version: 66.11
glider: 190
mission: 6
dive: 557
start: 3 1 113 8 52 19
data:
$ID,190
$MISSION,6
$DIVE,557
$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,-13617.424
$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,19
$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
$GPS1,010313,083459,2425.778,-3816.536,42,0.9,42,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-64.7
$GPS2,010313,085147,2425.787,-3816.763,18,0.9,18,-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,101.8,29149,-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,-10.62,0.000,2,0.000,0.000,137,1515,1509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.37,-155.7,2.5,0.0,1,144,10.40,2.12,-88.60,0.000,4,0.347,0.158,2440,456,3329,0,0,0,0,0,0,14.09,14.02,14.63
$GC,379,-1.22,-155.7,29.0,-13.2,35,386,0.22,1.90,0.00,0.000,6,0.298,0.083,2483,1519,3329,0,0,0,0,0,0,13.64,14.12,28.83
$GC,688,-1.13,-155.7,65.8,-11.6,66,695,0.12,2.10,0.00,0.000,4,0.291,0.131,2514,454,3329,0,0,0,0,0,0,13.85,13.85,28.83
$GC,745,-1.03,-155.7,72.9,-11.7,72,754,0.12,1.98,0.00,0.000,6,0.265,0.084,2541,1522,3327,0,0,0,0,0,0,13.66,14.02,28.83
$GC,1056,-0.98,-155.7,102.1,-8.7,103,1063,0.00,2.00,0.00,0.000,4,0.000,0.104,2535,2572,3329,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1095,-0.93,-155.7,105.6,-8.8,107,1104,0.15,2.05,0.00,0.000,6,0.218,0.114,2577,1528,3329,0,0,0,0,0,0,13.72,13.88,28.83
$GC,1406,-0.93,-155.7,132.8,-9.3,138,1413,0.00,2.12,0.00,0.000,4,0.000,0.135,2578,461,3329,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1478,-0.88,-155.7,139.4,-9.6,145,1487,0.12,1.92,0.00,0.000,6,0.275,0.082,2596,1515,3329,0,0,0,0,0,0,13.73,14.00,28.83
$GC,1788,-0.88,-155.7,163.1,-7.4,176,1794,0.00,2.10,0.00,0.000,4,0.000,0.135,2597,460,3329,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1939,-0.88,-155.7,174.9,-8.1,191,1945,0.00,1.88,0.00,0.000,6,0.000,0.081,2592,1490,3329,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2247,-0.88,-155.7,200.3,-8.6,222,2254,0.00,2.05,0.00,0.000,4,0.000,0.135,2592,458,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2368,-0.88,-155.7,211.2,-9.4,234,2374,0.00,1.85,0.00,0.000,6,0.000,0.080,2587,1478,3329,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2678,-0.88,-155.7,238.0,-8.3,265,2686,0.00,2.03,0.00,0.000,4,0.000,0.135,2587,460,3329,0,0,0,0,0,0,28.83,13.77,28.83
$GC,2729,-0.86,-155.7,242.2,-8.4,270,2736,0.00,1.83,0.00,0.000,6,0.000,0.082,2580,1463,3329,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3047,-0.86,-155.7,263.6,-6.1,288,3053,0.00,2.03,0.00,0.000,4,0.000,0.135,2580,458,3329,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3197,-0.83,-155.7,273.1,-6.5,293,3203,0.12,1.77,0.00,0.000,6,0.226,0.080,2610,1430,3329,0,0,0,0,0,0,13.69,14.04,28.83
$GC,3531,-0.83,-155.7,294.3,-6.9,304,3536,0.00,1.92,0.00,0.000,4,0.000,0.134,2610,460,3328,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3707,-0.83,-155.7,309.5,-8.7,310,3712,0.00,1.73,0.00,0.000,6,0.000,0.082,2605,1404,3326,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4038,-0.83,-155.7,339.3,-9.3,321,4043,0.00,1.85,0.00,0.000,4,0.000,0.134,2605,461,3328,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4146,-0.83,-155.7,348.1,-9.7,324,4154,0.00,1.73,0.00,0.000,6,0.000,0.086,2605,1388,3327,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4457,-0.83,-155.7,377.6,-8.6,335,4464,0.00,1.88,0.00,0.000,4,0.000,0.138,2605,456,3327,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4547,-0.83,-155.7,385.2,-8.4,338,4553,0.00,1.67,0.00,0.000,6,0.000,0.086,2605,1364,3327,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4880,-0.83,-155.7,408.3,-6.5,349,4885,0.00,2.33,0.00,0.000,4,0.000,0.110,2605,2575,3326,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4988,-0.86,-155.7,413.8,-6.1,352,4997,0.00,2.38,0.00,0.000,6,0.000,0.120,2604,1366,3325,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5300,-0.88,-155.7,432.2,-5.5,363,5306,0.00,1.85,0.00,0.000,4,0.000,0.142,2604,441,3325,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5397,-0.88,-155.7,437.6,-5.8,366,5403,0.00,1.70,0.00,0.000,6,0.000,0.088,2604,1358,3324,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5720,-0.90,-155.7,455.1,-5.3,377,5725,0.00,1.80,0.00,0.000,4,0.000,0.141,2605,458,3322,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5808,-0.90,-155.7,460.4,-5.7,380,5813,0.00,1.62,0.00,0.000,6,0.000,0.087,2604,1346,3323,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6140,-0.92,-155.7,482.4,-7.5,391,6146,0.00,1.80,0.00,0.000,4,0.000,0.142,2604,460,3322,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6267,-0.92,-155.7,492.9,-8.8,395,6273,0.00,1.60,0.00,0.000,6,0.000,0.090,2604,1318,3321,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6591,-0.94,-155.7,524.7,-10.1,406,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1317,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6888,-0.97,-155.7,553.7,-9.2,416,6893,0.00,1.75,0.00,0.000,4,0.000,0.144,2604,458,3321,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6976,-0.97,-155.7,562.0,-9.2,419,6984,0.00,1.60,0.00,0.000,6,0.000,0.086,2604,1313,3320,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7311,-0.99,-155.7,587.1,-6.9,430,7317,0.12,2.40,0.00,0.000,4,0.137,0.106,2540,2575,3319,0,0,0,0,0,0,14.42,13.90,28.83
$GC,7399,-0.95,-155.7,593.9,-7.2,433,7405,0.15,2.50,0.00,0.000,6,0.243,0.122,2574,1316,3318,0,0,0,0,0,0,13.71,13.85,28.83
$GC,7730,-0.88,-155.7,634.9,-7.4,444,7736,0.00,2.45,0.00,0.000,4,0.000,0.116,2566,2575,3316,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7749,-0.82,-155.7,634.9,-7.4,444,7757,0.22,2.38,0.00,0.000,6,0.264,0.115,2617,1361,3316,0,0,0,0,0,0,13.61,13.88,28.83
$GC,8061,-0.85,-155.7,660.1,-6.6,455,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1360,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,-0.88,-155.7,682.2,-7.7,465,8364,0.00,2.38,0.00,0.000,4,0.000,0.111,2617,2579,3317,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8598,-0.93,-155.7,703.6,-8.5,473,8604,0.00,2.40,0.00,0.000,6,0.000,0.124,2618,1371,3314,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8932,-0.97,-155.7,732.7,-8.4,484,8938,0.12,2.38,0.00,0.000,4,0.138,0.109,2556,2582,3312,0,0,0,0,0,0,14.35,13.86,28.83
$GC,9007,-1.00,-155.7,738.0,-8.5,486,9015,0.00,2.42,0.00,0.000,6,0.000,0.122,2556,1372,3312,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9318,-1.00,-155.7,767.2,-8.9,497,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1372,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9617,-1.00,-155.7,792.9,-8.4,507,9625,0.00,1.85,0.00,0.000,4,0.000,0.145,2556,467,3310,0,0,0,0,0,0,28.83,13.61,28.83
$GC,9656,-1.00,-155.7,795.4,-8.2,508,9664,0.00,1.73,0.00,0.000,6,0.000,0.090,2553,1378,3310,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9979,-1.00,-155.7,822.2,-8.2,519,9985,0.00,2.35,0.00,0.000,4,0.000,0.112,2550,2581,3309,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10097,-1.00,-155.7,831.8,-7.9,523,10105,0.00,2.42,0.00,0.000,6,0.000,0.123,2549,1377,3309,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10430,-1.00,-155.7,857.0,-7.7,534,10435,0.00,1.83,0.00,0.000,4,0.000,0.138,2550,460,3308,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10487,-1.00,-155.7,862.0,-8.0,536,10494,0.00,1.73,0.00,0.000,6,0.000,0.090,2550,1376,3307,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10822,-1.00,-155.7,887.8,-7.9,547,10828,0.00,2.33,0.00,0.000,4,0.000,0.110,2549,2574,3306,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10916,-1.00,-155.7,894.8,-7.8,550,10924,0.00,2.42,0.00,0.000,6,0.000,0.122,2549,1376,3306,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11237,-1.00,-155.7,922.7,-8.7,561,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1376,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11539,-1.00,-155.7,949.0,-8.8,571,11545,0.00,2.38,0.00,0.000,4,0.000,0.116,2549,2575,3305,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11597,-1.00,-155.7,954.1,-8.7,573,11604,0.00,2.42,0.00,0.000,6,0.000,0.128,2549,1384,3303,0,0,0,0,0,0,28.83,13.77,28.83
$STATE,11924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11928,begin apogee
$GC,11937,-0.42,0.0,982.5,-8.6,584,12096,0.70,0.00,154.75,1.829,4,0.213,0.000,2739,1518,2693,0,0,0,0,0,0,13.73,28.83,12.97
$STATE,12100,end apogee,CONTROL_FINISHED_OK
$STATE,12100,begin climb
$GC,12104,1.37,155.7,990.1,0.0,589,12282,1.95,2.17,164.05,1.818,4,0.163,0.155,3316,459,2054,0,0,0,0,0,0,13.95,13.92,13.00
$GC,12290,1.20,155.7,981.5,7.5,595,12298,0.20,2.03,0.00,0.000,6,0.334,0.100,3276,1521,2048,0,0,0,0,0,0,13.82,14.10,28.83
$GC,12616,1.10,155.7,946.0,10.4,606,12622,0.12,2.05,0.00,0.000,4,0.351,0.120,3248,2583,2041,0,0,0,0,0,0,13.88,14.16,28.83
$GC,12702,1.00,155.7,936.9,10.1,609,12709,0.17,2.10,0.00,0.000,6,0.315,0.131,3211,1525,2039,0,0,0,0,0,0,13.71,14.02,28.83
$GC,13036,0.94,155.7,909.0,8.3,620,13042,0.00,2.03,0.00,0.000,4,0.000,0.123,3215,2577,2038,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13092,0.87,155.7,904.1,8.1,622,13099,0.20,2.12,0.00,0.000,6,0.293,0.137,3173,1525,2038,0,0,0,0,0,0,13.68,13.95,28.83
$GC,13426,0.84,159.6,880.5,7.0,633,13431,0.00,2.05,0.00,0.000,4,0.000,0.123,3172,2572,2037,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13501,0.80,162.4,876.2,7.0,635,13510,0.12,2.10,0.00,0.000,6,0.268,0.139,3149,1542,2035,0,0,0,0,0,0,13.67,13.88,28.83
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$STATE,24399,end climb,SURFACE_DEPTH_REACHED
$STATE,24399,begin surface coast
$FINISH,1.6,1.023044
$STATE,24430,end surface coast,CONTROL_FINISHED_OK
$STATE,24430,begin surface
$SM_CCo,24456,61.85,0.125,0,0,1266,350.04
$SM_GC,2.39,8.93,2.00,61.85,0.075,0.089,0.125,143,1519,1266,-8.51,-0.68,350.04,0,0,0,0,0,0,14.21,14.02,14.21
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.19
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,4
$SC_FREEKB,7557376
$24V_AH,12.9,232.990
$10V_AH,12.4,0.000
$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,24.875,205.475,397.650,61.850,0.000,0.000,0.000,632.050,1.000,0.000,20.075,3517.291,17252.717,861.726,3006.276,871.246,0.000,2761.790,0.000,2335.153,0.000,0.541,0.000
$DEVICE_MAMPS,351.135,157.590,1829.115,124.695,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24474.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.804,0.000,0.000,0.000
$MEM,344864
$DATA_FILE_SIZE,43331,1192
$CAP_FILE_SIZE,261464,0
$CFSIZE,260034560,176877568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.103,285.9,1
$GPS,010313,154225,2426.553,-3816.598,40,1.0,40,-14.1