version: 66.11
glider: 190
mission: 6
dive: 594
start: 3 11 113 19 32 44
data:
$ID,190
$MISSION,6
$DIVE,594
$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,-13730.886
$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,9
$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
$GPS1,110313,192005,2428.269,-3833.388,35,1.0,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-61.4
$GPS2,110313,193211,2428.197,-3833.303,17,1.0,17,-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,70.2,53810,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.78,-184.9,0.0,0.0,0,34,0.00,0.00,-10.07,0.000,2,0.000,0.000,141,1517,1263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.3,0.0,1,164,10.73,1.98,-106.30,0.000,4,0.325,0.123,2617,2582,3448,0,0,0,0,0,0,14.07,14.07,14.60
$GC,359,-0.78,-184.9,18.1,-9.6,33,367,0.00,2.03,0.00,0.000,6,0.000,0.108,2617,1520,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,669,-0.78,-184.9,45.9,-8.6,64,675,0.00,2.10,0.00,0.000,4,0.000,0.133,2617,458,3447,0,0,0,0,0,0,28.83,13.94,28.83
$GC,801,-0.76,-184.9,58.0,-9.0,77,808,0.00,1.92,0.00,0.000,6,0.000,0.078,2617,1520,3447,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1108,-0.76,-184.9,86.6,-9.4,108,1116,0.00,2.12,0.00,0.000,4,0.000,0.129,2617,463,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1199,-0.73,-184.9,95.4,-9.9,117,1207,0.00,1.85,0.00,0.000,6,0.000,0.077,2617,1481,3447,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1508,-0.73,-184.9,122.9,-8.5,148,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1481,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.73,-184.9,148.4,-8.7,178,1818,0.00,2.05,0.00,0.000,4,0.000,0.128,2617,455,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1954,-0.73,-184.9,161.1,-9.4,192,1960,0.00,1.88,0.00,0.000,6,0.000,0.076,2617,1475,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2261,-0.73,-184.9,187.4,-8.3,223,2267,0.00,2.05,0.00,0.000,4,0.000,0.100,2617,2580,3447,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2309,-0.73,-184.9,191.4,-7.7,228,2317,0.00,2.15,0.00,0.000,6,0.000,0.106,2617,1473,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2620,-0.73,-184.9,216.7,-8.6,259,2627,0.00,2.10,0.00,0.000,4,0.000,0.099,2617,2575,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2730,-0.73,-184.9,226.1,-8.6,270,2737,0.00,2.20,0.00,0.000,6,0.000,0.108,2617,1436,3447,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3059,-0.73,-184.9,255.8,-8.9,299,3066,0.00,1.98,0.00,0.000,4,0.000,0.132,2617,458,3447,0,0,0,0,0,0,28.83,13.74,28.83
$GC,3220,-0.73,-184.9,269.7,-9.3,304,3226,0.00,1.75,0.00,0.000,6,0.000,0.076,2617,1410,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3539,-0.73,-184.9,299.2,-9.0,315,3546,0.00,1.92,0.00,0.000,4,0.000,0.129,2616,458,3447,0,0,0,0,0,0,28.83,13.69,28.83
$GC,3611,-0.73,-184.9,304.7,-9.2,317,3616,0.00,1.70,0.00,0.000,6,0.000,0.076,2617,1406,3447,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3930,-0.73,-184.9,335.3,-9.3,328,3936,0.00,2.22,0.00,0.000,4,0.000,0.101,2611,2573,3447,0,0,0,0,0,0,28.83,13.76,28.83
$GC,4039,-0.73,-184.9,343.4,-9.1,331,4048,0.00,2.25,0.00,0.000,6,0.000,0.109,2611,1425,3446,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4349,-0.73,-184.9,370.2,-7.6,342,4356,0.00,1.92,0.00,0.000,4,0.000,0.130,2610,466,3447,0,0,0,0,0,0,28.83,13.65,28.83
$GC,4449,-0.73,-184.9,377.0,-7.5,345,4455,0.00,1.77,0.00,0.000,6,0.000,0.077,2606,1419,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4773,-0.73,-184.9,398.9,-6.4,356,4778,0.00,2.20,0.00,0.000,4,0.000,0.101,2605,2581,3444,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4849,-0.73,-184.9,403.1,-6.8,358,4857,0.00,2.25,0.00,0.000,6,0.000,0.109,2605,1431,3444,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5161,-0.73,-184.9,428.5,-8.1,369,5166,0.00,1.92,0.00,0.000,4,0.000,0.129,2605,458,3443,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5238,-0.73,-184.9,433.4,-8.2,371,5249,0.00,1.80,0.00,0.000,6,0.000,0.080,2605,1419,3443,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5549,-0.73,-184.9,460.7,-8.2,382,5556,0.00,2.20,0.00,0.000,4,0.000,0.103,2604,2566,3442,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5660,-0.73,-184.9,467.7,-7.8,385,5667,0.00,2.22,0.00,0.000,6,0.000,0.112,2605,1437,3442,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5970,-0.73,-184.9,491.3,-7.0,396,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1437,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,-0.73,-184.9,511.1,-6.6,406,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1437,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6570,-0.73,-184.9,532.7,-7.7,416,6576,0.00,2.20,0.00,0.000,4,0.000,0.103,2605,2566,3439,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6618,-0.73,-184.9,534.9,-7.7,417,6627,0.00,2.25,0.00,0.000,6,0.000,0.112,2604,1437,3439,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6931,-0.73,-184.9,564.3,-9.4,428,6936,0.00,1.98,0.00,0.000,4,0.000,0.136,2605,461,3438,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7089,-0.73,-184.9,579.6,-10.2,433,7096,0.00,1.77,0.00,0.000,6,0.000,0.083,2604,1413,3438,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7411,-0.73,-184.9,614.5,-10.7,444,7416,0.00,2.25,0.00,0.000,4,0.000,0.106,2605,2582,3437,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7499,-0.73,-184.9,623.7,-10.3,447,7506,0.00,2.28,0.00,0.000,6,0.000,0.111,2604,1434,3436,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7831,-0.73,-184.9,654.0,-8.6,458,7837,0.10,1.98,0.00,0.000,4,0.241,0.129,2629,457,3436,0,0,0,0,0,0,14.16,13.81,28.83
$GC,7969,-0.73,-184.9,663.7,-8.0,462,7977,0.00,1.80,0.00,0.000,6,0.000,0.078,2625,1417,3435,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8285,-0.76,-184.9,687.0,-6.8,473,8291,0.00,2.22,0.00,0.000,4,0.000,0.107,2623,2577,3434,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8350,-0.78,-184.9,690.9,-6.5,475,8356,0.00,2.33,0.00,0.000,6,0.000,0.116,2622,1411,3433,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8675,-0.81,-184.9,713.1,-6.9,486,8680,0.00,1.92,0.00,0.000,4,0.000,0.135,2622,461,3432,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8701,-0.83,-184.9,715.4,-7.0,487,8706,0.00,1.83,0.00,0.000,6,0.000,0.083,2618,1432,3432,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9034,-0.86,-184.9,741.1,-8.0,498,9039,0.00,2.20,0.00,0.000,4,0.000,0.109,2619,2580,3431,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9131,-0.88,-184.9,748.0,-7.7,501,9136,0.00,2.25,0.00,0.000,6,0.000,0.118,2618,1441,3430,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9454,-0.91,-184.9,776.1,-8.7,512,9460,0.12,2.22,0.00,0.000,4,0.131,0.107,2558,2577,3429,0,0,0,0,0,0,14.30,13.90,28.83
$GC,9520,-0.91,-184.9,781.6,-9.0,514,9527,0.00,2.22,0.00,0.000,6,0.000,0.117,2558,1460,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9840,-0.91,-184.9,814.7,-10.2,525,9847,0.00,2.05,0.00,0.000,4,0.000,0.139,2558,463,3428,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9941,-0.88,-184.9,823.9,-10.3,528,9947,0.10,1.85,0.00,0.000,6,0.233,0.084,2580,1442,3427,0,0,0,0,0,0,13.58,13.84,28.83
$GC,10263,-0.88,-184.9,853.5,-8.5,539,10269,0.00,2.00,0.00,0.000,4,0.000,0.140,2580,460,3427,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10359,-0.88,-184.9,861.4,-8.7,542,10367,0.00,1.83,0.00,0.000,6,0.000,0.085,2579,1416,3426,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10681,-0.88,-184.9,887.8,-7.7,553,10688,0.00,1.98,0.00,0.000,4,0.000,0.140,2579,458,3426,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10800,-0.88,-184.9,897.6,-8.2,557,10807,0.00,1.77,0.00,0.000,6,0.000,0.085,2579,1392,3424,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11135,-0.88,-184.9,921.7,-7.1,568,11140,0.00,1.92,0.00,0.000,4,0.000,0.141,2579,457,3423,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11269,-0.88,-184.9,930.6,-7.4,572,11277,0.00,1.75,0.00,0.000,6,0.000,0.085,2579,1368,3423,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11582,-0.88,-184.9,954.1,-7.1,583,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1372,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11880,-0.88,-184.9,977.4,-8.0,593,11887,0.00,1.90,0.00,0.000,4,0.000,0.143,2579,463,3421,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,11936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11936,begin apogee
$GC,11948,-0.25,0.0,982.6,-8.4,595,12137,0.75,0.00,182.65,1.838,4,0.209,0.000,2784,1518,2689,0,0,0,0,0,0,13.80,28.83,13.07
$STATE,12142,end apogee,CONTROL_FINISHED_OK
$STATE,12142,begin climb
$GC,12146,0.78,184.9,993.1,0.0,601,12352,1.08,2.05,192.62,1.831,4,0.129,0.113,3115,2577,1934,0,0,0,0,0,0,13.89,13.88,13.06
$GC,12382,0.77,236.2,986.9,5.7,609,12442,0.00,2.10,54.40,1.787,6,0.000,0.132,3122,1521,1729,0,0,0,0,0,0,28.83,13.91,13.08
$GC,12743,0.77,236.2,957.7,8.2,621,12749,0.00,2.12,0.00,0.000,4,0.000,0.152,3131,457,1710,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12862,0.77,236.2,946.6,9.3,625,12868,0.00,2.05,0.00,0.000,6,0.000,0.087,3130,1555,1709,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13197,0.77,236.2,914.2,10.3,636,13202,0.00,2.22,0.00,0.000,4,0.000,0.150,3139,461,1707,0,0,0,0,0,0,28.83,13.99,28.83
$GC,13281,0.77,236.2,904.3,10.8,639,13288,0.00,2.12,0.00,0.000,6,0.000,0.087,3140,1600,1706,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13615,0.77,236.2,867.5,11.2,650,13621,0.00,2.35,0.00,0.000,4,0.000,0.150,3148,454,1706,0,0,0,0,0,0,28.83,13.95,28.83
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$STATE,22673,end climb,SURFACE_DEPTH_REACHED
$STATE,22673,begin surface coast
$FINISH,1.5,1.025726
$STATE,22705,end surface coast,CONTROL_FINISHED_OK
$STATE,22709,begin surface
$SM_CCo,22733,20.12,0.128,0,0,1265,350.04
$SM_GC,2.46,8.95,0.75,20.12,0.070,0.141,0.128,144,1523,1265,-8.47,0.51,350.04,0,0,0,0,0,0,14.15,13.83,14.13
$IRIDIUM_FIX,2418.11,-3832.57,110313,121228
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.18
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,4
$SC_FREEKB,7543296
$24V_AH,13.1,248.346
$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,22.550,214.875,509.200,20.125,0.000,0.000,0.000,409.575,1.000,0.000,18.480,3262.756,15770.854,939.266,2668.249,826.738,0.000,2565.985,0.000,2207.849,0.000,0.540,0.000
$DEVICE_MAMPS,325.125,157.590,1838.295,127.755,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22770.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.970,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,43276,1125
$CAP_FILE_SIZE,240220,0
$CFSIZE,260034560,172732416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,231.8,1
$GPS,120313,015322,2428.553,-3833.357,37,0.7,37,-14.2