version: 66.11
glider: 190
mission: 6
dive: 588
start: 3 10 113 3 29 12
data:
$ID,190
$MISSION,6
$DIVE,588
$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,-13720.007
$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,11
$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,0.00060000003
$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
$GPS1,100313,031354,2430.248,-3830.131,37,1.0,38,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-61.8
$GPS2,100313,032841,2430.063,-3830.140,16,1.0,16,-14.2
$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,66.5,47956,-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,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-10.55,0.000,2,0.000,0.000,143,1511,1510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.6,0.0,1,155,10.73,2.03,-93.93,0.000,4,0.327,0.119,2613,2577,3448,0,0,0,0,0,0,14.07,14.09,14.64
$GC,319,-0.78,-184.9,14.9,-8.4,29,327,0.00,2.05,0.00,0.000,6,0.000,0.110,2613,1518,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,630,-0.78,-184.9,41.5,-8.6,60,636,0.00,2.10,0.00,0.000,4,0.000,0.135,2613,454,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,698,-0.75,-184.9,47.6,-8.6,67,706,0.00,1.95,0.00,0.000,6,0.000,0.079,2609,1511,3448,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1008,-0.75,-184.9,74.2,-8.8,98,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1511,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.75,-184.9,101.9,-8.7,129,1327,0.00,2.10,0.00,0.000,4,0.000,0.129,2609,464,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1409,-0.72,-184.9,110.8,-9.8,138,1416,0.12,1.88,0.00,0.000,6,0.246,0.079,2634,1496,3447,0,0,0,0,0,0,13.79,14.00,28.83
$GC,1718,-0.72,-184.9,138.9,-8.9,169,1726,0.00,2.08,0.00,0.000,4,0.000,0.132,2634,465,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1828,-0.72,-184.9,149.2,-9.3,180,1836,0.00,1.88,0.00,0.000,6,0.000,0.078,2632,1481,3450,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2140,-0.72,-184.9,173.6,-7.2,211,2146,0.00,2.03,0.00,0.000,4,0.000,0.131,2632,460,3447,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2282,-0.72,-184.9,183.5,-6.7,225,2291,0.00,1.77,0.00,0.000,6,0.000,0.076,2632,1445,3448,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2591,-0.72,-184.9,201.6,-5.6,256,2598,0.00,1.98,0.00,0.000,4,0.000,0.131,2632,462,3448,0,0,0,0,0,0,28.83,13.77,28.83
$GC,2725,-0.72,-184.9,209.6,-6.1,269,2732,0.00,1.73,0.00,0.000,6,0.000,0.076,2632,1415,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3033,-0.72,-184.9,229.9,-6.9,300,3040,0.00,2.15,0.00,0.000,4,0.000,0.098,2631,2574,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3201,-0.72,-184.9,242.6,-7.7,317,3209,0.00,2.20,0.00,0.000,6,0.000,0.109,2631,1448,3448,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3512,-0.74,-184.9,266.2,-7.6,334,3518,0.00,1.98,0.00,0.000,4,0.000,0.129,2631,451,3448,0,0,0,0,0,0,28.83,13.75,28.83
$GC,3551,-0.76,-184.9,268.4,-7.5,335,3558,0.00,1.80,0.00,0.000,6,0.000,0.074,2632,1439,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3877,-0.79,-184.9,289.2,-6.0,346,3882,0.00,1.95,0.00,0.000,4,0.000,0.128,2632,459,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3902,-0.79,-184.9,291.0,-6.0,347,3908,0.00,1.75,0.00,0.000,6,0.000,0.075,2631,1415,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4237,-0.81,-184.9,314.3,-8.0,358,4242,0.00,1.90,0.00,0.000,4,0.000,0.129,2631,455,3447,0,0,0,0,0,0,28.83,13.76,28.83
$GC,4330,-0.81,-184.9,322.5,-8.9,361,4337,0.00,1.80,0.00,0.000,6,0.000,0.075,2632,1429,3447,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4656,-0.83,-184.9,353.9,-9.5,372,4661,0.00,2.17,0.00,0.000,4,0.000,0.100,2631,2581,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4802,-0.86,-184.9,367.7,-9.2,377,4808,0.10,2.22,0.00,0.000,6,0.073,0.110,2574,1447,3446,0,0,0,0,0,0,13.95,13.78,28.83
$GC,5136,-0.86,-184.9,398.9,-9.0,388,5141,0.00,2.12,0.00,0.000,4,0.000,0.102,2567,2574,3443,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5261,-0.86,-184.9,408.9,-8.3,392,5269,0.00,2.28,0.00,0.000,6,0.000,0.111,2567,1418,3444,0,0,0,0,0,0,28.83,13.75,28.83
$GC,5583,-0.86,-184.9,436.1,-8.6,403,5589,0.00,2.22,0.00,0.000,4,0.000,0.101,2565,2580,3443,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5731,-0.86,-184.9,448.8,-8.4,408,5738,0.00,2.33,0.00,0.000,6,0.000,0.110,2565,1396,3443,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6066,-0.84,-184.9,481.3,-10.4,419,6073,0.12,1.88,0.00,0.000,4,0.232,0.129,2602,461,3442,0,0,0,0,0,0,14.01,13.81,28.83
$GC,6092,-0.84,-184.9,484.6,-10.5,420,6099,0.00,1.67,0.00,0.000,6,0.000,0.079,2597,1373,3441,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6422,-0.84,-184.9,518.5,-10.3,431,6429,0.00,2.33,0.00,0.000,4,0.000,0.103,2592,2578,3441,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6533,-0.84,-184.9,527.5,-9.9,434,6540,0.00,2.42,0.00,0.000,6,0.000,0.112,2592,1343,3440,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6842,-0.84,-184.9,558.3,-9.0,445,6849,0.00,1.77,0.00,0.000,4,0.000,0.134,2592,464,3440,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6912,-0.84,-184.9,563.8,-8.9,447,6919,0.00,1.62,0.00,0.000,6,0.000,0.080,2592,1336,3440,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7234,-0.84,-184.9,592.8,-8.8,458,7240,0.00,1.75,0.00,0.000,4,0.000,0.137,2592,461,3438,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7301,-0.84,-184.9,598.4,-9.0,460,7309,0.00,1.60,0.00,0.000,6,0.000,0.081,2592,1317,3438,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7624,-0.84,-184.9,628.3,-8.9,471,7630,0.00,2.42,0.00,0.000,4,0.000,0.108,2590,2575,3437,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7682,-0.84,-184.9,633.6,-9.0,473,7689,0.00,2.53,0.00,0.000,6,0.000,0.119,2590,1306,3437,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8012,-0.84,-184.9,662.5,-8.6,484,8019,0.00,2.47,0.00,0.000,4,0.000,0.106,2587,2572,3436,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8063,-0.84,-184.9,664.9,-8.4,485,8071,0.00,2.50,0.00,0.000,6,0.000,0.119,2587,1318,3436,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8372,-0.84,-184.9,690.9,-7.8,496,8379,0.00,1.75,0.00,0.000,4,0.000,0.138,2587,461,3435,0,0,0,0,0,0,28.83,13.69,28.83
$GC,8443,-0.84,-184.9,695.4,-7.7,498,8449,0.00,1.58,0.00,0.000,6,0.000,0.082,2584,1311,3435,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8762,-0.84,-184.9,721.3,-8.2,509,8769,0.00,1.75,0.00,0.000,4,0.000,0.139,2584,458,3433,0,0,0,0,0,0,28.83,13.65,28.83
$GC,8891,-0.84,-184.9,732.2,-9.2,513,8898,0.00,1.58,0.00,0.000,6,0.000,0.083,2581,1293,3432,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9214,-0.84,-184.9,762.5,-9.1,524,9219,0.00,1.70,0.00,0.000,4,0.000,0.140,2581,461,3431,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9332,-0.84,-184.9,773.9,-9.5,528,9339,0.00,1.52,0.00,0.000,6,0.000,0.084,2579,1268,3431,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9664,-0.84,-184.9,802.1,-8.4,539,9670,0.00,1.67,0.00,0.000,4,0.000,0.143,2579,458,3430,0,0,0,0,0,0,28.83,13.72,28.83
$GC,9792,-0.84,-184.9,812.6,-8.8,543,9799,0.00,1.50,0.00,0.000,6,0.000,0.086,2579,1244,3429,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10115,-0.84,-184.9,838.6,-7.7,554,10120,0.00,2.60,0.00,0.000,4,0.000,0.114,2579,2572,3428,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10172,-0.84,-184.9,843.2,-7.7,556,10179,0.00,2.70,0.00,0.000,6,0.000,0.128,2579,1236,3428,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10505,-0.84,-184.9,869.8,-8.3,567,10512,0.00,1.58,0.00,0.000,4,0.000,0.137,2579,456,3426,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10613,-0.84,-184.9,877.8,-8.8,570,10620,0.00,1.45,0.00,0.000,6,0.000,0.085,2579,1225,3426,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10922,-0.84,-184.9,907.5,-9.2,581,10929,0.00,1.60,0.00,0.000,4,0.000,0.144,2579,461,3425,0,0,0,0,0,0,28.83,13.66,28.83
$GC,11053,-0.84,-184.9,919.4,-9.9,585,11059,0.00,1.52,0.00,0.000,6,0.000,0.090,2578,1257,3425,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11373,-0.84,-184.9,949.7,-8.9,596,11379,0.00,1.67,0.00,0.000,4,0.000,0.148,2579,461,3423,0,0,0,0,0,0,28.83,13.70,28.83
$GC,11453,-0.84,-184.9,955.1,-8.8,598,11460,0.00,1.48,0.00,0.000,6,0.000,0.090,2579,1235,3423,0,0,0,0,0,0,28.83,13.76,28.83
$STATE,11759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11759,begin apogee
$GC,11771,-0.25,0.0,981.0,-7.4,609,11984,0.73,0.00,197.05,2.277,4,0.189,0.000,2783,1524,2695,0,0,0,0,1,0,13.76,28.83,12.75
$STATE,11986,end apogee,CONTROL_FINISHED_OK
$STATE,11986,begin climb
$GC,11990,0.78,184.9,989.2,0.0,616,12202,1.08,2.03,198.80,1.802,4,0.119,0.110,3120,2583,1935,0,0,0,0,0,0,13.92,13.90,13.07
$GC,12214,0.73,184.9,977.1,8.3,624,12220,0.00,2.10,0.00,0.000,6,0.000,0.126,3128,1522,1929,0,0,0,0,0,0,28.83,13.95,28.83
$GC,12546,0.70,184.9,947.3,8.5,635,12553,0.12,2.05,0.00,0.000,4,0.295,0.119,3097,2578,1922,0,0,0,0,0,0,13.93,14.08,28.83
$GC,12716,0.70,184.9,936.3,7.1,640,12723,0.00,2.05,0.00,0.000,6,0.000,0.131,3104,1539,1921,0,0,0,0,0,0,28.83,14.00,28.83
$GC,13023,0.76,278.4,918.6,4.6,651,13129,0.00,2.28,97.88,1.758,4,0.000,0.161,3111,453,1551,0,0,0,0,0,0,28.83,14.02,13.14
$GC,13186,0.81,361.5,911.3,4.9,656,13281,0.00,2.10,89.78,1.728,6,0.000,0.093,3108,1583,1219,0,0,0,0,0,0,28.83,14.13,13.10
$GC,13583,0.86,361.5,885.1,7.1,669,13590,0.12,2.30,0.00,0.000,4,0.139,0.159,3165,459,1201,0,0,0,0,0,0,14.38,14.02,28.83
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$STATE,21901,end climb,SURFACE_DEPTH_REACHED
$STATE,21901,begin surface coast
$FINISH,1.5,1.012492
$STATE,21923,end surface coast,CONTROL_FINISHED_OK
$STATE,21923,begin surface
$SM_CCo,22008,0.00,0.000,0,0,1200,366.48
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$IRIDIUM_FIX,2422.84,-3830.71,100313,030310
$TT8_MAMPS,0.023968,0.023968
$HUMID,63.15
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.50
$XPDR_PINGS,5
$SC_FREEKB,7545600
$24V_AH,12.7,245.816
$10V_AH,12.2,0.000
$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,22.575,220.875,583.500,0.000,0.000,0.000,0.000,499.875,1.250,0.000,17.929,3147.565,15229.585,990.547,2682.810,821.490,0.000,2681.449,0.000,2135.831,0.000,0.541,0.000
$DEVICE_MAMPS,327.420,161.415,2276.640,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21983.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.017,0.000,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,43237,1107
$CAP_FILE_SIZE,234483,0
$CFSIZE,260034560,173408256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.115,229.4,1
$GPS,100313,093722,2429.648,-3831.147,40,1.0,40,-14.2