version: 66.11
glider: 190
mission: 6
dive: 563
start: 3 3 113 1 58 6
data:
$ID,190
$MISSION,6
$DIVE,563
$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,-13641.316
$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,17
$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
$GPS1,030313,014506,2429.306,-3818.745,24,1.0,24,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-58.5
$GPS2,030313,015733,2429.341,-3818.845,17,9.4,36,-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,111.7,29657,-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,22,-1.15,-184.9,0.0,0.0,0,35,0.00,0.00,-10.52,0.000,2,0.000,0.000,137,1512,1510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.4,0.0,1,145,10.30,2.05,-88.05,0.000,4,0.326,0.151,2515,459,3447,0,0,0,0,0,0,14.09,14.07,14.63
$GC,380,-1.03,-184.9,31.5,-12.6,35,388,0.17,1.92,0.00,0.000,6,0.262,0.080,2549,1524,3447,0,0,0,0,0,0,13.77,14.09,28.83
$GC,689,-0.97,-184.9,64.1,-10.1,66,696,0.00,1.98,0.00,0.000,4,0.000,0.099,2543,2577,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,727,-0.91,-184.9,68.3,-10.4,70,735,0.12,2.05,0.00,0.000,6,0.196,0.112,2584,1526,3447,0,0,0,0,0,0,13.81,13.89,28.83
$GC,1037,-0.88,-184.9,98.2,-9.3,101,1045,0.00,2.12,0.00,0.000,4,0.000,0.135,2584,464,3450,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1118,-0.82,-184.9,106.2,-10.0,109,1126,0.15,1.90,0.00,0.000,6,0.246,0.080,2614,1514,3447,0,0,0,0,0,0,13.82,14.09,28.83
$GC,1428,-0.82,-184.9,132.4,-8.2,140,1435,0.00,2.10,0.00,0.000,4,0.000,0.131,2614,456,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1528,-0.80,-184.9,141.2,-8.8,150,1534,0.00,1.88,0.00,0.000,6,0.000,0.078,2609,1493,3448,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1838,-0.80,-184.9,170.5,-9.9,181,1846,0.00,2.03,0.00,0.000,4,0.000,0.100,2606,2576,3449,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1887,-0.80,-184.9,175.5,-9.8,186,1894,0.00,2.10,0.00,0.000,6,0.000,0.112,2605,1485,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2197,-0.80,-184.9,205.9,-9.4,217,2205,0.00,2.03,0.00,0.000,4,0.000,0.132,2604,462,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2351,-0.78,-184.9,219.6,-9.1,232,2358,0.00,1.83,0.00,0.000,6,0.000,0.076,2605,1474,3448,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2659,-0.78,-184.9,242.3,-7.1,263,2665,0.00,2.00,0.00,0.000,4,0.000,0.130,2605,461,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2780,-0.75,-184.9,251.1,-7.3,275,2786,0.10,1.80,0.00,0.000,6,0.211,0.077,2635,1443,3448,0,0,0,0,0,0,13.72,14.03,28.83
$GC,3113,-0.77,-184.9,271.9,-6.2,286,3119,0.00,2.10,0.00,0.000,4,0.000,0.098,2631,2572,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3198,-0.80,-184.9,277.5,-6.1,289,3205,0.00,2.17,0.00,0.000,6,0.000,0.111,2631,1458,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3533,-0.82,-184.9,302.0,-8.3,300,3538,0.00,2.10,0.00,0.000,4,0.000,0.099,2631,2572,3447,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3648,-0.84,-184.9,312.4,-8.7,304,3655,0.00,2.22,0.00,0.000,6,0.000,0.111,2631,1433,3447,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3983,-0.87,-184.9,343.5,-9.6,315,3988,0.00,2.15,0.00,0.000,4,0.000,0.100,2631,2573,3446,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4008,-0.89,-184.9,346.4,-9.6,316,4015,0.08,2.22,0.00,0.000,6,0.084,0.112,2575,1432,3447,0,0,0,0,0,0,13.95,13.83,28.83
$GC,4342,-0.89,-184.9,379.4,-9.7,327,4347,0.00,2.15,0.00,0.000,4,0.000,0.099,2568,2572,3446,0,0,0,0,0,0,28.83,13.96,28.83
$GC,4488,-0.89,-184.9,393.0,-9.0,332,4494,0.00,2.28,0.00,0.000,6,0.000,0.112,2568,1409,3445,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4822,-0.87,-184.9,420.5,-8.1,343,4828,0.12,2.17,0.00,0.000,4,0.235,0.096,2604,2572,3444,0,0,0,0,0,0,14.09,13.97,28.83
$GC,4968,-0.87,-184.9,431.3,-7.2,348,4974,0.00,2.33,0.00,0.000,6,0.000,0.111,2604,1378,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5299,-0.87,-184.9,456.5,-7.9,359,5304,0.00,2.28,0.00,0.000,4,0.000,0.100,2604,2574,3443,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5437,-0.87,-184.9,466.2,-8.0,363,5446,0.00,2.40,0.00,0.000,6,0.000,0.111,2604,1343,3442,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5748,-0.87,-184.9,494.1,-8.5,374,5754,0.00,1.75,0.00,0.000,4,0.000,0.135,2604,464,3442,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5779,-0.87,-184.9,496.7,-8.5,375,5784,0.00,1.55,0.00,0.000,6,0.000,0.080,2604,1317,3442,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6108,-0.87,-184.9,522.5,-7.5,386,6114,0.00,2.40,0.00,0.000,4,0.000,0.102,2604,2573,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6177,-0.87,-184.9,526.6,-7.0,388,6184,0.00,2.50,0.00,0.000,6,0.000,0.114,2604,1300,3441,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6502,-0.87,-184.9,548.4,-6.6,399,6507,0.00,1.67,0.00,0.000,4,0.000,0.136,2604,458,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6597,-0.87,-184.9,554.7,-6.9,402,6605,0.00,1.55,0.00,0.000,6,0.000,0.079,2604,1303,3440,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6923,-0.87,-184.9,577.2,-7.0,413,6928,0.00,2.42,0.00,0.000,4,0.000,0.103,2604,2576,3439,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6967,-0.87,-184.9,579.3,-7.0,414,6975,0.00,2.50,0.00,0.000,6,0.000,0.114,2604,1300,3438,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7279,-0.87,-184.9,603.9,-7.8,425,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1300,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7578,-0.87,-184.9,628.4,-8.4,435,7585,0.00,1.70,0.00,0.000,4,0.000,0.138,2604,462,3436,0,0,0,0,0,0,28.83,13.64,28.83
$GC,7758,-0.87,-184.9,643.3,-8.1,441,7766,0.00,1.58,0.00,0.000,6,0.000,0.081,2604,1313,3435,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8090,-0.87,-184.9,667.8,-7.1,452,8095,0.00,2.42,0.00,0.000,4,0.000,0.105,2604,2571,3435,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8227,-0.87,-184.9,676.0,-6.7,456,8235,0.00,2.47,0.00,0.000,6,0.000,0.116,2604,1322,3434,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8539,-0.87,-184.9,699.7,-7.3,467,8544,0.00,1.75,0.00,0.000,4,0.000,0.140,2604,455,3433,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8647,-0.87,-184.9,706.7,-7.7,470,8655,0.00,1.62,0.00,0.000,6,0.000,0.083,2604,1327,3433,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8959,-0.87,-184.9,735.3,-9.0,481,8965,0.00,2.40,0.00,0.000,4,0.000,0.109,2604,2571,3431,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9018,-0.87,-184.9,740.9,-9.3,483,9024,0.00,2.50,0.00,0.000,6,0.000,0.119,2604,1322,3434,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9349,-0.87,-184.9,773.2,-10.0,494,9354,0.00,2.45,0.00,0.000,4,0.000,0.109,2604,2575,3430,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9517,-0.87,-184.9,787.6,-9.6,499,9526,0.00,2.58,0.00,0.000,6,0.000,0.119,2604,1290,3429,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9828,-0.87,-184.9,818.4,-8.7,510,9834,0.00,2.53,0.00,0.000,4,0.000,0.109,2604,2569,3429,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10013,-0.89,-184.9,831.7,-7.1,516,10018,0.00,2.58,0.00,0.000,6,0.000,0.122,2604,1269,3428,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10342,-0.89,-184.9,853.7,-6.3,527,10348,0.00,1.65,0.00,0.000,4,0.000,0.148,2604,461,3427,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10477,-0.89,-184.9,861.6,-6.5,531,10486,0.00,1.50,0.00,0.000,6,0.000,0.087,2604,1257,3426,0,0,0,0,0,0,28.83,13.96,28.83
$GC,10792,-0.89,-184.9,883.1,-6.8,542,10797,0.00,2.58,0.00,0.000,4,0.000,0.112,2604,2577,3425,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10929,-0.91,-184.9,891.3,-6.9,546,10936,0.00,2.60,0.00,0.000,6,0.000,0.124,2604,1267,3424,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11238,-0.91,-184.9,916.0,-8.0,557,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1267,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11540,-0.93,-184.9,941.1,-8.3,567,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1267,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11838,-0.93,-184.9,967.1,-8.8,577,11845,0.00,2.60,0.00,0.000,4,0.000,0.112,2604,2569,3421,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11930,-0.95,-184.9,974.8,-8.7,580,11935,0.00,2.60,0.00,0.000,6,0.000,0.128,2604,1278,3421,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,12014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12014,begin apogee
$GC,12023,-0.42,0.0,982.6,-8.7,583,12215,0.50,0.00,184.32,1.842,4,0.196,0.000,2744,1519,2689,0,0,0,0,0,0,13.66,28.83,12.97
$STATE,12221,end apogee,CONTROL_FINISHED_OK
$STATE,12221,begin climb
$GC,12224,1.15,184.9,993.0,0.0,589,12430,1.67,2.05,195.18,1.846,4,0.146,0.121,3251,2577,1939,0,0,0,0,0,0,13.97,13.98,13.00
$GC,12590,1.04,184.9,968.3,10.8,601,12597,0.15,2.10,0.00,0.000,6,0.314,0.129,3224,1525,1923,0,0,0,0,0,0,13.80,14.07,28.83
$GC,12913,0.95,184.9,932.8,11.0,612,12919,0.12,2.12,0.00,0.000,4,0.340,0.153,3204,461,1921,0,0,0,0,0,0,13.89,14.02,28.83
$GC,13021,0.87,184.9,923.0,10.9,615,13028,0.08,2.00,0.00,0.000,6,0.270,0.090,3171,1539,1920,0,0,0,0,0,0,13.84,14.14,28.83
$GC,13333,0.82,184.9,891.4,9.4,626,13339,0.00,1.98,0.00,0.000,4,0.000,0.112,3171,2582,1919,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13451,0.77,184.9,880.5,9.0,630,13458,0.20,2.05,0.00,0.000,6,0.292,0.129,3135,1545,1918,0,0,0,0,0,0,13.71,13.99,28.83
$GC,13783,0.74,184.9,854.1,8.0,641,13788,0.00,2.00,0.00,0.000,4,0.000,0.116,3135,2580,1916,0,0,0,0,0,0,28.83,14.01,28.83
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$STATE,23918,end climb,SURFACE_DEPTH_REACHED
$STATE,23919,begin surface coast
$FINISH,1.6,1.011556
$STATE,23941,end surface coast,CONTROL_FINISHED_OK
$STATE,23941,begin surface
$SM_CCo,23964,35.55,0.125,0,0,1266,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.68
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7555072
$24V_AH,13.0,235.440
$10V_AH,12.3,0.000
$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,23.075,218.250,479.875,35.550,0.000,0.000,0.000,415.050,0.250,0.000,41.136,3444.417,16715.486,900.510,2842.792,830.818,0.000,2586.951,0.000,2355.812,0.000,0.541,0.000
$DEVICE_MAMPS,339.660,156.825,1845.945,125.460,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.690,0.000,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,43312,1159
$CAP_FILE_SIZE,250363,0
$CFSIZE,260034560,176209920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,269.6,1
$GPS,030313,083934,2429.624,-3819.375,39,0.8,40,-14.1