version: 66.11
glider: 190
mission: 6
dive: 576
start: 3 6 113 18 8 14
data:
$ID,190
$MISSION,6
$DIVE,576
$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,-13688.049
$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,13
$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
$GPS1,060313,175528,2433.579,-3824.104,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-65.0
$GPS2,060313,180741,2433.535,-3824.057,17,0.8,17,-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,86.1,37162,-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,-10.52,0.000,2,0.000,0.000,132,1509,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.5,0.0,1,155,10.62,2.10,-94.75,0.000,4,0.340,0.158,2514,459,3448,0,0,0,0,0,0,14.08,13.99,14.64
$GC,388,-1.03,-184.9,29.9,-12.2,36,397,0.12,1.95,0.00,0.000,6,0.237,0.080,2543,1516,3448,0,0,0,0,0,0,13.68,14.00,28.83
$GC,700,-0.95,-184.9,61.0,-9.6,67,708,0.12,2.08,0.00,0.000,4,0.256,0.126,2578,461,3448,0,0,0,0,0,0,14.00,13.87,28.83
$GC,758,-0.88,-184.9,66.7,-9.4,73,766,0.00,1.95,0.00,0.000,6,0.000,0.082,2577,1512,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1069,-0.85,-184.9,95.2,-9.6,104,1076,0.12,2.10,0.00,0.000,4,0.244,0.130,2608,466,3448,0,0,0,0,0,0,14.09,13.80,28.83
$GC,1193,-0.82,-184.9,106.3,-9.1,116,1199,0.00,1.88,0.00,0.000,6,0.000,0.078,2605,1492,3448,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1500,-0.82,-184.9,131.2,-7.9,147,1507,0.00,2.05,0.00,0.000,4,0.000,0.129,2605,460,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1669,-0.78,-184.9,144.5,-8.0,164,1676,0.00,1.85,0.00,0.000,6,0.000,0.077,2605,1467,3448,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1980,-0.78,-184.9,169.7,-8.2,195,1986,0.00,1.98,0.00,0.000,4,0.000,0.129,2605,461,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2113,-0.76,-184.9,180.8,-8.3,208,2120,0.05,1.83,0.00,0.000,6,0.175,0.076,2632,1450,3448,0,0,0,0,0,0,13.64,13.86,28.83
$GC,2425,-0.76,-184.9,203.0,-7.0,239,2431,0.00,1.95,0.00,0.000,4,0.000,0.126,2633,455,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2520,-0.76,-184.9,210.2,-7.0,249,2528,0.00,1.77,0.00,0.000,6,0.000,0.076,2632,1426,3448,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2830,-0.76,-184.9,235.2,-8.6,280,2838,0.00,1.92,0.00,0.000,4,0.000,0.126,2631,463,3448,0,0,0,0,0,0,28.83,13.74,28.83
$GC,2871,-0.76,-184.9,239.0,-9.5,284,2878,0.00,1.75,0.00,0.000,6,0.000,0.076,2631,1432,3448,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3200,-0.76,-184.9,269.1,-8.9,303,3207,0.00,1.92,0.00,0.000,4,0.000,0.125,2631,466,3448,0,0,0,0,0,0,28.83,13.74,28.83
$GC,3322,-0.76,-184.9,279.9,-9.0,307,3327,0.00,1.73,0.00,0.000,6,0.000,0.075,2632,1419,3448,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3650,-0.76,-184.9,307.7,-8.2,318,3656,0.00,1.90,0.00,0.000,4,0.000,0.125,2631,466,3448,0,0,0,0,0,0,28.83,13.71,28.83
$GC,3689,-0.76,-184.9,310.1,-8.1,319,3696,0.00,1.75,0.00,0.000,6,0.000,0.074,2631,1417,3448,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4016,-0.79,-184.9,333.2,-6.6,330,4021,0.00,2.15,0.00,0.000,4,0.000,0.098,2632,2577,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4041,-0.81,-184.9,335.0,-6.6,331,4047,0.00,2.28,0.00,0.000,6,0.000,0.108,2632,1393,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4375,-0.83,-184.9,356.6,-6.5,342,4381,0.00,1.88,0.00,0.000,4,0.000,0.130,2631,459,3448,0,0,0,0,0,0,28.83,13.74,28.83
$GC,4480,-0.83,-184.9,362.0,-6.1,345,4488,0.00,1.75,0.00,0.000,6,0.000,0.076,2631,1413,3447,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4796,-0.86,-184.9,383.0,-6.8,356,4801,0.00,2.17,0.00,0.000,4,0.000,0.101,2631,2579,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4830,-0.88,-184.9,385.0,-6.7,357,4838,0.00,2.28,0.00,0.000,6,0.000,0.110,2631,1407,3446,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5154,-0.91,-184.9,411.8,-8.7,368,5161,0.12,1.88,0.00,0.000,4,0.129,0.129,2568,462,3445,0,0,0,0,0,0,14.41,13.77,28.83
$GC,5182,-0.91,-184.9,414.7,-9.0,369,5187,0.00,1.75,0.00,0.000,6,0.000,0.080,2565,1423,3445,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5514,-0.89,-184.9,450.7,-11.1,380,5521,0.12,1.90,0.00,0.000,4,0.247,0.126,2601,461,3444,0,0,0,0,0,0,14.02,13.78,28.83
$GC,5642,-0.89,-184.9,463.8,-10.9,384,5647,0.00,1.73,0.00,0.000,6,0.000,0.077,2596,1408,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5962,-0.89,-184.9,495.0,-8.9,395,5967,0.00,1.90,0.00,0.000,4,0.000,0.129,2596,457,3443,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6000,-0.89,-184.9,497.5,-8.7,396,6007,0.00,1.75,0.00,0.000,6,0.000,0.078,2592,1401,3443,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6323,-0.89,-184.9,524.0,-8.0,407,6328,0.00,2.22,0.00,0.000,4,0.000,0.104,2592,2580,3441,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6389,-0.89,-184.9,528.7,-7.8,409,6398,0.00,2.33,0.00,0.000,6,0.000,0.112,2592,1401,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6712,-0.89,-184.9,554.8,-8.0,420,6718,0.00,1.88,0.00,0.000,4,0.000,0.134,2592,462,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6789,-0.89,-184.9,559.8,-8.0,422,6799,0.00,1.77,0.00,0.000,6,0.000,0.081,2592,1413,3440,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7102,-0.89,-184.9,584.3,-7.3,433,7107,0.00,1.92,0.00,0.000,4,0.000,0.133,2592,458,3440,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7240,-0.89,-184.9,593.4,-7.6,437,7248,0.00,1.67,0.00,0.000,6,0.000,0.080,2592,1369,3439,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7551,-0.89,-184.9,616.4,-6.8,448,7558,0.00,1.85,0.00,0.000,4,0.000,0.135,2592,460,3438,0,0,0,0,0,0,28.83,13.68,28.83
$GC,7633,-0.89,-184.9,620.6,-6.9,450,7641,0.00,1.65,0.00,0.000,6,0.000,0.083,2592,1367,3437,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7941,-0.89,-184.9,644.4,-7.5,461,7947,0.00,2.33,0.00,0.000,4,0.000,0.106,2592,2572,3435,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8032,-0.89,-184.9,651.1,-7.5,464,8038,0.00,2.38,0.00,0.000,6,0.000,0.116,2592,1366,3437,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8361,-0.89,-184.9,678.2,-8.6,475,8367,0.00,1.83,0.00,0.000,4,0.000,0.137,2592,465,3435,0,0,0,0,0,0,28.83,13.69,28.83
$GC,8441,-0.89,-184.9,683.6,-8.8,477,8448,0.00,1.67,0.00,0.000,6,0.000,0.084,2591,1367,3435,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8752,-0.89,-184.9,712.2,-8.7,488,8758,0.00,2.33,0.00,0.000,4,0.000,0.107,2588,2575,3434,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8859,-0.89,-184.9,720.1,-8.8,491,8868,0.00,2.40,0.00,0.000,6,0.000,0.116,2587,1371,3434,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9172,-0.89,-184.9,748.9,-8.8,502,9177,0.00,1.83,0.00,0.000,4,0.000,0.138,2587,459,3432,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9260,-0.89,-184.9,757.2,-9.2,505,9267,0.00,1.67,0.00,0.000,6,0.000,0.083,2584,1361,3434,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9592,-0.89,-184.9,787.1,-9.1,516,9598,0.00,2.35,0.00,0.000,4,0.000,0.109,2580,2576,3430,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9650,-0.89,-184.9,792.3,-8.7,518,9657,0.00,2.42,0.00,0.000,6,0.000,0.118,2580,1358,3431,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9981,-0.89,-184.9,818.4,-7.5,529,9987,0.00,1.83,0.00,0.000,4,0.000,0.138,2580,466,3430,0,0,0,0,0,0,28.83,13.66,28.83
$GC,10012,-0.89,-184.9,820.5,-7.4,530,10017,0.00,1.62,0.00,0.000,6,0.000,0.085,2579,1330,3429,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10344,-0.89,-184.9,841.8,-6.0,541,10349,0.00,1.77,0.00,0.000,4,0.000,0.141,2579,462,3428,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10493,-0.86,-184.9,851.2,-6.3,546,10498,0.00,1.62,0.00,0.000,6,0.000,0.086,2579,1343,3427,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10824,-0.86,-184.9,871.0,-6.0,557,10829,0.00,1.83,0.00,0.000,4,0.000,0.141,2579,456,3426,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10890,-0.86,-184.9,875.1,-6.4,559,10896,0.00,1.65,0.00,0.000,6,0.000,0.085,2579,1326,3425,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11212,-0.86,-184.9,899.2,-7.9,570,11217,0.00,1.75,0.00,0.000,4,0.000,0.142,2579,461,3424,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11320,-0.86,-184.9,907.1,-8.6,573,11328,0.00,1.60,0.00,0.000,6,0.000,0.086,2579,1305,3424,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11632,-0.86,-184.9,939.0,-10.2,584,11638,0.00,1.73,0.00,0.000,4,0.000,0.142,2579,462,3423,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11721,-0.86,-184.9,948.8,-10.9,587,11727,0.00,1.55,0.00,0.000,6,0.000,0.086,2579,1282,3423,0,0,0,0,0,0,28.83,13.78,28.83
$STATE,12017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12018,begin apogee
$GC,12028,-0.42,0.0,981.1,-10.6,597,12218,0.57,0.00,183.40,1.818,4,0.194,0.000,2740,1520,2689,0,0,0,0,0,0,13.69,28.83,13.02
$STATE,12222,end apogee,CONTROL_FINISHED_OK
$STATE,12222,begin climb
$GC,12226,1.15,184.9,993.7,0.0,603,12433,1.73,2.17,192.73,1.816,4,0.159,0.148,3250,455,1935,0,0,0,0,0,0,13.90,13.85,13.02
$GC,12442,1.00,184.9,984.7,8.0,611,12449,0.12,2.00,0.00,0.000,6,0.290,0.092,3219,1520,1928,0,0,0,0,0,0,13.78,14.04,28.83
$GC,12777,0.92,184.9,951.7,10.3,622,12783,0.12,2.03,0.00,0.000,4,0.317,0.117,3190,2582,1921,0,0,0,0,0,0,13.88,14.11,28.83
$GC,12842,0.84,184.9,945.5,10.2,624,12850,0.12,2.12,0.00,0.000,6,0.277,0.133,3164,1519,1920,0,0,0,0,0,0,13.78,14.00,28.83
$GC,13167,0.79,184.9,913.9,9.7,635,13172,0.00,2.05,0.00,0.000,4,0.000,0.123,3164,2579,1919,0,0,0,0,0,0,28.83,14.02,28.83
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$STATE,24164,end climb,SURFACE_DEPTH_REACHED
$STATE,24164,begin surface coast
$FINISH,1.7,1.020103
$STATE,24195,end surface coast,CONTROL_FINISHED_OK
$STATE,24195,begin surface
$SM_CCo,24222,39.70,0.125,0,0,1265,350.04
$SM_GC,2.52,8.70,0.77,39.70,0.062,0.144,0.125,138,1514,1265,-8.52,0.20,350.04,0,0,0,0,0,0,14.21,13.88,14.21
$IRIDIUM_FIX,2425.21,-3823.67,060313,111130
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.33
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,7550080
$24V_AH,13.0,240.689
$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,23.650,249.725,471.450,39.700,0.000,0.000,0.000,416.550,0.250,0.000,21.150,3449.557,16891.729,958.118,2798.226,882.694,0.000,2658.087,0.000,2322.042,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,158.355,1818.405,124.695,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24255.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.856,0.000,0.000,0.000
$MEM,344936
$DATA_FILE_SIZE,46614,1191
$CAP_FILE_SIZE,257845,0
$CFSIZE,260034560,174739456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,253.4,1
$GPS,070313,005358,2433.750,-3824.596,35,1.2,36,-14.1