version: 66.11
glider: 190
mission: 6
dive: 584
start: 3 8 113 23 47 14
data:
$ID,190
$MISSION,6
$DIVE,584
$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,-13714.978
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,8
$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,0.00060000003
$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
$GPS1,080313,233435,2432.185,-3827.744,27,1.0,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-66.1
$GPS2,080313,234641,2432.001,-3827.805,17,0.9,17,-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,61.2,43622,-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,23,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-10.27,0.000,2,0.000,0.000,143,1512,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.6,0.0,1,147,10.73,2.05,-91.45,0.000,4,0.325,0.125,2609,2585,3449,0,0,0,0,0,0,14.05,14.15,14.63
$GC,219,-0.78,-184.9,8.7,-8.6,19,228,0.00,2.08,0.00,0.000,6,0.000,0.113,2608,1524,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,531,-0.78,-184.9,36.3,-9.1,50,538,0.00,2.12,0.00,0.000,4,0.000,0.135,2609,458,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,685,-0.75,-184.9,50.9,-9.6,65,692,0.00,1.90,0.00,0.000,6,0.000,0.078,2605,1508,3451,0,0,0,0,0,0,28.83,14.06,28.83
$GC,992,-0.75,-184.9,78.7,-8.8,96,999,0.00,2.10,0.00,0.000,4,0.000,0.133,2605,457,3449,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1151,-0.71,-184.9,93.5,-9.0,112,1159,0.10,1.88,0.00,0.000,6,0.211,0.079,2634,1473,3449,0,0,0,0,0,0,13.69,13.95,28.83
$GC,1461,-0.71,-184.9,119.9,-8.0,143,1469,0.00,2.05,0.00,0.000,4,0.000,0.132,2635,461,3449,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1542,-0.71,-184.9,126.7,-8.6,151,1549,0.00,1.83,0.00,0.000,6,0.000,0.080,2632,1466,3449,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1852,-0.71,-184.9,151.3,-7.8,182,1859,0.00,2.05,0.00,0.000,4,0.000,0.132,2632,455,3449,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1932,-0.71,-184.9,157.6,-8.4,190,1939,0.00,1.75,0.00,0.000,6,0.000,0.080,2632,1432,3449,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2241,-0.71,-184.9,182.1,-8.4,221,2250,0.00,1.95,0.00,0.000,4,0.000,0.130,2632,462,3449,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2395,-0.71,-184.9,196.4,-9.7,236,2402,0.00,1.73,0.00,0.000,6,0.000,0.077,2637,1403,3450,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2703,-0.71,-184.9,225.1,-9.3,267,2710,0.00,2.22,0.00,0.000,4,0.000,0.101,2632,2580,3450,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2855,-0.73,-184.9,238.5,-8.8,282,2862,0.00,2.28,0.00,0.000,6,0.000,0.112,2632,1414,3453,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3161,-0.73,-184.9,266.8,-9.3,301,3168,0.00,1.92,0.00,0.000,4,0.000,0.134,2632,458,3449,0,0,0,0,0,0,28.83,13.74,28.83
$GC,3260,-0.73,-184.9,275.5,-9.6,304,3267,0.00,1.77,0.00,0.000,6,0.000,0.078,2632,1419,3450,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3583,-0.73,-184.9,305.3,-8.6,315,3588,0.00,2.17,0.00,0.000,4,0.000,0.101,2632,2581,3451,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3691,-0.75,-184.9,312.1,-7.7,318,3699,0.00,2.25,0.00,0.000,6,0.000,0.110,2632,1430,3449,0,0,0,0,0,0,28.83,13.76,28.83
$GC,4006,-0.78,-184.9,334.5,-6.6,329,4012,0.00,2.17,0.00,0.000,4,0.000,0.101,2631,2576,3449,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4132,-0.81,-184.9,341.7,-5.9,333,4138,0.00,2.33,0.00,0.000,6,0.000,0.115,2632,1401,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4457,-0.83,-184.9,364.0,-7.1,344,4462,0.00,2.22,0.00,0.000,4,0.000,0.103,2631,2576,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4551,-0.86,-184.9,370.7,-7.3,347,4559,0.08,2.25,0.00,0.000,6,0.083,0.115,2581,1433,3448,0,0,0,0,0,0,13.90,13.76,28.83
$GC,4875,-0.86,-184.9,399.7,-9.2,358,4880,0.00,1.98,0.00,0.000,4,0.000,0.136,2581,451,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4912,-0.86,-184.9,402.6,-9.4,359,4918,0.00,1.77,0.00,0.000,6,0.000,0.080,2579,1409,3447,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5232,-0.86,-184.9,437.7,-10.8,370,5238,0.00,2.22,0.00,0.000,4,0.000,0.104,2577,2569,3446,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5323,-0.86,-184.9,446.8,-10.1,373,5329,0.00,2.30,0.00,0.000,6,0.000,0.114,2578,1387,3446,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5652,-0.86,-184.9,478.0,-8.9,384,5658,0.00,1.88,0.00,0.000,4,0.000,0.137,2576,454,3445,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5813,-0.82,-184.9,490.5,-8.3,389,5819,0.12,1.65,0.00,0.000,6,0.249,0.080,2600,1372,3445,0,0,0,0,0,0,13.71,13.97,28.83
$GC,6135,-0.82,-184.9,512.1,-6.1,400,6141,0.00,2.33,0.00,0.000,4,0.000,0.105,2592,2582,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6201,-0.82,-184.9,515.7,-6.0,402,6208,0.00,2.40,0.00,0.000,6,0.000,0.113,2592,1363,3444,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6527,-0.82,-184.9,538.1,-7.0,413,6532,0.00,2.33,0.00,0.000,4,0.000,0.105,2589,2577,3442,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6581,-0.82,-184.9,542.3,-7.2,415,6588,0.00,2.38,0.00,0.000,6,0.000,0.114,2590,1378,3442,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6913,-0.82,-184.9,568.5,-8.3,426,6918,0.00,1.85,0.00,0.000,4,0.000,0.135,2590,458,3442,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6980,-0.82,-184.9,573.8,-8.6,428,6987,0.00,1.73,0.00,0.000,6,0.000,0.080,2585,1383,3441,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7302,-0.82,-184.9,604.7,-9.5,439,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1383,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,-0.82,-184.9,633.1,-9.3,449,7609,0.00,1.88,0.00,0.000,4,0.000,0.135,2585,452,3438,0,0,0,0,0,0,28.83,13.70,28.83
$GC,7671,-0.82,-184.9,638.7,-9.2,451,7677,0.00,1.70,0.00,0.000,6,0.000,0.083,2581,1362,3438,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7994,-0.82,-184.9,666.9,-8.4,462,7999,0.00,2.35,0.00,0.000,4,0.000,0.108,2579,2580,3437,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8042,-0.82,-184.9,669.2,-8.3,463,8050,0.00,2.42,0.00,0.000,6,0.000,0.116,2582,1345,3438,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8352,-0.82,-184.9,693.7,-7.3,474,8358,0.00,1.80,0.00,0.000,4,0.000,0.138,2579,458,3437,0,0,0,0,0,0,28.83,13.71,28.83
$GC,8473,-0.82,-184.9,702.8,-7.6,478,8478,0.00,1.60,0.00,0.000,6,0.000,0.083,2579,1336,3436,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8802,-0.82,-184.9,726.2,-7.1,489,8809,0.00,2.40,0.00,0.000,4,0.000,0.108,2577,2568,3435,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8882,-0.82,-184.9,730.4,-7.0,491,8891,0.00,2.42,0.00,0.000,6,0.000,0.119,2577,1339,3434,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9192,-0.82,-184.9,755.2,-7.7,502,9198,0.00,1.80,0.00,0.000,4,0.000,0.140,2577,458,3434,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9322,-0.80,-184.9,764.9,-8.1,506,9330,0.10,1.62,0.00,0.000,6,0.213,0.084,2603,1327,3433,0,0,0,0,0,0,13.58,13.83,28.83
$GC,9645,-0.80,-184.9,791.8,-8.3,517,9651,0.00,2.42,0.00,0.000,4,0.000,0.110,2596,2580,3432,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9781,-0.80,-184.9,801.4,-8.0,521,9789,0.00,2.50,0.00,0.000,6,0.000,0.119,2596,1333,3431,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10094,-0.80,-184.9,829.0,-8.5,532,10099,0.00,1.75,0.00,0.000,4,0.000,0.142,2596,458,3430,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10171,-0.80,-184.9,834.4,-8.6,534,10179,0.00,1.67,0.00,0.000,6,0.000,0.085,2592,1340,3430,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10483,-0.80,-184.9,861.3,-8.2,545,10489,0.00,2.42,0.00,0.000,4,0.000,0.112,2592,2583,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10551,-0.80,-184.9,866.1,-8.1,547,10558,0.00,2.50,0.00,0.000,6,0.000,0.120,2592,1336,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10873,-0.80,-184.9,892.4,-8.0,558,10878,0.00,1.80,0.00,0.000,4,0.000,0.145,2592,456,3428,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10921,-0.80,-184.9,894.9,-8.0,559,10929,0.00,1.70,0.00,0.000,6,0.000,0.086,2592,1349,3427,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11232,-0.80,-184.9,922.0,-8.4,570,11238,0.00,1.85,0.00,0.000,4,0.000,0.144,2592,462,3426,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11323,-0.80,-184.9,930.1,-8.8,573,11330,0.00,1.60,0.00,0.000,6,0.000,0.090,2592,1314,3426,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11655,-0.80,-184.9,959.2,-9.0,584,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1314,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11888,begin apogee
$GC,11898,-0.25,0.0,980.3,-8.7,592,12089,0.68,0.00,183.57,1.850,4,0.193,0.000,2781,1521,2688,0,0,0,0,0,0,13.74,28.83,13.06
$STATE,12094,end apogee,CONTROL_FINISHED_OK
$STATE,12094,begin climb
$GC,12097,0.78,184.9,990.1,0.0,598,12304,1.10,2.05,192.75,1.815,4,0.130,0.118,3120,2574,1935,0,0,0,0,0,0,13.91,13.88,13.07
$GC,12334,0.74,209.0,982.6,6.5,606,12364,0.00,2.12,25.73,1.711,6,0.000,0.132,3127,1521,1841,0,0,0,0,0,0,28.83,13.90,13.10
$GC,12663,0.74,209.0,954.4,7.9,617,12669,0.00,2.05,0.00,0.000,4,0.000,0.122,3126,2570,1825,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12682,0.74,209.0,954.4,7.9,617,12692,0.00,2.05,0.00,0.000,6,0.000,0.136,3135,1551,1825,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12993,0.74,209.0,929.6,7.4,628,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1551,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13295,0.75,220.8,908.7,6.8,638,13312,0.00,2.25,11.90,1.653,4,0.000,0.165,3143,458,1788,0,0,0,0,0,0,28.83,14.24,13.41
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$STATE,22643,end climb,SURFACE_DEPTH_REACHED
$STATE,22643,begin surface coast
$FINISH,1.7,1.009634
$STATE,22664,end surface coast,CONTROL_FINISHED_OK
$STATE,22664,begin surface
$SM_CCo,22748,0.00,0.000,0,0,1195,367.70
$SM_GC,2.58,9.05,0.73,0.00,0.080,0.135,0.000,145,1517,1195,-8.46,0.34,367.70,0,0,0,0,0,0,14.19,13.90,28.83
$IRIDIUM_FIX,2425.21,-3828.86,080313,161606
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.41
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.60
$XPDR_PINGS,2
$SC_FREEKB,7547008
$24V_AH,13.1,244.110
$10V_AH,12.3,0.000
$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,22.400,216.950,571.650,0.000,0.000,0.000,0.000,407.050,0.500,0.000,21.684,3174.904,15872.688,971.102,2608.550,828.170,0.000,2576.635,0.000,2146.852,0.000,0.541,0.000
$DEVICE_MAMPS,325.125,165.240,1849.770,0.000,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22727.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.806,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43310,1108
$CAP_FILE_SIZE,238070,0
$CFSIZE,260034560,173862912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,221.2,1
$GPS,090313,060735,2431.371,-3828.671,29,0.9,30,-14.1