version: 66.11
glider: 190
mission: 6
dive: 566
start: 3 3 113 22 34 21
data:
$ID,190
$MISSION,6
$DIVE,566
$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,-13653.349
$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,10
$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
$GPS1,030313,222222,2430.700,-3820.487,37,0.8,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-64.8
$GPS2,030313,223348,2430.686,-3820.609,14,1.4,14,-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,106.6,31940,-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,-184.9,0.0,0.0,0,34,0.00,0.00,-10.25,0.000,2,0.000,0.000,144,1515,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.4,0.0,1,155,10.30,2.10,-94.53,0.000,4,0.326,0.155,2512,460,3448,0,0,0,0,0,0,14.04,14.03,14.65
$GC,388,-1.03,-184.9,32.1,-11.5,36,396,0.12,1.92,0.00,0.000,6,0.244,0.078,2542,1514,3449,0,0,0,0,0,0,13.66,14.02,28.83
$GC,699,-0.95,-184.9,64.6,-11.3,67,707,0.12,1.98,0.00,0.000,4,0.259,0.096,2569,2578,3448,0,0,0,0,0,0,13.97,14.00,28.83
$GC,738,-0.90,-184.9,69.1,-11.0,71,745,0.00,2.05,0.00,0.000,6,0.000,0.111,2569,1521,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1049,-0.86,-184.9,101.8,-10.1,102,1055,0.15,0.00,0.00,0.000,6,0.224,0.000,2607,1521,3448,0,0,0,0,0,0,14.04,28.83,28.83
$GC,1358,-0.86,-184.9,129.7,-8.4,133,1366,0.00,2.10,0.00,0.000,4,0.000,0.131,2607,461,3449,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1378,-0.86,-184.9,131.3,-8.2,135,1385,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1502,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1688,-0.86,-184.9,156.9,-8.5,166,1695,0.00,2.03,0.00,0.000,4,0.000,0.100,2605,2581,3449,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1789,-0.86,-184.9,165.5,-9.0,176,1796,0.00,2.12,0.00,0.000,6,0.000,0.110,2605,1465,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2099,-0.86,-184.9,193.4,-8.5,207,2106,0.00,1.98,0.00,0.000,4,0.000,0.132,2605,458,3449,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2241,-0.83,-184.9,205.0,-8.3,221,2248,0.00,1.80,0.00,0.000,6,0.000,0.076,2605,1458,3448,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2548,-0.83,-184.9,230.7,-8.6,252,2556,0.00,2.10,0.00,0.000,4,0.000,0.099,2605,2579,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2639,-0.83,-184.9,238.3,-8.5,261,2647,0.00,2.15,0.00,0.000,6,0.000,0.112,2604,1462,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2958,-0.83,-184.9,265.6,-8.7,281,2966,0.00,1.98,0.00,0.000,4,0.000,0.133,2605,462,3449,0,0,0,0,0,0,28.83,13.74,28.83
$GC,3118,-0.81,-184.9,278.9,-8.9,286,3125,0.00,1.77,0.00,0.000,6,0.000,0.076,2604,1438,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3438,-0.81,-184.9,306.6,-8.3,297,3445,0.00,1.95,0.00,0.000,4,0.000,0.131,2604,461,3449,0,0,0,0,0,0,28.83,13.72,28.83
$GC,3548,-0.81,-184.9,314.5,-8.6,300,3556,0.00,1.75,0.00,0.000,6,0.000,0.078,2604,1420,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3858,-0.81,-184.9,340.0,-7.6,311,3864,0.00,2.17,0.00,0.000,4,0.000,0.102,2604,2573,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3997,-0.81,-184.9,348.5,-7.0,315,4006,0.00,2.22,0.00,0.000,6,0.000,0.111,2605,1434,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4309,-0.81,-184.9,373.5,-8.1,326,4314,0.00,1.92,0.00,0.000,4,0.000,0.133,2604,458,3446,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4408,-0.81,-184.9,381.4,-8.6,329,4414,0.00,1.77,0.00,0.000,6,0.000,0.080,2604,1427,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4730,-0.81,-184.9,412.1,-9.6,340,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1428,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.81,-184.9,441.5,-9.9,350,5034,0.00,1.95,0.00,0.000,4,0.000,0.132,2605,454,3445,0,0,0,0,0,0,28.83,13.70,28.83
$GC,5138,-0.81,-184.9,450.5,-9.9,353,5145,0.00,1.75,0.00,0.000,6,0.000,0.079,2605,1416,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5448,-0.81,-184.9,480.4,-8.7,364,5454,0.00,1.92,0.00,0.000,4,0.000,0.132,2604,459,3447,0,0,0,0,0,0,28.83,13.70,28.83
$GC,5537,-0.81,-184.9,488.1,-8.6,367,5544,0.00,1.73,0.00,0.000,6,0.000,0.080,2605,1400,3443,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5869,-0.81,-184.9,515.3,-8.3,378,5874,0.00,2.20,0.00,0.000,4,0.000,0.103,2605,2577,3443,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5957,-0.81,-184.9,522.6,-8.2,381,5965,0.00,2.30,0.00,0.000,6,0.000,0.114,2601,1405,3443,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6289,-0.81,-184.9,550.8,-8.6,392,6295,0.00,1.88,0.00,0.000,4,0.000,0.135,2604,459,3441,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6468,-0.81,-184.9,566.3,-8.5,398,6474,0.00,1.70,0.00,0.000,6,0.000,0.081,2604,1388,3441,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6802,-0.81,-184.9,590.8,-6.9,409,6808,0.00,2.28,0.00,0.000,4,0.000,0.105,2604,2585,3440,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6948,-0.81,-184.9,599.9,-6.0,414,6954,0.00,2.33,0.00,0.000,6,0.000,0.116,2604,1405,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7279,-0.81,-184.9,622.8,-7.3,425,7285,0.00,1.90,0.00,0.000,4,0.000,0.136,2604,455,3438,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7458,-0.81,-184.9,636.5,-7.6,431,7464,0.00,1.73,0.00,0.000,6,0.000,0.081,2604,1394,3437,0,0,0,0,0,0,28.83,13.94,28.83
$GC,7789,-0.81,-184.9,663.2,-8.4,442,7794,0.00,1.90,0.00,0.000,4,0.000,0.137,2604,454,3437,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7857,-0.81,-184.9,668.3,-8.4,444,7863,0.00,1.73,0.00,0.000,6,0.000,0.083,2604,1380,3436,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8178,-0.81,-184.9,695.0,-8.0,455,8184,0.00,1.88,0.00,0.000,4,0.000,0.138,2604,458,3436,0,0,0,0,0,0,28.83,13.65,28.83
$GC,8248,-0.81,-184.9,699.9,-8.0,457,8254,0.00,1.67,0.00,0.000,6,0.000,0.081,2605,1360,3435,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8568,-0.81,-184.9,724.2,-7.2,468,8574,0.00,1.83,0.00,0.000,4,0.000,0.138,2604,463,3434,0,0,0,0,0,0,28.83,13.64,28.83
$GC,8678,-0.81,-184.9,730.9,-7.3,471,8686,0.00,1.60,0.00,0.000,6,0.000,0.083,2605,1329,3433,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8988,-0.81,-184.9,755.5,-7.8,482,8994,0.00,1.77,0.00,0.000,4,0.000,0.139,2604,459,3432,0,0,0,0,0,0,28.83,13.62,28.83
$GC,9057,-0.81,-184.9,760.6,-8.2,484,9063,0.00,1.60,0.00,0.000,6,0.000,0.085,2604,1313,3432,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9379,-0.81,-184.9,788.6,-8.6,495,9384,0.00,1.73,0.00,0.000,4,0.000,0.143,2604,453,3431,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9507,-0.81,-184.9,799.7,-9.3,499,9514,0.00,1.55,0.00,0.000,6,0.000,0.086,2609,1279,3431,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9829,-0.81,-184.9,828.5,-8.6,510,9835,0.00,2.53,0.00,0.000,4,0.000,0.111,2604,2583,3429,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9997,-0.83,-184.9,840.4,-7.9,515,10006,0.00,2.58,0.00,0.000,6,0.000,0.123,2604,1301,3429,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10309,-0.83,-184.9,865.6,-7.3,526,10315,0.00,2.47,0.00,0.000,4,0.000,0.113,2604,2577,3428,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10398,-0.83,-184.9,871.7,-6.8,529,10405,0.00,2.53,0.00,0.000,6,0.000,0.129,2604,1325,3428,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10733,-0.83,-184.9,892.8,-6.2,540,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1324,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11028,-0.83,-184.9,910.5,-6.1,550,11034,0.00,2.47,0.00,0.000,4,0.000,0.116,2604,2578,3425,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11168,-0.85,-184.9,917.8,-6.1,554,11176,0.00,2.50,0.00,0.000,6,0.000,0.124,2605,1337,3425,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11479,-0.85,-184.9,941.4,-7.5,565,11485,0.00,1.77,0.00,0.000,4,0.000,0.140,2604,458,3424,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11517,-0.85,-184.9,944.0,-7.6,566,11524,0.00,1.67,0.00,0.000,6,0.000,0.083,2604,1347,3424,0,0,0,0,0,0,28.83,13.91,28.83
$GC,11839,-0.85,-184.9,972.9,-9.3,577,11845,0.00,2.38,0.00,0.000,4,0.000,0.110,2604,2582,3423,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,11924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11924,begin apogee
$GC,11935,-0.42,0.0,981.3,-9.4,580,12125,0.50,0.00,184.27,1.833,4,0.196,0.000,2744,1521,2690,0,0,0,0,0,0,13.66,28.83,13.00
$STATE,12131,end apogee,CONTROL_FINISHED_OK
$STATE,12131,begin climb
$GC,12134,1.15,184.9,994.1,0.0,586,12341,1.67,2.15,195.77,1.894,4,0.154,0.153,3245,459,1939,0,0,0,0,0,0,13.96,13.91,12.98
$GC,12481,1.03,184.9,975.7,9.8,597,12490,0.10,1.98,0.00,0.000,6,0.297,0.099,3221,1514,1923,0,0,0,0,0,0,13.85,14.13,28.83
$GC,12794,0.94,184.9,941.7,10.7,608,12800,0.12,2.17,0.00,0.000,4,0.307,0.162,3199,456,1921,0,0,0,0,0,0,13.93,14.00,28.83
$GC,12932,0.87,184.9,928.2,11.3,612,12939,0.15,2.03,0.00,0.000,6,0.285,0.103,3166,1533,1920,0,0,0,0,0,0,13.87,14.13,28.83
$GC,13244,0.82,184.9,893.3,10.4,623,13250,0.00,2.22,0.00,0.000,4,0.000,0.165,3173,461,1918,0,0,0,0,0,0,28.83,13.91,28.83
$GC,13392,0.76,184.9,878.0,10.3,628,13398,0.17,2.10,0.00,0.000,6,0.274,0.099,3135,1576,1918,0,0,0,0,0,0,13.76,14.09,28.83
$GC,13724,0.73,193.3,852.1,6.9,639,13732,0.00,2.38,1.50,0.174,4,0.000,0.163,3143,456,1904,0,0,0,0,0,0,28.83,13.91,13.94
$GC,13843,0.70,223.4,844.6,6.3,643,13890,0.12,2.17,38.65,1.713,6,0.283,0.098,3117,1613,1776,0,0,0,0,0,0,13.80,14.04,13.26
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$STATE,23319,end climb,SURFACE_DEPTH_REACHED
$STATE,23319,begin surface coast
$FINISH,1.7,1.012034
$STATE,23341,end surface coast,CONTROL_FINISHED_OK
$STATE,23341,begin surface
$SM_CCo,23366,18.52,0.129,0,0,1265,350.04
$SM_GC,2.63,8.82,0.73,18.52,0.068,0.136,0.129,141,1519,1265,-8.52,0.37,350.04,0,0,0,0,0,0,14.23,13.94,14.21
$IRIDIUM_FIX,2420.48,-3820.73,030313,151509
$TT8_MAMPS,0.024717,0.024717
$HUMID,60.27
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,7553920
$24V_AH,13.0,236.646
$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,23.075,218.850,512.825,18.525,0.000,0.000,0.000,375.250,0.750,0.000,17.936,3344.076,16258.371,949.954,2716.322,786.992,0.000,2571.500,0.000,2284.735,0.000,0.541,0.000
$DEVICE_MAMPS,325.890,169.830,1894.140,128.520,0.000,0.000,0.000,166.770,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23402.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.809,0.000,0.000,0.000
$MEM,344908
$DATA_FILE_SIZE,43352,1147
$CAP_FILE_SIZE,243738,0
$CFSIZE,260034560,175878144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,285.9,1
$GPS,040313,050529,2431.107,-3821.241,35,0.8,36,-14.1