version: 66.11
glider: 190
mission: 6
dive: 567
start: 3 4 113 5 18 27
data:
$ID,190
$MISSION,6
$DIVE,567
$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,-13657.354
$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,14
$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
$GPS1,040313,050529,2431.107,-3821.241,35,0.8,36,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-65.9
$GPS2,040313,051754,2431.148,-3821.314,14,1.5,14,-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,112.7,32958,-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,-10.27,0.000,2,0.000,0.000,140,1518,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,145,10.85,2.12,-89.78,0.000,4,0.353,0.153,2509,453,3447,0,0,0,0,0,0,14.01,14.07,14.63
$GC,327,-1.03,-184.9,22.9,-10.1,30,336,0.17,1.92,0.00,0.000,6,0.271,0.078,2548,1527,3448,0,0,0,0,0,0,13.74,14.02,28.83
$GC,638,-0.96,-184.9,56.3,-12.3,61,644,0.00,2.10,0.00,0.000,4,0.000,0.127,2548,458,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,706,-0.86,-184.9,64.7,-11.7,68,714,0.20,1.92,0.00,0.000,6,0.231,0.080,2596,1508,3450,0,0,0,0,0,0,13.66,14.01,28.83
$GC,1017,-0.84,-184.9,92.7,-8.7,99,1024,0.00,2.08,0.00,0.000,4,0.000,0.132,2595,460,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1066,-0.80,-184.9,97.6,-9.8,104,1074,0.10,1.92,0.00,0.000,6,0.216,0.077,2621,1509,3447,0,0,0,0,0,0,13.73,14.00,28.83
$GC,1377,-0.80,-184.9,125.8,-9.3,135,1384,0.00,2.05,0.00,0.000,4,0.000,0.130,2621,458,3447,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1487,-0.80,-184.9,137.1,-10.5,146,1495,0.00,1.88,0.00,0.000,6,0.000,0.076,2618,1484,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1798,-0.80,-184.9,167.6,-9.4,177,1804,0.00,2.05,0.00,0.000,4,0.000,0.130,2618,453,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1906,-0.78,-184.9,177.1,-8.4,188,1914,0.00,1.88,0.00,0.000,6,0.000,0.075,2618,1480,3447,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2217,-0.78,-184.9,198.3,-6.5,219,2224,0.00,2.03,0.00,0.000,4,0.000,0.097,2618,2575,3447,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2248,-0.78,-184.9,200.2,-6.4,222,2255,0.00,2.15,0.00,0.000,6,0.000,0.109,2618,1457,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2557,-0.78,-184.9,222.5,-7.7,253,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1457,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-0.78,-184.9,249.4,-9.1,284,2874,0.00,1.98,0.00,0.000,4,0.000,0.129,2618,459,3447,0,0,0,0,0,0,28.83,13.73,28.83
$GC,2937,-0.78,-184.9,255.0,-9.3,287,2942,0.00,1.80,0.00,0.000,6,0.000,0.076,2618,1465,3447,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3256,-0.78,-184.9,283.6,-8.1,298,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1465,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3557,-0.78,-184.9,305.0,-6.8,308,3563,0.00,2.00,0.00,0.000,4,0.000,0.128,2618,455,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3655,-0.78,-184.9,311.3,-7.0,311,3662,0.00,1.83,0.00,0.000,6,0.000,0.076,2618,1450,3447,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3981,-0.78,-184.9,333.8,-6.7,322,3986,0.00,1.98,0.00,0.000,4,0.000,0.131,2618,459,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4145,-0.78,-184.9,345.1,-7.7,327,4153,0.00,1.75,0.00,0.000,6,0.000,0.076,2617,1412,3446,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4456,-0.78,-184.9,372.1,-8.4,338,4462,0.00,2.20,0.00,0.000,4,0.000,0.102,2618,2571,3445,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4526,-0.78,-184.9,376.9,-8.4,340,4533,0.00,2.28,0.00,0.000,6,0.000,0.112,2618,1411,3445,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4846,-0.78,-184.9,406.0,-8.7,351,4853,0.00,1.90,0.00,0.000,4,0.000,0.135,2618,466,3445,0,0,0,0,0,0,28.83,13.68,28.83
$GC,4986,-0.78,-184.9,416.7,-8.9,355,4994,0.00,1.70,0.00,0.000,6,0.000,0.080,2618,1392,3444,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5296,-0.78,-184.9,443.4,-8.0,366,5302,0.00,1.90,0.00,0.000,4,0.000,0.136,2618,458,3443,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5406,-0.78,-184.9,450.7,-8.1,369,5414,0.00,1.67,0.00,0.000,6,0.000,0.080,2618,1373,3443,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5716,-0.78,-184.9,476.9,-8.0,380,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1373,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6016,-0.78,-184.9,499.7,-7.6,390,6022,0.00,1.85,0.00,0.000,4,0.000,0.135,2616,459,3441,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6116,-0.78,-184.9,506.9,-7.9,393,6122,0.00,1.67,0.00,0.000,6,0.000,0.080,2618,1373,3441,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6436,-0.78,-184.9,533.8,-8.3,404,6442,0.00,1.85,0.00,0.000,4,0.000,0.135,2618,461,3440,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6606,-0.78,-184.9,547.6,-9.3,409,6616,0.00,1.62,0.00,0.000,6,0.000,0.080,2617,1347,3439,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6916,-0.78,-184.9,576.8,-8.8,420,6923,0.00,2.35,0.00,0.000,4,0.000,0.103,2618,2573,3439,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6946,-0.78,-184.9,579.5,-8.7,421,6952,0.00,2.45,0.00,0.000,6,0.000,0.116,2618,1332,3438,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7277,-0.78,-184.9,606.3,-7.8,432,7282,0.00,2.38,0.00,0.000,4,0.000,0.104,2618,2574,3437,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7478,-0.80,-184.9,619.6,-7.3,438,7485,0.00,2.47,0.00,0.000,6,0.000,0.118,2618,1312,3437,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7787,-0.80,-184.9,644.2,-7.6,449,7792,0.00,2.42,0.00,0.000,4,0.000,0.105,2618,2573,3436,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7945,-0.82,-184.9,655.1,-7.2,454,7952,0.00,2.58,0.00,0.000,6,0.000,0.119,2618,1283,3435,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8270,-0.85,-184.9,680.3,-7.5,465,8276,0.00,2.53,0.00,0.000,4,0.000,0.108,2618,2581,3434,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8375,-0.87,-184.9,687.0,-7.4,468,8384,0.00,2.55,0.00,0.000,6,0.000,0.124,2618,1315,3434,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8691,-0.89,-184.9,711.5,-7.3,479,8697,0.00,2.45,0.00,0.000,4,0.000,0.110,2618,2573,3432,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8836,-0.91,-184.9,722.0,-6.9,484,8842,0.00,2.60,0.00,0.000,6,0.000,0.125,2618,1272,3432,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9170,-0.94,-184.9,745.8,-7.4,495,9177,0.12,1.62,0.00,0.000,4,0.132,0.142,2560,460,3431,0,0,0,0,0,0,14.36,13.79,28.83
$GC,9286,-0.91,-184.9,756.5,-9.0,499,9295,0.10,1.52,0.00,0.000,6,0.216,0.084,2582,1277,3431,0,0,0,0,0,0,13.59,13.89,28.83
$GC,9622,-0.91,-184.9,783.5,-8.1,510,9627,0.00,1.67,0.00,0.000,4,0.000,0.145,2583,462,3430,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9696,-0.91,-184.9,788.9,-8.5,512,9704,0.00,1.52,0.00,0.000,6,0.000,0.086,2579,1264,3429,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10009,-0.91,-184.9,817.9,-9.2,523,10010,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1264,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10307,-0.91,-184.9,848.3,-10.6,533,10313,0.00,1.67,0.00,0.000,4,0.000,0.146,2579,459,3427,0,0,0,0,0,0,28.83,13.60,28.83
$GC,10466,-0.91,-184.9,865.1,-11.4,538,10472,0.00,1.52,0.00,0.000,6,0.000,0.091,2579,1256,3430,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10788,-0.91,-184.9,900.4,-10.5,549,10793,0.00,1.65,0.00,0.000,4,0.000,0.152,2579,456,3425,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10906,-0.91,-184.9,912.7,-10.3,553,10913,0.00,1.50,0.00,0.000,6,0.000,0.095,2579,1231,3425,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11241,-0.91,-184.9,943.5,-8.9,564,11247,0.00,2.65,0.00,0.000,4,0.000,0.119,2579,2574,3424,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11387,-0.91,-184.9,955.8,-8.2,569,11393,0.00,2.70,0.00,0.000,6,0.000,0.127,2579,1239,3423,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,11718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11718,begin apogee
$GC,11726,-0.42,0.0,982.2,-7.9,580,11914,0.60,0.00,183.75,1.831,4,0.201,0.000,2745,1519,2693,0,0,0,0,0,0,13.70,28.83,13.02
$STATE,11920,end apogee,CONTROL_FINISHED_OK
$STATE,11920,begin climb
$GC,11924,1.15,184.9,990.7,0.0,586,12129,1.65,0.00,193.98,1.862,6,0.157,0.000,3243,1520,1937,0,0,0,0,0,0,13.89,28.83,12.99
$GC,12427,1.05,184.9,950.4,9.7,603,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1520,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12727,0.95,184.9,922.8,9.1,613,12735,0.22,2.05,0.00,0.000,4,0.290,0.119,3193,2573,1922,0,0,0,0,0,0,13.81,14.07,28.83
$GC,12847,0.87,184.9,912.4,8.6,617,12855,0.10,2.12,0.00,0.000,6,0.275,0.135,3174,1519,1921,0,0,0,0,0,0,13.76,13.95,28.83
$GC,13182,0.82,184.9,885.3,8.4,628,13187,0.00,2.05,0.00,0.000,4,0.000,0.125,3174,2575,1920,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13370,0.76,184.9,868.9,9.1,634,13377,0.20,2.08,0.00,0.000,6,0.281,0.138,3137,1535,1919,0,0,0,0,0,0,13.72,13.93,28.83
$GC,13690,0.73,184.9,840.0,8.8,645,13696,0.00,2.22,0.00,0.000,4,0.000,0.163,3145,463,1919,0,0,0,0,0,0,28.83,13.85,28.83
$GC,13847,0.69,184.9,825.9,9.4,650,13855,0.12,2.10,0.00,0.000,6,0.250,0.095,3112,1566,1918,0,0,0,0,0,0,13.66,13.95,28.83
$GC,14170,0.69,184.9,796.7,8.8,661,14176,0.00,2.33,0.00,0.000,4,0.000,0.161,3118,453,1918,0,0,0,0,0,0,28.83,13.88,28.83
$GC,14307,0.69,184.9,786.4,8.6,665,14314,0.00,2.15,0.00,0.000,6,0.000,0.085,3118,1607,1917,0,0,0,0,0,0,28.83,13.96,28.83
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$STATE,23524,end climb,SURFACE_DEPTH_REACHED
$STATE,23524,begin surface coast
$FINISH,1.6,1.012533
$STATE,23551,end surface coast,CONTROL_FINISHED_OK
$STATE,23551,begin surface
$SM_CCo,23575,44.03,0.125,0,0,1263,350.04
$SM_GC,2.56,8.77,0.73,44.03,0.062,0.131,0.125,138,1518,1263,-8.53,0.34,350.04,0,0,0,0,0,0,14.15,13.88,14.18
$IRIDIUM_FIX,2422.84,-3822.20,030313,222226
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.56
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,7553536
$24V_AH,13.0,237.041
$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,23.650,199.900,475.500,44.025,0.000,0.000,0.000,434.625,0.250,0.000,18.506,3414.929,16413.262,901.772,2817.003,804.490,0.000,2590.787,0.000,2326.285,0.000,0.542,0.000
$DEVICE_MAMPS,353.430,162.945,1862.010,124.695,0.000,0.000,0.000,162.945,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23596.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.833,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43367,1159
$CAP_FILE_SIZE,246258,0
$CFSIZE,260034560,175763456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,257.8,1
$GPS,040313,115334,2431.261,-3821.802,39,0.9,40,-14.1