version: 66.11
glider: 190
mission: 6
dive: 555
start: 2 28 113 19 6 44
data:
$ID,190
$MISSION,6
$DIVE,555
$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,-13614.81
$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,11
$R_STBD_OVSHOOT,14
$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
$GPS1,280213,185404,2423.888,-3815.291,29,1.1,29,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-65.6
$GPS2,280213,190611,2423.902,-3815.430,21,1.1,21,-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,74.7,29351,-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,-1.37,-155.7,0.0,0.0,0,35,0.00,0.00,-10.73,0.000,2,0.000,0.000,143,1514,1509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.37,-155.7,2.4,0.0,1,145,10.48,2.10,-86.05,0.000,4,0.350,0.156,2445,460,3330,0,0,0,0,0,0,14.11,13.96,14.64
$GC,277,-1.22,-155.7,19.6,-13.2,25,286,0.22,1.92,0.00,0.000,6,0.310,0.080,2486,1527,3330,0,0,0,0,0,0,13.64,14.12,28.83
$GC,588,-1.13,-155.7,53.9,-11.1,56,595,0.12,1.98,0.00,0.000,4,0.288,0.098,2510,2577,3330,0,0,0,0,0,0,13.88,14.02,28.83
$GC,666,-1.06,-155.7,62.0,-10.0,64,674,0.10,2.05,0.00,0.000,6,0.244,0.109,2536,1524,3330,0,0,0,0,0,0,13.69,13.89,28.83
$GC,977,-1.01,-155.7,92.3,-9.5,95,984,0.00,2.08,0.00,0.000,4,0.000,0.129,2536,460,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1007,-0.94,-155.7,95.4,-9.9,98,1015,0.17,1.95,0.00,0.000,6,0.246,0.080,2576,1525,3331,0,0,0,0,0,0,13.66,14.02,28.83
$GC,1319,-0.94,-155.7,120.7,-7.7,129,1326,0.00,2.12,0.00,0.000,4,0.000,0.130,2576,457,3330,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1387,-0.89,-155.7,126.5,-8.6,136,1394,0.00,1.90,0.00,0.000,6,0.000,0.078,2568,1513,3331,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1697,-0.89,-155.7,150.8,-8.1,167,1704,0.00,2.10,0.00,0.000,4,0.000,0.130,2568,454,3331,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1746,-0.86,-155.7,155.1,-8.8,172,1754,0.12,1.90,0.00,0.000,6,0.233,0.078,2598,1495,3331,0,0,0,0,0,0,13.68,14.02,28.83
$GC,2059,-0.86,-155.7,182.3,-9.1,203,2065,0.00,2.05,0.00,0.000,4,0.000,0.132,2598,459,3331,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2136,-0.86,-155.7,190.0,-9.9,211,2144,0.00,1.90,0.00,0.000,6,0.000,0.079,2592,1491,3331,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2447,-0.86,-155.7,217.9,-8.4,242,2454,0.00,2.05,0.00,0.000,4,0.000,0.132,2592,454,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2580,-0.84,-155.7,228.8,-8.0,255,2587,0.00,1.85,0.00,0.000,6,0.000,0.082,2592,1475,3331,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2888,-0.84,-155.7,249.8,-6.3,286,2895,0.00,2.03,0.00,0.000,4,0.000,0.132,2592,460,3333,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2935,-0.84,-155.7,251.8,-6.3,288,2943,0.00,1.85,0.00,0.000,6,0.000,0.079,2592,1458,3331,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3248,-0.84,-155.7,273.9,-7.1,299,3253,0.00,1.98,0.00,0.000,4,0.000,0.132,2592,453,3331,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3336,-0.84,-155.7,281.2,-7.8,302,3342,0.00,1.77,0.00,0.000,6,0.000,0.079,2592,1429,3333,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3667,-0.84,-155.7,308.5,-8.6,313,3672,0.00,1.90,0.00,0.000,4,0.000,0.131,2591,460,3330,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3825,-0.84,-155.7,322.7,-9.6,318,3832,0.00,1.75,0.00,0.000,6,0.000,0.077,2587,1409,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4146,-0.84,-155.7,355.3,-10.1,329,4152,0.00,1.90,0.00,0.000,4,0.000,0.131,2588,457,3329,0,0,0,0,0,0,28.83,13.76,28.83
$GC,4267,-0.84,-155.7,367.8,-10.4,333,4273,0.10,1.70,0.00,0.000,6,0.226,0.077,2618,1390,3329,0,0,0,0,0,0,13.69,14.02,28.83
$GC,4599,-0.86,-155.7,395.8,-7.9,344,4606,0.00,1.85,0.00,0.000,4,0.000,0.130,2618,458,3329,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4747,-0.86,-155.7,407.3,-7.6,349,4752,0.00,1.62,0.00,0.000,6,0.000,0.077,2618,1355,3328,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5080,-0.89,-155.7,429.3,-6.6,360,5085,0.00,1.77,0.00,0.000,4,0.000,0.132,2618,453,3328,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5207,-0.89,-155.7,437.9,-7.2,364,5213,0.00,1.60,0.00,0.000,6,0.000,0.079,2618,1333,3327,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5530,-0.92,-155.7,464.3,-8.7,375,5536,0.00,1.75,0.00,0.000,4,0.000,0.134,2618,464,3326,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5618,-0.94,-155.7,473.0,-9.5,378,5624,0.12,1.55,0.00,0.000,6,0.140,0.080,2570,1326,3326,0,0,0,0,0,0,14.09,14.03,28.83
$GC,5949,-0.94,-155.7,508.4,-10.8,389,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1326,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6248,-0.94,-155.7,539.4,-9.9,399,6253,0.00,2.35,0.00,0.000,4,0.000,0.101,2569,2576,3324,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6285,-0.94,-155.7,542.2,-9.8,400,6292,0.00,2.47,0.00,0.000,6,0.000,0.114,2565,1318,3324,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6607,-0.94,-155.7,570.6,-8.1,411,6612,0.00,1.70,0.00,0.000,4,0.000,0.134,2564,465,3323,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6667,-0.94,-155.7,575.4,-7.9,413,6672,0.00,1.55,0.00,0.000,6,0.000,0.080,2559,1315,3323,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6999,-0.94,-155.7,597.4,-6.6,424,7005,0.00,2.40,0.00,0.000,4,0.000,0.104,2553,2575,3322,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7057,-0.94,-155.7,601.3,-6.6,426,7063,0.00,2.47,0.00,0.000,6,0.000,0.116,2553,1314,3322,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7386,-0.94,-155.7,626.5,-8.2,437,7392,0.00,1.70,0.00,0.000,4,0.000,0.134,2552,464,3321,0,0,0,0,0,0,28.83,13.68,28.83
$GC,7425,-0.94,-155.7,629.2,-8.5,438,7432,0.00,1.60,0.00,0.000,6,0.000,0.083,2552,1326,3321,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7747,-0.94,-155.7,660.9,-10.2,449,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1326,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8046,-0.94,-155.7,691.4,-9.7,459,8052,0.00,1.75,0.00,0.000,4,0.000,0.138,2552,465,3319,0,0,0,0,0,0,28.83,13.66,28.83
$GC,8177,-0.92,-155.7,703.0,-9.6,463,8183,0.12,1.58,0.00,0.000,6,0.234,0.083,2583,1318,3318,0,0,0,0,0,0,13.53,13.93,28.83
$GC,8499,-0.92,-155.7,727.6,-7.1,474,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1318,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,-0.92,-155.7,747.8,-6.6,484,8804,0.00,1.73,0.00,0.000,4,0.000,0.138,2580,455,3315,0,0,0,0,0,0,28.83,13.73,28.83
$GC,8887,-0.92,-155.7,754.3,-7.1,487,8892,0.00,1.60,0.00,0.000,6,0.000,0.084,2579,1319,3316,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9216,-0.92,-155.7,779.6,-8.2,498,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1320,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9517,-0.92,-155.7,806.1,-8.9,508,9523,0.00,1.75,0.00,0.000,4,0.000,0.141,2580,460,3314,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9555,-0.92,-155.7,809.0,-9.0,509,9563,0.00,1.60,0.00,0.000,6,0.000,0.085,2577,1318,3313,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9877,-0.92,-155.7,839.1,-9.2,520,9883,0.00,1.75,0.00,0.000,4,0.000,0.143,2577,458,3312,0,0,0,0,0,0,28.83,13.73,28.83
$GC,9955,-0.92,-155.7,844.7,-9.3,522,9964,0.00,1.58,0.00,0.000,6,0.000,0.083,2571,1299,3312,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10266,-0.92,-155.7,877.6,-10.1,533,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1299,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10568,-0.92,-155.7,907.2,-9.9,543,10573,0.00,1.73,0.00,0.000,4,0.000,0.145,2571,467,3310,0,0,0,0,0,0,28.83,13.65,28.83
$GC,10695,-0.92,-155.7,918.9,-9.8,547,10701,0.00,1.55,0.00,0.000,6,0.000,0.086,2566,1287,3309,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11017,-0.92,-155.7,947.0,-8.1,558,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1288,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11316,-0.92,-155.7,968.3,-6.8,568,11324,0.00,1.70,0.00,0.000,4,0.000,0.145,2566,464,3308,0,0,0,0,0,0,28.83,13.59,28.83
$GC,11366,-0.92,-155.7,970.4,-6.8,569,11374,0.00,1.52,0.00,0.000,6,0.000,0.091,2565,1276,3307,0,0,0,0,0,0,28.83,13.86,28.83
$STATE,11492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11492,begin apogee
$GC,11502,-0.42,0.0,980.4,-6.7,574,11663,0.65,0.00,155.80,1.816,4,0.207,0.000,2743,1522,2691,0,0,0,0,0,0,13.69,28.83,12.97
$STATE,11668,end apogee,CONTROL_FINISHED_OK
$STATE,11668,begin climb
$GC,11671,1.37,155.7,985.9,0.0,579,11848,1.90,2.08,163.62,1.786,4,0.142,0.125,3328,2586,2057,0,0,0,0,0,0,13.93,14.02,13.00
$GC,12080,1.24,155.7,950.2,11.3,593,12086,0.22,2.10,0.00,0.000,6,0.348,0.138,3291,1522,2042,0,0,0,0,0,0,13.78,14.09,28.83
$GC,12402,1.13,155.7,917.9,9.6,604,12408,0.15,2.12,0.00,0.000,4,0.347,0.152,3265,458,2040,0,0,0,0,0,0,13.78,14.02,28.83
$GC,12519,1.03,155.7,906.3,9.6,608,12525,0.20,2.00,0.00,0.000,6,0.318,0.096,3222,1541,2039,0,0,0,0,0,0,13.71,14.17,28.83
$GC,12851,0.96,155.7,877.9,8.9,619,12856,0.00,2.00,0.00,0.000,4,0.000,0.119,3221,2582,2038,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13032,0.89,155.7,861.8,9.2,625,13038,0.25,2.08,0.00,0.000,6,0.303,0.143,3174,1549,2036,0,0,0,0,0,0,13.64,13.89,28.83
$GC,13360,0.86,155.7,834.1,8.5,636,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1549,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13659,0.83,155.7,809.0,8.1,646,13665,0.00,2.05,0.00,0.000,4,0.000,0.126,3174,2583,2035,0,0,0,0,0,0,28.83,13.93,28.83
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$STATE,23598,end climb,SURFACE_DEPTH_REACHED
$STATE,23598,begin surface coast
$FINISH,1.6,1.025310
$STATE,23633,end surface coast,CONTROL_FINISHED_OK
$STATE,23633,begin surface
$SM_CCo,23657,61.83,0.125,0,0,1266,350.04
$SM_GC,2.40,8.88,0.73,61.83,0.076,0.132,0.125,136,1511,1266,-8.53,0.17,350.04,0,0,0,0,0,0,14.25,13.97,14.24
$IRIDIUM_FIX,2413.38,-3812.62,280213,121233
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.62
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,20.40
$XPDR_PINGS,1
$SC_FREEKB,7558144
$24V_AH,13.0,232.252
$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,24.500,173.650,395.050,61.825,0.000,0.000,0.000,412.425,0.250,0.000,22.499,3471.849,16514.266,840.374,2792.070,815.152,0.000,2497.640,0.000,2328.719,0.000,0.540,0.000
$DEVICE_MAMPS,350.370,156.060,1816.110,125.460,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.851,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43318,1181
$CAP_FILE_SIZE,248624,0
$CFSIZE,260034560,177119232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,248.9,1
$GPS,010313,014328,2424.599,-3815.781,38,0.9,38,-14.1