9,546,11036,0.00,1.50,0.00,0.000,4,0.000,0.144,2577,442,3306,0,0,0,0,0,0,28.83,13.66,28.83
$GC,11116,-0.94,-155.7,967.5,-7.9,549,11124,0.00,1.38,0.00,0.000,6,0.000,0.083,2572,1178,3306,0,0,0,0,0,0,28.83,13.97,28.83
$STATE,11293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11293,begin apogee
$GC,11303,-0.42,0.0,980.3,-7.2,555,11506,0.62,0.00,191.12,1.818,4,0.207,0.000,2741,1523,2696,0,0,0,0,1,0,13.67,28.83,12.66
$STATE,11510,end apogee,CONTROL_FINISHED_OK
$STATE,11510,begin climb
$GC,11514,1.37,155.7,988.1,0.0,562,11696,1.88,0.00,172.25,2.477,6,0.152,0.000,3316,1524,2059,0,0,0,0,1,0,13.97,28.83,12.67
$GC,12011,1.24,155.7,944.1,11.1,579,12017,0.12,1.95,0.00,0.000,4,0.344,0.112,3292,2580,2064,0,0,0,0,0,0,14.02,14.25,28.83
$GC,12120,1.13,155.7,934.5,10.8,582,12130,0.17,2.10,0.00,0.000,6,0.314,0.138,3257,1530,2063,0,0,0,0,0,0,13.79,14.06,28.83
$GC,12434,1.04,155.7,903.3,9.4,593,12436,0.15,0.00,0.00,0.000,6,0.340,0.000,3227,1531,2062,0,0,0,0,0,0,13.85,28.83,28.83
$GC,12731,0.97,155.7,876.7,8.9,603,12736,0.00,2.03,0.00,0.000,4,0.000,0.117,3226,2586,2062,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12850,0.90,155.7,866.2,8.7,607,12857,0.22,2.12,0.00,0.000,6,0.297,0.135,3180,1524,2060,0,0,0,0,0,0,13.66,13.95,28.83
$GC,13184,0.86,155.7,840.9,7.6,618,13190,0.00,2.05,0.00,0.000,4,0.000,0.122,3180,2577,2060,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13349,0.82,155.7,829.7,7.5,623,13358,0.15,2.12,0.00,0.000,6,0.297,0.134,3152,1529,2060,0,0,0,0,0,0,13.69,13.94,28.83
$GC,13664,0.82,157.2,806.7,7.1,634,13669,0.00,2.08,0.00,0.000,4,0.000,0.124,3152,2584,2059,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13881,0.82,157.2,791.3,7.5,641,13888,0.00,2.05,0.00,0.000,6,0.000,0.138,3159,1567,2059,0,0,0,0,0,0,28.83,13.85,28.83
$GC,14204,0.79,157.2,763.3,8.5,652,14211,0.00,2.00,0.00,0.000,4,0.000,0.125,3159,2576,2059,0,0,0,0,0,0,28.83,13.93,28.83
$GC,14440,0.77,157.2,743.0,8.5,660,14448,0.10,2.00,0.00,0.000,6,0.259,0.141,3140,1602,2058,0,0,0,0,0,0,13.61,13.78,28.83
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$STATE,23183,end climb,SURFACE_DEPTH_REACHED
$STATE,23183,begin surface coast
$FINISH,1.6,1.012596
$STATE,23214,end surface coast,CONTROL_FINISHED_OK
$STATE,23214,begin surface
$SM_CCo,23238,50.75,0.126,0,0,1266,350.04
$SM_GC,2.46,8.95,0.73,50.75,0.072,0.148,0.126,149,1515,1266,-8.51,0.25,350.04,0,0,0,0,0,0,14.11,13.88,14.20
$IRIDIUM_FIX,2411.01,-3817.80,270213,090942
$TT8_MAMPS,0.024717,0.024717
$HUMID,59.68
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.40
$XPDR_PINGS,5
$SC_FREEKB,7559680
$24V_AH,12.7,230.791
$10V_AH,12.6,0.000
$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,24.350,168.500,491.150,50.750,0.000,0.000,0.000,410.825,1.250,0.000,22.486,3463.934,15995.010,881.674,2818.123,846.366,0.000,2547.189,0.000,2358.312,0.000,0.540,0.000
$DEVICE_MAMPS,348.075,156.060,2477.070,126.225,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23262.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.781,0.000,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,43340,1129
$CAP_FILE_SIZE,246208,0
$CFSIZE,260034560,177573888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.075,183.2,1
$GPS,270213,223128,2421.921,-3814.624,42,0.8,42,-14.1