version: 66.11
glider: 190
mission: 6
dive: 568
start: 3 4 113 12 6 26
data:
$ID,190
$MISSION,6
$DIVE,568
$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,-13661.365
$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
$GPS1,040313,115334,2431.261,-3821.802,39,0.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-63.7
$GPS2,040313,120553,2431.233,-3821.877,17,0.9,17,-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,92.8,33869,-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,-10.50,0.000,2,0.000,0.000,137,1514,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,149,10.62,2.12,-93.40,0.000,4,0.342,0.155,2510,454,3448,0,0,0,0,0,0,14.03,14.09,14.64
$GC,377,-1.02,-184.9,29.2,-12.3,34,384,0.17,1.92,0.00,0.000,6,0.268,0.075,2548,1525,3448,0,0,0,0,0,0,13.69,14.11,28.83
$GC,685,-0.96,-184.9,60.8,-10.3,65,692,0.00,1.95,0.00,0.000,4,0.000,0.094,2540,2575,3448,0,0,0,0,0,0,28.83,13.94,28.83
$GC,753,-0.89,-184.9,68.1,-10.8,72,762,0.17,2.05,0.00,0.000,6,0.200,0.110,2591,1528,3448,0,0,0,0,0,0,13.74,13.79,28.83
$GC,1064,-0.87,-184.9,97.2,-9.5,103,1071,0.00,2.12,0.00,0.000,4,0.000,0.132,2591,453,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1197,-0.82,-184.9,109.8,-9.5,116,1205,0.12,1.90,0.00,0.000,6,0.246,0.075,2614,1511,3448,0,0,0,0,0,0,13.82,14.05,28.83
$GC,1508,-0.82,-184.9,135.0,-8.1,147,1515,0.00,2.10,0.00,0.000,4,0.000,0.131,2614,455,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1564,-0.79,-184.9,140.2,-9.1,153,1574,0.00,1.90,0.00,0.000,6,0.000,0.076,2609,1498,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1874,-0.79,-184.9,169.1,-9.7,184,1882,0.00,2.10,0.00,0.000,4,0.000,0.129,2609,461,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2029,-0.77,-184.9,184.5,-10.2,199,2036,0.12,1.83,0.00,0.000,6,0.243,0.076,2634,1479,3448,0,0,0,0,0,0,13.84,14.08,28.83
$GC,2340,-0.79,-184.9,212.2,-8.7,230,2347,0.00,2.05,0.00,0.000,4,0.000,0.131,2634,453,3448,0,0,0,0,0,0,28.83,13.80,28.83
$GC,2417,-0.79,-184.9,219.1,-8.5,238,2424,0.00,1.83,0.00,0.000,6,0.000,0.077,2632,1464,3451,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2728,-0.79,-184.9,242.9,-7.5,269,2735,0.00,2.08,0.00,0.000,4,0.000,0.098,2631,2575,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2777,-0.81,-184.9,246.8,-7.9,274,2784,0.00,2.17,0.00,0.000,6,0.000,0.112,2631,1449,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3100,-0.83,-184.9,274.0,-9.1,288,3106,0.00,1.98,0.00,0.000,4,0.000,0.132,2631,454,3448,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3156,-0.83,-184.9,280.0,-9.7,290,3162,0.00,1.83,0.00,0.000,6,0.000,0.076,2631,1449,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3491,-0.86,-184.9,313.2,-10.2,301,3496,0.00,2.10,0.00,0.000,4,0.000,0.100,2631,2582,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3596,-0.88,-184.9,321.6,-9.4,304,3604,0.00,2.20,0.00,0.000,6,0.000,0.113,2631,1457,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3908,-0.90,-184.9,347.5,-7.1,315,3914,0.12,2.00,0.00,0.000,4,0.128,0.130,2568,453,3445,0,0,0,0,0,0,14.44,13.79,28.83
$GC,3997,-0.90,-184.9,354.3,-7.4,318,4002,0.00,1.85,0.00,0.000,6,0.000,0.080,2565,1474,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4331,-0.88,-184.9,374.4,-5.9,329,4337,0.12,2.05,0.00,0.000,4,0.249,0.129,2601,450,3447,0,0,0,0,0,0,14.06,13.80,28.83
$GC,4406,-0.86,-184.9,377.9,-6.0,331,4414,0.00,1.85,0.00,0.000,6,0.000,0.080,2596,1458,3446,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4719,-0.86,-184.9,400.3,-7.6,342,4724,0.00,2.00,0.00,0.000,4,0.000,0.130,2595,454,3446,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4866,-0.84,-184.9,414.1,-9.5,347,4873,0.00,1.77,0.00,0.000,6,0.000,0.080,2592,1420,3445,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5197,-0.84,-184.9,447.9,-10.6,358,5202,0.00,1.92,0.00,0.000,4,0.000,0.130,2592,461,3444,0,0,0,0,0,0,28.83,13.70,28.83
$GC,5257,-0.84,-184.9,454.4,-10.7,360,5262,0.00,1.75,0.00,0.000,6,0.000,0.080,2592,1430,3444,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5586,-0.84,-184.9,487.5,-9.7,371,5593,0.00,1.95,0.00,0.000,4,0.000,0.132,2592,462,3444,0,0,0,0,0,0,28.83,13.67,28.83
$GC,5666,-0.84,-184.9,493.4,-9.7,373,5675,0.00,1.73,0.00,0.000,6,0.000,0.082,2592,1397,3443,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5976,-0.84,-184.9,522.3,-8.4,384,5982,0.00,2.25,0.00,0.000,4,0.000,0.103,2588,2572,3442,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6036,-0.84,-184.9,527.0,-8.0,386,6042,0.00,2.33,0.00,0.000,6,0.000,0.115,2588,1393,3441,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6367,-0.84,-184.9,552.9,-7.6,397,6372,0.00,1.88,0.00,0.000,4,0.000,0.135,2588,457,3440,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6525,-0.81,-184.9,564.8,-7.9,402,6533,0.15,1.73,0.00,0.000,6,0.232,0.080,2619,1386,3440,0,0,0,0,0,0,13.75,14.02,28.83
$GC,6851,-0.83,-184.9,589.6,-7.8,413,6856,0.00,2.25,0.00,0.000,4,0.000,0.104,2618,2577,3439,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6895,-0.85,-184.9,591.8,-7.7,414,6904,0.00,2.38,0.00,0.000,6,0.000,0.116,2618,1373,3439,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7211,-0.87,-184.9,618.9,-8.4,425,7216,0.00,2.33,0.00,0.000,4,0.000,0.106,2618,2577,3438,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7365,-0.90,-184.9,631.0,-8.0,430,7372,0.00,2.45,0.00,0.000,6,0.000,0.116,2618,1345,3437,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7687,-0.90,-184.9,656.8,-7.8,441,7692,0.00,2.38,0.00,0.000,4,0.000,0.106,2618,2577,3436,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7836,-0.93,-184.9,668.0,-7.4,446,7842,0.00,2.47,0.00,0.000,6,0.000,0.118,2618,1311,3436,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8170,-0.93,-184.9,691.5,-6.9,457,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1310,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8467,-0.95,-184.9,715.6,-8.6,467,8474,0.12,2.45,0.00,0.000,4,0.132,0.106,2565,2576,3434,0,0,0,0,0,0,14.42,13.83,28.83
$GC,8659,-0.95,-184.9,733.3,-10.1,473,8664,0.00,2.47,0.00,0.000,6,0.000,0.119,2565,1327,3433,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8976,-0.95,-184.9,766.1,-9.9,484,8982,0.00,1.77,0.00,0.000,4,0.000,0.138,2565,455,3432,0,0,0,0,0,0,28.83,13.66,28.83
$GC,9066,-0.92,-184.9,775.4,-10.3,487,9073,0.00,1.62,0.00,0.000,6,0.000,0.081,2559,1339,3431,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9398,-0.92,-184.9,805.8,-8.8,498,9403,0.00,2.40,0.00,0.000,4,0.000,0.106,2553,2575,3430,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9456,-0.92,-184.9,811.1,-8.6,500,9463,0.10,2.47,0.00,0.000,6,0.197,0.120,2583,1336,3430,0,0,0,0,0,0,13.73,13.81,28.83
$GC,9790,-0.92,-184.9,838.6,-8.3,511,9796,0.00,1.80,0.00,0.000,4,0.000,0.141,2583,450,3428,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9835,-0.92,-184.9,841.1,-8.3,512,9844,0.00,1.65,0.00,0.000,6,0.000,0.083,2579,1334,3428,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10147,-0.92,-184.9,867.7,-7.8,523,10154,0.00,1.80,0.00,0.000,4,0.000,0.142,2579,454,3428,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10206,-0.92,-184.9,872.7,-8.1,525,10212,0.00,1.62,0.00,0.000,6,0.000,0.086,2577,1314,3427,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10539,-0.92,-184.9,898.4,-7.8,536,10544,0.00,2.47,0.00,0.000,4,0.000,0.113,2579,2577,3426,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10657,-0.92,-184.9,907.2,-7.4,540,10663,0.00,2.55,0.00,0.000,6,0.000,0.128,2579,1308,3425,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10989,-0.92,-184.9,933.5,-8.1,551,10995,0.00,1.73,0.00,0.000,4,0.000,0.138,2579,455,3425,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11086,-0.92,-184.9,941.3,-8.5,554,11092,0.00,1.60,0.00,0.000,6,0.000,0.086,2578,1311,3424,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11406,-0.92,-184.9,968.9,-8.2,565,11412,0.00,2.47,0.00,0.000,4,0.000,0.108,2575,2573,3423,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11515,-0.92,-184.9,975.9,-7.9,568,11524,0.00,2.53,0.00,0.000,6,0.000,0.122,2574,1321,3422,0,0,0,0,0,0,28.83,13.80,28.83
$STATE,11552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11552,begin apogee
$GC,11562,-0.42,0.0,980.5,-7.7,570,11753,0.60,0.00,184.00,1.822,4,0.189,0.000,2743,1522,2692,0,0,0,0,0,0,13.71,28.83,13.00
$STATE,11758,end apogee,CONTROL_FINISHED_OK
$STATE,11758,begin climb
$GC,11761,1.15,184.9,989.3,0.0,576,11968,1.65,2.05,193.73,1.803,4,0.141,0.119,3246,2581,1936,0,0,0,0,0,0,13.97,14.01,12.99
$GC,12117,1.04,184.9,965.3,10.4,588,12126,0.12,2.12,0.00,0.000,6,0.310,0.135,3224,1523,1923,0,0,0,0,0,0,13.78,14.01,28.83
$GC,12432,0.95,184.9,933.2,9.8,599,12439,0.12,2.17,0.00,0.000,4,0.332,0.161,3203,456,1920,0,0,0,0,0,0,13.88,14.00,28.83
$GC,12628,0.87,184.9,914.9,10.1,605,12638,0.12,2.03,0.00,0.000,6,0.265,0.099,3171,1525,1921,0,0,0,0,0,0,13.75,14.05,28.83
$GC,12941,0.82,184.9,884.5,9.2,616,12947,0.00,2.00,0.00,0.000,4,0.000,0.115,3170,2578,1919,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13048,0.76,184.9,876.1,9.4,619,13056,0.15,2.10,0.00,0.000,6,0.276,0.133,3140,1540,1918,0,0,0,0,0,0,13.66,13.88,28.83
$GC,13362,0.73,184.9,850.0,7.3,630,13367,0.00,2.03,0.00,0.000,4,0.000,0.125,3141,2577,1916,0,0,0,0,0,0,28.83,13.95,28.83
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$STATE,22547,end climb,SURFACE_DEPTH_REACHED
$STATE,22547,begin surface coast
$FINISH,1.6,1.025606
$STATE,22569,end surface coast,CONTROL_FINISHED_OK
$STATE,22569,begin surface
$SM_CCo,22653,0.00,0.000,0,0,1237,357.40
$SM_GC,2.50,8.98,0.73,0.00,0.073,0.133,0.000,139,1518,1237,-8.52,0.48,357.40,0,0,0,0,0,0,14.23,13.97,28.83
$IRIDIUM_FIX,2422.84,-3818.88,040313,050538
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.90
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,7553152
$24V_AH,13.0,237.462
$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,24.275,203.600,554.800,0.000,0.000,0.000,0.000,427.300,0.750,0.000,21.335,3259.215,15667.313,950.765,2698.899,798.075,0.000,2597.072,0.000,2224.120,0.000,0.541,0.000
$DEVICE_MAMPS,341.955,162.180,1822.230,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22627.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.722,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43318,1096
$CAP_FILE_SIZE,241849,0
$CFSIZE,260034560,175656960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,267.7,1
$GPS,040313,182522,2431.703,-3822.039,39,1.1,40,-14.1