version: 66.11
glider: 190
mission: 6
dive: 571
start: 3 5 113 8 21 5
data:
$ID,190
$MISSION,6
$DIVE,571
$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,-13670.629
$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
$GPS1,050313,080604,2432.214,-3822.848,29,0.9,30,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-61.9
$GPS2,050313,082035,2432.235,-3822.898,16,0.9,16,-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,93.0,35351,-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,-10.40,0.000,2,0.000,0.000,141,1516,1511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.6,0.0,1,148,10.60,2.03,-92.47,0.000,4,0.340,0.120,2506,2586,3447,0,0,0,0,0,0,14.04,14.12,14.64
$GC,376,-1.06,-184.9,26.3,-10.2,34,383,0.15,2.05,0.00,0.000,6,0.252,0.109,2539,1519,3448,0,0,0,0,0,0,13.79,13.95,28.83
$GC,684,-0.98,-184.9,57.1,-10.2,65,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1519,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,994,-0.91,-184.9,88.7,-10.0,96,1001,0.17,2.03,0.00,0.000,4,0.240,0.096,2579,2583,3447,0,0,0,0,0,0,13.84,13.89,28.83
$GC,1054,-0.88,-184.9,94.1,-9.0,102,1060,0.00,2.05,0.00,0.000,6,0.000,0.110,2580,1526,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1363,-0.85,-184.9,120.9,-8.2,133,1372,0.12,2.12,0.00,0.000,4,0.227,0.132,2611,464,3447,0,0,0,0,0,0,14.14,13.74,28.83
$GC,1473,-0.85,-184.9,130.0,-8.5,144,1480,0.00,1.92,0.00,0.000,6,0.000,0.078,2606,1520,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1784,-0.85,-184.9,152.6,-6.8,175,1791,0.00,2.12,0.00,0.000,4,0.000,0.132,2606,455,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1915,-0.81,-184.9,162.2,-7.4,188,1922,0.00,1.90,0.00,0.000,6,0.000,0.079,2605,1497,3447,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2223,-0.81,-184.9,182.1,-6.4,219,2230,0.00,2.08,0.00,0.000,4,0.000,0.130,2605,460,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2295,-0.79,-184.9,187.1,-7.2,226,2301,0.00,1.88,0.00,0.000,6,0.000,0.077,2605,1481,3447,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2604,-0.79,-184.9,208.4,-7.9,257,2612,0.00,2.05,0.00,0.000,4,0.000,0.100,2605,2577,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2653,-0.79,-184.9,212.4,-8.1,262,2660,0.00,2.17,0.00,0.000,6,0.000,0.110,2605,1450,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2964,-0.79,-184.9,243.2,-11.2,293,2971,0.00,1.95,0.00,0.000,4,0.000,0.131,2605,459,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3112,-0.79,-184.9,260.9,-12.1,302,3119,0.00,1.77,0.00,0.000,6,0.000,0.075,2605,1435,3448,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3444,-0.79,-184.9,296.3,-9.9,313,3450,0.00,2.12,0.00,0.000,4,0.000,0.101,2604,2574,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3511,-0.79,-184.9,301.5,-9.2,315,3518,0.00,2.20,0.00,0.000,6,0.000,0.111,2605,1451,3447,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3834,-0.79,-184.9,326.9,-7.2,326,3839,0.00,1.98,0.00,0.000,4,0.000,0.132,2605,455,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3991,-0.77,-184.9,338.0,-7.5,331,3999,0.12,1.80,0.00,0.000,6,0.237,0.076,2634,1438,3447,0,0,0,0,0,0,13.84,14.08,28.83
$GC,4317,-0.79,-184.9,361.7,-7.5,342,4322,0.00,2.12,0.00,0.000,4,0.000,0.100,2631,2573,3446,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4391,-0.82,-184.9,366.2,-7.5,344,4400,0.00,2.22,0.00,0.000,6,0.000,0.112,2632,1436,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4704,-0.85,-184.9,391.2,-7.6,355,4709,0.00,1.95,0.00,0.000,4,0.000,0.133,2631,458,3445,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4741,-0.87,-184.9,393.4,-7.6,356,4748,0.00,1.83,0.00,0.000,6,0.000,0.078,2631,1449,3445,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5066,-0.89,-184.9,415.6,-6.2,367,5071,0.00,2.12,0.00,0.000,4,0.000,0.103,2635,2572,3444,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5184,-0.92,-184.9,422.9,-6.0,371,5190,0.12,2.20,0.00,0.000,6,0.125,0.112,2574,1447,3444,0,0,0,0,0,0,14.00,13.79,28.83
$GC,5515,-0.92,-184.9,448.8,-8.4,382,5520,0.00,1.98,0.00,0.000,4,0.000,0.135,2574,458,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5654,-0.89,-184.9,460.0,-9.4,386,5661,0.12,1.80,0.00,0.000,6,0.250,0.079,2596,1448,3442,0,0,0,0,0,0,13.76,14.02,28.83
$GC,5965,-0.89,-184.9,490.1,-9.1,397,5971,0.00,2.00,0.00,0.000,4,0.000,0.134,2596,455,3442,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6054,-0.89,-184.9,498.2,-9.0,400,6059,0.00,1.77,0.00,0.000,6,0.000,0.081,2592,1432,3441,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6382,-0.89,-184.9,526.1,-8.2,411,6389,0.00,1.98,0.00,0.000,4,0.000,0.134,2592,460,3440,0,0,0,0,0,0,28.83,13.67,28.83
$GC,6492,-0.89,-184.9,533.4,-8.1,414,6500,0.00,1.77,0.00,0.000,6,0.000,0.082,2592,1421,3440,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6804,-0.89,-184.9,557.3,-7.3,425,6810,0.00,1.95,0.00,0.000,4,0.000,0.135,2592,454,3439,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6862,-0.89,-184.9,562.1,-7.6,427,6869,0.00,1.73,0.00,0.000,6,0.000,0.081,2593,1388,3439,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7197,-0.89,-184.9,585.1,-6.8,438,7202,0.00,2.22,0.00,0.000,4,0.000,0.103,2592,2572,3438,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7225,-0.89,-184.9,587.1,-6.8,439,7230,0.00,2.33,0.00,0.000,6,0.000,0.116,2592,1378,3438,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7557,-0.89,-184.9,609.4,-7.0,450,7563,0.00,1.85,0.00,0.000,4,0.000,0.137,2592,456,3436,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7632,-0.89,-184.9,613.9,-7.2,452,7640,0.00,1.73,0.00,0.000,6,0.000,0.080,2592,1386,3436,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7943,-0.89,-184.9,638.6,-7.8,463,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1386,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8244,-0.89,-184.9,662.4,-8.2,473,8252,0.00,1.90,0.00,0.000,4,0.000,0.137,2592,461,3435,0,0,0,0,0,0,28.83,13.67,28.83
$GC,8282,-0.89,-184.9,665.1,-8.3,474,8290,0.00,1.70,0.00,0.000,6,0.000,0.081,2591,1378,3435,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8604,-0.89,-184.9,695.3,-9.6,485,8610,0.00,2.30,0.00,0.000,4,0.000,0.105,2588,2577,3433,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8652,-0.89,-184.9,698.2,-9.6,486,8660,0.00,2.38,0.00,0.000,6,0.000,0.117,2588,1375,3433,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8963,-0.89,-184.9,731.3,-10.1,497,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1375,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,-0.89,-184.9,759.6,-9.1,507,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1375,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9563,-0.89,-184.9,784.5,-8.1,517,9570,0.00,1.88,0.00,0.000,4,0.000,0.137,2588,460,3429,0,0,0,0,0,0,28.83,13.62,28.83
$GC,9672,-0.89,-184.9,791.6,-7.9,520,9680,0.00,1.73,0.00,0.000,6,0.000,0.082,2584,1381,3429,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9984,-0.89,-184.9,816.2,-7.2,531,9989,0.00,1.88,0.00,0.000,4,0.000,0.139,2584,459,3428,0,0,0,0,0,0,28.83,13.67,28.83
$GC,10022,-0.89,-184.9,818.3,-7.1,532,10028,0.00,1.73,0.00,0.000,6,0.000,0.086,2581,1371,3428,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10347,-0.89,-184.9,840.5,-6.5,543,10353,0.00,1.88,0.00,0.000,4,0.000,0.140,2580,457,3427,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10433,-0.89,-184.9,846.5,-6.6,546,10439,0.00,1.67,0.00,0.000,6,0.000,0.084,2579,1352,3427,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10768,-0.89,-184.9,867.3,-6.3,557,10773,0.00,2.38,0.00,0.000,4,0.000,0.112,2579,2571,3425,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10893,-0.89,-184.9,874.8,-6.3,561,10899,0.00,2.40,0.00,0.000,6,0.000,0.120,2579,1372,3425,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11214,-0.89,-184.9,899.4,-7.9,572,11219,0.00,1.88,0.00,0.000,4,0.000,0.144,2579,464,3424,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11343,-0.89,-184.9,910.1,-8.9,576,11349,0.00,1.67,0.00,0.000,6,0.000,0.089,2579,1352,3423,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11663,-0.89,-184.9,938.1,-8.3,587,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1352,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11964,-0.89,-184.9,962.7,-8.2,597,11970,0.00,1.85,0.00,0.000,4,0.000,0.147,2579,457,3422,0,0,0,0,0,0,28.83,13.70,28.83
$GC,12032,-0.89,-184.9,967.8,-8.3,599,12038,0.00,1.70,0.00,0.000,6,0.000,0.087,2579,1349,3421,0,0,0,0,0,0,28.83,13.87,28.83
$STATE,12199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12199,begin apogee
$GC,12209,-0.42,0.0,982.4,-8.1,605,12400,0.60,0.00,184.12,1.820,4,0.200,0.000,2745,1518,2689,0,0,0,0,0,0,13.69,28.83,13.00
$STATE,12404,end apogee,CONTROL_FINISHED_OK
$STATE,12404,begin climb
$GC,12408,1.15,184.9,991.3,0.0,611,12615,1.67,2.05,192.68,1.802,4,0.148,0.117,3250,2578,1934,0,0,0,0,0,0,13.92,13.95,13.03
$GC,12744,1.04,184.9,969.3,9.8,623,12751,0.12,2.10,0.00,0.000,6,0.297,0.132,3227,1527,1922,0,0,0,0,0,0,13.79,14.02,28.83
$GC,13079,0.95,184.9,942.0,7.8,634,13085,0.12,2.15,0.00,0.000,4,0.324,0.150,3206,453,1920,0,0,0,0,0,0,13.88,14.00,28.83
$GC,13228,0.86,184.9,931.2,7.2,639,13233,0.17,1.98,0.00,0.000,6,0.283,0.090,3168,1531,1918,0,0,0,0,0,0,13.81,14.16,28.83
$GC,13559,0.81,219.8,911.2,6.2,650,13603,0.00,1.98,35.05,1.733,4,0.000,0.112,3167,2571,1789,0,0,0,0,0,0,28.83,14.26,13.28
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$STATE,23914,end climb,SURFACE_DEPTH_REACHED
$STATE,23914,begin surface coast
$FINISH,1.6,1.020166
$STATE,23946,end surface coast,CONTROL_FINISHED_OK
$STATE,23946,begin surface
$SM_CCo,23971,27.65,0.126,0,0,1264,350.04
$SM_GC,3.35,8.73,0.70,27.65,0.063,0.125,0.126,143,1519,1264,-8.51,0.51,350.04,0,0,0,0,0,0,14.21,13.99,14.21
$IRIDIUM_FIX,2422.84,-3822.20,050313,080818
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.08
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7552000
$24V_AH,13.0,238.688
$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,23.500,191.575,492.575,27.650,0.000,0.000,0.000,494.850,0.500,0.000,17.248,3459.746,16765.236,912.852,2880.494,832.799,0.000,2674.730,0.000,2316.121,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,149.940,1819.935,126.225,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.768,0.000,0.000,0.000
$MEM,344936
$DATA_FILE_SIZE,43367,1172
$CAP_FILE_SIZE,252468,0
$CFSIZE,260034560,175308800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,252.4,1
$GPS,050313,150229,2432.564,-3823.007,38,0.8,39,-14.1