version: 66.11
glider: 190
mission: 6
dive: 562
start: 3 2 113 19 8 23
data:
$ID,190
$MISSION,6
$DIVE,562
$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,-13637.325
$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,7
$R_STBD_OVSHOOT,24
$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
$GPS1,020313,185522,2428.871,-3818.208,36,0.9,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-63.1
$GPS2,020313,190749,2428.888,-3818.265,14,1.3,14,-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,110.8,28986,-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,-10.48,0.000,2,0.000,0.000,145,1516,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,148,10.95,2.00,-91.70,0.000,4,0.359,0.118,2501,2573,3448,0,0,0,0,0,0,13.97,14.21,14.66
$GC,385,-1.05,-184.9,28.9,-12.4,35,393,0.17,2.03,0.00,0.000,6,0.236,0.109,2542,1516,3449,0,0,0,0,0,0,13.80,13.92,28.83
$GC,694,-0.98,-184.9,61.7,-10.2,66,701,0.00,2.10,0.00,0.000,4,0.000,0.132,2543,460,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,742,-0.90,-184.9,67.4,-11.6,71,750,0.17,1.92,0.00,0.000,6,0.224,0.079,2584,1509,3448,0,0,0,0,0,0,13.73,14.05,28.83
$GC,1053,-0.87,-184.9,97.3,-9.7,102,1060,0.00,2.08,0.00,0.000,4,0.000,0.132,2585,461,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1186,-0.82,-184.9,110.6,-10.4,115,1193,0.15,1.90,0.00,0.000,6,0.241,0.080,2615,1504,3449,0,0,0,0,0,0,13.83,14.09,28.83
$GC,1495,-0.82,-184.9,137.1,-8.4,146,1501,0.00,2.10,0.00,0.000,4,0.000,0.132,2615,454,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1682,-0.82,-184.9,154.4,-9.3,165,1692,0.00,1.85,0.00,0.000,6,0.000,0.077,2610,1471,3449,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1993,-0.82,-184.9,181.3,-8.6,196,2000,0.00,2.03,0.00,0.000,4,0.000,0.132,2610,458,3448,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2162,-0.82,-184.9,195.9,-8.4,213,2171,0.00,1.77,0.00,0.000,6,0.000,0.074,2606,1436,3449,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2474,-0.82,-184.9,218.2,-7.2,244,2481,0.00,1.92,0.00,0.000,4,0.000,0.129,2606,460,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2592,-0.82,-184.9,228.3,-8.8,256,2600,0.00,1.73,0.00,0.000,6,0.000,0.075,2605,1415,3449,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2923,-0.82,-184.9,258.4,-9.4,283,2929,0.00,1.90,0.00,0.000,4,0.000,0.129,2605,461,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3044,-0.82,-184.9,270.7,-10.2,287,3049,0.00,1.67,0.00,0.000,6,0.000,0.076,2605,1385,3449,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3372,-0.82,-184.9,303.5,-9.8,298,3379,0.00,1.85,0.00,0.000,4,0.000,0.131,2605,461,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3481,-0.82,-184.9,312.3,-9.7,301,3490,0.00,1.67,0.00,0.000,6,0.000,0.077,2605,1376,3448,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3795,-0.82,-184.9,340.4,-8.2,312,3800,0.00,2.28,0.00,0.000,4,0.000,0.103,2605,2581,3447,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3901,-0.82,-184.9,347.4,-7.8,315,3912,0.00,2.33,0.00,0.000,6,0.000,0.112,2605,1390,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4214,-0.82,-184.9,373.5,-8.1,326,4219,0.00,1.83,0.00,0.000,4,0.000,0.134,2605,460,3447,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4312,-0.82,-184.9,380.9,-8.1,329,4319,0.00,1.70,0.00,0.000,6,0.000,0.080,2605,1386,3446,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4635,-0.82,-184.9,406.8,-8.0,340,4640,0.00,2.25,0.00,0.000,4,0.000,0.104,2605,2580,3445,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4701,-0.82,-184.9,411.5,-8.1,342,4710,0.00,2.33,0.00,0.000,6,0.000,0.113,2601,1394,3445,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5023,-0.82,-184.9,438.3,-8.2,353,5030,0.00,1.88,0.00,0.000,4,0.000,0.136,2605,459,3445,0,0,0,0,0,0,28.83,13.73,28.83
$GC,5103,-0.82,-184.9,443.4,-8.4,355,5112,0.00,1.73,0.00,0.000,6,0.000,0.082,2605,1397,3444,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5413,-0.82,-184.9,471.4,-8.6,366,5419,0.00,2.22,0.00,0.000,4,0.000,0.103,2605,2570,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5481,-0.82,-184.9,476.1,-8.2,368,5489,0.00,2.30,0.00,0.000,6,0.000,0.113,2604,1404,3443,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5807,-0.82,-184.9,500.6,-6.8,379,5812,0.00,1.88,0.00,0.000,4,0.000,0.136,2604,461,3442,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5863,-0.82,-184.9,504.7,-6.8,381,5870,0.00,1.75,0.00,0.000,6,0.000,0.083,2604,1409,3442,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6198,-0.82,-184.9,525.7,-6.5,392,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1409,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6492,-0.82,-184.9,546.6,-7.4,402,6499,0.00,2.22,0.00,0.000,4,0.000,0.106,2604,2567,3440,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6554,-0.82,-184.9,551.2,-7.6,404,6559,0.00,2.25,0.00,0.000,6,0.000,0.115,2605,1410,3439,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6882,-0.82,-184.9,580.0,-9.1,415,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1410,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7182,-0.82,-184.9,607.8,-9.3,425,7190,0.00,2.25,0.00,0.000,4,0.000,0.106,2605,2572,3437,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7283,-0.82,-184.9,615.9,-9.2,428,7289,0.00,2.28,0.00,0.000,6,0.000,0.117,2605,1425,3437,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7603,-0.82,-184.9,645.1,-8.6,439,7609,0.00,1.95,0.00,0.000,4,0.000,0.140,2604,465,3436,0,0,0,0,0,0,28.83,13.66,28.83
$GC,7683,-0.82,-184.9,650.0,-8.3,441,7690,0.00,1.75,0.00,0.000,6,0.000,0.085,2604,1412,3436,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7993,-0.82,-184.9,673.9,-6.7,452,7999,0.00,2.25,0.00,0.000,4,0.000,0.109,2605,2580,3435,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8113,-0.82,-184.9,681.2,-6.1,456,8119,0.00,2.28,0.00,0.000,6,0.000,0.118,2605,1439,3435,0,0,0,0,0,0,28.83,13.71,28.83
$GC,8444,-0.82,-184.9,703.9,-7.3,467,8450,0.00,1.98,0.00,0.000,4,0.000,0.141,2605,458,3433,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8502,-0.82,-184.9,708.8,-7.8,469,8510,0.00,1.80,0.00,0.000,6,0.000,0.086,2605,1424,3433,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8834,-0.82,-184.9,736.9,-9.1,480,8840,0.00,2.25,0.00,0.000,4,0.000,0.113,2605,2577,3432,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8931,-0.82,-184.9,745.4,-9.4,483,8939,0.00,2.28,0.00,0.000,6,0.000,0.120,2605,1442,3432,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9254,-0.82,-184.9,778.7,-10.3,494,9259,0.00,2.00,0.00,0.000,4,0.000,0.145,2605,462,3430,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9292,-0.82,-184.9,781.7,-10.3,495,9299,0.00,1.85,0.00,0.000,6,0.000,0.090,2605,1439,3430,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9613,-0.82,-184.9,814.2,-9.5,506,9619,0.00,2.25,0.00,0.000,4,0.000,0.116,2605,2574,3429,0,0,0,0,0,0,28.83,13.66,28.83
$GC,9784,-0.84,-184.9,827.2,-8.5,511,9791,0.00,2.20,0.00,0.000,6,0.000,0.122,2604,1469,3429,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10094,-0.84,-184.9,852.1,-7.0,522,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1469,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10395,-0.84,-184.9,869.5,-5.5,532,10400,0.00,2.20,0.00,0.000,4,0.000,0.116,2604,2580,3426,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10523,-0.87,-184.9,875.8,-5.2,536,10529,0.00,2.22,0.00,0.000,6,0.000,0.122,2604,1479,3426,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10848,-0.89,-184.9,895.3,-6.3,547,10853,0.00,2.10,0.00,0.000,4,0.000,0.147,2605,456,3425,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10882,-0.89,-184.9,897.4,-6.5,548,10889,0.00,1.92,0.00,0.000,6,0.000,0.089,2604,1474,3425,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11208,-0.91,-184.9,922.3,-7.9,559,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1476,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11503,-0.93,-184.9,948.4,-8.8,569,11509,0.00,2.20,0.00,0.000,4,0.000,0.119,2604,2579,3423,0,0,0,0,0,0,28.83,13.72,28.83
$GC,11572,-0.95,-184.9,953.7,-9.0,571,11579,0.00,2.22,0.00,0.000,6,0.000,0.122,2604,1476,3423,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,11859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11859,begin apogee
$GC,11869,-0.42,0.0,981.0,-8.9,581,12060,0.50,0.00,184.02,1.846,4,0.190,0.000,2745,1523,2690,0,0,0,0,0,0,13.64,28.83,12.97
$STATE,12065,end apogee,CONTROL_FINISHED_OK
$STATE,12066,begin climb
$GC,12069,1.15,184.9,991.3,0.0,587,12274,1.65,2.05,194.02,1.825,4,0.146,0.119,3246,2582,1941,0,0,0,0,0,0,13.98,13.99,13.02
$GC,12293,1.01,192.0,983.6,6.9,594,12304,0.15,2.15,2.75,0.754,6,0.278,0.138,3216,1520,1910,0,0,0,0,0,0,13.85,14.00,12.89
$GC,12604,0.93,192.0,947.4,10.3,605,12610,0.00,2.08,0.00,0.000,4,0.000,0.122,3217,2579,1916,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12694,0.84,192.0,938.1,10.3,608,12701,0.22,2.08,0.00,0.000,6,0.284,0.136,3167,1542,1916,0,0,0,0,0,0,13.76,14.00,28.83
$GC,13028,0.79,192.0,907.9,8.9,619,13034,0.00,2.00,0.00,0.000,4,0.000,0.124,3166,2580,1915,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13174,0.74,192.0,894.5,8.9,624,13181,0.15,2.05,0.00,0.000,6,0.257,0.137,3134,1562,1915,0,0,0,0,0,0,13.71,13.91,28.83
$GC,13509,0.73,219.7,871.0,6.4,635,13550,0.00,2.25,34.03,1.726,4,0.000,0.164,3142,462,1793,0,0,0,0,0,0,28.83,14.17,13.28
$GC,13677,0.70,246.8,861.4,6.4,640,13713,0.12,2.05,30.52,1.701,6,0.278,0.095,3115,1592,1688,0,0,0,0,0,0,14.02,14.23,13.21
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$STATE,23630,end climb,SURFACE_DEPTH_REACHED
$STATE,23630,begin surface coast
$FINISH,1.5,1.013851
$STATE,23665,end surface coast,CONTROL_FINISHED_OK
$STATE,23666,begin surface
$SM_CCo,23690,41.12,0.125,0,0,1266,350.04
$SM_GC,2.47,8.68,0.73,41.12,0.057,0.128,0.125,137,1514,1266,-8.53,0.28,350.04,0,0,0,0,0,0,14.15,13.92,14.18
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.52
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,7555456
$24V_AH,12.9,235.043
$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,23.375,205.125,470.100,41.125,0.000,0.000,0.000,435.100,0.500,0.000,18.800,3343.438,16668.539,905.015,2736.105,811.352,0.000,2565.077,0.000,2263.473,0.000,0.541,0.000
$DEVICE_MAMPS,358.785,163.710,1845.945,125.460,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.808,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43379,1169
$CAP_FILE_SIZE,244720,0
$CFSIZE,260034560,176328704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,281.2,1
$GPS,030313,014506,2429.306,-3818.745,24,1.0,24,-14.1