version: 66.11
glider: 190
mission: 6
dive: 561
start: 3 2 113 12 7 44
data:
$ID,190
$MISSION,6
$DIVE,561
$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,190
$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,-13633.321
$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,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,0.00018
$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
$GPS1,020313,115523,2428.465,-3817.760,38,0.9,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-61.9
$GPS2,020313,120711,2428.519,-3817.835,18,0.9,18,-14.1
$SPEED_LIMITS,0.123,0.141
$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,116.5,28539,-13.4,-7.101,-26.77
$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,23,-1.15,-184.9,0.0,0.0,0,35,0.00,0.00,-10.23,0.000,2,0.000,0.000,140,1510,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,155,10.75,2.05,-94.22,0.000,4,0.347,0.122,2509,2585,3445,0,0,0,0,0,0,14.04,14.10,14.64
$GC,382,-1.05,-184.9,26.7,-11.3,35,389,0.15,2.03,0.00,0.000,6,0.252,0.106,2543,1521,3447,0,0,0,0,0,0,13.73,13.95,28.83
$GC,691,-0.98,-184.9,59.0,-11.0,66,698,0.00,2.08,0.00,0.000,4,0.000,0.131,2543,461,3445,0,0,0,0,0,0,28.83,13.87,28.83
$GC,739,-0.89,-184.9,64.8,-11.5,71,747,0.20,1.95,0.00,0.000,6,0.224,0.078,2592,1526,3446,0,0,0,0,0,0,13.64,13.97,28.83
$GC,1049,-0.89,-184.9,95.1,-9.4,102,1056,0.00,2.12,0.00,0.000,4,0.000,0.132,2592,453,3446,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1099,-0.85,-184.9,99.9,-10.0,107,1106,0.00,1.95,0.00,0.000,6,0.000,0.076,2592,1522,3445,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1413,-0.82,-184.9,123.8,-6.7,138,1419,0.00,2.10,0.00,0.000,4,0.000,0.130,2592,458,3446,0,0,0,0,0,0,28.83,13.74,28.83
$GC,1520,-0.78,-184.9,131.8,-7.2,149,1528,0.15,1.88,0.00,0.000,6,0.246,0.076,2627,1496,3445,0,0,0,0,0,0,13.78,14.09,28.83
$GC,1833,-0.78,-184.9,151.4,-6.8,180,1840,0.00,2.03,0.00,0.000,4,0.000,0.130,2627,462,3446,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1949,-0.78,-184.9,160.2,-7.7,192,1957,0.00,1.83,0.00,0.000,6,0.000,0.076,2622,1469,3446,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2259,-0.78,-184.9,184.9,-8.3,223,2267,0.00,2.00,0.00,0.000,4,0.000,0.129,2622,461,3446,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2414,-0.78,-184.9,198.5,-9.2,238,2420,0.00,1.77,0.00,0.000,6,0.000,0.076,2618,1435,3445,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2721,-0.78,-184.9,224.5,-8.0,269,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1435,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,-0.78,-184.9,248.1,-7.3,300,3037,0.00,1.92,0.00,0.000,4,0.000,0.127,2618,455,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3198,-0.78,-184.9,260.6,-8.2,307,3207,0.00,1.77,0.00,0.000,6,0.000,0.074,2618,1427,3446,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3511,-0.78,-184.9,290.1,-9.3,318,3516,0.00,2.15,0.00,0.000,4,0.000,0.099,2618,2576,3446,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3599,-0.78,-184.9,298.2,-9.0,321,3606,0.00,2.22,0.00,0.000,6,0.000,0.109,2618,1431,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3931,-0.78,-184.9,327.6,-8.5,332,3936,0.00,1.88,0.00,0.000,4,0.000,0.130,2618,461,3445,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4038,-0.78,-184.9,335.2,-8.4,335,4047,0.00,1.77,0.00,0.000,6,0.000,0.077,2618,1430,3444,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4349,-0.78,-184.9,360.7,-7.6,346,4355,0.00,2.17,0.00,0.000,4,0.000,0.103,2618,2578,3444,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4440,-0.78,-184.9,367.3,-7.4,349,4446,0.00,2.20,0.00,0.000,6,0.000,0.112,2618,1434,3444,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4769,-0.78,-184.9,394.8,-8.7,360,4776,0.00,2.17,0.00,0.000,4,0.000,0.102,2618,2574,3443,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4920,-0.78,-184.9,407.7,-8.6,365,4926,0.00,2.28,0.00,0.000,6,0.000,0.112,2618,1404,3442,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5249,-0.78,-184.9,437.7,-9.1,376,5255,0.00,1.88,0.00,0.000,4,0.000,0.135,2618,465,3441,0,0,0,0,0,0,28.83,13.70,28.83
$GC,5340,-0.78,-184.9,446.0,-9.1,379,5346,0.00,1.73,0.00,0.000,6,0.000,0.082,2618,1420,3442,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5669,-0.78,-184.9,473.0,-7.5,390,5675,0.00,1.92,0.00,0.000,4,0.000,0.134,2618,462,3441,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5738,-0.78,-184.9,477.5,-7.5,392,5745,0.00,1.73,0.00,0.000,6,0.000,0.080,2618,1396,3441,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6064,-0.78,-184.9,500.0,-6.7,403,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1396,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,-0.78,-184.9,521.7,-7.7,413,6366,0.00,2.22,0.00,0.000,4,0.000,0.101,2618,2568,3439,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6510,-0.78,-184.9,533.8,-8.2,418,6516,0.00,2.30,0.00,0.000,6,0.000,0.114,2618,1382,3438,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6839,-0.78,-184.9,563.7,-9.0,429,6846,0.00,2.30,0.00,0.000,4,0.000,0.103,2618,2577,3437,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6899,-0.78,-184.9,569.1,-9.0,431,6906,0.00,2.30,0.00,0.000,6,0.000,0.114,2618,1404,3437,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7233,-0.80,-184.9,598.0,-8.5,442,7238,0.00,2.25,0.00,0.000,4,0.000,0.103,2618,2577,3436,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7298,-0.83,-184.9,602.8,-8.2,444,7306,0.00,2.28,0.00,0.000,6,0.000,0.114,2618,1418,3436,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7624,-0.85,-184.9,627.8,-7.3,455,7629,0.00,1.95,0.00,0.000,4,0.000,0.138,2618,461,3435,0,0,0,0,0,0,28.83,13.67,28.83
$GC,7688,-0.85,-184.9,632.4,-7.5,457,7696,0.00,1.77,0.00,0.000,6,0.000,0.082,2618,1416,3435,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8014,-0.87,-184.9,655.7,-7.2,468,8020,0.00,2.22,0.00,0.000,4,0.000,0.108,2618,2577,3433,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8130,-0.90,-184.9,664.5,-7.4,472,8136,0.00,2.28,0.00,0.000,6,0.000,0.116,2618,1435,3433,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8464,-0.92,-184.9,691.4,-8.4,483,8469,0.00,1.98,0.00,0.000,4,0.000,0.138,2618,457,3432,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8508,-0.92,-184.9,694.2,-8.6,484,8516,0.00,1.83,0.00,0.000,6,0.000,0.084,2618,1434,3432,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8823,-0.94,-184.9,722.0,-8.1,495,8828,0.12,2.20,0.00,0.000,4,0.133,0.106,2556,2580,3431,0,0,0,0,0,0,14.33,13.84,28.83
$GC,8949,-0.94,-184.9,732.1,-8.4,499,8956,0.00,2.22,0.00,0.000,6,0.000,0.116,2556,1456,3430,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9269,-0.94,-184.9,757.8,-7.5,510,9276,0.00,2.03,0.00,0.000,4,0.000,0.138,2556,461,3430,0,0,0,0,0,0,28.83,13.64,28.83
$GC,9320,-0.92,-184.9,760.2,-7.5,511,9330,0.10,1.85,0.00,0.000,6,0.222,0.085,2581,1450,3429,0,0,0,0,0,0,13.58,13.88,28.83
$GC,9633,-0.92,-184.9,784.2,-7.3,522,9638,0.00,2.17,0.00,0.000,4,0.000,0.111,2578,2575,3428,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9668,-0.92,-184.9,786.3,-7.3,523,9675,0.00,2.22,0.00,0.000,6,0.000,0.117,2578,1459,3428,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9991,-0.92,-184.9,811.4,-8.0,534,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1460,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10290,-0.92,-184.9,836.5,-8.7,544,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1460,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10591,-0.92,-184.9,862.8,-8.9,554,10596,0.00,2.03,0.00,0.000,4,0.000,0.141,2578,462,3425,0,0,0,0,0,0,28.83,13.67,28.83
$GC,10658,-0.92,-184.9,868.5,-9.2,556,10665,0.00,1.90,0.00,0.000,6,0.000,0.086,2573,1466,3425,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10981,-0.92,-184.9,897.9,-9.0,567,10986,0.00,2.17,0.00,0.000,4,0.000,0.112,2569,2576,3424,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11018,-0.92,-184.9,900.3,-8.8,568,11025,0.00,2.25,0.00,0.000,6,0.000,0.118,2570,1457,3424,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11339,-0.92,-184.9,929.0,-8.7,579,11346,0.00,2.05,0.00,0.000,4,0.000,0.145,2570,463,3423,0,0,0,0,0,0,28.83,13.65,28.83
$GC,11379,-0.92,-184.9,931.6,-8.8,580,11385,0.00,1.90,0.00,0.000,6,0.000,0.090,2566,1468,3422,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11699,-0.92,-184.9,962.4,-9.7,591,11706,0.00,2.10,0.00,0.000,4,0.000,0.144,2566,461,3421,0,0,0,0,0,0,28.83,13.69,28.83
$GC,11738,-0.92,-184.9,965.4,-9.7,592,11745,0.00,1.92,0.00,0.000,6,0.000,0.093,2565,1464,3421,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,11875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11876,begin apogee
$GC,11886,-0.42,0.0,980.3,-9.9,597,12141,0.62,0.00,242.32,1.581,4,0.197,0.000,2740,1525,2695,0,0,0,0,1,0,13.69,28.83,12.70
$STATE,12143,end apogee,CONTROL_FINISHED_OK
$STATE,12143,begin climb
$GC,12147,1.15,184.9,995.9,0.0,605,12365,1.65,0.00,203.45,2.509,6,0.151,0.000,3246,1525,1940,0,0,0,0,1,0,14.00,28.83,12.67
$GC,12674,1.04,184.9,959.5,10.0,623,12681,0.00,2.00,0.00,0.000,4,0.000,0.112,3245,2569,1945,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12735,0.94,184.9,953.6,9.9,625,12741,0.28,2.05,0.00,0.000,6,0.308,0.129,3191,1520,1945,0,0,0,0,0,0,13.87,14.15,28.83
$GC,13067,0.87,184.9,923.6,9.0,636,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1520,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13366,0.80,184.9,896.1,9.3,646,13372,0.17,2.05,0.00,0.000,4,0.287,0.124,3148,2571,1943,0,0,0,0,0,0,13.73,14.11,28.83
$GC,13424,0.74,184.9,890.5,9.3,648,13431,0.10,2.08,0.00,0.000,6,0.254,0.135,3129,1538,1943,0,0,0,0,0,0,13.69,13.88,28.83
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$STATE,24274,end climb,SURFACE_DEPTH_REACHED
$STATE,24274,begin surface coast
$FINISH,1.5,1.025320
$STATE,24305,end surface coast,CONTROL_FINISHED_OK
$STATE,24305,begin surface
$SM_CCo,24330,42.17,0.125,0,0,1265,350.04
$SM_GC,2.58,8.68,2.12,42.17,0.068,0.129,0.125,145,1519,1265,-8.51,0.40,350.04,0,0,0,0,0,0,14.23,13.91,14.25
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.62
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.00
$XPDR_PINGS,8
$SC_FREEKB,7555840
$24V_AH,12.7,234.643
$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
$DEVICE_SECS,23.625,212.050,568.875,42.175,0.000,0.000,0.000,395.875,2.000,0.000,21.857,3531.060,16829.711,987.269,2854.874,866.552,0.000,2682.654,0.000,2402.241,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.951,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,46683,1215
$CAP_FILE_SIZE,258574,0
$CFSIZE,260034560,176422912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$CURRENT,0.120,281.6,1
$GPS,020313,185522,2428.871,-3818.208,36,0.9,37,-14.1